diff options
author | Nick Samarin <nicks1987@bigmir.net> | 2010-06-05 03:29:49 +0400 |
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committer | Nick Samarin <nicks1987@bigmir.net> | 2010-06-05 03:29:49 +0400 |
commit | 0932f365bfefb5ddabcc042abfa5f3d3a5c0246e (patch) | |
tree | 522e53fbae9257b3a5ca56cf23a3136cb005dbf5 /source/gameengine/Ketsji/KX_ObstacleSimulation.h | |
parent | 1be4a74f6c1ca7c1698e2f7eaed3d7c4a7071dac (diff) |
added obstacle avoidance code; object movement is implemented via setting velocity
Diffstat (limited to 'source/gameengine/Ketsji/KX_ObstacleSimulation.h')
-rw-r--r-- | source/gameengine/Ketsji/KX_ObstacleSimulation.h | 98 |
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 |