diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_SteeringActuator.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_SteeringActuator.cpp | 639 |
1 files changed, 0 insertions, 639 deletions
diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.cpp b/source/gameengine/Ketsji/KX_SteeringActuator.cpp deleted file mode 100644 index d3a7b665e61..00000000000 --- a/source/gameengine/Ketsji/KX_SteeringActuator.cpp +++ /dev/null @@ -1,639 +0,0 @@ -/* - * Add steering behaviors - * - * - * ***** 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) 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 "BLI_math.h" -#include "KX_SteeringActuator.h" -#include "KX_GameObject.h" -#include "KX_NavMeshObject.h" -#include "KX_ObstacleSimulation.h" -#include "KX_PythonInit.h" -#include "KX_PyMath.h" -#include "Recast.h" - -/* ------------------------------------------------------------------------- */ -/* Native functions */ -/* ------------------------------------------------------------------------- */ - -KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj, - int mode, - KX_GameObject *target, - KX_GameObject *navmesh, - float distance, - float velocity, - float acceleration, - float turnspeed, - bool isSelfTerminated, - int pathUpdatePeriod, - KX_ObstacleSimulation* simulation, - short facingmode, - bool normalup, - bool enableVisualization, - bool lockzvel) - : SCA_IActuator(gameobj, KX_ACT_STEERING), - m_target(target), - m_mode(mode), - m_distance(distance), - m_velocity(velocity), - m_acceleration(acceleration), - m_turnspeed(turnspeed), - m_simulation(simulation), - m_updateTime(0), - m_obstacle(NULL), - m_isActive(false), - m_isSelfTerminated(isSelfTerminated), - m_enableVisualization(enableVisualization), - m_facingMode(facingmode), - m_normalUp(normalup), - m_pathLen(0), - m_pathUpdatePeriod(pathUpdatePeriod), - m_lockzvel(lockzvel), - m_wayPointIdx(-1), - m_steerVec(MT_Vector3(0, 0, 0)) -{ - m_navmesh = static_cast<KX_NavMeshObject*>(navmesh); - if (m_navmesh) - m_navmesh->RegisterActuator(this); - if (m_target) - m_target->RegisterActuator(this); - - if (m_simulation) - m_obstacle = m_simulation->GetObstacle((KX_GameObject*)gameobj); - KX_GameObject* parent = ((KX_GameObject*)gameobj)->GetParent(); - if (m_facingMode>0 && parent) - { - m_parentlocalmat = parent->GetSGNode()->GetLocalOrientation(); - } - else - m_parentlocalmat.setIdentity(); -} - -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(); -} - -void KX_SteeringActuator::ReParent(SCA_IObject* parent) -{ - SCA_IActuator::ReParent(parent); - if (m_simulation) - m_obstacle = m_simulation->GetObstacle((KX_GameObject*)m_gameobj); -} - -bool KX_SteeringActuator::UnlinkObject(SCA_IObject* clientobj) -{ - if (clientobj == m_target) - { - m_target = NULL; - return true; - } - else if (clientobj == m_navmesh) - { - m_navmesh = NULL; - return true; - } - return false; -} - -void KX_SteeringActuator::Relink(CTR_Map<CTR_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(double curtime, bool frame) -{ - if (frame) - { - double delta = curtime - m_updateTime; - m_updateTime = curtime; - - if (m_posevent && !m_isActive) - { - delta = 0.0; - m_pathUpdateTime = -1.0; - m_updateTime = curtime; - m_isActive = true; - } - bool bNegativeEvent = IsNegativeEvent(); - if (bNegativeEvent) - m_isActive = false; - - RemoveAllEvents(); - - if (!delta) - return true; - - if (bNegativeEvent || !m_target) - 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 vectotarg2d = vectotarg; - vectotarg2d.z() = 0.0f; - m_steerVec = MT_Vector3(0.0f, 0.0f, 0.0f); - bool apply_steerforce = false; - bool terminate = true; - - switch (m_mode) { - case KX_STEERING_SEEK: - if (vectotarg2d.length2()>m_distance*m_distance) - { - terminate = false; - m_steerVec = vectotarg; - m_steerVec.normalize(); - apply_steerforce = true; - } - break; - case KX_STEERING_FLEE: - if (vectotarg2d.length2()<m_distance*m_distance) - { - terminate = false; - m_steerVec = -vectotarg; - m_steerVec.normalize(); - apply_steerforce = true; - } - break; - case KX_STEERING_PATHFOLLOWING: - if (m_navmesh && vectotarg.length2()>m_distance*m_distance) - { - terminate = false; - - static const MT_Scalar WAYPOINT_RADIUS(0.25f); - - if (m_pathUpdateTime<0 || (m_pathUpdatePeriod>=0 && - curtime - m_pathUpdateTime>((double)m_pathUpdatePeriod/1000.0))) - { - m_pathUpdateTime = curtime; - m_pathLen = m_navmesh->FindPath(mypos, targpos, m_path, MAX_PATH_LENGTH); - m_wayPointIdx = m_pathLen > 1 ? 1 : -1; - } - - if (m_wayPointIdx>0) - { - MT_Vector3 waypoint(&m_path[3*m_wayPointIdx]); - if ((waypoint-mypos).length2()<WAYPOINT_RADIUS*WAYPOINT_RADIUS) - { - m_wayPointIdx++; - if (m_wayPointIdx>=m_pathLen) - { - m_wayPointIdx = -1; - terminate = true; - } - else - waypoint.setValue(&m_path[3*m_wayPointIdx]); - } - - m_steerVec = waypoint - mypos; - apply_steerforce = true; - - - if (m_enableVisualization) - { - //debug draw - static const MT_Vector3 PATH_COLOR(1.0f,0.0f,0.0f); - m_navmesh->DrawPath(m_path, m_pathLen, PATH_COLOR); - } - } - - } - break; - } - - if (apply_steerforce) - { - bool isdyna = obj->IsDynamic(); - if (isdyna) - m_steerVec.z() = 0; - if (!m_steerVec.fuzzyZero()) - m_steerVec.normalize(); - MT_Vector3 newvel = m_velocity * m_steerVec; - - //adjust velocity to avoid obstacles - if (m_simulation && m_obstacle /*&& !newvel.fuzzyZero()*/) - { - if (m_enableVisualization) - KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.0f, 0.0f, 0.0f)); - m_simulation->AdjustObstacleVelocity(m_obstacle, m_mode!=KX_STEERING_PATHFOLLOWING ? m_navmesh : NULL, - newvel, m_acceleration*(float)delta, m_turnspeed/(180.0f*(float)(M_PI*delta))); - if (m_enableVisualization) - KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.0f, 1.0f, 0.0f)); - } - - HandleActorFace(newvel); - if (isdyna) - { - //temporary solution: set 2D steering velocity directly to obj - //correct way is to apply physical force - MT_Vector3 curvel = obj->GetLinearVelocity(); - - if (m_lockzvel) - newvel.z() = 0.0f; - else - newvel.z() = curvel.z(); - - obj->setLinearVelocity(newvel, false); - } - else - { - MT_Vector3 movement = delta*newvel; - obj->ApplyMovement(movement, false); - } - } - else - { - if (m_simulation && m_obstacle) - { - m_obstacle->dvel[0] = 0.f; - m_obstacle->dvel[1] = 0.f; - } - - } - - if (terminate && m_isSelfTerminated) - return false; - } - - return true; -} - -const MT_Vector3& KX_SteeringActuator::GetSteeringVec() -{ - static MT_Vector3 ZERO_VECTOR(0, 0, 0); - if (m_isActive) - return m_steerVec; - else - return ZERO_VECTOR; -} - -inline float vdot2(const float* a, const float* b) -{ - return a[0]*b[0] + a[2]*b[2]; -} -static bool barDistSqPointToTri(const float* p, const float* a, const float* b, const float* c) -{ - float v0[3], v1[3], v2[3]; - rcVsub(v0, c,a); - rcVsub(v1, b,a); - rcVsub(v2, p,a); - - const float dot00 = vdot2(v0, v0); - const float dot01 = vdot2(v0, v1); - const float dot02 = vdot2(v0, v2); - const float dot11 = vdot2(v1, v1); - const float dot12 = vdot2(v1, v2); - - // Compute barycentric coordinates - float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01); - float u = (dot11 * dot02 - dot01 * dot12) * invDenom; - float v = (dot00 * dot12 - dot01 * dot02) * invDenom; - - float ud = u<0.f ? -u : (u>1.f ? u-1.f : 0.f); - float vd = v<0.f ? -v : (v>1.f ? v-1.f : 0.f); - return ud * ud + vd * vd; -} - -inline void flipAxes(float* vec) -{ - std::swap(vec[1],vec[2]); -} - -static bool getNavmeshNormal(dtStatNavMesh* navmesh, const MT_Vector3& pos, MT_Vector3& normal) -{ - static const float polyPickExt[3] = {2, 4, 2}; - float spos[3]; - pos.getValue(spos); - flipAxes(spos); - dtStatPolyRef sPolyRef = navmesh->findNearestPoly(spos, polyPickExt); - if (sPolyRef == 0) - return false; - const dtStatPoly* p = navmesh->getPoly(sPolyRef-1); - const dtStatPolyDetail* pd = navmesh->getPolyDetail(sPolyRef-1); - - float distMin = FLT_MAX; - int idxMin = -1; - for (int i = 0; i < pd->ntris; ++i) - { - const unsigned char* t = navmesh->getDetailTri(pd->tbase+i); - const float* v[3]; - for (int j = 0; j < 3; ++j) - { - if (t[j] < p->nv) - v[j] = navmesh->getVertex(p->v[t[j]]); - else - v[j] = navmesh->getDetailVertex(pd->vbase+(t[j]-p->nv)); - } - float dist = barDistSqPointToTri(spos, v[0], v[1], v[2]); - if (dist<distMin) - { - distMin = dist; - idxMin = i; - } - } - - if (idxMin>=0) - { - const unsigned char* t = navmesh->getDetailTri(pd->tbase+idxMin); - const float* v[3]; - for (int j = 0; j < 3; ++j) - { - if (t[j] < p->nv) - v[j] = navmesh->getVertex(p->v[t[j]]); - else - v[j] = navmesh->getDetailVertex(pd->vbase+(t[j]-p->nv)); - } - MT_Vector3 tri[3]; - for (size_t j=0; j<3; j++) - tri[j].setValue(v[j][0],v[j][2],v[j][1]); - MT_Vector3 a,b; - a = tri[1]-tri[0]; - b = tri[2]-tri[0]; - normal = b.cross(a).safe_normalized(); - return true; - } - - return false; -} - -void KX_SteeringActuator::HandleActorFace(MT_Vector3& velocity) -{ - if (m_facingMode==0 && (!m_navmesh || !m_normalUp)) - return; - KX_GameObject* curobj = (KX_GameObject*) GetParent(); - MT_Vector3 dir = m_facingMode==0 ? curobj->NodeGetLocalOrientation().getColumn(1) : velocity; - if (dir.fuzzyZero()) - return; - dir.normalize(); - MT_Vector3 up(0,0,1); - MT_Vector3 left; - MT_Matrix3x3 mat; - - if (m_navmesh && m_normalUp) - { - dtStatNavMesh* navmesh = m_navmesh->GetNavMesh(); - MT_Vector3 normal; - MT_Vector3 trpos = m_navmesh->TransformToLocalCoords(curobj->NodeGetWorldPosition()); - if (getNavmeshNormal(navmesh, trpos, normal)) - { - - left = (dir.cross(up)).safe_normalized(); - dir = (-left.cross(normal)).safe_normalized(); - up = normal; - } - } - - switch (m_facingMode) - { - case 1: // TRACK X - { - left = dir.safe_normalized(); - dir = -(left.cross(up)).safe_normalized(); - break; - }; - case 2: // TRACK Y - { - left = (dir.cross(up)).safe_normalized(); - break; - } - - case 3: // track Z - { - left = up.safe_normalized(); - up = dir.safe_normalized(); - dir = left; - left = (dir.cross(up)).safe_normalized(); - break; - } - - case 4: // TRACK -X - { - left = -dir.safe_normalized(); - dir = -(left.cross(up)).safe_normalized(); - break; - }; - case 5: // TRACK -Y - { - left = (-dir.cross(up)).safe_normalized(); - dir = -dir; - break; - } - case 6: // track -Z - { - left = up.safe_normalized(); - up = -dir.safe_normalized(); - dir = left; - left = (dir.cross(up)).safe_normalized(); - break; - } - } - - mat.setValue ( - left[0], dir[0],up[0], - left[1], dir[1],up[1], - left[2], dir[2],up[2] - ); - - - - KX_GameObject* parentObject = curobj->GetParent(); - if (parentObject) - { - MT_Point3 localpos; - localpos = curobj->GetSGNode()->GetLocalPosition(); - MT_Matrix3x3 parentmatinv; - parentmatinv = parentObject->NodeGetWorldOrientation ().inverse (); - mat = parentmatinv * mat; - mat = m_parentlocalmat * mat; - curobj->NodeSetLocalOrientation(mat); - curobj->NodeSetLocalPosition(localpos); - } - else - { - curobj->NodeSetLocalOrientation(mat); - } - -} - -#ifdef WITH_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_INT_RW("behavior", KX_STEERING_NODEF+1, KX_STEERING_MAX-1, true, KX_SteeringActuator, m_mode), - KX_PYATTRIBUTE_RW_FUNCTION("target", KX_SteeringActuator, pyattr_get_target, pyattr_set_target), - KX_PYATTRIBUTE_RW_FUNCTION("navmesh", KX_SteeringActuator, pyattr_get_navmesh, pyattr_set_navmesh), - KX_PYATTRIBUTE_FLOAT_RW("distance", 0.0f, 1000.0f, KX_SteeringActuator, m_distance), - KX_PYATTRIBUTE_FLOAT_RW("velocity", 0.0f, 1000.0f, KX_SteeringActuator, m_velocity), - KX_PYATTRIBUTE_FLOAT_RW("acceleration", 0.0f, 1000.0f, KX_SteeringActuator, m_acceleration), - KX_PYATTRIBUTE_FLOAT_RW("turnspeed", 0.0f, 720.0f, KX_SteeringActuator, m_turnspeed), - KX_PYATTRIBUTE_BOOL_RW("selfterminated", KX_SteeringActuator, m_isSelfTerminated), - KX_PYATTRIBUTE_BOOL_RW("enableVisualization", KX_SteeringActuator, m_enableVisualization), - KX_PYATTRIBUTE_RO_FUNCTION("steeringVec", KX_SteeringActuator, pyattr_get_steeringVec), - KX_PYATTRIBUTE_SHORT_RW("facingMode", 0, 6, true, KX_SteeringActuator, m_facingMode), - KX_PYATTRIBUTE_INT_RW("pathUpdatePeriod", -1, 100000, true, KX_SteeringActuator, m_pathUpdatePeriod), - KX_PYATTRIBUTE_BOOL_RW("lockZVelocity", KX_SteeringActuator, m_lockzvel), - { 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(actuator->GetLogicManager(), 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; -} - -PyObject *KX_SteeringActuator::pyattr_get_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef) -{ - KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self); - if (!actuator->m_navmesh) - Py_RETURN_NONE; - else - return actuator->m_navmesh->GetProxy(); -} - -int KX_SteeringActuator::pyattr_set_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) -{ - KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self); - KX_GameObject *gameobj; - - if (!ConvertPythonToGameObject(actuator->GetLogicManager(), value, &gameobj, true, "actuator.object = value: KX_SteeringActuator")) - return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error - - if (dynamic_cast<KX_NavMeshObject *>(gameobj) == NULL) { - PyErr_Format(PyExc_TypeError, "KX_NavMeshObject is expected"); - return PY_SET_ATTR_FAIL; - } - - if (actuator->m_navmesh != NULL) - actuator->m_navmesh->UnregisterActuator(actuator); - - actuator->m_navmesh = static_cast<KX_NavMeshObject*>(gameobj); - - if (actuator->m_navmesh) - actuator->m_navmesh->RegisterActuator(actuator); - - return PY_SET_ATTR_SUCCESS; -} - -PyObject *KX_SteeringActuator::pyattr_get_steeringVec(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef) -{ - KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self); - const MT_Vector3& steeringVec = actuator->GetSteeringVec(); - return PyObjectFrom(steeringVec); -} - -#endif // WITH_PYTHON - -/* eof */ - |