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Diffstat (limited to 'source/blender/blenkernel/intern/boids.c')
-rw-r--r-- | source/blender/blenkernel/intern/boids.c | 1619 |
1 files changed, 0 insertions, 1619 deletions
diff --git a/source/blender/blenkernel/intern/boids.c b/source/blender/blenkernel/intern/boids.c deleted file mode 100644 index 5270d050809..00000000000 --- a/source/blender/blenkernel/intern/boids.c +++ /dev/null @@ -1,1619 +0,0 @@ -/* - * ***** 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. - * - * 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) 2009 by Janne Karhu. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -/** \file blender/blenkernel/intern/boids.c - * \ingroup bke - */ - - -#include <string.h> -#include <math.h> - -#include "MEM_guardedalloc.h" - -#include "DNA_object_force.h" -#include "DNA_scene_types.h" - -#include "BLI_rand.h" -#include "BLI_math.h" -#include "BLI_blenlib.h" -#include "BLI_kdtree.h" -#include "BLI_utildefines.h" - -#include "BKE_collision.h" -#include "BKE_effect.h" -#include "BKE_boids.h" -#include "BKE_particle.h" - -#include "BKE_modifier.h" - -#include "RNA_enum_types.h" - -typedef struct BoidValues { - float max_speed, max_acc; - float max_ave, min_speed; - float personal_space, jump_speed; -} BoidValues; - -static int apply_boid_rule(BoidBrainData *bbd, BoidRule *rule, BoidValues *val, ParticleData *pa, float fuzziness); - -static int rule_none(BoidRule *UNUSED(rule), BoidBrainData *UNUSED(data), BoidValues *UNUSED(val), ParticleData *UNUSED(pa)) -{ - return 0; -} - -static int rule_goal_avoid(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa) -{ - BoidRuleGoalAvoid *gabr = (BoidRuleGoalAvoid*) rule; - BoidSettings *boids = bbd->part->boids; - BoidParticle *bpa = pa->boid; - EffectedPoint epoint; - ListBase *effectors = bbd->sim->psys->effectors; - EffectorCache *cur, *eff = NULL; - EffectorCache temp_eff; - EffectorData efd, cur_efd; - float mul = (rule->type == eBoidRuleType_Avoid ? 1.0 : -1.0); - float priority = 0.0f, len = 0.0f; - int ret = 0; - - int p = 0; - efd.index = cur_efd.index = &p; - - pd_point_from_particle(bbd->sim, pa, &pa->state, &epoint); - - /* first find out goal/predator with highest priority */ - if (effectors) for (cur = effectors->first; cur; cur=cur->next) { - Object *eob = cur->ob; - PartDeflect *pd = cur->pd; - - if (gabr->ob && (rule->type != eBoidRuleType_Goal || gabr->ob != bpa->ground)) { - if (gabr->ob == eob) { - /* TODO: effectors with multiple points */ - if (get_effector_data(cur, &efd, &epoint, 0)) { - if (cur->pd && cur->pd->forcefield == PFIELD_BOID) - priority = mul * pd->f_strength * effector_falloff(cur, &efd, &epoint, bbd->part->effector_weights); - else - priority = 1.0; - - eff = cur; - } - break; - } - } - else if (rule->type == eBoidRuleType_Goal && eob == bpa->ground) { - /* skip current object */ - } - else if (pd->forcefield == PFIELD_BOID && mul * pd->f_strength > 0.0f && get_effector_data(cur, &cur_efd, &epoint, 0)) { - float temp = mul * pd->f_strength * effector_falloff(cur, &cur_efd, &epoint, bbd->part->effector_weights); - - if (temp == 0.0f) { - /* do nothing */ - } - else if (temp > priority) { - priority = temp; - eff = cur; - efd = cur_efd; - len = efd.distance; - } - /* choose closest object with same priority */ - else if (temp == priority && efd.distance < len) { - eff = cur; - efd = cur_efd; - len = efd.distance; - } - } - } - - /* if the object doesn't have effector data we have to fake it */ - if (eff == NULL && gabr->ob) { - memset(&temp_eff, 0, sizeof(EffectorCache)); - temp_eff.ob = gabr->ob; - temp_eff.scene = bbd->sim->scene; - eff = &temp_eff; - get_effector_data(eff, &efd, &epoint, 0); - priority = 1.0f; - } - - /* then use that effector */ - if (priority > (rule->type==eBoidRuleType_Avoid ? gabr->fear_factor : 0.0f)) { /* with avoid, factor is "fear factor" */ - Object *eob = eff->ob; - PartDeflect *pd = eff->pd; - float surface = (pd && pd->shape == PFIELD_SHAPE_SURFACE) ? 1.0f : 0.0f; - - if (gabr->options & BRULE_GOAL_AVOID_PREDICT) { - /* estimate future location of target */ - get_effector_data(eff, &efd, &epoint, 1); - - mul_v3_fl(efd.vel, efd.distance / (val->max_speed * bbd->timestep)); - add_v3_v3(efd.loc, efd.vel); - sub_v3_v3v3(efd.vec_to_point, pa->prev_state.co, efd.loc); - efd.distance = len_v3(efd.vec_to_point); - } - - if (rule->type == eBoidRuleType_Goal && boids->options & BOID_ALLOW_CLIMB && surface!=0.0f) { - if (!bbd->goal_ob || bbd->goal_priority < priority) { - bbd->goal_ob = eob; - copy_v3_v3(bbd->goal_co, efd.loc); - copy_v3_v3(bbd->goal_nor, efd.nor); - } - } - else if (rule->type == eBoidRuleType_Avoid && bpa->data.mode == eBoidMode_Climbing && - priority > 2.0f * gabr->fear_factor) { - /* detach from surface and try to fly away from danger */ - negate_v3_v3(efd.vec_to_point, bpa->gravity); - } - - copy_v3_v3(bbd->wanted_co, efd.vec_to_point); - mul_v3_fl(bbd->wanted_co, mul); - - bbd->wanted_speed = val->max_speed * priority; - - /* with goals factor is approach velocity factor */ - if (rule->type == eBoidRuleType_Goal && boids->landing_smoothness > 0.0f) { - float len2 = 2.0f*len_v3(pa->prev_state.vel); - - surface *= pa->size * boids->height; - - if (len2 > 0.0f && efd.distance - surface < len2) { - len2 = (efd.distance - surface)/len2; - bbd->wanted_speed *= powf(len2, boids->landing_smoothness); - } - } - - ret = 1; - } - - return ret; -} - -static int rule_avoid_collision(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa) -{ - const int raycast_flag = BVH_RAYCAST_DEFAULT & ~(BVH_RAYCAST_WATERTIGHT); - BoidRuleAvoidCollision *acbr = (BoidRuleAvoidCollision*) rule; - KDTreeNearest *ptn = NULL; - ParticleTarget *pt; - BoidParticle *bpa = pa->boid; - ColliderCache *coll; - float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f}; - float co1[3], vel1[3], co2[3], vel2[3]; - float len, t, inp, t_min = 2.0f; - int n, neighbors = 0, nearest = 0; - int ret = 0; - - //check deflector objects first - if (acbr->options & BRULE_ACOLL_WITH_DEFLECTORS && bbd->sim->colliders) { - ParticleCollision col; - BVHTreeRayHit hit; - float radius = val->personal_space * pa->size, ray_dir[3]; - - memset(&col, 0, sizeof(ParticleCollision)); - - copy_v3_v3(col.co1, pa->prev_state.co); - add_v3_v3v3(col.co2, pa->prev_state.co, pa->prev_state.vel); - sub_v3_v3v3(ray_dir, col.co2, col.co1); - mul_v3_fl(ray_dir, acbr->look_ahead); - col.f = 0.0f; - hit.index = -1; - hit.dist = col.original_ray_length = normalize_v3(ray_dir); - - /* find out closest deflector object */ - for (coll = bbd->sim->colliders->first; coll; coll=coll->next) { - /* don't check with current ground object */ - if (coll->ob == bpa->ground) - continue; - - col.current = coll->ob; - col.md = coll->collmd; - - if (col.md && col.md->bvhtree) { - BLI_bvhtree_ray_cast_ex( - col.md->bvhtree, col.co1, ray_dir, radius, &hit, - BKE_psys_collision_neartest_cb, &col, raycast_flag); - } - } - /* then avoid that object */ - if (hit.index>=0) { - t = hit.dist/col.original_ray_length; - - /* avoid head-on collision */ - if (dot_v3v3(col.pce.nor, pa->prev_state.ave) < -0.99f) { - /* don't know why, but uneven range [0.0, 1.0] */ - /* works much better than even [-1.0, 1.0] */ - bbd->wanted_co[0] = BLI_rng_get_float(bbd->rng); - bbd->wanted_co[1] = BLI_rng_get_float(bbd->rng); - bbd->wanted_co[2] = BLI_rng_get_float(bbd->rng); - } - else { - copy_v3_v3(bbd->wanted_co, col.pce.nor); - } - - mul_v3_fl(bbd->wanted_co, (1.0f - t) * val->personal_space * pa->size); - - bbd->wanted_speed = sqrtf(t) * len_v3(pa->prev_state.vel); - bbd->wanted_speed = MAX2(bbd->wanted_speed, val->min_speed); - - return 1; - } - } - - //check boids in own system - if (acbr->options & BRULE_ACOLL_WITH_BOIDS) { - neighbors = BLI_kdtree_range_search__normal( - bbd->sim->psys->tree, pa->prev_state.co, pa->prev_state.ave, - &ptn, acbr->look_ahead * len_v3(pa->prev_state.vel)); - if (neighbors > 1) for (n=1; n<neighbors; n++) { - copy_v3_v3(co1, pa->prev_state.co); - copy_v3_v3(vel1, pa->prev_state.vel); - copy_v3_v3(co2, (bbd->sim->psys->particles + ptn[n].index)->prev_state.co); - copy_v3_v3(vel2, (bbd->sim->psys->particles + ptn[n].index)->prev_state.vel); - - sub_v3_v3v3(loc, co1, co2); - - sub_v3_v3v3(vec, vel1, vel2); - - inp = dot_v3v3(vec, vec); - - /* velocities not parallel */ - if (inp != 0.0f) { - t = -dot_v3v3(loc, vec)/inp; - /* cpa is not too far in the future so investigate further */ - if (t > 0.0f && t < t_min) { - madd_v3_v3fl(co1, vel1, t); - madd_v3_v3fl(co2, vel2, t); - - sub_v3_v3v3(vec, co2, co1); - - len = normalize_v3(vec); - - /* distance of cpa is close enough */ - if (len < 2.0f * val->personal_space * pa->size) { - t_min = t; - - mul_v3_fl(vec, len_v3(vel1)); - mul_v3_fl(vec, (2.0f - t)/2.0f); - sub_v3_v3v3(bbd->wanted_co, vel1, vec); - bbd->wanted_speed = len_v3(bbd->wanted_co); - ret = 1; - } - } - } - } - } - if (ptn) { MEM_freeN(ptn); ptn=NULL; } - - /* check boids in other systems */ - for (pt=bbd->sim->psys->targets.first; pt; pt=pt->next) { - ParticleSystem *epsys = psys_get_target_system(bbd->sim->ob, pt); - - if (epsys) { - BLI_assert(epsys->tree != NULL); - neighbors = BLI_kdtree_range_search__normal( - epsys->tree, pa->prev_state.co, pa->prev_state.ave, - &ptn, acbr->look_ahead * len_v3(pa->prev_state.vel)); - - if (neighbors > 0) for (n=0; n<neighbors; n++) { - copy_v3_v3(co1, pa->prev_state.co); - copy_v3_v3(vel1, pa->prev_state.vel); - copy_v3_v3(co2, (epsys->particles + ptn[n].index)->prev_state.co); - copy_v3_v3(vel2, (epsys->particles + ptn[n].index)->prev_state.vel); - - sub_v3_v3v3(loc, co1, co2); - - sub_v3_v3v3(vec, vel1, vel2); - - inp = dot_v3v3(vec, vec); - - /* velocities not parallel */ - if (inp != 0.0f) { - t = -dot_v3v3(loc, vec)/inp; - /* cpa is not too far in the future so investigate further */ - if (t > 0.0f && t < t_min) { - madd_v3_v3fl(co1, vel1, t); - madd_v3_v3fl(co2, vel2, t); - - sub_v3_v3v3(vec, co2, co1); - - len = normalize_v3(vec); - - /* distance of cpa is close enough */ - if (len < 2.0f * val->personal_space * pa->size) { - t_min = t; - - mul_v3_fl(vec, len_v3(vel1)); - mul_v3_fl(vec, (2.0f - t)/2.0f); - sub_v3_v3v3(bbd->wanted_co, vel1, vec); - bbd->wanted_speed = len_v3(bbd->wanted_co); - ret = 1; - } - } - } - } - - if (ptn) { MEM_freeN(ptn); ptn=NULL; } - } - } - - - if (ptn && nearest==0) - MEM_freeN(ptn); - - return ret; -} -static int rule_separate(BoidRule *UNUSED(rule), BoidBrainData *bbd, BoidValues *val, ParticleData *pa) -{ - KDTreeNearest *ptn = NULL; - ParticleTarget *pt; - float len = 2.0f * val->personal_space * pa->size + 1.0f; - float vec[3] = {0.0f, 0.0f, 0.0f}; - int neighbors = BLI_kdtree_range_search( - bbd->sim->psys->tree, pa->prev_state.co, - &ptn, 2.0f * val->personal_space * pa->size); - int ret = 0; - - if (neighbors > 1 && ptn[1].dist!=0.0f) { - sub_v3_v3v3(vec, pa->prev_state.co, bbd->sim->psys->particles[ptn[1].index].state.co); - mul_v3_fl(vec, (2.0f * val->personal_space * pa->size - ptn[1].dist) / ptn[1].dist); - add_v3_v3(bbd->wanted_co, vec); - bbd->wanted_speed = val->max_speed; - len = ptn[1].dist; - ret = 1; - } - if (ptn) { MEM_freeN(ptn); ptn=NULL; } - - /* check other boid systems */ - for (pt=bbd->sim->psys->targets.first; pt; pt=pt->next) { - ParticleSystem *epsys = psys_get_target_system(bbd->sim->ob, pt); - - if (epsys) { - neighbors = BLI_kdtree_range_search( - epsys->tree, pa->prev_state.co, - &ptn, 2.0f * val->personal_space * pa->size); - - if (neighbors > 0 && ptn[0].dist < len) { - sub_v3_v3v3(vec, pa->prev_state.co, ptn[0].co); - mul_v3_fl(vec, (2.0f * val->personal_space * pa->size - ptn[0].dist) / ptn[1].dist); - add_v3_v3(bbd->wanted_co, vec); - bbd->wanted_speed = val->max_speed; - len = ptn[0].dist; - ret = 1; - } - - if (ptn) { MEM_freeN(ptn); ptn=NULL; } - } - } - return ret; -} -static int rule_flock(BoidRule *UNUSED(rule), BoidBrainData *bbd, BoidValues *UNUSED(val), ParticleData *pa) -{ - KDTreeNearest ptn[11]; - float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f}; - int neighbors = BLI_kdtree_find_nearest_n__normal(bbd->sim->psys->tree, pa->state.co, pa->prev_state.ave, ptn, 11); - int n; - int ret = 0; - - if (neighbors > 1) { - for (n=1; n<neighbors; n++) { - add_v3_v3(loc, bbd->sim->psys->particles[ptn[n].index].prev_state.co); - add_v3_v3(vec, bbd->sim->psys->particles[ptn[n].index].prev_state.vel); - } - - mul_v3_fl(loc, 1.0f/((float)neighbors - 1.0f)); - mul_v3_fl(vec, 1.0f/((float)neighbors - 1.0f)); - - sub_v3_v3(loc, pa->prev_state.co); - sub_v3_v3(vec, pa->prev_state.vel); - - add_v3_v3(bbd->wanted_co, vec); - add_v3_v3(bbd->wanted_co, loc); - bbd->wanted_speed = len_v3(bbd->wanted_co); - - ret = 1; - } - return ret; -} -static int rule_follow_leader(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa) -{ - BoidRuleFollowLeader *flbr = (BoidRuleFollowLeader*) rule; - float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f}; - float mul, len; - int n = (flbr->queue_size <= 1) ? bbd->sim->psys->totpart : flbr->queue_size; - int i, ret = 0, p = pa - bbd->sim->psys->particles; - - if (flbr->ob) { - float vec2[3], t; - - /* first check we're not blocking the leader */ - sub_v3_v3v3(vec, flbr->loc, flbr->oloc); - mul_v3_fl(vec, 1.0f/bbd->timestep); - - sub_v3_v3v3(loc, pa->prev_state.co, flbr->oloc); - - mul = dot_v3v3(vec, vec); - - /* leader is not moving */ - if (mul < 0.01f) { - len = len_v3(loc); - /* too close to leader */ - if (len < 2.0f * val->personal_space * pa->size) { - copy_v3_v3(bbd->wanted_co, loc); - bbd->wanted_speed = val->max_speed; - return 1; - } - } - else { - t = dot_v3v3(loc, vec)/mul; - - /* possible blocking of leader in near future */ - if (t > 0.0f && t < 3.0f) { - copy_v3_v3(vec2, vec); - mul_v3_fl(vec2, t); - - sub_v3_v3v3(vec2, loc, vec2); - - len = len_v3(vec2); - - if (len < 2.0f * val->personal_space * pa->size) { - copy_v3_v3(bbd->wanted_co, vec2); - bbd->wanted_speed = val->max_speed * (3.0f - t)/3.0f; - return 1; - } - } - } - - /* not blocking so try to follow leader */ - if (p && flbr->options & BRULE_LEADER_IN_LINE) { - copy_v3_v3(vec, bbd->sim->psys->particles[p-1].prev_state.vel); - copy_v3_v3(loc, bbd->sim->psys->particles[p-1].prev_state.co); - } - else { - copy_v3_v3(loc, flbr->oloc); - sub_v3_v3v3(vec, flbr->loc, flbr->oloc); - mul_v3_fl(vec, 1.0f/bbd->timestep); - } - - /* fac is seconds behind leader */ - madd_v3_v3fl(loc, vec, -flbr->distance); - - sub_v3_v3v3(bbd->wanted_co, loc, pa->prev_state.co); - bbd->wanted_speed = len_v3(bbd->wanted_co); - - ret = 1; - } - else if (p % n) { - float vec2[3], t, t_min = 3.0f; - - /* first check we're not blocking any leaders */ - for (i = 0; i< bbd->sim->psys->totpart; i+=n) { - copy_v3_v3(vec, bbd->sim->psys->particles[i].prev_state.vel); - - sub_v3_v3v3(loc, pa->prev_state.co, bbd->sim->psys->particles[i].prev_state.co); - - mul = dot_v3v3(vec, vec); - - /* leader is not moving */ - if (mul < 0.01f) { - len = len_v3(loc); - /* too close to leader */ - if (len < 2.0f * val->personal_space * pa->size) { - copy_v3_v3(bbd->wanted_co, loc); - bbd->wanted_speed = val->max_speed; - return 1; - } - } - else { - t = dot_v3v3(loc, vec)/mul; - - /* possible blocking of leader in near future */ - if (t > 0.0f && t < t_min) { - copy_v3_v3(vec2, vec); - mul_v3_fl(vec2, t); - - sub_v3_v3v3(vec2, loc, vec2); - - len = len_v3(vec2); - - if (len < 2.0f * val->personal_space * pa->size) { - t_min = t; - copy_v3_v3(bbd->wanted_co, loc); - bbd->wanted_speed = val->max_speed * (3.0f - t)/3.0f; - ret = 1; - } - } - } - } - - if (ret) return 1; - - /* not blocking so try to follow leader */ - if (flbr->options & BRULE_LEADER_IN_LINE) { - copy_v3_v3(vec, bbd->sim->psys->particles[p-1].prev_state.vel); - copy_v3_v3(loc, bbd->sim->psys->particles[p-1].prev_state.co); - } - else { - copy_v3_v3(vec, bbd->sim->psys->particles[p - p%n].prev_state.vel); - copy_v3_v3(loc, bbd->sim->psys->particles[p - p%n].prev_state.co); - } - - /* fac is seconds behind leader */ - madd_v3_v3fl(loc, vec, -flbr->distance); - - sub_v3_v3v3(bbd->wanted_co, loc, pa->prev_state.co); - bbd->wanted_speed = len_v3(bbd->wanted_co); - - ret = 1; - } - - return ret; -} -static int rule_average_speed(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa) -{ - BoidParticle *bpa = pa->boid; - BoidRuleAverageSpeed *asbr = (BoidRuleAverageSpeed*)rule; - float vec[3] = {0.0f, 0.0f, 0.0f}; - - if (asbr->wander > 0.0f) { - /* abuse pa->r_ave for wandering */ - bpa->wander[0] += asbr->wander * (-1.0f + 2.0f * BLI_rng_get_float(bbd->rng)); - bpa->wander[1] += asbr->wander * (-1.0f + 2.0f * BLI_rng_get_float(bbd->rng)); - bpa->wander[2] += asbr->wander * (-1.0f + 2.0f * BLI_rng_get_float(bbd->rng)); - - normalize_v3(bpa->wander); - - copy_v3_v3(vec, bpa->wander); - - mul_qt_v3(pa->prev_state.rot, vec); - - copy_v3_v3(bbd->wanted_co, pa->prev_state.ave); - - mul_v3_fl(bbd->wanted_co, 1.1f); - - add_v3_v3(bbd->wanted_co, vec); - - /* leveling */ - if (asbr->level > 0.0f && psys_uses_gravity(bbd->sim)) { - project_v3_v3v3(vec, bbd->wanted_co, bbd->sim->scene->physics_settings.gravity); - mul_v3_fl(vec, asbr->level); - sub_v3_v3(bbd->wanted_co, vec); - } - } - else { - copy_v3_v3(bbd->wanted_co, pa->prev_state.ave); - - /* may happen at birth */ - if (dot_v2v2(bbd->wanted_co, bbd->wanted_co)==0.0f) { - bbd->wanted_co[0] = 2.0f*(0.5f - BLI_rng_get_float(bbd->rng)); - bbd->wanted_co[1] = 2.0f*(0.5f - BLI_rng_get_float(bbd->rng)); - bbd->wanted_co[2] = 2.0f*(0.5f - BLI_rng_get_float(bbd->rng)); - } - - /* leveling */ - if (asbr->level > 0.0f && psys_uses_gravity(bbd->sim)) { - project_v3_v3v3(vec, bbd->wanted_co, bbd->sim->scene->physics_settings.gravity); - mul_v3_fl(vec, asbr->level); - sub_v3_v3(bbd->wanted_co, vec); - } - - } - bbd->wanted_speed = asbr->speed * val->max_speed; - - return 1; -} -static int rule_fight(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa) -{ - BoidRuleFight *fbr = (BoidRuleFight*)rule; - KDTreeNearest *ptn = NULL; - ParticleTarget *pt; - ParticleData *epars; - ParticleData *enemy_pa = NULL; - BoidParticle *bpa; - /* friends & enemies */ - float closest_enemy[3] = {0.0f, 0.0f, 0.0f}; - float closest_dist = fbr->distance + 1.0f; - float f_strength = 0.0f, e_strength = 0.0f; - float health = 0.0f; - int n, ret = 0; - - /* calculate own group strength */ - int neighbors = BLI_kdtree_range_search( - bbd->sim->psys->tree, pa->prev_state.co, - &ptn, fbr->distance); - for (n=0; n<neighbors; n++) { - bpa = bbd->sim->psys->particles[ptn[n].index].boid; - health += bpa->data.health; - } - - f_strength += bbd->part->boids->strength * health; - - if (ptn) { MEM_freeN(ptn); ptn=NULL; } - - /* add other friendlies and calculate enemy strength and find closest enemy */ - for (pt=bbd->sim->psys->targets.first; pt; pt=pt->next) { - ParticleSystem *epsys = psys_get_target_system(bbd->sim->ob, pt); - if (epsys) { - epars = epsys->particles; - - neighbors = BLI_kdtree_range_search( - epsys->tree, pa->prev_state.co, - &ptn, fbr->distance); - - health = 0.0f; - - for (n=0; n<neighbors; n++) { - bpa = epars[ptn[n].index].boid; - health += bpa->data.health; - - if (n==0 && pt->mode==PTARGET_MODE_ENEMY && ptn[n].dist < closest_dist) { - copy_v3_v3(closest_enemy, ptn[n].co); - closest_dist = ptn[n].dist; - enemy_pa = epars + ptn[n].index; - } - } - if (pt->mode==PTARGET_MODE_ENEMY) - e_strength += epsys->part->boids->strength * health; - else if (pt->mode==PTARGET_MODE_FRIEND) - f_strength += epsys->part->boids->strength * health; - - if (ptn) { MEM_freeN(ptn); ptn=NULL; } - } - } - /* decide action if enemy presence found */ - if (e_strength > 0.0f) { - sub_v3_v3v3(bbd->wanted_co, closest_enemy, pa->prev_state.co); - - /* attack if in range */ - if (closest_dist <= bbd->part->boids->range + pa->size + enemy_pa->size) { - float damage = BLI_rng_get_float(bbd->rng); - float enemy_dir[3]; - - normalize_v3_v3(enemy_dir, bbd->wanted_co); - - /* fight mode */ - bbd->wanted_speed = 0.0f; - - /* must face enemy to fight */ - if (dot_v3v3(pa->prev_state.ave, enemy_dir)>0.5f) { - bpa = enemy_pa->boid; - bpa->data.health -= bbd->part->boids->strength * bbd->timestep * ((1.0f-bbd->part->boids->accuracy)*damage + bbd->part->boids->accuracy); - } - } - else { - /* approach mode */ - bbd->wanted_speed = val->max_speed; - } - - /* check if boid doesn't want to fight */ - bpa = pa->boid; - if (bpa->data.health/bbd->part->boids->health * bbd->part->boids->aggression < e_strength / f_strength) { - /* decide to flee */ - if (closest_dist < fbr->flee_distance * fbr->distance) { - negate_v3(bbd->wanted_co); - bbd->wanted_speed = val->max_speed; - } - else { /* wait for better odds */ - bbd->wanted_speed = 0.0f; - } - } - - ret = 1; - } - - return ret; -} - -typedef int (*boid_rule_cb)(BoidRule *rule, BoidBrainData *data, BoidValues *val, ParticleData *pa); - -static boid_rule_cb boid_rules[] = { - rule_none, - rule_goal_avoid, - rule_goal_avoid, - rule_avoid_collision, - rule_separate, - rule_flock, - rule_follow_leader, - rule_average_speed, - rule_fight, - //rule_help, - //rule_protect, - //rule_hide, - //rule_follow_path, - //rule_follow_wall -}; - -static void set_boid_values(BoidValues *val, BoidSettings *boids, ParticleData *pa) -{ - BoidParticle *bpa = pa->boid; - - if (ELEM(bpa->data.mode, eBoidMode_OnLand, eBoidMode_Climbing)) { - val->max_speed = boids->land_max_speed * bpa->data.health/boids->health; - val->max_acc = boids->land_max_acc * val->max_speed; - val->max_ave = boids->land_max_ave * (float)M_PI * bpa->data.health/boids->health; - val->min_speed = 0.0f; /* no minimum speed on land */ - val->personal_space = boids->land_personal_space; - val->jump_speed = boids->land_jump_speed * bpa->data.health/boids->health; - } - else { - val->max_speed = boids->air_max_speed * bpa->data.health/boids->health; - val->max_acc = boids->air_max_acc * val->max_speed; - val->max_ave = boids->air_max_ave * (float)M_PI * bpa->data.health/boids->health; - val->min_speed = boids->air_min_speed * boids->air_max_speed; - val->personal_space = boids->air_personal_space; - val->jump_speed = 0.0f; /* no jumping in air */ - } -} - -static Object *boid_find_ground(BoidBrainData *bbd, ParticleData *pa, float ground_co[3], float ground_nor[3]) -{ - const int raycast_flag = BVH_RAYCAST_DEFAULT & ~(BVH_RAYCAST_WATERTIGHT); - BoidParticle *bpa = pa->boid; - - if (bpa->data.mode == eBoidMode_Climbing) { - SurfaceModifierData *surmd = NULL; - float x[3], v[3]; - - surmd = (SurfaceModifierData *)modifiers_findByType(bpa->ground, eModifierType_Surface ); - - /* take surface velocity into account */ - closest_point_on_surface(surmd, pa->state.co, x, NULL, v); - add_v3_v3(x, v); - - /* get actual position on surface */ - closest_point_on_surface(surmd, x, ground_co, ground_nor, NULL); - - return bpa->ground; - } - else { - float zvec[3] = {0.0f, 0.0f, 2000.0f}; - ParticleCollision col; - ColliderCache *coll; - BVHTreeRayHit hit; - float radius = 0.0f, t, ray_dir[3]; - - if (!bbd->sim->colliders) - return NULL; - - memset(&col, 0, sizeof(ParticleCollision)); - - /* first try to find below boid */ - copy_v3_v3(col.co1, pa->state.co); - sub_v3_v3v3(col.co2, pa->state.co, zvec); - sub_v3_v3v3(ray_dir, col.co2, col.co1); - col.f = 0.0f; - hit.index = -1; - hit.dist = col.original_ray_length = normalize_v3(ray_dir); - col.pce.inside = 0; - - for (coll = bbd->sim->colliders->first; coll; coll = coll->next) { - col.current = coll->ob; - col.md = coll->collmd; - col.fac1 = col.fac2 = 0.f; - - if (col.md && col.md->bvhtree) { - BLI_bvhtree_ray_cast_ex( - col.md->bvhtree, col.co1, ray_dir, radius, &hit, - BKE_psys_collision_neartest_cb, &col, raycast_flag); - } - } - /* then use that object */ - if (hit.index>=0) { - t = hit.dist/col.original_ray_length; - interp_v3_v3v3(ground_co, col.co1, col.co2, t); - normalize_v3_v3(ground_nor, col.pce.nor); - return col.hit; - } - - /* couldn't find below, so find upmost deflector object */ - add_v3_v3v3(col.co1, pa->state.co, zvec); - sub_v3_v3v3(col.co2, pa->state.co, zvec); - sub_v3_v3(col.co2, zvec); - sub_v3_v3v3(ray_dir, col.co2, col.co1); - col.f = 0.0f; - hit.index = -1; - hit.dist = col.original_ray_length = normalize_v3(ray_dir); - - for (coll = bbd->sim->colliders->first; coll; coll = coll->next) { - col.current = coll->ob; - col.md = coll->collmd; - - if (col.md && col.md->bvhtree) { - BLI_bvhtree_ray_cast_ex( - col.md->bvhtree, col.co1, ray_dir, radius, &hit, - BKE_psys_collision_neartest_cb, &col, raycast_flag); - } - } - /* then use that object */ - if (hit.index>=0) { - t = hit.dist/col.original_ray_length; - interp_v3_v3v3(ground_co, col.co1, col.co2, t); - normalize_v3_v3(ground_nor, col.pce.nor); - return col.hit; - } - - /* default to z=0 */ - copy_v3_v3(ground_co, pa->state.co); - ground_co[2] = 0; - ground_nor[0] = ground_nor[1] = 0.0f; - ground_nor[2] = 1.0f; - return NULL; - } -} -static int boid_rule_applies(ParticleData *pa, BoidSettings *UNUSED(boids), BoidRule *rule) -{ - BoidParticle *bpa = pa->boid; - - if (rule==NULL) - return 0; - - if (ELEM(bpa->data.mode, eBoidMode_OnLand, eBoidMode_Climbing) && rule->flag & BOIDRULE_ON_LAND) - return 1; - - if (bpa->data.mode==eBoidMode_InAir && rule->flag & BOIDRULE_IN_AIR) - return 1; - - return 0; -} -void boids_precalc_rules(ParticleSettings *part, float cfra) -{ - BoidState *state = part->boids->states.first; - BoidRule *rule; - for (; state; state=state->next) { - for (rule = state->rules.first; rule; rule=rule->next) { - if (rule->type==eBoidRuleType_FollowLeader) { - BoidRuleFollowLeader *flbr = (BoidRuleFollowLeader*) rule; - - if (flbr->ob && flbr->cfra != cfra) { - /* save object locations for velocity calculations */ - copy_v3_v3(flbr->oloc, flbr->loc); - copy_v3_v3(flbr->loc, flbr->ob->obmat[3]); - flbr->cfra = cfra; - } - } - } - } -} -static void boid_climb(BoidSettings *boids, ParticleData *pa, float *surface_co, float *surface_nor) -{ - BoidParticle *bpa = pa->boid; - float nor[3], vel[3]; - copy_v3_v3(nor, surface_nor); - - /* gather apparent gravity */ - madd_v3_v3fl(bpa->gravity, surface_nor, -1.0f); - normalize_v3(bpa->gravity); - - /* raise boid it's size from surface */ - mul_v3_fl(nor, pa->size * boids->height); - add_v3_v3v3(pa->state.co, surface_co, nor); - - /* remove normal component from velocity */ - project_v3_v3v3(vel, pa->state.vel, surface_nor); - sub_v3_v3v3(pa->state.vel, pa->state.vel, vel); -} -static float boid_goal_signed_dist(float *boid_co, float *goal_co, float *goal_nor) -{ - float vec[3]; - - sub_v3_v3v3(vec, boid_co, goal_co); - - return dot_v3v3(vec, goal_nor); -} -/* wanted_co is relative to boid location */ -static int apply_boid_rule(BoidBrainData *bbd, BoidRule *rule, BoidValues *val, ParticleData *pa, float fuzziness) -{ - if (rule==NULL) - return 0; - - if (boid_rule_applies(pa, bbd->part->boids, rule)==0) - return 0; - - if (boid_rules[rule->type](rule, bbd, val, pa)==0) - return 0; - - if (fuzziness < 0.0f || compare_len_v3v3(bbd->wanted_co, pa->prev_state.vel, fuzziness * len_v3(pa->prev_state.vel))==0) - return 1; - else - return 0; -} -static BoidState *get_boid_state(BoidSettings *boids, ParticleData *pa) -{ - BoidState *state = boids->states.first; - BoidParticle *bpa = pa->boid; - - for (; state; state=state->next) { - if (state->id==bpa->data.state_id) - return state; - } - - /* for some reason particle isn't at a valid state */ - state = boids->states.first; - if (state) - bpa->data.state_id = state->id; - - return state; -} -//static int boid_condition_is_true(BoidCondition *cond) -//{ -// /* TODO */ -// return 0; -//} - -/* determines the velocity the boid wants to have */ -void boid_brain(BoidBrainData *bbd, int p, ParticleData *pa) -{ - BoidRule *rule; - BoidSettings *boids = bbd->part->boids; - BoidValues val; - BoidState *state = get_boid_state(boids, pa); - BoidParticle *bpa = pa->boid; - ParticleSystem *psys = bbd->sim->psys; - int rand; - //BoidCondition *cond; - - if (bpa->data.health <= 0.0f) { - pa->alive = PARS_DYING; - pa->dietime = bbd->cfra; - return; - } - - //planned for near future - //cond = state->conditions.first; - //for (; cond; cond=cond->next) { - // if (boid_condition_is_true(cond)) { - // pa->boid->state_id = cond->state_id; - // state = get_boid_state(boids, pa); - // break; /* only first true condition is used */ - // } - //} - - zero_v3(bbd->wanted_co); - bbd->wanted_speed = 0.0f; - - /* create random seed for every particle & frame */ - rand = (int)(psys_frand(psys, psys->seed + p) * 1000); - rand = (int)(psys_frand(psys, (int)bbd->cfra + rand) * 1000); - - set_boid_values(&val, bbd->part->boids, pa); - - /* go through rules */ - switch (state->ruleset_type) { - case eBoidRulesetType_Fuzzy: - { - for (rule = state->rules.first; rule; rule = rule->next) { - if (apply_boid_rule(bbd, rule, &val, pa, state->rule_fuzziness)) - break; /* only first nonzero rule that comes through fuzzy rule is applied */ - } - break; - } - case eBoidRulesetType_Random: - { - /* use random rule for each particle (always same for same particle though) */ - const int n = BLI_listbase_count(&state->rules); - if (n) { - rule = BLI_findlink(&state->rules, rand % n); - apply_boid_rule(bbd, rule, &val, pa, -1.0); - } - break; - } - case eBoidRulesetType_Average: - { - float wanted_co[3] = {0.0f, 0.0f, 0.0f}, wanted_speed = 0.0f; - int n = 0; - for (rule = state->rules.first; rule; rule=rule->next) { - if (apply_boid_rule(bbd, rule, &val, pa, -1.0f)) { - add_v3_v3(wanted_co, bbd->wanted_co); - wanted_speed += bbd->wanted_speed; - n++; - zero_v3(bbd->wanted_co); - bbd->wanted_speed = 0.0f; - } - } - - if (n > 1) { - mul_v3_fl(wanted_co, 1.0f/(float)n); - wanted_speed /= (float)n; - } - - copy_v3_v3(bbd->wanted_co, wanted_co); - bbd->wanted_speed = wanted_speed; - break; - } - - } - - /* decide on jumping & liftoff */ - if (bpa->data.mode == eBoidMode_OnLand) { - /* fuzziness makes boids capable of misjudgement */ - float mul = 1.0f + state->rule_fuzziness; - - if (boids->options & BOID_ALLOW_FLIGHT && bbd->wanted_co[2] > 0.0f) { - float cvel[3], dir[3]; - - copy_v3_v3(dir, pa->prev_state.ave); - normalize_v2(dir); - - copy_v3_v3(cvel, bbd->wanted_co); - normalize_v2(cvel); - - if (dot_v2v2(cvel, dir) > 0.95f / mul) - bpa->data.mode = eBoidMode_Liftoff; - } - else if (val.jump_speed > 0.0f) { - float jump_v[3]; - int jump = 0; - - /* jump to get to a location */ - if (bbd->wanted_co[2] > 0.0f) { - float cvel[3], dir[3]; - float z_v, ground_v, cur_v; - float len; - - copy_v3_v3(dir, pa->prev_state.ave); - normalize_v2(dir); - - copy_v3_v3(cvel, bbd->wanted_co); - normalize_v2(cvel); - - len = len_v2(pa->prev_state.vel); - - /* first of all, are we going in a suitable direction? */ - /* or at a suitably slow speed */ - if (dot_v2v2(cvel, dir) > 0.95f / mul || len <= state->rule_fuzziness) { - /* try to reach goal at highest point of the parabolic path */ - cur_v = len_v2(pa->prev_state.vel); - z_v = sasqrt(-2.0f * bbd->sim->scene->physics_settings.gravity[2] * bbd->wanted_co[2]); - ground_v = len_v2(bbd->wanted_co)*sasqrt(-0.5f * bbd->sim->scene->physics_settings.gravity[2] / bbd->wanted_co[2]); - - len = sasqrt((ground_v-cur_v)*(ground_v-cur_v) + z_v*z_v); - - if (len < val.jump_speed * mul || bbd->part->boids->options & BOID_ALLOW_FLIGHT) { - jump = 1; - - len = MIN2(len, val.jump_speed); - - copy_v3_v3(jump_v, dir); - jump_v[2] = z_v; - mul_v3_fl(jump_v, ground_v); - - normalize_v3(jump_v); - mul_v3_fl(jump_v, len); - add_v2_v2v2(jump_v, jump_v, pa->prev_state.vel); - } - } - } - - /* jump to go faster */ - if (jump == 0 && val.jump_speed > val.max_speed && bbd->wanted_speed > val.max_speed) { - - } - - if (jump) { - copy_v3_v3(pa->prev_state.vel, jump_v); - bpa->data.mode = eBoidMode_Falling; - } - } - } -} -/* tries to realize the wanted velocity taking all constraints into account */ -void boid_body(BoidBrainData *bbd, ParticleData *pa) -{ - BoidSettings *boids = bbd->part->boids; - BoidParticle *bpa = pa->boid; - BoidValues val; - EffectedPoint epoint; - float acc[3] = {0.0f, 0.0f, 0.0f}, tan_acc[3], nor_acc[3]; - float dvec[3], bvec[3]; - float new_dir[3], new_speed; - float old_dir[3], old_speed; - float wanted_dir[3]; - float q[4], mat[3][3]; /* rotation */ - float ground_co[3] = {0.0f, 0.0f, 0.0f}, ground_nor[3] = {0.0f, 0.0f, 1.0f}; - float force[3] = {0.0f, 0.0f, 0.0f}; - float pa_mass=bbd->part->mass, dtime=bbd->dfra*bbd->timestep; - - set_boid_values(&val, boids, pa); - - /* make sure there's something in new velocity, location & rotation */ - copy_particle_key(&pa->state, &pa->prev_state, 0); - - if (bbd->part->flag & PART_SIZEMASS) - pa_mass*=pa->size; - - /* if boids can't fly they fall to the ground */ - if ((boids->options & BOID_ALLOW_FLIGHT)==0 && ELEM(bpa->data.mode, eBoidMode_OnLand, eBoidMode_Climbing)==0 && psys_uses_gravity(bbd->sim)) - bpa->data.mode = eBoidMode_Falling; - - if (bpa->data.mode == eBoidMode_Falling) { - /* Falling boids are only effected by gravity. */ - acc[2] = bbd->sim->scene->physics_settings.gravity[2]; - } - else { - /* figure out acceleration */ - float landing_level = 2.0f; - float level = landing_level + 1.0f; - float new_vel[3]; - - if (bpa->data.mode == eBoidMode_Liftoff) { - bpa->data.mode = eBoidMode_InAir; - bpa->ground = boid_find_ground(bbd, pa, ground_co, ground_nor); - } - else if (bpa->data.mode == eBoidMode_InAir && boids->options & BOID_ALLOW_LAND) { - /* auto-leveling & landing if close to ground */ - - bpa->ground = boid_find_ground(bbd, pa, ground_co, ground_nor); - - /* level = how many particle sizes above ground */ - level = (pa->prev_state.co[2] - ground_co[2])/(2.0f * pa->size) - 0.5f; - - landing_level = - boids->landing_smoothness * pa->prev_state.vel[2] * pa_mass; - - if (pa->prev_state.vel[2] < 0.0f) { - if (level < 1.0f) { - bbd->wanted_co[0] = bbd->wanted_co[1] = bbd->wanted_co[2] = 0.0f; - bbd->wanted_speed = 0.0f; - bpa->data.mode = eBoidMode_Falling; - } - else if (level < landing_level) { - bbd->wanted_speed *= (level - 1.0f)/landing_level; - bbd->wanted_co[2] *= (level - 1.0f)/landing_level; - } - } - } - - copy_v3_v3(old_dir, pa->prev_state.ave); - new_speed = normalize_v3_v3(wanted_dir, bbd->wanted_co); - - /* first check if we have valid direction we want to go towards */ - if (new_speed == 0.0f) { - copy_v3_v3(new_dir, old_dir); - } - else { - float old_dir2[2], wanted_dir2[2], nor[3], angle; - copy_v2_v2(old_dir2, old_dir); - normalize_v2(old_dir2); - copy_v2_v2(wanted_dir2, wanted_dir); - normalize_v2(wanted_dir2); - - /* choose random direction to turn if wanted velocity */ - /* is directly behind regardless of z-coordinate */ - if (dot_v2v2(old_dir2, wanted_dir2) < -0.99f) { - wanted_dir[0] = 2.0f*(0.5f - BLI_rng_get_float(bbd->rng)); - wanted_dir[1] = 2.0f*(0.5f - BLI_rng_get_float(bbd->rng)); - wanted_dir[2] = 2.0f*(0.5f - BLI_rng_get_float(bbd->rng)); - normalize_v3(wanted_dir); - } - - /* constrain direction with maximum angular velocity */ - angle = saacos(dot_v3v3(old_dir, wanted_dir)); - angle = min_ff(angle, val.max_ave); - - cross_v3_v3v3(nor, old_dir, wanted_dir); - axis_angle_to_quat(q, nor, angle); - copy_v3_v3(new_dir, old_dir); - mul_qt_v3(q, new_dir); - normalize_v3(new_dir); - - /* save direction in case resulting velocity too small */ - axis_angle_to_quat(q, nor, angle*dtime); - copy_v3_v3(pa->state.ave, old_dir); - mul_qt_v3(q, pa->state.ave); - normalize_v3(pa->state.ave); - } - - /* constrain speed with maximum acceleration */ - old_speed = len_v3(pa->prev_state.vel); - - if (bbd->wanted_speed < old_speed) - new_speed = MAX2(bbd->wanted_speed, old_speed - val.max_acc); - else - new_speed = MIN2(bbd->wanted_speed, old_speed + val.max_acc); - - /* combine direction and speed */ - copy_v3_v3(new_vel, new_dir); - mul_v3_fl(new_vel, new_speed); - - /* maintain minimum flying velocity if not landing */ - if (level >= landing_level) { - float len2 = dot_v2v2(new_vel, new_vel); - float root; - - len2 = MAX2(len2, val.min_speed*val.min_speed); - root = sasqrt(new_speed*new_speed - len2); - - new_vel[2] = new_vel[2] < 0.0f ? -root : root; - - normalize_v2(new_vel); - mul_v2_fl(new_vel, sasqrt(len2)); - } - - /* finally constrain speed to max speed */ - new_speed = normalize_v3(new_vel); - mul_v3_fl(new_vel, MIN2(new_speed, val.max_speed)); - - /* get acceleration from difference of velocities */ - sub_v3_v3v3(acc, new_vel, pa->prev_state.vel); - - /* break acceleration to components */ - project_v3_v3v3(tan_acc, acc, pa->prev_state.ave); - sub_v3_v3v3(nor_acc, acc, tan_acc); - } - - /* account for effectors */ - pd_point_from_particle(bbd->sim, pa, &pa->state, &epoint); - pdDoEffectors(bbd->sim->psys->effectors, bbd->sim->colliders, bbd->part->effector_weights, &epoint, force, NULL); - - if (ELEM(bpa->data.mode, eBoidMode_OnLand, eBoidMode_Climbing)) { - float length = normalize_v3(force); - - length = MAX2(0.0f, length - boids->land_stick_force); - - mul_v3_fl(force, length); - } - - add_v3_v3(acc, force); - - /* store smoothed acceleration for nice banking etc. */ - madd_v3_v3fl(bpa->data.acc, acc, dtime); - mul_v3_fl(bpa->data.acc, 1.0f / (1.0f + dtime)); - - /* integrate new location & velocity */ - - /* by regarding the acceleration as a force at this stage we*/ - /* can get better control allthough it's a bit unphysical */ - mul_v3_fl(acc, 1.0f/pa_mass); - - copy_v3_v3(dvec, acc); - mul_v3_fl(dvec, dtime*dtime*0.5f); - - copy_v3_v3(bvec, pa->prev_state.vel); - mul_v3_fl(bvec, dtime); - add_v3_v3(dvec, bvec); - add_v3_v3(pa->state.co, dvec); - - madd_v3_v3fl(pa->state.vel, acc, dtime); - - //if (bpa->data.mode != eBoidMode_InAir) - bpa->ground = boid_find_ground(bbd, pa, ground_co, ground_nor); - - /* change modes, constrain movement & keep track of down vector */ - switch (bpa->data.mode) { - case eBoidMode_InAir: - { - float grav[3]; - - grav[0] = 0.0f; - grav[1] = 0.0f; - grav[2] = bbd->sim->scene->physics_settings.gravity[2] < 0.0f ? -1.0f : 0.0f; - - /* don't take forward acceleration into account (better banking) */ - if (dot_v3v3(bpa->data.acc, pa->state.vel) > 0.0f) { - project_v3_v3v3(dvec, bpa->data.acc, pa->state.vel); - sub_v3_v3v3(dvec, bpa->data.acc, dvec); - } - else { - copy_v3_v3(dvec, bpa->data.acc); - } - - /* gather apparent gravity */ - madd_v3_v3v3fl(bpa->gravity, grav, dvec, -boids->banking); - normalize_v3(bpa->gravity); - - /* stick boid on goal when close enough */ - if (bbd->goal_ob && boid_goal_signed_dist(pa->state.co, bbd->goal_co, bbd->goal_nor) <= pa->size * boids->height) { - bpa->data.mode = eBoidMode_Climbing; - bpa->ground = bbd->goal_ob; - boid_find_ground(bbd, pa, ground_co, ground_nor); - boid_climb(boids, pa, ground_co, ground_nor); - } - else if (pa->state.co[2] <= ground_co[2] + pa->size * boids->height) { - /* land boid when below ground */ - if (boids->options & BOID_ALLOW_LAND) { - pa->state.co[2] = ground_co[2] + pa->size * boids->height; - pa->state.vel[2] = 0.0f; - bpa->data.mode = eBoidMode_OnLand; - } - /* fly above ground */ - else if (bpa->ground) { - pa->state.co[2] = ground_co[2] + pa->size * boids->height; - pa->state.vel[2] = 0.0f; - } - } - break; - } - case eBoidMode_Falling: - { - float grav[3]; - - grav[0] = 0.0f; - grav[1] = 0.0f; - grav[2] = bbd->sim->scene->physics_settings.gravity[2] < 0.0f ? -1.0f : 0.0f; - - - /* gather apparent gravity */ - madd_v3_v3fl(bpa->gravity, grav, dtime); - normalize_v3(bpa->gravity); - - if (boids->options & BOID_ALLOW_LAND) { - /* stick boid on goal when close enough */ - if (bbd->goal_ob && boid_goal_signed_dist(pa->state.co, bbd->goal_co, bbd->goal_nor) <= pa->size * boids->height) { - bpa->data.mode = eBoidMode_Climbing; - bpa->ground = bbd->goal_ob; - boid_find_ground(bbd, pa, ground_co, ground_nor); - boid_climb(boids, pa, ground_co, ground_nor); - } - /* land boid when really near ground */ - else if (pa->state.co[2] <= ground_co[2] + 1.01f * pa->size * boids->height) { - pa->state.co[2] = ground_co[2] + pa->size * boids->height; - pa->state.vel[2] = 0.0f; - bpa->data.mode = eBoidMode_OnLand; - } - /* if we're falling, can fly and want to go upwards lets fly */ - else if (boids->options & BOID_ALLOW_FLIGHT && bbd->wanted_co[2] > 0.0f) - bpa->data.mode = eBoidMode_InAir; - } - else - bpa->data.mode = eBoidMode_InAir; - break; - } - case eBoidMode_Climbing: - { - boid_climb(boids, pa, ground_co, ground_nor); - //float nor[3]; - //copy_v3_v3(nor, ground_nor); - - ///* gather apparent gravity to r_ve */ - //madd_v3_v3fl(pa->r_ve, ground_nor, -1.0); - //normalize_v3(pa->r_ve); - - ///* raise boid it's size from surface */ - //mul_v3_fl(nor, pa->size * boids->height); - //add_v3_v3v3(pa->state.co, ground_co, nor); - - ///* remove normal component from velocity */ - //project_v3_v3v3(v, pa->state.vel, ground_nor); - //sub_v3_v3v3(pa->state.vel, pa->state.vel, v); - break; - } - case eBoidMode_OnLand: - { - /* stick boid on goal when close enough */ - if (bbd->goal_ob && boid_goal_signed_dist(pa->state.co, bbd->goal_co, bbd->goal_nor) <= pa->size * boids->height) { - bpa->data.mode = eBoidMode_Climbing; - bpa->ground = bbd->goal_ob; - boid_find_ground(bbd, pa, ground_co, ground_nor); - boid_climb(boids, pa, ground_co, ground_nor); - } - /* ground is too far away so boid falls */ - else if (pa->state.co[2]-ground_co[2] > 1.1f * pa->size * boids->height) - bpa->data.mode = eBoidMode_Falling; - else { - /* constrain to surface */ - pa->state.co[2] = ground_co[2] + pa->size * boids->height; - pa->state.vel[2] = 0.0f; - } - - if (boids->banking > 0.0f) { - float grav[3]; - /* Don't take gravity's strength in to account, */ - /* otherwise amount of banking is hard to control. */ - negate_v3_v3(grav, ground_nor); - - project_v3_v3v3(dvec, bpa->data.acc, pa->state.vel); - sub_v3_v3v3(dvec, bpa->data.acc, dvec); - - /* gather apparent gravity */ - madd_v3_v3v3fl(bpa->gravity, grav, dvec, -boids->banking); - normalize_v3(bpa->gravity); - } - else { - /* gather negative surface normal */ - madd_v3_v3fl(bpa->gravity, ground_nor, -1.0f); - normalize_v3(bpa->gravity); - } - break; - } - } - - /* save direction to state.ave unless the boid is falling */ - /* (boids can't effect their direction when falling) */ - if (bpa->data.mode!=eBoidMode_Falling && len_v3(pa->state.vel) > 0.1f*pa->size) { - copy_v3_v3(pa->state.ave, pa->state.vel); - pa->state.ave[2] *= bbd->part->boids->pitch; - normalize_v3(pa->state.ave); - } - - /* apply damping */ - if (ELEM(bpa->data.mode, eBoidMode_OnLand, eBoidMode_Climbing)) - mul_v3_fl(pa->state.vel, 1.0f - 0.2f*bbd->part->dampfac); - - /* calculate rotation matrix based on forward & down vectors */ - if (bpa->data.mode == eBoidMode_InAir) { - copy_v3_v3(mat[0], pa->state.ave); - - project_v3_v3v3(dvec, bpa->gravity, pa->state.ave); - sub_v3_v3v3(mat[2], bpa->gravity, dvec); - normalize_v3(mat[2]); - } - else { - project_v3_v3v3(dvec, pa->state.ave, bpa->gravity); - sub_v3_v3v3(mat[0], pa->state.ave, dvec); - normalize_v3(mat[0]); - - copy_v3_v3(mat[2], bpa->gravity); - } - negate_v3(mat[2]); - cross_v3_v3v3(mat[1], mat[2], mat[0]); - - /* apply rotation */ - mat3_to_quat_is_ok(q, mat); - copy_qt_qt(pa->state.rot, q); -} - -BoidRule *boid_new_rule(int type) -{ - BoidRule *rule = NULL; - if (type <= 0) - return NULL; - - switch (type) { - case eBoidRuleType_Goal: - case eBoidRuleType_Avoid: - rule = MEM_callocN(sizeof(BoidRuleGoalAvoid), "BoidRuleGoalAvoid"); - break; - case eBoidRuleType_AvoidCollision: - rule = MEM_callocN(sizeof(BoidRuleAvoidCollision), "BoidRuleAvoidCollision"); - ((BoidRuleAvoidCollision*)rule)->look_ahead = 2.0f; - break; - case eBoidRuleType_FollowLeader: - rule = MEM_callocN(sizeof(BoidRuleFollowLeader), "BoidRuleFollowLeader"); - ((BoidRuleFollowLeader*)rule)->distance = 1.0f; - break; - case eBoidRuleType_AverageSpeed: - rule = MEM_callocN(sizeof(BoidRuleAverageSpeed), "BoidRuleAverageSpeed"); - ((BoidRuleAverageSpeed*)rule)->speed = 0.5f; - break; - case eBoidRuleType_Fight: - rule = MEM_callocN(sizeof(BoidRuleFight), "BoidRuleFight"); - ((BoidRuleFight*)rule)->distance = 100.0f; - ((BoidRuleFight*)rule)->flee_distance = 100.0f; - break; - default: - rule = MEM_callocN(sizeof(BoidRule), "BoidRule"); - break; - } - - rule->type = type; - rule->flag |= BOIDRULE_IN_AIR|BOIDRULE_ON_LAND; -// BLI_strncpy(rule->name, rna_enum_boidrule_type_items[type-1].name, sizeof(rule->name)); - rule->name[0] = '\0'; - - return rule; -} -void boid_default_settings(BoidSettings *boids) -{ - boids->air_max_speed = 10.0f; - boids->air_max_acc = 0.5f; - boids->air_max_ave = 0.5f; - boids->air_personal_space = 1.0f; - - boids->land_max_speed = 5.0f; - boids->land_max_acc = 0.5f; - boids->land_max_ave = 0.5f; - boids->land_personal_space = 1.0f; - - boids->options = BOID_ALLOW_FLIGHT; - - boids->landing_smoothness = 3.0f; - boids->banking = 1.0f; - boids->pitch = 1.0f; - boids->height = 1.0f; - - boids->health = 1.0f; - boids->accuracy = 1.0f; - boids->aggression = 2.0f; - boids->range = 1.0f; - boids->strength = 0.1f; -} - -BoidState *boid_new_state(BoidSettings *boids) -{ - BoidState *state = MEM_callocN(sizeof(BoidState), "BoidState"); - - state->id = boids->last_state_id++; - if (state->id) - BLI_snprintf(state->name, sizeof(state->name), "State %i", state->id); - else - strcpy(state->name, "State"); - - state->rule_fuzziness = 0.5; - state->volume = 1.0f; - state->channels |= ~0; - - return state; -} - -BoidState *boid_duplicate_state(BoidSettings *boids, BoidState *state) -{ - BoidState *staten = MEM_dupallocN(state); - - BLI_duplicatelist(&staten->rules, &state->rules); - BLI_duplicatelist(&staten->conditions, &state->conditions); - BLI_duplicatelist(&staten->actions, &state->actions); - - staten->id = boids->last_state_id++; - - return staten; -} -void boid_free_settings(BoidSettings *boids) -{ - if (boids) { - BoidState *state = boids->states.first; - - for (; state; state=state->next) { - BLI_freelistN(&state->rules); - BLI_freelistN(&state->conditions); - BLI_freelistN(&state->actions); - } - - BLI_freelistN(&boids->states); - - MEM_freeN(boids); - } -} -BoidSettings *boid_copy_settings(BoidSettings *boids) -{ - BoidSettings *nboids = NULL; - - if (boids) { - BoidState *state; - BoidState *nstate; - - nboids = MEM_dupallocN(boids); - - BLI_duplicatelist(&nboids->states, &boids->states); - - state = boids->states.first; - nstate = nboids->states.first; - for (; state; state=state->next, nstate=nstate->next) { - BLI_duplicatelist(&nstate->rules, &state->rules); - BLI_duplicatelist(&nstate->conditions, &state->conditions); - BLI_duplicatelist(&nstate->actions, &state->actions); - } - } - - return nboids; -} -BoidState *boid_get_current_state(BoidSettings *boids) -{ - BoidState *state = boids->states.first; - - for (; state; state=state->next) { - if (state->flag & BOIDSTATE_CURRENT) - break; - } - - return state; -} - |