Added new actuator type for following steering behaviors: seek, flee, path following; renamed KX_Pathfinder to KX_NavMeshObject

1 files changed, 256 insertions, 0 deletions

diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.cpp b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
new file mode 100644
index 00000000000..803ed510f45
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_SteeringActuator.cpp
@@ -0,0 +1,256 @@
+/**
+* Add steering behaviors
+*
+* $Id$
+*
+* ***** 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 *****
+*/
+
+#include "KX_SteeringActuator.h"
+#include "KX_GameObject.h"
+#include "KX_NavMeshObject.h"
+
+/* ------------------------------------------------------------------------- */
+/* Native functions                                                          */
+/* ------------------------------------------------------------------------- */
+
+KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj, 
+									int mode,
+									KX_GameObject *target,
+									KX_GameObject *navmesh,
+									MT_Scalar movement, 
+									MT_Scalar distance)	 : 
+	SCA_IActuator(gameobj, KX_ACT_STEERING),
+	m_mode(mode),
+	m_target(target),
+	m_movement(movement),
+	m_distance(distance)
+{
+	m_navmesh = static_cast<KX_NavMeshObject*>(navmesh);
+	if (m_navmesh)
+		m_navmesh->RegisterActuator(this);
+	if (m_target)
+		m_target->RegisterActuator(this);
+} 
+
+KX_SteeringActuator::~KX_SteeringActuator()
+{
+	if (m_navmesh)
+		m_navmesh->UnregisterActuator(this);
+	if (m_target)
+		m_target->UnregisterActuator(this);
+} 
+
+CValue* KX_SteeringActuator::GetReplica()
+{
+	KX_SteeringActuator* replica = new KX_SteeringActuator(*this);
+	// replication just copy the m_base pointer => common random generator
+	replica->ProcessReplica();
+	return replica;
+}
+
+void KX_SteeringActuator::ProcessReplica()
+{
+	if (m_target)
+		m_target->RegisterActuator(this);
+	if (m_navmesh)
+		m_navmesh->RegisterActuator(this);
+	SCA_IActuator::ProcessReplica();
+}
+
+
+bool KX_SteeringActuator::UnlinkObject(SCA_IObject* clientobj)
+{
+	if (clientobj == m_target)
+	{
+		// this object is being deleted, we cannot continue to track it.
+		m_target = NULL;
+		return true;
+	}
+	else if (clientobj == m_navmesh)
+	{
+		// this object is being deleted, we cannot continue to track it.
+		m_navmesh = NULL;
+		return true;
+	}
+	return false;
+}
+
+void KX_SteeringActuator::Relink(GEN_Map<GEN_HashedPtr, void*> *obj_map)
+{
+	void **h_obj = (*obj_map)[m_target];
+	if (h_obj) {
+		if (m_target)
+			m_target->UnregisterActuator(this);
+		m_target = (KX_GameObject*)(*h_obj);
+		m_target->RegisterActuator(this);
+	}
+
+	h_obj = (*obj_map)[m_navmesh];
+	if (h_obj) {
+		if (m_navmesh)
+			m_navmesh->UnregisterActuator(this);
+		m_navmesh = (KX_NavMeshObject*)(*h_obj);
+		m_navmesh->RegisterActuator(this);
+	}
+}
+
+bool KX_SteeringActuator::Update()
+{
+	bool bNegativeEvent = IsNegativeEvent();
+	RemoveAllEvents();
+
+	if (bNegativeEvent)
+		return false; // do nothing on negative events
+
+	KX_GameObject *obj = (KX_GameObject*) GetParent();
+	const MT_Point3& mypos = obj->NodeGetWorldPosition();
+	const MT_Point3& targpos = m_target->NodeGetWorldPosition();
+	MT_Vector3 vectotarg = targpos - mypos;
+	MT_Vector3 steervec = MT_Vector3(0, 0, 0);
+	bool apply_steerforce = false;
+
+	switch (m_mode) {
+		case KX_STEERING_SEEK:
+			if (vectotarg.length2()>m_distance*m_distance)
+			{
+				apply_steerforce = true;
+				steervec = vectotarg;
+				steervec.normalize();
+			}
+			break;
+		case KX_STEERING_FLEE:
+			if (vectotarg.length2()<m_distance*m_distance)
+			{
+				apply_steerforce = true;
+				steervec = -vectotarg;
+				steervec.normalize();
+			}
+		case KX_STEERING_PATHFOLLOWING:
+			if (m_navmesh && vectotarg.length2()>m_distance*m_distance)
+			{
+				static const int MAX_PATH_LENGTH  = 128;
+				static const MT_Vector3 PATH_COLOR(1,0,0);
+
+				float path[MAX_PATH_LENGTH*3];
+				int pathlen = m_navmesh->FindPath(mypos, targpos, path, MAX_PATH_LENGTH);
+				if (pathlen > 1)
+				{
+					//debug draw
+					m_navmesh->DrawPath(path, pathlen, PATH_COLOR);
+
+					apply_steerforce = true;
+					MT_Vector3 waypoint(&path[3]);
+					steervec = waypoint - mypos;
+					steervec.z() = 0;
+					steervec.normalize();
+				}
+			}
+			break;
+	}
+
+	if (apply_steerforce)
+	{
+		MT_Vector3 vel = m_movement*steervec;
+		obj->ApplyMovement(vel, false);
+	}
+
+	return true;
+}
+
+#ifndef DISABLE_PYTHON
+
+/* ------------------------------------------------------------------------- */
+/* Python functions                                                          */
+/* ------------------------------------------------------------------------- */
+
+/* Integration hooks ------------------------------------------------------- */
+PyTypeObject KX_SteeringActuator::Type = {
+	PyVarObject_HEAD_INIT(NULL, 0)
+	"KX_SteeringActuator",
+	sizeof(PyObjectPlus_Proxy),
+	0,
+	py_base_dealloc,
+	0,
+	0,
+	0,
+	0,
+	py_base_repr,
+	0,0,0,0,0,0,0,0,0,
+	Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
+	0,0,0,0,0,0,0,
+	Methods,
+	0,
+	0,
+	&SCA_IActuator::Type,
+	0,0,0,0,0,0,
+	py_base_new
+};
+
+PyMethodDef KX_SteeringActuator::Methods[] = {
+	{NULL,NULL} //Sentinel
+};
+
+PyAttributeDef KX_SteeringActuator::Attributes[] = {
+	KX_PYATTRIBUTE_RW_FUNCTION("target", KX_SteeringActuator, pyattr_get_target, pyattr_set_target),
+	{ NULL }	//Sentinel
+};
+
+PyObject* KX_SteeringActuator::pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
+{
+	KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
+	if (!actuator->m_target)	
+		Py_RETURN_NONE;
+	else
+		return actuator->m_target->GetProxy();
+}
+
+int KX_SteeringActuator::pyattr_set_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
+{
+	KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
+	KX_GameObject *gameobj;
+
+	if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_SteeringActuator"))
+		return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
+
+	if (actuator->m_target != NULL)
+		actuator->m_target->UnregisterActuator(actuator);	
+
+	actuator->m_target = (KX_GameObject*) gameobj;
+
+	if (actuator->m_target)
+		actuator->m_target->RegisterActuator(actuator);
+
+	return PY_SET_ATTR_SUCCESS;
+}
+
+#endif // DISABLE_PYTHON
+
+/* eof */
+