added obstacle avoidance code; object movement is implemented via setting velocity

1 files changed, 98 insertions, 0 deletions

diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.h b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
new file mode 100644
index 00000000000..d1920e5e6f2
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.h
@@ -0,0 +1,98 @@
+/**
+* Simulation for obstacle avoidance behavior 
+* (based on Cane Project - http://code.google.com/p/cane  by Mikko Mononen (c) 2009)
+*
+*
+* $Id$
+*
+* ***** BEGIN GPL LICENSE BLOCK *****
+*
+* This program is free software; you can redistribute it and/or
+* modify it under the terms of the GNU General Public License
+* as published by the Free Software Foundation; either version 2
+* of the License, or (at your option) any later version. The Blender
+* Foundation also sells licenses for use in proprietary software under
+* the Blender License.  See http://www.blender.org/BL/ for information
+* about this.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software Foundation,
+* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+*
+* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+* All rights reserved.
+*
+* The Original Code is: all of this file.
+*
+* Contributor(s): none yet.
+*
+* ***** END GPL LICENSE BLOCK *****
+*/
+
+#ifndef __KX_OBSTACLESIMULATION
+#define __KX_OBSTACLESIMULATION
+
+#include <vector>
+#include "MT_Point2.h"
+#include "MT_Point3.h"
+
+class KX_GameObject;
+
+struct KX_Obstacle
+{
+	MT_Point3 m_pos;
+	MT_Scalar m_rad;
+	MT_Vector2 m_vel;
+	KX_GameObject* m_gameObj;
+};
+
+class KX_ObstacleSimulation
+{
+protected:
+	std::vector<KX_Obstacle*>	m_obstacles;
+public:
+	KX_ObstacleSimulation();
+	virtual ~KX_ObstacleSimulation();
+
+	virtual void AddObstacleForObj(KX_GameObject* gameobj);
+	KX_Obstacle* GetObstacle(KX_GameObject* gameobj);
+	void UpdateObstacles();	
+	virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, MT_Vector3& velocity);
+
+}; /* end of class KX_ObstacleSimulation*/
+
+static const int AVOID_MAX_STEPS = 128;
+struct TOICircle
+{
+	TOICircle() : n(0), minToi(0), maxToi(1) {}
+	float	toi[AVOID_MAX_STEPS];	// Time of impact (seconds)
+	float	toie[AVOID_MAX_STEPS];	// Time of exit (seconds)
+	float	dir[AVOID_MAX_STEPS];	// Direction (radians)
+	int		n;						// Number of samples
+	float	minToi, maxToi;			// Min/max TOI (seconds)
+};
+
+class KX_ObstacleSimulationTOI: public KX_ObstacleSimulation
+{
+protected:
+	int m_avoidSteps;				// Number of sample steps
+	float m_minToi;					// Min TOI
+	float m_maxToi;					// Max TOI
+	float m_angleWeight;			// Sample selection angle weight
+	float m_toiWeight;				// Sample selection TOI weight
+	float m_collisionWeight;		// Sample selection collision weight
+
+	std::vector<TOICircle*>	m_toiCircles; // TOI circles (one per active agent)
+public:
+	KX_ObstacleSimulationTOI();
+	~KX_ObstacleSimulationTOI();
+	virtual void AddObstacleForObj(KX_GameObject* gameobj);
+	virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, MT_Vector3& velocity);
+};
+
+#endif