diff options
Diffstat (limited to 'source')
58 files changed, 6623 insertions, 44 deletions
diff --git a/source/blender/blenkernel/intern/customdata.c b/source/blender/blenkernel/intern/customdata.c index c342bbc917f..883f67c3061 100644 --- a/source/blender/blenkernel/intern/customdata.c +++ b/source/blender/blenkernel/intern/customdata.c @@ -867,7 +867,9 @@ static const LayerTypeInfo LAYERTYPEINFO[CD_NUMTYPES] = { {sizeof(MCol)*4, "MCol", 4, "TexturedCol", NULL, NULL, layerInterp_mcol, layerSwap_mcol, layerDefault_mcol}, /* 23: CD_CLOTH_ORCO */ - {sizeof(float)*3, "", 0, NULL, NULL, NULL, NULL, NULL, NULL} + {sizeof(float)*3, "", 0, NULL, NULL, NULL, NULL, NULL, NULL}, + /* 24: CD_RECAST */ + {sizeof(MRecast), "MRecast", 1,"Recast",NULL,NULL,NULL,NULL} }; static const char *LAYERTYPENAMES[CD_NUMTYPES] = { @@ -875,7 +877,7 @@ static const char *LAYERTYPENAMES[CD_NUMTYPES] = { /* 5-9 */ "CDMTFace", "CDMCol", "CDOrigIndex", "CDNormal", "CDFlags", /* 10-14 */ "CDMFloatProperty", "CDMIntProperty","CDMStringProperty", "CDOrigSpace", "CDOrco", /* 15-19 */ "CDMTexPoly", "CDMLoopUV", "CDMloopCol", "CDTangent", "CDMDisps", - /* 20-23 */"CDWeightMCol", "CDIDMCol", "CDTextureMCol", "CDClothOrco" + /* 20-24 */"CDWeightMCol", "CDIDMCol", "CDTextureMCol", "CDClothOrco", "CDMRecast" }; const CustomDataMask CD_MASK_BAREMESH = @@ -883,14 +885,14 @@ const CustomDataMask CD_MASK_BAREMESH = const CustomDataMask CD_MASK_MESH = CD_MASK_MVERT | CD_MASK_MEDGE | CD_MASK_MFACE | CD_MASK_MSTICKY | CD_MASK_MDEFORMVERT | CD_MASK_MTFACE | CD_MASK_MCOL | - CD_MASK_PROP_FLT | CD_MASK_PROP_INT | CD_MASK_PROP_STR | CD_MASK_MDISPS; + CD_MASK_PROP_FLT | CD_MASK_PROP_INT | CD_MASK_PROP_STR | CD_MASK_MDISPS | CD_MASK_RECAST; const CustomDataMask CD_MASK_EDITMESH = CD_MASK_MSTICKY | CD_MASK_MDEFORMVERT | CD_MASK_MTFACE | - CD_MASK_MCOL|CD_MASK_PROP_FLT | CD_MASK_PROP_INT | CD_MASK_PROP_STR | CD_MASK_MDISPS; + CD_MASK_MCOL|CD_MASK_PROP_FLT | CD_MASK_PROP_INT | CD_MASK_PROP_STR | CD_MASK_MDISPS | CD_MASK_RECAST; const CustomDataMask CD_MASK_DERIVEDMESH = CD_MASK_MSTICKY | CD_MASK_MDEFORMVERT | CD_MASK_MTFACE | CD_MASK_MCOL | CD_MASK_ORIGINDEX | CD_MASK_PROP_FLT | CD_MASK_PROP_INT | CD_MASK_CLOTH_ORCO | - CD_MASK_PROP_STR | CD_MASK_ORIGSPACE | CD_MASK_ORCO | CD_MASK_TANGENT | CD_MASK_WEIGHT_MCOL; + CD_MASK_PROP_STR | CD_MASK_ORIGSPACE | CD_MASK_ORCO | CD_MASK_TANGENT | CD_MASK_WEIGHT_MCOL | CD_MASK_RECAST; const CustomDataMask CD_MASK_BMESH = CD_MASK_MSTICKY | CD_MASK_MDEFORMVERT | CD_MASK_PROP_FLT | CD_MASK_PROP_INT | CD_MASK_PROP_STR; const CustomDataMask CD_MASK_FACECORNERS = diff --git a/source/blender/blenkernel/intern/object.c b/source/blender/blenkernel/intern/object.c index 0dc83084c90..898cec7fa55 100644 --- a/source/blender/blenkernel/intern/object.c +++ b/source/blender/blenkernel/intern/object.c @@ -1082,6 +1082,7 @@ Object *add_only_object(int type, const char *name) ob->state=1; /* ob->pad3 == Contact Processing Threshold */ ob->m_contactProcessingThreshold = 1.; + ob->obstacleRad = 1.; /* NT fluid sim defaults */ ob->fluidsimFlag = 0; diff --git a/source/blender/blenkernel/intern/sca.c b/source/blender/blenkernel/intern/sca.c index 0d523599598..d529a6d94c9 100644 --- a/source/blender/blenkernel/intern/sca.c +++ b/source/blender/blenkernel/intern/sca.c @@ -396,6 +396,7 @@ void init_actuator(bActuator *act) bObjectActuator *oa; bRandomActuator *ra; bSoundActuator *sa; + bSteeringActuator *sta; if(act->data) MEM_freeN(act->data); act->data= NULL; @@ -470,6 +471,16 @@ void init_actuator(bActuator *act) case ACT_ARMATURE: act->data = MEM_callocN(sizeof( bArmatureActuator ), "armature act"); break; + case ACT_STEERING: + act->data = MEM_callocN(sizeof( bSteeringActuator), "steering act"); + sta = act->data; + sta->acceleration = 3.f; + sta->turnspeed = 120.f; + sta->dist = 1.f; + sta->velocity= 3.f; + sta->flag = ACT_STEERING_AUTOMATICFACING; + sta->facingaxis = 1; + break; default: ; /* this is very severe... I cannot make any memory for this */ /* logic brick... */ @@ -595,6 +606,11 @@ void set_sca_new_poins_ob(Object *ob) bPropertyActuator *pa= act->data; ID_NEW(pa->ob); } + else if(act->type==ACT_STEERING) { + bSteeringActuator *sta = act->data; + ID_NEW(sta->navmesh); + ID_NEW(sta->target); + } } act= act->next; } diff --git a/source/blender/blenkernel/intern/scene.c b/source/blender/blenkernel/intern/scene.c index d6003a44a7d..1454b3f0ce3 100644 --- a/source/blender/blenkernel/intern/scene.c +++ b/source/blender/blenkernel/intern/scene.c @@ -514,6 +514,23 @@ Scene *add_scene(const char *name) sce->gm.flag = GAME_DISPLAY_LISTS; sce->gm.matmode = GAME_MAT_MULTITEX; + sce->gm.obstacleSimulation= OBSTSIMULATION_NONE; + sce->gm.levelHeight = 2.f; + + sce->gm.recastData.cellsize = 0.3f; + sce->gm.recastData.cellheight = 0.2f; + sce->gm.recastData.agentmaxslope = M_PI/2; + sce->gm.recastData.agentmaxclimb = 0.9f; + sce->gm.recastData.agentheight = 2.0f; + sce->gm.recastData.agentradius = 0.6f; + sce->gm.recastData.edgemaxlen = 12.0f; + sce->gm.recastData.edgemaxerror = 1.3f; + sce->gm.recastData.regionminsize = 50.f; + sce->gm.recastData.regionmergesize = 20.f; + sce->gm.recastData.vertsperpoly = 6; + sce->gm.recastData.detailsampledist = 6.0f; + sce->gm.recastData.detailsamplemaxerror = 1.0f; + sound_create_scene(sce); return sce; diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c index eb5d6a6fbcb..316999df6f6 100644 --- a/source/blender/blenloader/intern/readfile.c +++ b/source/blender/blenloader/intern/readfile.c @@ -3896,6 +3896,11 @@ static void lib_link_object(FileData *fd, Main *main) arma->target= newlibadr(fd, ob->id.lib, arma->target); arma->subtarget= newlibadr(fd, ob->id.lib, arma->subtarget); } + else if(act->type==ACT_STEERING) { + bSteeringActuator *steeringa = act->data; + steeringa->target = newlibadr(fd, ob->id.lib, steeringa->target); + steeringa->navmesh = newlibadr(fd, ob->id.lib, steeringa->navmesh); + } act= act->next; } @@ -11615,6 +11620,23 @@ static void do_versions(FileData *fd, Library *lib, Main *main) } } + // init facing axis property of steering actuators + { + Object *ob; + for(ob = main->object.first; ob; ob = ob->id.next) { + bActuator *act; + for(act= ob->actuators.first; act; act= act->next) { + if(act->type==ACT_STEERING) { + bSteeringActuator* stact = act->data; + if (stact->facingaxis==0) + { + stact->facingaxis=1; + } + } + } + } + } + if (main->versionfile < 256) { bScreen *sc; ScrArea *sa; @@ -12018,6 +12040,43 @@ static void do_versions(FileData *fd, Library *lib, Main *main) } + //set defaults for obstacle avoidance, recast data + { + Scene *sce; + for(sce = main->scene.first; sce; sce = sce->id.next) + { + if (sce->gm.levelHeight == 0.f) + sce->gm.levelHeight = 2.f; + + if(sce->gm.recastData.cellsize == 0.0f) + sce->gm.recastData.cellsize = 0.3f; + if(sce->gm.recastData.cellheight == 0.0f) + sce->gm.recastData.cellheight = 0.2f; + if(sce->gm.recastData.agentmaxslope == 0.0f) + sce->gm.recastData.agentmaxslope = M_PI/4; + if(sce->gm.recastData.agentmaxclimb == 0.0f) + sce->gm.recastData.agentmaxclimb = 0.9f; + if(sce->gm.recastData.agentheight == 0.0f) + sce->gm.recastData.agentheight = 2.0f; + if(sce->gm.recastData.agentradius == 0.0f) + sce->gm.recastData.agentradius = 0.6f; + if(sce->gm.recastData.edgemaxlen == 0.0f) + sce->gm.recastData.edgemaxlen = 12.0f; + if(sce->gm.recastData.edgemaxerror == 0.0f) + sce->gm.recastData.edgemaxerror = 1.3f; + if(sce->gm.recastData.regionminsize == 0.0f) + sce->gm.recastData.regionminsize = 50.f; + if(sce->gm.recastData.regionmergesize == 0.0f) + sce->gm.recastData.regionmergesize = 20.f; + if(sce->gm.recastData.vertsperpoly<3) + sce->gm.recastData.vertsperpoly = 6; + if(sce->gm.recastData.detailsampledist == 0.0f) + sce->gm.recastData.detailsampledist = 6.0f; + if(sce->gm.recastData.detailsamplemaxerror == 0.0f) + sce->gm.recastData.detailsamplemaxerror = 1.0f; + } + } + /* WATCH IT!!!: pointers from libdata have not been converted yet here! */ /* WATCH IT 2!: Userdef struct init has to be in editors/interface/resources.c! */ @@ -12922,6 +12981,11 @@ static void expand_object(FileData *fd, Main *mainvar, Object *ob) bArmatureActuator *arma= act->data; expand_doit(fd, mainvar, arma->target); } + else if(act->type==ACT_STEERING) { + bSteeringActuator *sta= act->data; + expand_doit(fd, mainvar, sta->target); + expand_doit(fd, mainvar, sta->navmesh); + } act= act->next; } diff --git a/source/blender/blenloader/intern/writefile.c b/source/blender/blenloader/intern/writefile.c index 3b736e8aeae..e92ec5dbe6e 100644 --- a/source/blender/blenloader/intern/writefile.c +++ b/source/blender/blenloader/intern/writefile.c @@ -1146,6 +1146,9 @@ static void write_actuators(WriteData *wd, ListBase *lb) case ACT_ARMATURE: writestruct(wd, DATA, "bArmatureActuator", 1, act->data); break; + case ACT_STEERING: + writestruct(wd, DATA, "bSteeringActuator", 1, act->data); + break; default: ; /* error: don't know how to write this file */ } diff --git a/source/blender/editors/include/ED_navmesh_conversion.h b/source/blender/editors/include/ED_navmesh_conversion.h new file mode 100644 index 00000000000..28922142f5c --- /dev/null +++ b/source/blender/editors/include/ED_navmesh_conversion.h @@ -0,0 +1,96 @@ +/** +* $Id$ +* +* ***** 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. +* +* 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 NAVMESH_CONVERSION_H +#define NAVMESH_CONVERSION_H + +#ifdef __cplusplus +extern "C" { +#endif + +struct DerivedMesh; + +/* navmesh_conversion.cpp */ +bool buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int& vertsPerPoly, + int &nverts, float *&verts, + int &ndtris, unsigned short *&dtris, + int& npolys, unsigned short *&dmeshes, + unsigned short*& polys, int *&dtrisToPolysMap, + int *&dtrisToTrisMap, int *&trisToFacesMap); + +bool buildRawVertIndicesData(DerivedMesh* dm, int &nverts, float *&verts, + int &ntris, unsigned short *&tris, int *&trisToFacesMap, + int *&recastData); + +bool buildNavMeshData(const int nverts, const float* verts, + const int ntris, const unsigned short *tris, + const int* recastData, const int* trisToFacesMap, + int &ndtris, unsigned short *&dtris, + int &npolys, unsigned short *&dmeshes, unsigned short *&polys, + int &vertsPerPoly, int *&dtrisToPolysMap, int *&dtrisToTrisMap); + +bool buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys, + unsigned short* polys, const unsigned short* dmeshes, + const float* verts, const unsigned short* dtris, + const int* dtrisToPolysMap); + +int polyNumVerts(const unsigned short* p, const int vertsPerPoly); +bool polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts); +int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx); +float distPointToSegmentSq(const float* point, const float* a, const float* b); + + +inline int bit(int a, int b) +{ + return (a & (1 << b)) >> b; +} + +inline void intToCol(int i, float* col) +{ + int r = bit(i, 0) + bit(i, 3) * 2 + 1; + int g = bit(i, 1) + bit(i, 4) * 2 + 1; + int b = bit(i, 2) + bit(i, 5) * 2 + 1; + col[0] = 1 - r*63.0f/255.0f; + col[1] = 1 - g*63.0f/255.0f; + col[2] = 1 - b*63.0f/255.0f; +} + +inline float area2(const float* a, const float* b, const float* c) +{ + return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]); +} +inline bool left(const float* a, const float* b, const float* c) +{ + return area2(a, b, c) < 0; +} + +#ifdef __cplusplus +} +#endif +#endif //NAVMESH_CONVERSION_H
\ No newline at end of file diff --git a/source/blender/editors/object/CMakeLists.txt b/source/blender/editors/object/CMakeLists.txt index 14b40d55f11..de74a0321c7 100644 --- a/source/blender/editors/object/CMakeLists.txt +++ b/source/blender/editors/object/CMakeLists.txt @@ -33,6 +33,7 @@ set(INC ../../render/extern/include ../../windowmanager ../../../../intern/guardedalloc + ../../../../extern/recastnavigation/Recast/Include ) set(INC_SYS @@ -48,6 +49,7 @@ set(SRC object_hook.c object_lattice.c object_modifier.c + object_navmesh.cpp object_ops.c object_relations.c object_select.c diff --git a/source/blender/editors/object/SConscript b/source/blender/editors/object/SConscript index ca048cb59f9..900c96044a5 100644 --- a/source/blender/editors/object/SConscript +++ b/source/blender/editors/object/SConscript @@ -1,12 +1,13 @@ #!/usr/bin/python Import ('env') -sources = env.Glob('*.c') +sources = env.Glob('*.c') + env.Glob('*.cpp') incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../imbuf' incs += ' ../../windowmanager #/intern/guardedalloc ../../blenloader' incs += ' ../../makesrna ../../python ../../ikplugin' incs += ' ../../render/extern/include ../../gpu' # for object_bake.c +incs += ' #extern/recastnavigation/Recast/Include' defs = [] diff --git a/source/blender/editors/object/object_intern.h b/source/blender/editors/object/object_intern.h index c308d36f838..3da0723ec18 100644 --- a/source/blender/editors/object/object_intern.h +++ b/source/blender/editors/object/object_intern.h @@ -223,5 +223,10 @@ void OBJECT_OT_group_remove(struct wmOperatorType *ot); /* object_bake.c */ void OBJECT_OT_bake_image(wmOperatorType *ot); +/* object_navmesh.cpp */ +void OBJECT_OT_create_navmesh(struct wmOperatorType *ot); +void OBJECT_OT_assign_navpolygon(struct wmOperatorType *ot); +void OBJECT_OT_assign_new_navpolygon(struct wmOperatorType *ot); + #endif /* ED_OBJECT_INTERN_H */ diff --git a/source/blender/editors/object/object_navmesh.cpp b/source/blender/editors/object/object_navmesh.cpp new file mode 100644 index 00000000000..8ee63296c70 --- /dev/null +++ b/source/blender/editors/object/object_navmesh.cpp @@ -0,0 +1,629 @@ +/** +* $Id$ +* +* ***** 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. +* +* 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) 2004 by Blender Foundation +* All rights reserved. +* +* The Original Code is: all of this file. +* +* Contributor(s): none yet. +* +* ***** END GPL LICENSE BLOCK ***** +*/ + +#include <math.h> +#include "Recast.h" + +extern "C" +{ +#include "MEM_guardedalloc.h" + +#include "DNA_scene_types.h" +#include "DNA_object_types.h" +#include "DNA_meshdata_types.h" +#include "DNA_modifier_types.h" +#include "DNA_ID.h" + +#include "BKE_library.h" +#include "BKE_depsgraph.h" +#include "BKE_context.h" +#include "BKE_mesh.h" +#include "BKE_modifier.h" +#include "BKE_scene.h" +#include "BKE_DerivedMesh.h" +#include "BKE_cdderivedmesh.h" +#include "BLI_editVert.h" +#include "BLI_listbase.h" +#include "BLI_utildefines.h" +#include "ED_object.h" +#include "BLI_math_vector.h" + +#include "RNA_access.h" + +#include "ED_mesh.h" + +/*mesh/mesh_intern.h */ +extern struct EditVert *addvertlist(EditMesh *em, float *vec, struct EditVert *example); +extern struct EditFace *addfacelist(EditMesh *em, struct EditVert *v1, struct EditVert *v2, struct EditVert *v3, struct EditVert *v4, struct EditFace *example, struct EditFace *exampleEdges); +extern void free_vertlist(EditMesh *em, ListBase *edve); +extern void free_edgelist(EditMesh *em, ListBase *lb); +extern void free_facelist(EditMesh *em, ListBase *lb); + +#include "WM_api.h" +#include "WM_types.h" + +static void createVertsTrisData(bContext *C, LinkNode* obs, int& nverts, float*& verts, int &ntris, int*& tris) +{ + MVert *mvert; + int nfaces = 0, *tri, i, curnverts, basenverts, curnfaces; + MFace *mface; + float co[3], wco[3]; + Object *ob; + LinkNode *oblink, *dmlink; + DerivedMesh *dm; + Scene* scene = CTX_data_scene(C); + LinkNode* dms = NULL; + + nverts = 0; + ntris = 0; + //calculate number of verts and tris + for (oblink = obs; oblink; oblink = oblink->next) + { + ob = (Object*) oblink->link; + DerivedMesh *dm = mesh_create_derived_no_virtual(scene, ob, NULL, CD_MASK_MESH); + BLI_linklist_append(&dms, (void*)dm); + + nverts += dm->getNumVerts(dm); + nfaces = dm->getNumFaces(dm); + ntris += nfaces; + + //resolve quad faces + mface = dm->getFaceArray(dm); + for (i=0; i<nfaces; i++) + { + MFace* mf = &mface[i]; + if (mf->v4) + ntris+=1; + } + } + + //create data + verts = (float*) MEM_mallocN(sizeof(float)*3*nverts, "verts"); + tris = (int*) MEM_mallocN(sizeof(int)*3*ntris, "faces"); + + basenverts = 0; + tri = tris; + for (oblink = obs, dmlink = dms; oblink && dmlink; + oblink = oblink->next, dmlink = dmlink->next) + { + ob = (Object*) oblink->link; + dm = (DerivedMesh*) dmlink->link; + + curnverts = dm->getNumVerts(dm); + mvert = dm->getVertArray(dm); + //copy verts + for (i=0; i<curnverts; i++) + { + MVert *v = &mvert[i]; + copy_v3_v3(co, v->co); + mul_v3_m4v3(wco, ob->obmat, co); + verts[3*(basenverts+i)+0] = wco[0]; + verts[3*(basenverts+i)+1] = wco[2]; + verts[3*(basenverts+i)+2] = wco[1]; + } + + //create tris + curnfaces = dm->getNumFaces(dm); + mface = dm->getFaceArray(dm); + for (i=0; i<curnfaces; i++) + { + MFace* mf = &mface[i]; + tri[0]= basenverts + mf->v1; tri[1]= basenverts + mf->v3; tri[2]= basenverts + mf->v2; + tri += 3; + if (mf->v4) + { + tri[0]= basenverts + mf->v1; tri[1]= basenverts + mf->v4; tri[2]= basenverts + mf->v3; + tri += 3; + } + } + basenverts += curnverts; + } + + //release derived mesh + for (dmlink = dms; dmlink; dmlink = dmlink->next) + { + dm = (DerivedMesh*) dmlink->link; + dm->release(dm); + } + BLI_linklist_free(dms, NULL); +} + +static bool buildNavMesh(const RecastData& recastParams, int nverts, float* verts, int ntris, int* tris, + rcPolyMesh*& pmesh, rcPolyMeshDetail*& dmesh) +{ + float bmin[3], bmax[3]; + rcHeightfield* solid; + unsigned char *triflags; + rcCompactHeightfield* chf; + rcContourSet *cset; + + rcCalcBounds(verts, nverts, bmin, bmax); + + // + // Step 1. Initialize build config. + // + rcConfig cfg; + memset(&cfg, 0, sizeof(cfg)); + { +/* + float cellsize = 0.3f; + float cellheight = 0.2f; + float agentmaxslope = M_PI/4; + float agentmaxclimb = 0.9f; + float agentheight = 2.0f; + float agentradius = 0.6f; + float edgemaxlen = 12.0f; + float edgemaxerror = 1.3f; + float regionminsize = 50.f; + float regionmergesize = 20.f; + int vertsperpoly = 6; + float detailsampledist = 6.0f; + float detailsamplemaxerror = 1.0f; + cfg.cs = cellsize; + cfg.ch = cellheight; + cfg.walkableSlopeAngle = agentmaxslope/M_PI*180.f; + cfg.walkableHeight = (int)ceilf(agentheight/ cfg.ch); + cfg.walkableClimb = (int)floorf(agentmaxclimb / cfg.ch); + cfg.walkableRadius = (int)ceilf(agentradius / cfg.cs); + cfg.maxEdgeLen = (int)(edgemaxlen/cellsize); + cfg.maxSimplificationError = edgemaxerror; + cfg.minRegionSize = (int)rcSqr(regionminsize); + cfg.mergeRegionSize = (int)rcSqr(regionmergesize); + cfg.maxVertsPerPoly = vertsperpoly; + cfg.detailSampleDist = detailsampledist< 0.9f ? 0 : cellsize * detailsampledist; + cfg.detailSampleMaxError = cellheight * detailsamplemaxerror; +*/ + cfg.cs = recastParams.cellsize; + cfg.ch = recastParams.cellheight; + cfg.walkableSlopeAngle = recastParams.agentmaxslope/((float)M_PI)*180.f; + cfg.walkableHeight = (int)ceilf(recastParams.agentheight/ cfg.ch); + cfg.walkableClimb = (int)floorf(recastParams.agentmaxclimb / cfg.ch); + cfg.walkableRadius = (int)ceilf(recastParams.agentradius / cfg.cs); + cfg.maxEdgeLen = (int)(recastParams.edgemaxlen/recastParams.cellsize); + cfg.maxSimplificationError = recastParams.edgemaxerror; + cfg.minRegionSize = (int)rcSqr(recastParams.regionminsize); + cfg.mergeRegionSize = (int)rcSqr(recastParams.regionmergesize); + cfg.maxVertsPerPoly = recastParams.vertsperpoly; + cfg.detailSampleDist = recastParams.detailsampledist< 0.9f ? 0 : + recastParams.cellsize * recastParams.detailsampledist; + cfg.detailSampleMaxError = recastParams.cellheight * recastParams.detailsamplemaxerror; + + } + + // Set the area where the navigation will be build. + vcopy(cfg.bmin, bmin); + vcopy(cfg.bmax, bmax); + rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height); + + // + // Step 2. Rasterize input polygon soup. + // + // Allocate voxel heightfield where we rasterize our input data to. + solid = new rcHeightfield; + if (!solid) + return false; + + if (!rcCreateHeightfield(*solid, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch)) + return false; + + // Allocate array that can hold triangle flags. + triflags = (unsigned char*) MEM_mallocN(sizeof(unsigned char)*ntris, "triflags"); + if (!triflags) + return false; + // Find triangles which are walkable based on their slope and rasterize them. + memset(triflags, 0, ntris*sizeof(unsigned char)); + rcMarkWalkableTriangles(cfg.walkableSlopeAngle, verts, nverts, tris, ntris, triflags); + rcRasterizeTriangles(verts, nverts, tris, triflags, ntris, *solid); + MEM_freeN(triflags); + MEM_freeN(verts); + MEM_freeN(tris); + + // + // Step 3. Filter walkables surfaces. + // + rcFilterLedgeSpans(cfg.walkableHeight, cfg.walkableClimb, *solid); + rcFilterWalkableLowHeightSpans(cfg.walkableHeight, *solid); + + // + // Step 4. Partition walkable surface to simple regions. + // + + chf = new rcCompactHeightfield; + if (!chf) + return false; + if (!rcBuildCompactHeightfield(cfg.walkableHeight, cfg.walkableClimb, RC_WALKABLE, *solid, *chf)) + return false; + + delete solid; + + // Prepare for region partitioning, by calculating distance field along the walkable surface. + if (!rcBuildDistanceField(*chf)) + return false; + + // Partition the walkable surface into simple regions without holes. + if (!rcBuildRegions(*chf, cfg.walkableRadius, cfg.borderSize, cfg.minRegionSize, cfg.mergeRegionSize)) + return false; + + // + // Step 5. Trace and simplify region contours. + // + // Create contours. + cset = new rcContourSet; + if (!cset) + return false; + + if (!rcBuildContours(*chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset)) + return false; + + // + // Step 6. Build polygons mesh from contours. + // + pmesh = new rcPolyMesh; + if (!pmesh) + return false; + if (!rcBuildPolyMesh(*cset, cfg.maxVertsPerPoly, *pmesh)) + return false; + + + // + // Step 7. Create detail mesh which allows to access approximate height on each polygon. + // + + dmesh = new rcPolyMeshDetail; + if (!dmesh) + return false; + + if (!rcBuildPolyMeshDetail(*pmesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *dmesh)) + return false; + + delete chf; + delete cset; + + return true; +} + +static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshDetail*& dmesh, Base* base) +{ + float co[3], rot[3]; + EditMesh *em; + int i,j, k, polyverts; + unsigned short* v; + int face[3]; + Main *bmain = CTX_data_main(C); + Scene *scene= CTX_data_scene(C); + Object* obedit; + int createob = base==NULL; + zero_v3(co); + zero_v3(rot); + if (createob) + { + //create new object + obedit = ED_object_add_type(C, OB_MESH, co, rot, FALSE, 1); + } + else + { + obedit = base->object; + scene_select_base(scene, base); + copy_v3_v3(obedit->loc, co); + copy_v3_v3(obedit->rot, rot); + } + + ED_object_enter_editmode(C, EM_DO_UNDO|EM_IGNORE_LAYER); + em = BKE_mesh_get_editmesh(((Mesh *)obedit->data)); + + if (!createob) + { + //clear + if(em->verts.first) free_vertlist(em, &em->verts); + if(em->edges.first) free_edgelist(em, &em->edges); + if(em->faces.first) free_facelist(em, &em->faces); + if(em->selected.first) BLI_freelistN(&(em->selected)); + } + + //create verts for polygon mesh + for(i = 0; i < pmesh->nverts; i++) { + v = &pmesh->verts[3*i]; + co[0] = pmesh->bmin[0] + v[0]*pmesh->cs; + co[1] = pmesh->bmin[1] + v[1]*pmesh->ch; + co[2] = pmesh->bmin[2] + v[2]*pmesh->cs; + SWAP(float, co[1], co[2]); + addvertlist(em, co, NULL); + } + polyverts = pmesh->nverts; + + //create custom data layer to save polygon idx + CustomData_add_layer_named(&em->fdata, CD_RECAST, CD_CALLOC, NULL, 0, "recastData"); + + //create verts and faces for detailed mesh + for (i=0; i<dmesh->nmeshes; i++) + { + int uniquevbase = em->totvert; + unsigned short vbase = dmesh->meshes[4*i+0]; + unsigned short ndv = dmesh->meshes[4*i+1]; + unsigned short tribase = dmesh->meshes[4*i+2]; + unsigned short trinum = dmesh->meshes[4*i+3]; + const unsigned short* p = &pmesh->polys[i*pmesh->nvp*2]; + int nv = 0; + for (j = 0; j < pmesh->nvp; ++j) + { + if (p[j] == 0xffff) break; + nv++; + } + //create unique verts + for (j=nv; j<ndv; j++) + { + copy_v3_v3(co, &dmesh->verts[3*(vbase + j)]); + SWAP(float, co[1], co[2]); + addvertlist(em, co, NULL); + } + + EM_init_index_arrays(em, 1, 0, 0); + + //create faces + for (j=0; j<trinum; j++) + { + unsigned char* tri = &dmesh->tris[4*(tribase+j)]; + EditFace* newFace; + for (k=0; k<3; k++) + { + if (tri[k]<nv) + face[k] = p[tri[k]]; //shared vertex + else + face[k] = uniquevbase+tri[k]-nv; //unique vertex + } + newFace = addfacelist(em, EM_get_vert_for_index(face[0]), EM_get_vert_for_index(face[2]), + EM_get_vert_for_index(face[1]), NULL, NULL, NULL); + + //set navigation polygon idx to the custom layer + int* polygonIdx = (int*)CustomData_em_get(&em->fdata, newFace->data, CD_RECAST); + *polygonIdx = i+1; //add 1 to avoid zero idx + } + + EM_free_index_arrays(); + } + + delete pmesh; pmesh = NULL; + delete dmesh; dmesh = NULL; + + BKE_mesh_end_editmesh((Mesh*)obedit->data, em); + + DAG_id_tag_update((ID*)obedit->data, OB_RECALC_DATA); + WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data); + + + ED_object_exit_editmode(C, EM_FREEDATA); + WM_event_add_notifier(C, NC_OBJECT|ND_DRAW, obedit); + + if (createob) + { + obedit->gameflag &= ~OB_COLLISION; + obedit->gameflag |= OB_NAVMESH; + obedit->body_type = OB_BODY_TYPE_NAVMESH; + rename_id((ID *)obedit, "Navmesh"); + } + + ModifierData *md= modifiers_findByType(obedit, eModifierType_NavMesh); + if (!md) + { + ED_object_modifier_add(NULL, bmain, scene, obedit, NULL, eModifierType_NavMesh); + } + + return obedit; +} + +static int create_navmesh_exec(bContext *C, wmOperator *op) +{ + Scene* scene = CTX_data_scene(C); + int nverts, ntris; + float* verts; + int* tris; + rcPolyMesh* pmesh; + rcPolyMeshDetail* dmesh; + LinkNode* obs = NULL; + Base* navmeshBase = NULL; + //CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases) //expand macros to avoid error in convertion from void* + { + ListBase ctx_data_list; + CollectionPointerLink *ctx_link; + CTX_data_selected_editable_bases(C, &ctx_data_list); + for(ctx_link = (CollectionPointerLink *)ctx_data_list.first; + ctx_link; ctx_link = (CollectionPointerLink *)ctx_link->next) { + Base* base= (Base*)ctx_link->ptr.data; + { + if (base->object->body_type==OB_BODY_TYPE_NAVMESH) + { + if (!navmeshBase || base==CTX_data_active_base(C)) + navmeshBase = base; + } + else + BLI_linklist_append(&obs, (void*)base->object); + } + CTX_DATA_END; + createVertsTrisData(C, obs, nverts, verts, ntris, tris); + BLI_linklist_free(obs, NULL); + buildNavMesh(scene->gm.recastData, nverts, verts, ntris, tris, pmesh, dmesh); + createRepresentation(C, pmesh, dmesh, navmeshBase); + + return OPERATOR_FINISHED; +} + +void OBJECT_OT_create_navmesh(wmOperatorType *ot) +{ + /* identifiers */ + ot->name= "Create navigation mesh"; + ot->description= "Create navigation mesh for selected objects"; + ot->idname= "OBJECT_OT_create_navmesh"; + + /* api callbacks */ + ot->exec= create_navmesh_exec; + + /* flags */ + ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO; +} + +static int assign_navpolygon_poll(bContext *C) +{ + Object *ob= (Object *)CTX_data_pointer_get_type(C, "object", &RNA_Object).data; + if (!ob || !ob->data) + return 0; + return (((Mesh*)ob->data)->edit_mesh != NULL); +} + +static int assign_navpolygon_exec(bContext *C, wmOperator *op) +{ + Object *obedit= CTX_data_edit_object(C); + EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data); + + //do work here + int targetPolyIdx = -1; + EditFace *ef, *efa; + efa = EM_get_actFace(em, 0); + if (efa) + { + if (CustomData_has_layer(&em->fdata, CD_RECAST)) + { + targetPolyIdx = *(int*)CustomData_em_get(&em->fdata, efa->data, CD_RECAST); + targetPolyIdx = targetPolyIdx>=0? targetPolyIdx : -targetPolyIdx; + if (targetPolyIdx>0) + { + //set target poly idx to other selected faces + ef = (EditFace*)em->faces.last; + while(ef) + { + if((ef->f & SELECT )&& ef!=efa) + { + int* recastDataBlock = (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST); + *recastDataBlock = targetPolyIdx; + } + ef = ef->prev; + } + } + } + } + + DAG_id_tag_update((ID*)obedit->data, OB_RECALC_DATA); + WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data); + + BKE_mesh_end_editmesh((Mesh*)obedit->data, em); + return OPERATOR_FINISHED; +} + +void OBJECT_OT_assign_navpolygon(struct wmOperatorType *ot) +{ + /* identifiers */ + ot->name= "Assign polygon index "; + ot->description= "Assign polygon index to face by active face"; + ot->idname= "OBJECT_OT_assign_navpolygon"; + + /* api callbacks */ + ot->poll = assign_navpolygon_poll; + ot->exec= assign_navpolygon_exec; + + /* flags */ + ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO; +} + +static int compare(const void * a, const void * b){ + return ( *(int*)a - *(int*)b ); +} +static int findFreeNavPolyIndex(EditMesh* em) +{ + //construct vector of indices + int numfaces = em->totface; + int* indices = new int[numfaces]; + EditFace* ef = (EditFace*)em->faces.last; + int idx = 0; + while(ef) + { + int polyIdx = *(int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST); + indices[idx] = polyIdx; + idx++; + ef = ef->prev; + } + qsort(indices, numfaces, sizeof(int), compare); + //search first free index + int freeIdx = 1; + for (int i=0; i<numfaces; i++) + { + if (indices[i]==freeIdx) + freeIdx++; + else if (indices[i]>freeIdx) + break; + } + delete indices; + return freeIdx; +} + +static int assign_new_navpolygon_exec(bContext *C, wmOperator *op) +{ + Object *obedit= CTX_data_edit_object(C); + EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data); + + EditFace *ef; + if (CustomData_has_layer(&em->fdata, CD_RECAST)) + { + int targetPolyIdx = findFreeNavPolyIndex(em); + if (targetPolyIdx>0) + { + //set target poly idx to selected faces + ef = (EditFace*)em->faces.last; + while(ef) + { + if(ef->f & SELECT ) + { + int* recastDataBlock = (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST); + *recastDataBlock = targetPolyIdx; + } + ef = ef->prev; + } + } + } + + DAG_id_tag_update((ID*)obedit->data, OB_RECALC_DATA); + WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data); + + BKE_mesh_end_editmesh((Mesh*)obedit->data, em); + return OPERATOR_FINISHED; +} + +void OBJECT_OT_assign_new_navpolygon(struct wmOperatorType *ot) +{ + /* identifiers */ + ot->name= "Assign new polygon index "; + ot->description= "Assign new polygon index to face"; + ot->idname= "OBJECT_OT_assign_new_navpolygon"; + + /* api callbacks */ + ot->poll = assign_navpolygon_poll; + ot->exec= assign_new_navpolygon_exec; + + /* flags */ + ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO; +} +} diff --git a/source/blender/editors/object/object_ops.c b/source/blender/editors/object/object_ops.c index 8f00f923b84..29d536c1dab 100644 --- a/source/blender/editors/object/object_ops.c +++ b/source/blender/editors/object/object_ops.c @@ -212,6 +212,10 @@ void ED_operatortypes_object(void) WM_operatortype_append(OBJECT_OT_bake_image); WM_operatortype_append(OBJECT_OT_drop_named_material); + + WM_operatortype_append(OBJECT_OT_create_navmesh); + WM_operatortype_append(OBJECT_OT_assign_navpolygon); + WM_operatortype_append(OBJECT_OT_assign_new_navpolygon); } void ED_operatormacros_object(void) diff --git a/source/blender/editors/space_logic/logic_window.c b/source/blender/editors/space_logic/logic_window.c index 20b001965aa..43a8747e942 100644 --- a/source/blender/editors/space_logic/logic_window.c +++ b/source/blender/editors/space_logic/logic_window.c @@ -718,6 +718,8 @@ static const char *actuator_name(int type) return "State"; case ACT_ARMATURE: return "Armature"; + case ACT_STEERING: + return "Steering"; } return "unknown"; } @@ -4345,6 +4347,48 @@ static void draw_actuator_visibility(uiLayout *layout, PointerRNA *ptr) uiItemR(row, ptr, "apply_to_children", 0, NULL, ICON_NONE); } +static void draw_actuator_steering(uiLayout *layout, PointerRNA *ptr) +{ + uiLayout *row; + uiLayout *col; + + uiItemR(layout, ptr, "mode", 0, NULL, 0); + uiItemR(layout, ptr, "target", 0, NULL, 0); + uiItemR(layout, ptr, "navmesh", 0, NULL, 0); + + row = uiLayoutRow(layout, 0); + uiItemR(row, ptr, "distance", 0, NULL, 0); + uiItemR(row, ptr, "velocity", 0, NULL, 0); + row = uiLayoutRow(layout, 0); + uiItemR(row, ptr, "acceleration", 0, NULL, 0); + uiItemR(row, ptr, "turn_speed", 0, NULL, 0); + + row = uiLayoutRow(layout, 0); + col = uiLayoutColumn(row, 0); + uiItemR(col, ptr, "facing", 0, NULL, 0); + col = uiLayoutColumn(row, 0); + uiItemR(col, ptr, "facing_axis", 0, NULL, 0); + if (!RNA_boolean_get(ptr, "facing")) + { + uiLayoutSetActive(col, 0); + } + col = uiLayoutColumn(row, 0); + uiItemR(col, ptr, "normal_up", 0, NULL, 0); + if (!RNA_pointer_get(ptr, "navmesh").data) + { + uiLayoutSetActive(col, 0); + } + + row = uiLayoutRow(layout, 0); + uiItemR(row, ptr, "self_terminated", 0, NULL, 0); + if (RNA_enum_get(ptr, "mode")==ACT_STEERING_PATHFOLLOWING) + { + uiItemR(row, ptr, "update_period", 0, NULL, 0); + row = uiLayoutRow(layout, 0); + } + uiItemR(row, ptr, "show_visualization", 0, NULL, 0); +} + static void draw_brick_actuator(uiLayout *layout, PointerRNA *ptr, bContext *C) { uiLayout *box; @@ -4406,6 +4450,8 @@ static void draw_brick_actuator(uiLayout *layout, PointerRNA *ptr, bContext *C) case ACT_VISIBILITY: draw_actuator_visibility(box, ptr); break; + case ACT_STEERING: + draw_actuator_steering(box, ptr); } } diff --git a/source/blender/editors/util/CMakeLists.txt b/source/blender/editors/util/CMakeLists.txt index 72f13c14f5d..da6e1990622 100644 --- a/source/blender/editors/util/CMakeLists.txt +++ b/source/blender/editors/util/CMakeLists.txt @@ -24,6 +24,7 @@ set(INC ../../blenkernel ../../blenlib ../../blenloader + ../../../../extern/recastnavigation/Recast/Include ../../makesdna ../../makesrna ../../windowmanager @@ -39,6 +40,7 @@ set(SRC editmode_undo.c numinput.c undo.c + navmesh_conversion.cpp crazyspace.c util_intern.h @@ -62,6 +64,7 @@ set(SRC ../include/ED_markers.h ../include/ED_mball.h ../include/ED_mesh.h + ../include/ED_navmesh_conversion.h ../include/ED_node.h ../include/ED_numinput.h ../include/ED_object.h diff --git a/source/blender/editors/util/SConscript b/source/blender/editors/util/SConscript index a694b211ca4..0ee64fbf9f2 100644 --- a/source/blender/editors/util/SConscript +++ b/source/blender/editors/util/SConscript @@ -1,11 +1,12 @@ #!/usr/bin/python Import ('env') -sources = env.Glob('*.c') +sources = env.Glob('*.c') + env.Glob('*.cpp') incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../imbuf' incs += ' ../../windowmanager #/intern/guardedalloc #/extern/glew/include' incs += ' ../../makesrna' +incs += ' #extern/recastnavigation/Recast/Include' incs += ' ../../blenloader' -env.BlenderLib ( 'bf_editors_util', sources, Split(incs), [], libtype=['core'], priority=[130] ) +env.BlenderLib ( 'bf_editors_util', sources, Split(incs), [], libtype=['core','player'], priority=[130,210] ) diff --git a/source/blender/editors/util/navmesh_conversion.cpp b/source/blender/editors/util/navmesh_conversion.cpp new file mode 100644 index 00000000000..873660baa13 --- /dev/null +++ b/source/blender/editors/util/navmesh_conversion.cpp @@ -0,0 +1,444 @@ +/** +* $Id$ +* +* ***** 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. +* +* 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 <math.h> +#include "Recast.h" + + +extern "C"{ +#include "ED_navmesh_conversion.h" + +#include "DNA_meshdata_types.h" +#include "BKE_cdderivedmesh.h" +#include "BLI_math.h" +} + +int polyNumVerts(const unsigned short* p, const int vertsPerPoly) +{ + int nv = 0; + for (int i=0; i<vertsPerPoly; i++) + { + if (p[i]==0xffff) + break; + nv++; + } + return nv; +} + +bool polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts) +{ + int nv = polyNumVerts(p, vertsPerPoly); + if (nv<3) + return false; + for (int j=0; j<nv; j++) + { + const float* v = &verts[3*p[j]]; + const float* v_next = &verts[3*p[(j+1)%nv]]; + const float* v_prev = &verts[3*p[(nv+j-1)%nv]]; + if (!left(v_prev, v, v_next)) + return false; + + } + return true; +} + +float distPointToSegmentSq(const float* point, const float* a, const float* b) +{ + float abx[3], dx[3]; + vsub(abx, b,a); + vsub(dx, point,a); + float d = abx[0]*abx[0]+abx[2]*abx[2]; + float t = abx[0]*dx[0]+abx[2]*dx[2]; + if (d > 0) + t /= d; + if (t < 0) + t = 0; + else if (t > 1) + t = 1; + dx[0] = a[0] + t*abx[0] - point[0]; + dx[2] = a[2] + t*abx[2] - point[2]; + return dx[0]*dx[0] + dx[2]*dx[2]; +} + +bool buildRawVertIndicesData(DerivedMesh* dm, int &nverts, float *&verts, + int &ntris, unsigned short *&tris, int *&trisToFacesMap, + int *&recastData) +{ + nverts = dm->getNumVerts(dm); + if (nverts>=0xffff) + { + printf("Converting navmesh: Error! Too many vertices. Max number of vertices %d\n", 0xffff); + return false; + } + verts = new float[3*nverts]; + dm->getVertCos(dm, (float(*)[3])verts); + + //flip coordinates + for (int vi=0; vi<nverts; vi++) + { + SWAP(float, verts[3*vi+1], verts[3*vi+2]); + } + + //calculate number of tris + int nfaces = dm->getNumFaces(dm); + MFace *faces = dm->getFaceArray(dm); + ntris = nfaces; + for (int fi=0; fi<nfaces; fi++) + { + MFace* face = &faces[fi]; + if (face->v4) + ntris++; + } + + //copy and transform to triangles (reorder on the run) + trisToFacesMap = new int[ntris]; + tris = new unsigned short[3*ntris]; + unsigned short* tri = tris; + int triIdx = 0; + for (int fi=0; fi<nfaces; fi++) + { + MFace* face = &faces[fi]; + tri[3*triIdx+0] = (unsigned short) face->v1; + tri[3*triIdx+1] = (unsigned short) face->v3; + tri[3*triIdx+2] = (unsigned short) face->v2; + trisToFacesMap[triIdx++]=fi; + if (face->v4) + { + tri[3*triIdx+0] = (unsigned short) face->v1; + tri[3*triIdx+1] = (unsigned short) face->v4; + tri[3*triIdx+2] = (unsigned short) face->v3; + trisToFacesMap[triIdx++]=fi; + } + } + + //carefully, recast data is just reference to data in derived mesh + recastData = (int*)CustomData_get_layer(&dm->faceData, CD_RECAST); + return true; +} + +bool buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys, + unsigned short* polys, const unsigned short* dmeshes, + const float* verts, const unsigned short* dtris, + const int* dtrisToPolysMap) +{ + bool res = false; + int capacity = vertsPerPoly; + unsigned short* newPoly = new unsigned short[capacity]; + memset(newPoly, 0xff, sizeof(unsigned short)*capacity); + for (int polyidx=0; polyidx<npolys; polyidx++) + { + int nv = 0; + //search border + int btri = -1; + int bedge = -1; + int dtrisNum = dmeshes[polyidx*4+3]; + int dtrisBase = dmeshes[polyidx*4+2]; + unsigned char *traversedTris = new unsigned char[dtrisNum]; + memset(traversedTris, 0, dtrisNum*sizeof(unsigned char)); + for (int j=0; j<dtrisNum && btri==-1;j++) + { + int curpolytri = dtrisBase+j; + for (int k=0; k<3; k++) + { + unsigned short neighbortri = dtris[curpolytri*3*2+3+k]; + if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) + { + btri = curpolytri; + bedge = k; + break; + } + } + } + if (btri==-1 || bedge==-1) + { + //can't find triangle with border edge + return false; + } + + newPoly[nv++] = dtris[btri*3*2+bedge]; + int tri = btri; + int edge = (bedge+1)%3; + traversedTris[tri-dtrisBase] = 1; + while (tri!=btri || edge!=bedge) + { + int neighbortri = dtris[tri*3*2+3+edge]; + if (neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) + { + if (nv==capacity) + { + capacity += vertsPerPoly; + unsigned short* newPolyBig = new unsigned short[capacity]; + memset(newPolyBig, 0xff, sizeof(unsigned short)*capacity); + memcpy(newPolyBig, newPoly, sizeof(unsigned short)*nv); + delete newPoly; + newPoly = newPolyBig; + } + newPoly[nv++] = dtris[tri*3*2+edge]; + //move to next edge + edge = (edge+1)%3; + } + else + { + //move to next tri + int twinedge = -1; + for (int k=0; k<3; k++) + { + if (dtris[neighbortri*3*2+3+k] == tri) + { + twinedge = k; + break; + } + } + if (twinedge==-1) + { + printf("Converting navmesh: Error! Can't find neighbor edge - invalid adjacency info\n"); + goto returnLabel; + } + tri = neighbortri; + edge = (twinedge+1)%3; + traversedTris[tri-dtrisBase] = 1; + } + } + + unsigned short* adjustedPoly = new unsigned short[nv]; + int adjustedNv = 0; + for (size_t i=0; i<(size_t)nv; i++) + { + unsigned short prev = newPoly[(nv+i-1)%nv]; + unsigned short cur = newPoly[i]; + unsigned short next = newPoly[(i+1)%nv]; + float distSq = distPointToSegmentSq(&verts[3*cur], &verts[3*prev], &verts[3*next]); + static const float tolerance = 0.001f; + if (distSq>tolerance) + adjustedPoly[adjustedNv++] = cur; + } + memcpy(newPoly, adjustedPoly, adjustedNv*sizeof(unsigned short)); + delete adjustedPoly; + nv = adjustedNv; + + bool allBorderTraversed = true; + for (size_t i=0; i<(size_t)dtrisNum; i++) + { + if (traversedTris[i]==0) + { + //check whether it has border edges + int curpolytri = dtrisBase+i; + for (int k=0; k<3; k++) + { + unsigned short neighbortri = dtris[curpolytri*3*2+3+k]; + if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) + { + allBorderTraversed = false; + break; + } + } + } + } + + if (nv<=vertsPerPoly && allBorderTraversed) + { + for (int i=0; i<nv; i++) + { + polys[polyidx*vertsPerPoly*2+i] = newPoly[i]; + } + } + } + res = true; + +returnLabel: + delete newPoly; + return true; +} + +struct SortContext +{ + const int* recastData; + const int* trisToFacesMap; +}; +static int compareByData(void* data, const void * a, const void * b){ + SortContext* context = (SortContext*)data; + return ( context->recastData[context->trisToFacesMap[*(int*)a]] - + context->recastData[context->trisToFacesMap[*(int*)b]] ); +} + +bool buildNavMeshData(const int nverts, const float* verts, + const int ntris, const unsigned short *tris, + const int* recastData, const int* trisToFacesMap, + int &ndtris, unsigned short *&dtris, + int &npolys, unsigned short *&dmeshes, unsigned short *&polys, + int &vertsPerPoly, int *&dtrisToPolysMap, int *&dtrisToTrisMap) + +{ + if (!recastData) + { + printf("Converting navmesh: Error! Can't find recast custom data\n"); + return false; + } + + //sort the triangles by polygon idx + int* trisMapping = new int[ntris]; + for (int i=0; i<ntris; i++) + trisMapping[i]=i; + SortContext context; + context.recastData = recastData; + context.trisToFacesMap = trisToFacesMap; + qsort_s(trisMapping, ntris, sizeof(int), compareByData, &context); + + //search first valid triangle - triangle of convex polygon + int validTriStart = -1; + for (int i=0; i< ntris; i++) + { + if (recastData[trisToFacesMap[trisMapping[i]]]>0) + { + validTriStart = i; + break; + } + } + + if (validTriStart<0) + { + printf("Converting navmesh: Error! No valid polygons in mesh\n"); + delete trisMapping; + return false; + } + + ndtris = ntris-validTriStart; + //fill dtris to faces mapping + dtrisToTrisMap = new int[ndtris]; + memcpy(dtrisToTrisMap, &trisMapping[validTriStart], ndtris*sizeof(int)); + delete trisMapping; trisMapping=NULL; + + //create detailed mesh triangles - copy only valid triangles + //and reserve memory for adjacency info + dtris = new unsigned short[3*2*ndtris]; + memset(dtris, 0xffff, sizeof(unsigned short)*3*2*ndtris); + for (int i=0; i<ndtris; i++) + { + memcpy(dtris+3*2*i, tris+3*dtrisToTrisMap[i], sizeof(unsigned short)*3); + } + //create new recast data corresponded to dtris and renumber for continuous indices + int prevPolyIdx=-1, curPolyIdx, newPolyIdx=0; + dtrisToPolysMap = new int[ndtris]; + for (int i=0; i<ndtris; i++) + { + curPolyIdx = recastData[trisToFacesMap[dtrisToTrisMap[i]]]; + if (curPolyIdx!=prevPolyIdx) + { + newPolyIdx++; + prevPolyIdx=curPolyIdx; + } + dtrisToPolysMap[i] = newPolyIdx; + } + + + //build adjacency info for detailed mesh triangles + buildMeshAdjacency(dtris, ndtris, nverts, 3); + + //create detailed mesh description for each navigation polygon + npolys = dtrisToPolysMap[ndtris-1]; + dmeshes = new unsigned short[npolys*4]; + memset(dmeshes, 0, npolys*4*sizeof(unsigned short)); + unsigned short *dmesh = NULL; + int prevpolyidx = 0; + for (int i=0; i<ndtris; i++) + { + int curpolyidx = dtrisToPolysMap[i]; + if (curpolyidx!=prevpolyidx) + { + if (curpolyidx!=prevpolyidx+1) + { + printf("Converting navmesh: Error! Wrong order of detailed mesh faces\n"); + return false; + } + dmesh = dmesh==NULL ? dmeshes : dmesh+4; + dmesh[2] = (unsigned short)i; //tbase + dmesh[3] = 0; //tnum + prevpolyidx = curpolyidx; + } + dmesh[3]++; + } + + //create navigation polygons + vertsPerPoly = 6; + polys = new unsigned short[npolys*vertsPerPoly*2]; + memset(polys, 0xff, sizeof(unsigned short)*vertsPerPoly*2*npolys); + + buildPolygonsByDetailedMeshes(vertsPerPoly, npolys, polys, dmeshes, verts, dtris, dtrisToPolysMap); + + return true; +} + + +bool buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int& vertsPerPoly, + int &nverts, float *&verts, + int &ndtris, unsigned short *&dtris, + int& npolys, unsigned short *&dmeshes, + unsigned short*& polys, int *&dtrisToPolysMap, + int *&dtrisToTrisMap, int *&trisToFacesMap) +{ + bool res = true; + int ntris =0, *recastData=NULL; + unsigned short *tris=NULL; + res = buildRawVertIndicesData(dm, nverts, verts, ntris, tris, trisToFacesMap, recastData); + if (!res) + { + printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n"); + goto exit; + } + + res = buildNavMeshData(nverts, verts, ntris, tris, recastData, trisToFacesMap, + ndtris, dtris, npolys, dmeshes,polys, vertsPerPoly, + dtrisToPolysMap, dtrisToTrisMap); + if (!res) + { + printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n"); + goto exit; + } + +exit: + if (tris) + delete tris; + + return res; +} + +int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx) +{ + int res = -1; + for(int i=0; i<vertsPerPoly; i++) + { + if (p[i]==0xffff) + break; + if (p[i]==vertexIdx) + { + res = i; + break; + } + } + return res; +}
\ No newline at end of file diff --git a/source/blender/gpu/intern/gpu_shader_material.glsl b/source/blender/gpu/intern/gpu_shader_material.glsl index c5c822d9224..1cd4c3633da 100644 --- a/source/blender/gpu/intern/gpu_shader_material.glsl +++ b/source/blender/gpu/intern/gpu_shader_material.glsl @@ -1,3 +1,4 @@ +<<<<<<< .working float exp_blender(float f) { @@ -746,6 +747,1781 @@ void texco_norm(vec3 normal, out vec3 outnormal) outnormal = normalize(normal); } +void texco_tangent(vec3 tangent, out vec3 outtangent) +{ + outtangent = normalize(tangent); +} + +void texco_global(mat4 viewinvmat, vec3 co, out vec3 global) +{ + global = (viewinvmat*vec4(co, 1.0)).xyz; +} + +void texco_object(mat4 viewinvmat, mat4 obinvmat, vec3 co, out vec3 object) +{ + object = (obinvmat*(viewinvmat*vec4(co, 1.0))).xyz; +} + +void texco_refl(vec3 vn, vec3 view, out vec3 ref) +{ + ref = view - 2.0*dot(vn, view)*vn; +} + +void shade_norm(vec3 normal, out vec3 outnormal) +{ + /* blender render normal is negated */ + outnormal = -normalize(normal); +} + +void mtex_rgb_blend(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm; + + fact *= facg; + facm = 1.0-fact; + + incol = fact*texcol + facm*outcol; +} + +void mtex_rgb_mul(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm; + + fact *= facg; + facm = 1.0-facg; + + incol = (facm + fact*texcol)*outcol; +} + +void mtex_rgb_screen(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm; + + fact *= facg; + facm = 1.0-facg; + + incol = vec3(1.0) - (vec3(facm) + fact*(vec3(1.0) - texcol))*(vec3(1.0) - outcol); +} + +void mtex_rgb_overlay(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm; + + fact *= facg; + facm = 1.0-facg; + + if(outcol.r < 0.5) + incol.r = outcol.r*(facm + 2.0*fact*texcol.r); + else + incol.r = 1.0 - (facm + 2.0*fact*(1.0 - texcol.r))*(1.0 - outcol.r); + + if(outcol.g < 0.5) + incol.g = outcol.g*(facm + 2.0*fact*texcol.g); + else + incol.g = 1.0 - (facm + 2.0*fact*(1.0 - texcol.g))*(1.0 - outcol.g); + + if(outcol.b < 0.5) + incol.b = outcol.b*(facm + 2.0*fact*texcol.b); + else + incol.b = 1.0 - (facm + 2.0*fact*(1.0 - texcol.b))*(1.0 - outcol.b); +} + +void mtex_rgb_sub(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + incol = -fact*facg*texcol + outcol; +} + +void mtex_rgb_add(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + incol = fact*facg*texcol + outcol; +} + +void mtex_rgb_div(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm; + + fact *= facg; + facm = 1.0-fact; + + if(texcol.r != 0.0) incol.r = facm*outcol.r + fact*outcol.r/texcol.r; + if(texcol.g != 0.0) incol.g = facm*outcol.g + fact*outcol.g/texcol.g; + if(texcol.b != 0.0) incol.b = facm*outcol.b + fact*outcol.b/texcol.b; +} + +void mtex_rgb_diff(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm; + + fact *= facg; + facm = 1.0-fact; + + incol = facm*outcol + fact*abs(texcol - outcol); +} + +void mtex_rgb_dark(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm, col; + + fact *= facg; + facm = 1.0-fact; + + col = fact*texcol.r; + if(col < outcol.r) incol.r = col; else incol.r = outcol.r; + col = fact*texcol.g; + if(col < outcol.g) incol.g = col; else incol.g = outcol.g; + col = fact*texcol.b; + if(col < outcol.b) incol.b = col; else incol.b = outcol.b; +} + +void mtex_rgb_light(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + float facm, col; + + fact *= facg; + facm = 1.0-fact; + + col = fact*texcol.r; + if(col > outcol.r) incol.r = col; else incol.r = outcol.r; + col = fact*texcol.g; + if(col > outcol.g) incol.g = col; else incol.g = outcol.g; + col = fact*texcol.b; + if(col > outcol.b) incol.b = col; else incol.b = outcol.b; +} + +void mtex_rgb_hue(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + vec4 col; + + mix_hue(fact*facg, vec4(outcol, 1.0), vec4(texcol, 1.0), col); + incol.rgb = col.rgb; +} + +void mtex_rgb_sat(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + vec4 col; + + mix_sat(fact*facg, vec4(outcol, 1.0), vec4(texcol, 1.0), col); + incol.rgb = col.rgb; +} + +void mtex_rgb_val(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + vec4 col; + + mix_val(fact*facg, vec4(outcol, 1.0), vec4(texcol, 1.0), col); + incol.rgb = col.rgb; +} + +void mtex_rgb_color(vec3 outcol, vec3 texcol, float fact, float facg, out vec3 incol) +{ + vec4 col; + + mix_color(fact*facg, vec4(outcol, 1.0), vec4(texcol, 1.0), col); + incol.rgb = col.rgb; +} + +void mtex_value_vars(inout float fact, float facg, out float facm) +{ + fact *= abs(facg); + facm = 1.0-fact; + + if(facg < 0.0) { + float tmp = fact; + fact = facm; + facm = tmp; + } +} + +void mtex_value_blend(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + incol = fact*texcol + facm*outcol; +} + +void mtex_value_mul(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + facm = 1.0 - facg; + incol = (facm + fact*texcol)*outcol; +} + +void mtex_value_screen(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + facm = 1.0 - facg; + incol = 1.0 - (facm + fact*(1.0 - texcol))*(1.0 - outcol); +} + +void mtex_value_sub(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + fact = -fact; + incol = fact*texcol + outcol; +} + +void mtex_value_add(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + fact = fact; + incol = fact*texcol + outcol; +} + +void mtex_value_div(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + if(texcol != 0.0) + incol = facm*outcol + fact*outcol/texcol; + else + incol = 0.0; +} + +void mtex_value_diff(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + incol = facm*outcol + fact*abs(texcol - outcol); +} + +void mtex_value_dark(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + float col = fact*texcol; + if(col < outcol) incol = col; else incol = outcol; +} + +void mtex_value_light(float outcol, float texcol, float fact, float facg, out float incol) +{ + float facm; + mtex_value_vars(fact, facg, facm); + + float col = fact*texcol; + if(col > outcol) incol = col; else incol = outcol; +} + +void mtex_value_clamp_positive(float fac, out float outfac) +{ + outfac = max(fac, 0.0); +} + +void mtex_value_clamp(float fac, out float outfac) +{ + outfac = clamp(fac, 0.0, 1.0); +} + +void mtex_har_divide(float har, out float outhar) +{ + outhar = har/128.0; +} + +void mtex_har_multiply_clamp(float har, out float outhar) +{ + har *= 128.0; + + if(har < 1.0) outhar = 1.0; + else if(har > 511.0) outhar = 511.0; + else outhar = har; +} + +void mtex_alpha_from_col(vec4 col, out float alpha) +{ + alpha = col.a; +} + +void mtex_alpha_to_col(vec4 col, float alpha, out vec4 outcol) +{ + outcol = vec4(col.rgb, alpha); +} + +void mtex_rgbtoint(vec4 rgb, out float intensity) +{ + intensity = dot(vec3(0.35, 0.45, 0.2), rgb.rgb); +} + +void mtex_value_invert(float invalue, out float outvalue) +{ + outvalue = 1.0 - invalue; +} + +void mtex_rgb_invert(vec4 inrgb, out vec4 outrgb) +{ + outrgb = vec4(vec3(1.0) - inrgb.rgb, inrgb.a); +} + +void mtex_value_stencil(float stencil, float intensity, out float outstencil, out float outintensity) +{ + float fact = intensity; + outintensity = intensity*stencil; + outstencil = stencil*fact; +} + +void mtex_rgb_stencil(float stencil, vec4 rgb, out float outstencil, out vec4 outrgb) +{ + float fact = rgb.a; + outrgb = vec4(rgb.rgb, rgb.a*stencil); + outstencil = stencil*fact; +} + +void mtex_mapping_ofs(vec3 texco, vec3 ofs, out vec3 outtexco) +{ + outtexco = texco + ofs; +} + +void mtex_mapping_size(vec3 texco, vec3 size, out vec3 outtexco) +{ + outtexco = size*texco; +} + +void mtex_2d_mapping(vec3 vec, out vec3 outvec) +{ + outvec = vec3(vec.xy*0.5 + vec2(0.5, 0.5), vec.z); +} + +void mtex_image(vec3 texco, sampler2D ima, out float value, out vec4 color) +{ + color = texture2D(ima, texco.xy); + value = 1.0; +} + +void mtex_normal(vec3 texco, sampler2D ima, out vec3 normal) +{ + vec4 color = texture2D(ima, texco.xy); + normal = 2.0*(vec3(color.r, -color.g, color.b) - vec3(0.5, -0.5, 0.5)); +} + +void mtex_bump_normals_init( vec3 vN, out vec3 vNorg, out vec3 vNacc, out float fPrevMagnitude ) +{ + vNorg = vN; + vNacc = vN; + fPrevMagnitude = 1.0; +} + +/** helper method to extract the upper left 3x3 matrix from a 4x4 matrix */ +mat3 to_mat3(mat4 m4) +{ + mat3 m3; + m3[0] = m4[0].xyz; + m3[1] = m4[1].xyz; + m3[2] = m4[2].xyz; + return m3; +} + +void mtex_bump_init_objspace( vec3 surf_pos, vec3 surf_norm, + mat4 mView, mat4 mViewInv, mat4 mObj, mat4 mObjInv, + float fPrevMagnitude_in, vec3 vNacc_in, + out float fPrevMagnitude_out, out vec3 vNacc_out, + out vec3 vR1, out vec3 vR2, out float fDet ) +{ + mat3 obj2view = to_mat3(mView * mObj); + mat3 view2obj = to_mat3(mObjInv * mViewInv); + + vec3 vSigmaS = view2obj * dFdx( surf_pos ); + vec3 vSigmaT = view2obj * dFdy( surf_pos ); + vec3 vN = normalize( surf_norm * obj2view ); + + vR1 = cross( vSigmaT, vN ); + vR2 = cross( vN, vSigmaS ) ; + fDet = dot ( vSigmaS, vR1 ); + + /* pretransform vNacc (in mtex_bump_apply) using the inverse transposed */ + vR1 = vR1 * view2obj; + vR2 = vR2 * view2obj; + vN = vN * view2obj; + + float fMagnitude = abs(fDet) * length(vN); + vNacc_out = vNacc_in * (fMagnitude / fPrevMagnitude_in); + fPrevMagnitude_out = fMagnitude; +} + +void mtex_bump_init_texturespace( vec3 surf_pos, vec3 surf_norm, + float fPrevMagnitude_in, vec3 vNacc_in, + out float fPrevMagnitude_out, out vec3 vNacc_out, + out vec3 vR1, out vec3 vR2, out float fDet ) +{ + vec3 vSigmaS = dFdx( surf_pos ); + vec3 vSigmaT = dFdy( surf_pos ); + vec3 vN = surf_norm; /* normalized interpolated vertex normal */ + + vR1 = normalize( cross( vSigmaT, vN ) ); + vR2 = normalize( cross( vN, vSigmaS ) ); + fDet = sign( dot(vSigmaS, vR1) ); + + float fMagnitude = abs(fDet); + vNacc_out = vNacc_in * (fMagnitude / fPrevMagnitude_in); + fPrevMagnitude_out = fMagnitude; +} + +void mtex_bump_init_viewspace( vec3 surf_pos, vec3 surf_norm, + float fPrevMagnitude_in, vec3 vNacc_in, + out float fPrevMagnitude_out, out vec3 vNacc_out, + out vec3 vR1, out vec3 vR2, out float fDet ) +{ + vec3 vSigmaS = dFdx( surf_pos ); + vec3 vSigmaT = dFdy( surf_pos ); + vec3 vN = surf_norm; /* normalized interpolated vertex normal */ + + vR1 = cross( vSigmaT, vN ); + vR2 = cross( vN, vSigmaS ) ; + fDet = dot ( vSigmaS, vR1 ); + + float fMagnitude = abs(fDet); + vNacc_out = vNacc_in * (fMagnitude / fPrevMagnitude_in); + fPrevMagnitude_out = fMagnitude; +} + +void mtex_bump_tap3( vec3 texco, sampler2D ima, float hScale, + out float dBs, out float dBt ) +{ + vec2 STll = texco.xy; + vec2 STlr = texco.xy + dFdx(texco.xy) ; + vec2 STul = texco.xy + dFdy(texco.xy) ; + + float Hll,Hlr,Hul; + rgbtobw( texture2D(ima, STll), Hll ); + rgbtobw( texture2D(ima, STlr), Hlr ); + rgbtobw( texture2D(ima, STul), Hul ); + + dBs = hScale * (Hlr - Hll); + dBt = hScale * (Hul - Hll); +} + +void mtex_bump_tap5( vec3 texco, sampler2D ima, float hScale, + out float dBs, out float dBt ) +{ + vec2 TexDx = dFdx(texco.xy); + vec2 TexDy = dFdy(texco.xy); + + vec2 STc = texco.xy; + vec2 STl = texco.xy - 0.5 * TexDx ; + vec2 STr = texco.xy + 0.5 * TexDx ; + vec2 STd = texco.xy - 0.5 * TexDy ; + vec2 STu = texco.xy + 0.5 * TexDy ; + + float Hc,Hl,Hr,Hd,Hu; + rgbtobw( texture2D(ima, STc), Hc ); + rgbtobw( texture2D(ima, STl), Hl ); + rgbtobw( texture2D(ima, STr), Hr ); + rgbtobw( texture2D(ima, STd), Hd ); + rgbtobw( texture2D(ima, STu), Hu ); + + dBs = hScale * (Hr - Hl); + dBt = hScale * (Hu - Hd); +} + +void mtex_bump_apply( float fDet, float dBs, float dBt, vec3 vR1, vec3 vR2, vec3 vNacc_in, + out vec3 vNacc_out, out vec3 perturbed_norm ) +{ + vec3 vSurfGrad = sign(fDet) * ( dBs * vR1 + dBt * vR2 ); + + vNacc_out = vNacc_in - vSurfGrad; + perturbed_norm = normalize( vNacc_out ); +} + +void mtex_bump_apply_texspace( float fDet, float dBs, float dBt, vec3 vR1, vec3 vR2, + sampler2D ima, vec3 texco, float ima_x, float ima_y, vec3 vNacc_in, + out vec3 vNacc_out, out vec3 perturbed_norm ) +{ + vec2 TexDx = dFdx(texco.xy); + vec2 TexDy = dFdy(texco.xy); + + vec3 vSurfGrad = sign(fDet) * ( + dBs / length( vec2(ima_x*TexDx.x, ima_y*TexDx.y) ) * vR1 + + dBt / length( vec2(ima_x*TexDy.x, ima_y*TexDy.y) ) * vR2 ); + + vNacc_out = vNacc_in - vSurfGrad; + perturbed_norm = normalize( vNacc_out ); +} + +void mtex_negate_texnormal(vec3 normal, out vec3 outnormal) +{ + outnormal = vec3(-normal.x, -normal.y, normal.z); +} + +void mtex_nspace_tangent(vec3 tangent, vec3 normal, vec3 texnormal, out vec3 outnormal) +{ + tangent = normalize(tangent); + vec3 B = cross(normal, tangent); + + outnormal = texnormal.x*tangent + texnormal.y*B + texnormal.z*normal; + outnormal = normalize(outnormal); +} + +void mtex_blend_normal(float norfac, vec3 normal, vec3 newnormal, out vec3 outnormal) +{ + outnormal = (1.0 - norfac)*normal + norfac*newnormal; + outnormal = normalize(outnormal); +} + +/******* MATERIAL *********/ + +void lamp_visibility_sun_hemi(vec3 lampvec, out vec3 lv, out float dist, out float visifac) +{ + lv = lampvec; + dist = 1.0; + visifac = 1.0; +} + +void lamp_visibility_other(vec3 co, vec3 lampco, out vec3 lv, out float dist, out float visifac) +{ + lv = co - lampco; + dist = length(lv); + lv = normalize(lv); + visifac = 1.0; +} + +void lamp_falloff_invlinear(float lampdist, float dist, out float visifac) +{ + visifac = lampdist/(lampdist + dist); +} + +void lamp_falloff_invsquare(float lampdist, float dist, out float visifac) +{ + visifac = lampdist/(lampdist + dist*dist); +} + +void lamp_falloff_sliders(float lampdist, float ld1, float ld2, float dist, out float visifac) +{ + float lampdistkw = lampdist*lampdist; + + visifac = lampdist/(lampdist + ld1*dist); + visifac *= lampdistkw/(lampdistkw + ld2*dist*dist); +} + +void lamp_falloff_curve(float lampdist, sampler1D curvemap, float dist, out float visifac) +{ + visifac = texture1D(curvemap, dist/lampdist).x; +} + +void lamp_visibility_sphere(float lampdist, float dist, float visifac, out float outvisifac) +{ + float t= lampdist - dist; + + outvisifac= visifac*max(t, 0.0)/lampdist; +} + +void lamp_visibility_spot_square(vec3 lampvec, mat4 lampimat, vec3 lv, out float inpr) +{ + if(dot(lv, lampvec) > 0.0) { + vec3 lvrot = (lampimat*vec4(lv, 0.0)).xyz; + float x = max(abs(lvrot.x/lvrot.z), abs(lvrot.y/lvrot.z)); + + inpr = 1.0/sqrt(1.0 + x*x); + } + else + inpr = 0.0; +} + +void lamp_visibility_spot_circle(vec3 lampvec, vec3 lv, out float inpr) +{ + inpr = dot(lv, lampvec); +} + +void lamp_visibility_spot(float spotsi, float spotbl, float inpr, float visifac, out float outvisifac) +{ + float t = spotsi; + + if(inpr <= t) { + outvisifac = 0.0; + } + else { + t = inpr - t; + + /* soft area */ + if(spotbl != 0.0) + inpr *= smoothstep(0.0, 1.0, t/spotbl); + + outvisifac = visifac*inpr; + } +} + +void lamp_visibility_clamp(float visifac, out float outvisifac) +{ + outvisifac = (visifac < 0.001)? 0.0: visifac; +} + +void shade_view(vec3 co, out vec3 view) +{ + /* handle perspective/orthographic */ + view = (gl_ProjectionMatrix[3][3] == 0.0)? normalize(co): vec3(0.0, 0.0, -1.0); +} + +void shade_tangent_v(vec3 lv, vec3 tang, out vec3 vn) +{ + vec3 c = cross(lv, tang); + vec3 vnor = cross(c, tang); + + vn = -normalize(vnor); +} + +void shade_inp(vec3 vn, vec3 lv, out float inp) +{ + inp = dot(vn, lv); +} + +void shade_is_no_diffuse(out float is) +{ + is = 0.0; +} + +void shade_is_hemi(float inp, out float is) +{ + is = 0.5*inp + 0.5; +} + +float area_lamp_energy(mat4 area, vec3 co, vec3 vn) +{ + vec3 vec[4], c[4]; + float rad[4], fac; + + vec[0] = normalize(co - area[0].xyz); + vec[1] = normalize(co - area[1].xyz); + vec[2] = normalize(co - area[2].xyz); + vec[3] = normalize(co - area[3].xyz); + + c[0] = normalize(cross(vec[0], vec[1])); + c[1] = normalize(cross(vec[1], vec[2])); + c[2] = normalize(cross(vec[2], vec[3])); + c[3] = normalize(cross(vec[3], vec[0])); + + rad[0] = acos(dot(vec[0], vec[1])); + rad[1] = acos(dot(vec[1], vec[2])); + rad[2] = acos(dot(vec[2], vec[3])); + rad[3] = acos(dot(vec[3], vec[0])); + + fac= rad[0]*dot(vn, c[0]); + fac+= rad[1]*dot(vn, c[1]); + fac+= rad[2]*dot(vn, c[2]); + fac+= rad[3]*dot(vn, c[3]); + + return max(fac, 0.0); +} + +void shade_inp_area(vec3 position, vec3 lampco, vec3 lampvec, vec3 vn, mat4 area, float areasize, float k, out float inp) +{ + vec3 co = position; + vec3 vec = co - lampco; + + if(dot(vec, lampvec) < 0.0) { + inp = 0.0; + } + else { + float intens = area_lamp_energy(area, co, vn); + + inp = pow(intens*areasize, k); + } +} + +void shade_diffuse_oren_nayer(float nl, vec3 n, vec3 l, vec3 v, float rough, out float is) +{ + vec3 h = normalize(v + l); + float nh = max(dot(n, h), 0.0); + float nv = max(dot(n, v), 0.0); + float realnl = dot(n, l); + + if(realnl < 0.0) { + is = 0.0; + } + else if(nl < 0.0) { + is = 0.0; + } + else { + float vh = max(dot(v, h), 0.0); + float Lit_A = acos(realnl); + float View_A = acos(nv); + + vec3 Lit_B = normalize(l - realnl*n); + vec3 View_B = normalize(v - nv*n); + + float t = max(dot(Lit_B, View_B), 0.0); + + float a, b; + + if(Lit_A > View_A) { + a = Lit_A; + b = View_A; + } + else { + a = View_A; + b = Lit_A; + } + + float A = 1.0 - (0.5*((rough*rough)/((rough*rough) + 0.33))); + float B = 0.45*((rough*rough)/((rough*rough) + 0.09)); + + b *= 0.95; + is = nl*(A + (B * t * sin(a) * tan(b))); + } +} + +void shade_diffuse_toon(vec3 n, vec3 l, vec3 v, float size, float tsmooth, out float is) +{ + float rslt = dot(n, l); + float ang = acos(rslt); + + if(ang < size) is = 1.0; + else if(ang > (size + tsmooth) || tsmooth == 0.0) is = 0.0; + else is = 1.0 - ((ang - size)/tsmooth); +} + +void shade_diffuse_minnaert(float nl, vec3 n, vec3 v, float darkness, out float is) +{ + if(nl <= 0.0) { + is = 0.0; + } + else { + float nv = max(dot(n, v), 0.0); + + if(darkness <= 1.0) + is = nl*pow(max(nv*nl, 0.1), darkness - 1.0); + else + is = nl*pow(1.0001 - nv, darkness - 1.0); + } +} + +float fresnel_fac(vec3 view, vec3 vn, float grad, float fac) +{ + float t1, t2; + float ffac; + + if(fac==0.0) { + ffac = 1.0; + } + else { + t1= dot(view, vn); + if(t1>0.0) t2= 1.0+t1; + else t2= 1.0-t1; + + t2= grad + (1.0-grad)*pow(t2, fac); + + if(t2<0.0) ffac = 0.0; + else if(t2>1.0) ffac = 1.0; + else ffac = t2; + } + + return ffac; +} + +void shade_diffuse_fresnel(vec3 vn, vec3 lv, vec3 view, float fac_i, float fac, out float is) +{ + is = fresnel_fac(lv, vn, fac_i, fac); +} + +void shade_cubic(float is, out float outis) +{ + if(is>0.0 && is<1.0) + outis= smoothstep(0.0, 1.0, is); + else + outis= is; +} + +void shade_visifac(float i, float visifac, float refl, out float outi) +{ + /*if(i > 0.0)*/ + outi = max(i*visifac*refl, 0.0); + /*else + outi = i;*/ +} + +void shade_tangent_v_spec(vec3 tang, out vec3 vn) +{ + vn = tang; +} + +void shade_add_to_diffuse(float i, vec3 lampcol, vec3 col, out vec3 outcol) +{ + if(i > 0.0) + outcol = i*lampcol*col; + else + outcol = vec3(0.0, 0.0, 0.0); +} + +void shade_hemi_spec(vec3 vn, vec3 lv, vec3 view, float spec, float hard, float visifac, out float t) +{ + lv += view; + lv = normalize(lv); + + t = dot(vn, lv); + t = 0.5*t + 0.5; + + t = visifac*spec*pow(t, hard); +} + +void shade_phong_spec(vec3 n, vec3 l, vec3 v, float hard, out float specfac) +{ + vec3 h = normalize(l + v); + float rslt = max(dot(h, n), 0.0); + + specfac = pow(rslt, hard); +} + +void shade_cooktorr_spec(vec3 n, vec3 l, vec3 v, float hard, out float specfac) +{ + vec3 h = normalize(v + l); + float nh = dot(n, h); + + if(nh < 0.0) { + specfac = 0.0; + } + else { + float nv = max(dot(n, v), 0.0); + float i = pow(nh, hard); + + i = i/(0.1+nv); + specfac = i; + } +} + +void shade_blinn_spec(vec3 n, vec3 l, vec3 v, float refrac, float spec_power, out float specfac) +{ + if(refrac < 1.0) { + specfac = 0.0; + } + else if(spec_power == 0.0) { + specfac = 0.0; + } + else { + if(spec_power<100.0) + spec_power= sqrt(1.0/spec_power); + else + spec_power= 10.0/spec_power; + + vec3 h = normalize(v + l); + float nh = dot(n, h); + if(nh < 0.0) { + specfac = 0.0; + } + else { + float nv = max(dot(n, v), 0.01); + float nl = dot(n, l); + if(nl <= 0.01) { + specfac = 0.0; + } + else { + float vh = max(dot(v, h), 0.01); + + float a = 1.0; + float b = (2.0*nh*nv)/vh; + float c = (2.0*nh*nl)/vh; + + float g = 0.0; + + if(a < b && a < c) g = a; + else if(b < a && b < c) g = b; + else if(c < a && c < b) g = c; + + float p = sqrt(((refrac * refrac)+(vh*vh)-1.0)); + float f = (((p-vh)*(p-vh))/((p+vh)*(p+vh)))*(1.0+((((vh*(p+vh))-1.0)*((vh*(p+vh))-1.0))/(((vh*(p-vh))+1.0)*((vh*(p-vh))+1.0)))); + float ang = acos(nh); + + specfac = max(f*g*exp_blender((-(ang*ang)/(2.0*spec_power*spec_power))), 0.0); + } + } + } +} + +void shade_wardiso_spec(vec3 n, vec3 l, vec3 v, float rms, out float specfac) +{ + vec3 h = normalize(l + v); + float nh = max(dot(n, h), 0.001); + float nv = max(dot(n, v), 0.001); + float nl = max(dot(n, l), 0.001); + float angle = tan(acos(nh)); + float alpha = max(rms, 0.001); + + specfac= nl * (1.0/(4.0*M_PI*alpha*alpha))*(exp_blender(-(angle*angle)/(alpha*alpha))/(sqrt(nv*nl))); +} + +void shade_toon_spec(vec3 n, vec3 l, vec3 v, float size, float tsmooth, out float specfac) +{ + vec3 h = normalize(l + v); + float rslt = dot(h, n); + float ang = acos(rslt); + + if(ang < size) rslt = 1.0; + else if(ang >= (size + tsmooth) || tsmooth == 0.0) rslt = 0.0; + else rslt = 1.0 - ((ang - size)/tsmooth); + + specfac = rslt; +} + +void shade_spec_area_inp(float specfac, float inp, out float outspecfac) +{ + outspecfac = specfac*inp; +} + +void shade_spec_t(float shadfac, float spec, float visifac, float specfac, out float t) +{ + t = shadfac*spec*visifac*specfac; +} + +void shade_add_spec(float t, vec3 lampcol, vec3 speccol, out vec3 outcol) +{ + outcol = t*lampcol*speccol; +} + +void shade_add(vec4 col1, vec4 col2, out vec4 outcol) +{ + outcol = col1 + col2; +} + +void shade_madd(vec4 col, vec4 col1, vec4 col2, out vec4 outcol) +{ + outcol = col + col1*col2; +} + +void shade_maddf(vec4 col, float f, vec4 col1, out vec4 outcol) +{ + outcol = col + f*col1; +} + +void shade_mul(vec4 col1, vec4 col2, out vec4 outcol) +{ + outcol = col1*col2; +} + +void shade_mul_value(float fac, vec4 col, out vec4 outcol) +{ + outcol = col*fac; +} + +void shade_obcolor(vec4 col, vec4 obcol, out vec4 outcol) +{ + outcol = vec4(col.rgb*obcol.rgb, col.a); +} + +void ramp_rgbtobw(vec3 color, out float outval) +{ + outval = color.r*0.3 + color.g*0.58 + color.b*0.12; +} + +void shade_only_shadow(float i, float shadfac, float energy, out float outshadfac) +{ + outshadfac = i*energy*(1.0 - shadfac); +} + +void shade_only_shadow_diffuse(float shadfac, vec3 rgb, vec4 diff, out vec4 outdiff) +{ + outdiff = diff - vec4(rgb*shadfac, 0.0); +} + +void shade_only_shadow_specular(float shadfac, vec3 specrgb, vec4 spec, out vec4 outspec) +{ + outspec = spec - vec4(specrgb*shadfac, 0.0); +} + +void test_shadowbuf(vec3 rco, sampler2DShadow shadowmap, mat4 shadowpersmat, float shadowbias, float inp, out float result) +{ + if(inp <= 0.0) { + result = 0.0; + } + else { + vec4 co = shadowpersmat*vec4(rco, 1.0); + + //float bias = (1.5 - inp*inp)*shadowbias; + co.z -= shadowbias*co.w; + + result = shadow2DProj(shadowmap, co).x; + } +} + +void shade_exposure_correct(vec3 col, float linfac, float logfac, out vec3 outcol) +{ + outcol = linfac*(1.0 - exp(col*logfac)); +} + +void shade_mist_factor(vec3 co, float miststa, float mistdist, float misttype, float misi, out float outfac) +{ + float fac, zcor; + + zcor = (gl_ProjectionMatrix[3][3] == 0.0)? length(co): -co[2]; + + fac = clamp((zcor-miststa)/mistdist, 0.0, 1.0); + if(misttype == 0.0) fac *= fac; + else if(misttype == 1.0); + else fac = sqrt(fac); + + outfac = 1.0 - (1.0-fac)*(1.0-misi); +} + +void shade_world_mix(vec3 hor, vec4 col, out vec4 outcol) +{ + float fac = clamp(col.a, 0.0, 1.0); + outcol = vec4(mix(hor, col.rgb, fac), col.a); +} + +void shade_alpha_opaque(vec4 col, out vec4 outcol) +{ + outcol = vec4(col.rgb, 1.0); +} + +void shade_alpha_obcolor(vec4 col, vec4 obcol, out vec4 outcol) +{ + outcol = vec4(col.rgb, col.a*obcol.a); +} + +======= + +float exp_blender(float f) +{ + return pow(2.71828182846, f); +} + +void rgb_to_hsv(vec4 rgb, out vec4 outcol) +{ + float cmax, cmin, h, s, v, cdelta; + vec3 c; + + cmax = max(rgb[0], max(rgb[1], rgb[2])); + cmin = min(rgb[0], min(rgb[1], rgb[2])); + cdelta = cmax-cmin; + + v = cmax; + if (cmax!=0.0) + s = cdelta/cmax; + else { + s = 0.0; + h = 0.0; + } + + if (s == 0.0) { + h = 0.0; + } + else { + c = (vec3(cmax, cmax, cmax) - rgb.xyz)/cdelta; + + if (rgb.x==cmax) h = c[2] - c[1]; + else if (rgb.y==cmax) h = 2.0 + c[0] - c[2]; + else h = 4.0 + c[1] - c[0]; + + h /= 6.0; + + if (h<0.0) + h += 1.0; + } + + outcol = vec4(h, s, v, rgb.w); +} + +void hsv_to_rgb(vec4 hsv, out vec4 outcol) +{ + float i, f, p, q, t, h, s, v; + vec3 rgb; + + h = hsv[0]; + s = hsv[1]; + v = hsv[2]; + + if(s==0.0) { + rgb = vec3(v, v, v); + } + else { + if(h==1.0) + h = 0.0; + + h *= 6.0; + i = floor(h); + f = h - i; + rgb = vec3(f, f, f); + p = v*(1.0-s); + q = v*(1.0-(s*f)); + t = v*(1.0-(s*(1.0-f))); + + if (i == 0.0) rgb = vec3(v, t, p); + else if (i == 1.0) rgb = vec3(q, v, p); + else if (i == 2.0) rgb = vec3(p, v, t); + else if (i == 3.0) rgb = vec3(p, q, v); + else if (i == 4.0) rgb = vec3(t, p, v); + else rgb = vec3(v, p, q); + } + + outcol = vec4(rgb, hsv.w); +} + +float srgb_to_linearrgb(float c) +{ + if(c < 0.04045) + return (c < 0.0)? 0.0: c * (1.0/12.92); + else + return pow((c + 0.055)*(1.0/1.055), 2.4); +} + +float linearrgb_to_srgb(float c) +{ + if(c < 0.0031308) + return (c < 0.0)? 0.0: c * 12.92; + else + return 1.055 * pow(c, 1.0/2.4) - 0.055; +} + +void srgb_to_linearrgb(vec4 col_from, out vec4 col_to) +{ + col_to.r = srgb_to_linearrgb(col_from.r); + col_to.g = srgb_to_linearrgb(col_from.g); + col_to.b = srgb_to_linearrgb(col_from.b); + col_to.a = col_from.a; +} + +void linearrgb_to_srgb(vec4 col_from, out vec4 col_to) +{ + col_to.r = linearrgb_to_srgb(col_from.r); + col_to.g = linearrgb_to_srgb(col_from.g); + col_to.b = linearrgb_to_srgb(col_from.b); + col_to.a = col_from.a; +} + +#define M_PI 3.14159265358979323846 + +/*********** SHADER NODES ***************/ + +void vcol_attribute(vec4 attvcol, out vec4 vcol) +{ + vcol = vec4(attvcol.x/255.0, attvcol.y/255.0, attvcol.z/255.0, 1.0); +} + +void uv_attribute(vec2 attuv, out vec3 uv) +{ + uv = vec3(attuv*2.0 - vec2(1.0, 1.0), 0.0); +} + +void geom(vec3 co, vec3 nor, mat4 viewinvmat, vec3 attorco, vec2 attuv, vec4 attvcol, out vec3 global, out vec3 local, out vec3 view, out vec3 orco, out vec3 uv, out vec3 normal, out vec4 vcol, out float frontback) +{ + local = co; + view = normalize(local); + global = (viewinvmat*vec4(local, 1.0)).xyz; + orco = attorco; + uv_attribute(attuv, uv); + normal = -normalize(nor); /* blender render normal is negated */ + vcol_attribute(attvcol, vcol); + frontback = 1.0; +} + +void mapping(vec3 vec, mat4 mat, vec3 minvec, vec3 maxvec, float domin, float domax, out vec3 outvec) +{ + outvec = (mat * vec4(vec, 1.0)).xyz; + if(domin == 1.0) + outvec = max(outvec, minvec); + if(domax == 1.0) + outvec = min(outvec, maxvec); +} + +void camera(vec3 co, out vec3 outview, out float outdepth, out float outdist) +{ + outdepth = abs(co.z); + outdist = length(co); + outview = normalize(co); +} + +void math_add(float val1, float val2, out float outval) +{ + outval = val1 + val2; +} + +void math_subtract(float val1, float val2, out float outval) +{ + outval = val1 - val2; +} + +void math_multiply(float val1, float val2, out float outval) +{ + outval = val1 * val2; +} + +void math_divide(float val1, float val2, out float outval) +{ + if (val2 == 0.0) + outval = 0.0; + else + outval = val1 / val2; +} + +void math_sine(float val, out float outval) +{ + outval = sin(val); +} + +void math_cosine(float val, out float outval) +{ + outval = cos(val); +} + +void math_tangent(float val, out float outval) +{ + outval = tan(val); +} + +void math_asin(float val, out float outval) +{ + if (val <= 1.0 && val >= -1.0) + outval = asin(val); + else + outval = 0.0; +} + +void math_acos(float val, out float outval) +{ + if (val <= 1.0 && val >= -1.0) + outval = acos(val); + else + outval = 0.0; +} + +void math_atan(float val, out float outval) +{ + outval = atan(val); +} + +void math_pow(float val1, float val2, out float outval) +{ + if (val1 >= 0.0) + outval = pow(val1, val2); + else + outval = 0.0; +} + +void math_log(float val1, float val2, out float outval) +{ + if(val1 > 0.0 && val2 > 0.0) + outval= log2(val1) / log2(val2); + else + outval= 0.0; +} + +void math_max(float val1, float val2, out float outval) +{ + outval = max(val1, val2); +} + +void math_min(float val1, float val2, out float outval) +{ + outval = min(val1, val2); +} + +void math_round(float val, out float outval) +{ + outval= floor(val + 0.5); +} + +void math_less_than(float val1, float val2, out float outval) +{ + if(val1 < val2) + outval = 1.0; + else + outval = 0.0; +} + +void math_greater_than(float val1, float val2, out float outval) +{ + if(val1 > val2) + outval = 1.0; + else + outval = 0.0; +} + +void squeeze(float val, float width, float center, out float outval) +{ + outval = 1.0/(1.0 + pow(2.71828183, -((val-center)*width))); +} + +void vec_math_add(vec3 v1, vec3 v2, out vec3 outvec, out float outval) +{ + outvec = v1 + v2; + outval = (abs(outvec[0]) + abs(outvec[1]) + abs(outvec[2]))/3.0; +} + +void vec_math_sub(vec3 v1, vec3 v2, out vec3 outvec, out float outval) +{ + outvec = v1 - v2; + outval = (abs(outvec[0]) + abs(outvec[1]) + abs(outvec[2]))/3.0; +} + +void vec_math_average(vec3 v1, vec3 v2, out vec3 outvec, out float outval) +{ + outvec = v1 + v2; + outval = length(outvec); + outvec = normalize(outvec); +} + +void vec_math_dot(vec3 v1, vec3 v2, out vec3 outvec, out float outval) +{ + outvec = vec3(0, 0, 0); + outval = dot(v1, v2); +} + +void vec_math_cross(vec3 v1, vec3 v2, out vec3 outvec, out float outval) +{ + outvec = cross(v1, v2); + outval = length(outvec); +} + +void vec_math_normalize(vec3 v, out vec3 outvec, out float outval) +{ + outval = length(v); + outvec = normalize(v); +} + +void vec_math_negate(vec3 v, out vec3 outv) +{ + outv = -v; +} + +void normal(vec3 dir, vec3 nor, out vec3 outnor, out float outdot) +{ + outnor = dir; + outdot = -dot(dir, nor); +} + +void curves_vec(float fac, vec3 vec, sampler1D curvemap, out vec3 outvec) +{ + outvec.x = texture1D(curvemap, (vec.x + 1.0)*0.5).x; + outvec.y = texture1D(curvemap, (vec.y + 1.0)*0.5).y; + outvec.z = texture1D(curvemap, (vec.z + 1.0)*0.5).z; + + if (fac != 1.0) + outvec = (outvec*fac) + (vec*(1.0-fac)); + +} + +void curves_rgb(float fac, vec4 col, sampler1D curvemap, out vec4 outcol) +{ + outcol.r = texture1D(curvemap, texture1D(curvemap, col.r).a).r; + outcol.g = texture1D(curvemap, texture1D(curvemap, col.g).a).g; + outcol.b = texture1D(curvemap, texture1D(curvemap, col.b).a).b; + + if (fac != 1.0) + outcol = (outcol*fac) + (col*(1.0-fac)); + + outcol.a = col.a; +} + +void set_value(float val, out float outval) +{ + outval = val; +} + +void set_rgb(vec3 col, out vec3 outcol) +{ + outcol = col; +} + +void set_rgba(vec4 col, out vec4 outcol) +{ + outcol = col; +} + +void set_value_zero(out float outval) +{ + outval = 0.0; +} + +void set_value_one(out float outval) +{ + outval = 1.0; +} + +void set_rgb_zero(out vec3 outval) +{ + outval = vec3(0.0); +} + +void set_rgba_zero(out vec4 outval) +{ + outval = vec4(0.0); +} + +void mix_blend(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol = mix(col1, col2, fac); + outcol.a = col1.a; +} + +void mix_add(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol = mix(col1, col1 + col2, fac); + outcol.a = col1.a; +} + +void mix_mult(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol = mix(col1, col1 * col2, fac); + outcol.a = col1.a; +} + +void mix_screen(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + outcol = vec4(1.0) - (vec4(facm) + fac*(vec4(1.0) - col2))*(vec4(1.0) - col1); + outcol.a = col1.a; +} + +void mix_overlay(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + outcol = col1; + + if(outcol.r < 0.5) + outcol.r *= facm + 2.0*fac*col2.r; + else + outcol.r = 1.0 - (facm + 2.0*fac*(1.0 - col2.r))*(1.0 - outcol.r); + + if(outcol.g < 0.5) + outcol.g *= facm + 2.0*fac*col2.g; + else + outcol.g = 1.0 - (facm + 2.0*fac*(1.0 - col2.g))*(1.0 - outcol.g); + + if(outcol.b < 0.5) + outcol.b *= facm + 2.0*fac*col2.b; + else + outcol.b = 1.0 - (facm + 2.0*fac*(1.0 - col2.b))*(1.0 - outcol.b); +} + +void mix_sub(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol = mix(col1, col1 - col2, fac); + outcol.a = col1.a; +} + +void mix_div(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + outcol = col1; + + if(col2.r != 0.0) outcol.r = facm*outcol.r + fac*outcol.r/col2.r; + if(col2.g != 0.0) outcol.g = facm*outcol.g + fac*outcol.g/col2.g; + if(col2.b != 0.0) outcol.b = facm*outcol.b + fac*outcol.b/col2.b; +} + +void mix_diff(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol = mix(col1, abs(col1 - col2), fac); + outcol.a = col1.a; +} + +void mix_dark(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol.rgb = min(col1.rgb, col2.rgb*fac); + outcol.a = col1.a; +} + +void mix_light(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol.rgb = max(col1.rgb, col2.rgb*fac); + outcol.a = col1.a; +} + +void mix_dodge(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + outcol = col1; + + if(outcol.r != 0.0) { + float tmp = 1.0 - fac*col2.r; + if(tmp <= 0.0) + outcol.r = 1.0; + else if((tmp = outcol.r/tmp) > 1.0) + outcol.r = 1.0; + else + outcol.r = tmp; + } + if(outcol.g != 0.0) { + float tmp = 1.0 - fac*col2.g; + if(tmp <= 0.0) + outcol.g = 1.0; + else if((tmp = outcol.g/tmp) > 1.0) + outcol.g = 1.0; + else + outcol.g = tmp; + } + if(outcol.b != 0.0) { + float tmp = 1.0 - fac*col2.b; + if(tmp <= 0.0) + outcol.b = 1.0; + else if((tmp = outcol.b/tmp) > 1.0) + outcol.b = 1.0; + else + outcol.b = tmp; + } +} + +void mix_burn(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float tmp, facm = 1.0 - fac; + + outcol = col1; + + tmp = facm + fac*col2.r; + if(tmp <= 0.0) + outcol.r = 0.0; + else if((tmp = (1.0 - (1.0 - outcol.r)/tmp)) < 0.0) + outcol.r = 0.0; + else if(tmp > 1.0) + outcol.r = 1.0; + else + outcol.r = tmp; + + tmp = facm + fac*col2.g; + if(tmp <= 0.0) + outcol.g = 0.0; + else if((tmp = (1.0 - (1.0 - outcol.g)/tmp)) < 0.0) + outcol.g = 0.0; + else if(tmp > 1.0) + outcol.g = 1.0; + else + outcol.g = tmp; + + tmp = facm + fac*col2.b; + if(tmp <= 0.0) + outcol.b = 0.0; + else if((tmp = (1.0 - (1.0 - outcol.b)/tmp)) < 0.0) + outcol.b = 0.0; + else if(tmp > 1.0) + outcol.b = 1.0; + else + outcol.b = tmp; +} + +void mix_hue(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + outcol = col1; + + vec4 hsv, hsv2, tmp; + rgb_to_hsv(col2, hsv2); + + if(hsv2.y != 0.0) { + rgb_to_hsv(outcol, hsv); + hsv.x = hsv2.x; + hsv_to_rgb(hsv, tmp); + + outcol = mix(outcol, tmp, fac); + outcol.a = col1.a; + } +} + +void mix_sat(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + outcol = col1; + + vec4 hsv, hsv2; + rgb_to_hsv(outcol, hsv); + + if(hsv.y != 0.0) { + rgb_to_hsv(col2, hsv2); + + hsv.y = facm*hsv.y + fac*hsv2.y; + hsv_to_rgb(hsv, outcol); + } +} + +void mix_val(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + vec4 hsv, hsv2; + rgb_to_hsv(col1, hsv); + rgb_to_hsv(col2, hsv2); + + hsv.z = facm*hsv.z + fac*hsv2.z; + hsv_to_rgb(hsv, outcol); +} + +void mix_color(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + outcol = col1; + + vec4 hsv, hsv2, tmp; + rgb_to_hsv(col2, hsv2); + + if(hsv2.y != 0.0) { + rgb_to_hsv(outcol, hsv); + hsv.x = hsv2.x; + hsv.y = hsv2.y; + hsv_to_rgb(hsv, tmp); + + outcol = mix(outcol, tmp, fac); + outcol.a = col1.a; + } +} + +void mix_soft(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + float facm = 1.0 - fac; + + vec4 one= vec4(1.0); + vec4 scr= one - (one - col2)*(one - col1); + outcol = facm*col1 + fac*((one - col1)*col2*col1 + col1*scr); +} + +void mix_linear(float fac, vec4 col1, vec4 col2, out vec4 outcol) +{ + fac = clamp(fac, 0.0, 1.0); + + outcol = col1; + + if(col2.r > 0.5) + outcol.r= col1.r + fac*(2.0*(col2.r - 0.5)); + else + outcol.r= col1.r + fac*(2.0*(col2.r) - 1.0); + + if(col2.g > 0.5) + outcol.g= col1.g + fac*(2.0*(col2.g - 0.5)); + else + outcol.g= col1.g + fac*(2.0*(col2.g) - 1.0); + + if(col2.b > 0.5) + outcol.b= col1.b + fac*(2.0*(col2.b - 0.5)); + else + outcol.b= col1.b + fac*(2.0*(col2.b) - 1.0); +} + +void valtorgb(float fac, sampler1D colormap, out vec4 outcol, out float outalpha) +{ + outcol = texture1D(colormap, fac); + outalpha = outcol.a; +} + +void rgbtobw(vec4 color, out float outval) +{ + outval = color.r*0.35 + color.g*0.45 + color.b*0.2; /* keep these factors in sync with texture.h:RGBTOBW */ +} + +void invert(float fac, vec4 col, out vec4 outcol) +{ + outcol.xyz = mix(col.xyz, vec3(1.0, 1.0, 1.0) - col.xyz, fac); + outcol.w = col.w; +} + +void hue_sat(float hue, float sat, float value, float fac, vec4 col, out vec4 outcol) +{ + vec4 hsv; + + rgb_to_hsv(col, hsv); + + hsv[0] += (hue - 0.5); + if(hsv[0]>1.0) hsv[0]-=1.0; else if(hsv[0]<0.0) hsv[0]+= 1.0; + hsv[1] *= sat; + if(hsv[1]>1.0) hsv[1]= 1.0; else if(hsv[1]<0.0) hsv[1]= 0.0; + hsv[2] *= value; + if(hsv[2]>1.0) hsv[2]= 1.0; else if(hsv[2]<0.0) hsv[2]= 0.0; + + hsv_to_rgb(hsv, outcol); + + outcol = mix(col, outcol, fac); +} + +void separate_rgb(vec4 col, out float r, out float g, out float b) +{ + r = col.r; + g = col.g; + b = col.b; +} + +void combine_rgb(float r, float g, float b, out vec4 col) +{ + col = vec4(r, g, b, 1.0); +} + +void output_node(vec4 rgb, float alpha, out vec4 outrgb) +{ + outrgb = vec4(rgb.rgb, alpha); +} + +/*********** TEXTURES ***************/ + +void texture_flip_blend(vec3 vec, out vec3 outvec) +{ + outvec = vec.yxz; +} + +void texture_blend_lin(vec3 vec, out float outval) +{ + outval = (1.0+vec.x)/2.0; +} + +void texture_blend_quad(vec3 vec, out float outval) +{ + outval = max((1.0+vec.x)/2.0, 0.0); + outval *= outval; +} + +void texture_wood_sin(vec3 vec, out float value, out vec4 color, out vec3 normal) +{ + float a = sqrt(vec.x*vec.x + vec.y*vec.y + vec.z*vec.z)*20.0; + float wi = 0.5 + 0.5*sin(a); + + value = wi; + color = vec4(wi, wi, wi, 1.0); + normal = vec3(0.0, 0.0, 0.0); +} + +void texture_image(vec3 vec, sampler2D ima, out float value, out vec4 color, out vec3 normal) +{ + color = texture2D(ima, (vec.xy + vec2(1.0, 1.0))*0.5); + value = 1.0; + + normal.x = 2.0*(color.r - 0.5); + normal.y = 2.0*(0.5 - color.g); + normal.z = 2.0*(color.b - 0.5); +} + +/************* MTEX *****************/ + +void texco_orco(vec3 attorco, out vec3 orco) +{ + orco = attorco; +} + +void texco_uv(vec2 attuv, out vec3 uv) +{ + /* disabled for now, works together with leaving out mtex_2d_mapping + uv = vec3(attuv*2.0 - vec2(1.0, 1.0), 0.0); */ + uv = vec3(attuv, 0.0); +} + +void texco_norm(vec3 normal, out vec3 outnormal) +{ + /* corresponds to shi->orn, which is negated so cancels + out blender normal negation */ + outnormal = normalize(normal); +} + void texco_tangent(vec4 tangent, out vec3 outtangent) { outtangent = normalize(tangent.xyz); @@ -1802,3 +3578,4 @@ void shade_alpha_obcolor(vec4 col, vec4 obcol, out vec4 outcol) outcol = vec4(col.rgb, col.a*obcol.a); } +>>>>>>> .merge-right.r36569 diff --git a/source/blender/gpu/intern/gpu_shader_vertex.glsl b/source/blender/gpu/intern/gpu_shader_vertex.glsl index a86431bdd7a..68c8ed801bc 100644 --- a/source/blender/gpu/intern/gpu_shader_vertex.glsl +++ b/source/blender/gpu/intern/gpu_shader_vertex.glsl @@ -1,3 +1,17 @@ +<<<<<<< .working + +varying vec3 varposition; +varying vec3 varnormal; + +void main() +{ + vec4 co = gl_ModelViewMatrix * gl_Vertex; + + varposition = co.xyz; + varnormal = gl_NormalMatrix * gl_Normal; + gl_Position = gl_ProjectionMatrix * co; + +======= varying vec3 varposition; varying vec3 varnormal; @@ -10,3 +24,4 @@ void main() varnormal = normalize(gl_NormalMatrix * gl_Normal); gl_Position = gl_ProjectionMatrix * co; +>>>>>>> .merge-right.r36569 diff --git a/source/blender/makesdna/DNA_actuator_types.h b/source/blender/makesdna/DNA_actuator_types.h index 93db8340aac..239903208ec 100644 --- a/source/blender/makesdna/DNA_actuator_types.h +++ b/source/blender/makesdna/DNA_actuator_types.h @@ -230,6 +230,20 @@ typedef struct bArmatureActuator { struct Object *subtarget; } bArmatureActuator; +typedef struct bSteeringActuator { + char pad[5]; + char flag; + short facingaxis; + int type; /* 0=seek, 1=flee, 2=path following */ + float dist; + float velocity; + float acceleration; + float turnspeed; + int updateTime; + struct Object *target; + struct Object *navmesh; +} bSteeringActuator; + typedef struct bActuator { struct bActuator *next, *prev, *mynew; short type; @@ -295,6 +309,7 @@ typedef struct bActuator { #define ACT_SHAPEACTION 21 #define ACT_STATE 22 #define ACT_ARMATURE 23 +#define ACT_STEERING 24 /* actuator flag */ #define ACT_SHOW 1 @@ -511,6 +526,16 @@ typedef struct bActuator { #define ACT_CAMERA_X (float)'x' #define ACT_CAMERA_Y (float)'y' +/* steeringactuator->type */ +#define ACT_STEERING_SEEK 0 +#define ACT_STEERING_FLEE 1 +#define ACT_STEERING_PATHFOLLOWING 2 +/* steeringactuator->flag */ +#define ACT_STEERING_SELFTERMINATED 1 +#define ACT_STEERING_ENABLEVISUALIZATION 2 +#define ACT_STEERING_AUTOMATICFACING 4 +#define ACT_STEERING_NORMALUP 8 + #endif diff --git a/source/blender/makesdna/DNA_customdata_types.h b/source/blender/makesdna/DNA_customdata_types.h index cdfcf465c6c..b721dc60e73 100644 --- a/source/blender/makesdna/DNA_customdata_types.h +++ b/source/blender/makesdna/DNA_customdata_types.h @@ -92,7 +92,8 @@ typedef struct CustomData { #define CD_ID_MCOL 21 #define CD_TEXTURE_MCOL 22 #define CD_CLOTH_ORCO 23 -#define CD_NUMTYPES 24 +#define CD_RECAST 24 +#define CD_NUMTYPES 25 /* Bits for CustomDataMask */ #define CD_MASK_MVERT (1 << CD_MVERT) @@ -117,6 +118,7 @@ typedef struct CustomData { #define CD_MASK_MDISPS (1 << CD_MDISPS) #define CD_MASK_WEIGHT_MCOL (1 << CD_WEIGHT_MCOL) #define CD_MASK_CLOTH_ORCO (1 << CD_CLOTH_ORCO) +#define CD_MASK_RECAST (1 << CD_RECAST) /* CustomData.flag */ diff --git a/source/blender/makesdna/DNA_meshdata_types.h b/source/blender/makesdna/DNA_meshdata_types.h index e3510b3a25a..61c4a660992 100644 --- a/source/blender/makesdna/DNA_meshdata_types.h +++ b/source/blender/makesdna/DNA_meshdata_types.h @@ -184,6 +184,10 @@ typedef struct PartialVisibility { unsigned int totface, totedge, totvert, pad; } PartialVisibility; +typedef struct MRecast{ + int i; +} MRecast; + /* mvert->flag (1=SELECT) */ #define ME_SPHERETEST 2 #define ME_VERT_TMP_TAG 4 diff --git a/source/blender/makesdna/DNA_modifier_types.h b/source/blender/makesdna/DNA_modifier_types.h index d09e56a5708..3ba7fbd711f 100644 --- a/source/blender/makesdna/DNA_modifier_types.h +++ b/source/blender/makesdna/DNA_modifier_types.h @@ -71,6 +71,7 @@ typedef enum ModifierType { eModifierType_Solidify, eModifierType_Screw, eModifierType_Warp, + eModifierType_NavMesh, eModifierType_WeightVGEdit, eModifierType_WeightVGMix, eModifierType_WeightVGProximity, @@ -749,6 +750,10 @@ typedef struct ScrewModifierData { #define MOD_SCREW_OBJECT_OFFSET (1<<2) // #define MOD_SCREW_OBJECT_ANGLE (1<<4) +typedef struct NavMeshModifierData { + ModifierData modifier; +} NavMeshModifierData; + typedef struct WarpModifierData { ModifierData modifier; diff --git a/source/blender/makesdna/DNA_object_types.h b/source/blender/makesdna/DNA_object_types.h index ffa82092ef1..8750ee9e906 100644 --- a/source/blender/makesdna/DNA_object_types.h +++ b/source/blender/makesdna/DNA_object_types.h @@ -189,6 +189,8 @@ typedef struct Object { float max_vel; /* clamp the maximum velocity 0.0 is disabled */ float min_vel; /* clamp the maximum velocity 0.0 is disabled */ float m_contactProcessingThreshold; + float obstacleRad; + char pad0[4]; short rotmode; /* rotation mode - uses defines set out in DNA_action_types.h for PoseChannel rotations... */ @@ -473,6 +475,8 @@ typedef struct DupliObject { #define OB_SOFT_BODY 0x20000 #define OB_OCCLUDER 0x40000 #define OB_SENSOR 0x80000 +#define OB_NAVMESH 0x100000 +#define OB_HASOBSTACLE 0x200000 /* ob->gameflag2 */ #define OB_NEVER_DO_ACTIVITY_CULLING 1 @@ -493,6 +497,7 @@ typedef struct DupliObject { #define OB_BODY_TYPE_SOFT 4 #define OB_BODY_TYPE_OCCLUDER 5 #define OB_BODY_TYPE_SENSOR 6 +#define OB_BODY_TYPE_NAVMESH 7 /* ob->scavisflag */ #define OB_VIS_SENS 1 diff --git a/source/blender/makesdna/DNA_scene_types.h b/source/blender/makesdna/DNA_scene_types.h index be2a78ac774..be44b87d48e 100644 --- a/source/blender/makesdna/DNA_scene_types.h +++ b/source/blender/makesdna/DNA_scene_types.h @@ -426,6 +426,23 @@ typedef struct GameFraming { #define SCE_GAMEFRAMING_EXTEND 1 #define SCE_GAMEFRAMING_SCALE 2 +typedef struct RecastData +{ + float cellsize; + float cellheight; + float agentmaxslope; + float agentmaxclimb; + float agentheight; + float agentradius; + float edgemaxlen; + float edgemaxerror; + float regionminsize; + float regionmergesize; + int vertsperpoly; + float detailsampledist; + float detailsamplemaxerror; +} RecastData; + typedef struct GameData { /* physics (it was in world)*/ @@ -440,10 +457,13 @@ typedef struct GameData { * bit 3: (gameengine): Activity culling is enabled. * bit 5: (gameengine) : enable Bullet DBVT tree for view frustrum culling */ - short mode, flag, matmode, pad[3]; + short mode, flag, matmode, pad[2]; short occlusionRes; /* resolution of occlusion Z buffer in pixel */ short physicsEngine; short ticrate, maxlogicstep, physubstep, maxphystep; + short obstacleSimulation; + float levelHeight; + /* standalone player */ struct GameFraming framing; @@ -455,6 +475,7 @@ typedef struct GameData { short stereoflag, stereomode; short pad2, pad3; float eyeseparation, pad1; + RecastData recastData; } GameData; #define STEREO_NOSTEREO 1 @@ -478,6 +499,11 @@ typedef struct GameData { #define WOPHY_ODE 4 #define WOPHY_BULLET 5 +/* obstacleSimulation */ +#define OBSTSIMULATION_NONE 0 +#define OBSTSIMULATION_TOI_rays 1 +#define OBSTSIMULATION_TOI_cells 2 + /* GameData.flag */ #define GAME_RESTRICT_ANIM_UPDATES (1 << 0) #define GAME_ENABLE_ALL_FRAMES (1 << 1) @@ -494,6 +520,7 @@ typedef struct GameData { #define GAME_IGNORE_DEPRECATION_WARNINGS (1 << 12) #define GAME_ENABLE_ANIMATION_RECORD (1 << 13) #define GAME_SHOW_MOUSE (1 << 14) +#define GAME_SHOW_OBSTACLE_SIMULATION (1 << 15) #define GAME_GLSL_NO_COLOR_MANAGEMENT (1 << 15) /* Note: GameData.flag is a short (max 16 flags). To add more flags, GameData.flag needs to be an int */ diff --git a/source/blender/makesrna/intern/rna_actuator.c b/source/blender/makesrna/intern/rna_actuator.c index 3d0e177c94e..3214d31a53c 100644 --- a/source/blender/makesrna/intern/rna_actuator.c +++ b/source/blender/makesrna/intern/rna_actuator.c @@ -60,6 +60,7 @@ EnumPropertyItem actuator_type_items[] ={ {ACT_SOUND, "SOUND", 0, "Sound", ""}, {ACT_STATE, "STATE", 0, "State", ""}, {ACT_VISIBILITY, "VISIBILITY", 0, "Visibility", ""}, + {ACT_STEERING, "STEERING", 0, "Steering", ""}, {0, NULL, 0, NULL, NULL}}; #ifdef RNA_RUNTIME @@ -103,6 +104,8 @@ static StructRNA* rna_Actuator_refine(struct PointerRNA *ptr) return &RNA_StateActuator; case ACT_ARMATURE: return &RNA_ArmatureActuator; + case ACT_STEERING: + return &RNA_SteeringActuator; default: return &RNA_Actuator; } @@ -435,6 +438,7 @@ EnumPropertyItem *rna_Actuator_type_itemf(bContext *C, PointerRNA *ptr, Property RNA_enum_items_add_value(&item, &totitem, actuator_type_items, ACT_PROPERTY); RNA_enum_items_add_value(&item, &totitem, actuator_type_items, ACT_RANDOM); RNA_enum_items_add_value(&item, &totitem, actuator_type_items, ACT_SCENE); + RNA_enum_items_add_value(&item, &totitem, actuator_type_items, ACT_STEERING); RNA_enum_items_add_value(&item, &totitem, actuator_type_items, ACT_SOUND); RNA_enum_items_add_value(&item, &totitem, actuator_type_items, ACT_STATE); @@ -480,6 +484,18 @@ static void rna_Actuator_Armature_update(Main *bmain, Scene *scene, PointerRNA * constraint[0] = 0; } +static void rna_SteeringActuator_navmesh_set(PointerRNA *ptr, PointerRNA value) +{ + bActuator *act = (bActuator*)ptr->data; + bSteeringActuator *sa = (bSteeringActuator*) act->data; + + Object* obj = value.data; + if (obj && obj->body_type==OB_BODY_TYPE_NAVMESH) + sa->navmesh = obj; + else + sa->navmesh = NULL; +} + /* note: the following set functions exists only to avoid id refcounting */ static void rna_Actuator_editobject_mesh_set(PointerRNA *ptr, PointerRNA value) { @@ -1900,6 +1916,108 @@ static void rna_def_armature_actuator(BlenderRNA *brna) RNA_def_property_update(prop, NC_LOGIC, NULL); } +static void rna_def_steering_actuator(BlenderRNA *brna) +{ + StructRNA *srna; + PropertyRNA *prop; + + static EnumPropertyItem prop_type_items[] ={ + {ACT_STEERING_SEEK, "SEEK", 0, "Seek", ""}, + {ACT_STEERING_FLEE, "FLEE", 0, "Flee", ""}, + {ACT_STEERING_PATHFOLLOWING, "PATHFOLLOWING", 0, "Path following", ""}, + {0, NULL, 0, NULL, NULL}}; + + static EnumPropertyItem facingaxis_items[] ={ + {1, "X", 0, "X", ""}, + {2, "Y", 0, "Y", ""}, + {3, "Z", 0, "Z", ""}, + {4, "-X", 0, "-X", ""}, + {5, "-Y", 0, "-Y", ""}, + {6, "-Z", 0, "-Z", ""}, + {0, NULL, 0, NULL, NULL}}; + + srna= RNA_def_struct(brna, "SteeringActuator", "Actuator"); + RNA_def_struct_ui_text(srna, "Steering Actuator", ""); + RNA_def_struct_sdna_from(srna, "bSteeringActuator", "data"); + + prop= RNA_def_property(srna, "mode", PROP_ENUM, PROP_NONE); + RNA_def_property_enum_sdna(prop, NULL, "type"); + RNA_def_property_enum_items(prop, prop_type_items); + RNA_def_property_ui_text(prop, "Behavior", ""); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "velocity", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "velocity"); + RNA_def_property_range(prop, 0.0, 1000.0); + RNA_def_property_ui_text(prop, "Velocity", "Velocity magnitude"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "acceleration", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "acceleration"); + RNA_def_property_range(prop, 0.0, 1000.0); + RNA_def_property_ui_text(prop, "Acceleration", "Max acceleration"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "turn_speed", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "turnspeed"); + RNA_def_property_range(prop, 0.0, 720.0); + RNA_def_property_ui_text(prop, "Turn Speed", "Max turn speed"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "distance", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "dist"); + RNA_def_property_range(prop, 0.0, 1000.0); + RNA_def_property_ui_text(prop, "Dist", "Relax distance"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "target", PROP_POINTER, PROP_NONE); + RNA_def_property_struct_type(prop, "Object"); + RNA_def_property_pointer_sdna(prop, NULL, "target"); + RNA_def_property_flag(prop, PROP_EDITABLE); + RNA_def_property_ui_text(prop, "Target Object", "Set target object"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "self_terminated", PROP_BOOLEAN, PROP_NONE); + RNA_def_property_boolean_sdna(prop, NULL, "flag", ACT_STEERING_SELFTERMINATED); + RNA_def_property_ui_text(prop, "Self Terminated", "Terminate when target is reached"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "show_visualization", PROP_BOOLEAN, PROP_NONE); + RNA_def_property_boolean_sdna(prop, NULL, "flag", ACT_STEERING_ENABLEVISUALIZATION); + RNA_def_property_ui_text(prop, "Visualize", "Enable debug visualization"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "update_period", PROP_INT, PROP_NONE); + RNA_def_property_int_sdna(prop, NULL, "updateTime"); + RNA_def_property_ui_range(prop, -1, 100000, 1, 1); + RNA_def_property_ui_text(prop, "Update period", "Path update period"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "navmesh", PROP_POINTER, PROP_NONE); + RNA_def_property_struct_type(prop, "Object"); + RNA_def_property_pointer_sdna(prop, NULL, "navmesh"); + RNA_def_property_flag(prop, PROP_EDITABLE); + RNA_def_property_ui_text(prop, "NavMesh Object", "Navigation mesh"); + RNA_def_property_pointer_funcs(prop, NULL, "rna_SteeringActuator_navmesh_set", NULL, NULL); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "facing", PROP_BOOLEAN, PROP_NONE); + RNA_def_property_boolean_sdna(prop, NULL, "flag", ACT_STEERING_AUTOMATICFACING); + RNA_def_property_ui_text(prop, "Facing", "Enable automatic facing"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "facing_axis", PROP_ENUM, PROP_NONE); + RNA_def_property_enum_sdna(prop, NULL, "facingaxis"); + RNA_def_property_enum_items(prop, facingaxis_items); + RNA_def_property_ui_text(prop, "Axis", "Axis for automatic facing"); + RNA_def_property_update(prop, NC_LOGIC, NULL); + + prop= RNA_def_property(srna, "normal_up", PROP_BOOLEAN, PROP_NONE); + RNA_def_property_boolean_sdna(prop, NULL, "flag", ACT_STEERING_NORMALUP); + RNA_def_property_ui_text(prop, "N", "Use normal of the navmesh to set \"UP\" vector"); + RNA_def_property_update(prop, NC_LOGIC, NULL); +} + void RNA_def_actuator(BlenderRNA *brna) { rna_def_actuator(brna); @@ -1921,6 +2039,7 @@ void RNA_def_actuator(BlenderRNA *brna) rna_def_shape_action_actuator(brna); rna_def_state_actuator(brna); rna_def_armature_actuator(brna); + rna_def_steering_actuator(brna); } #endif diff --git a/source/blender/makesrna/intern/rna_modifier.c b/source/blender/makesrna/intern/rna_modifier.c index 07967103a40..f6c96c2594c 100644 --- a/source/blender/makesrna/intern/rna_modifier.c +++ b/source/blender/makesrna/intern/rna_modifier.c @@ -96,6 +96,7 @@ EnumPropertyItem modifier_type_items[] ={ {eModifierType_Smoke, "SMOKE", ICON_MOD_SMOKE, "Smoke", ""}, {eModifierType_Softbody, "SOFT_BODY", ICON_MOD_SOFT, "Soft Body", ""}, {eModifierType_Surface, "SURFACE", ICON_MOD_PHYSICS, "Surface", ""}, + {eModifierType_NavMesh, "NAVMESH", ICON_MOD_PHYSICS, "Navigation mesh", ""}, {0, NULL, 0, NULL, NULL}}; #ifdef RNA_RUNTIME @@ -188,6 +189,8 @@ static StructRNA* rna_Modifier_refine(struct PointerRNA *ptr) return &RNA_ScrewModifier; case eModifierType_Warp: return &RNA_WarpModifier; + case eModifierType_NavMesh: + return &RNA_NavMeshModifier; case eModifierType_WeightVGEdit: return &RNA_VertexWeightEditModifier; case eModifierType_WeightVGMix: @@ -2487,6 +2490,17 @@ static void rna_def_modifier_screw(BlenderRNA *brna) RNA_def_property_update(prop, 0, "rna_Modifier_update");*/ } +static void rna_def_modifier_navmesh(BlenderRNA *brna) +{ + StructRNA *srna; + PropertyRNA *prop; + + srna= RNA_def_struct(brna, "NavMeshModifier", "Modifier"); + RNA_def_struct_ui_text(srna, "NavMesh Modifier", "NavMesh modifier"); + RNA_def_struct_sdna(srna, "NavMeshModifierData"); + RNA_def_struct_ui_icon(srna, ICON_MOD_DECIM); +} + static void rna_def_modifier_weightvg_mask(BlenderRNA *brna, StructRNA *srna) { static EnumPropertyItem weightvg_mask_tex_map_items[] = { @@ -2878,6 +2892,7 @@ void RNA_def_modifier(BlenderRNA *brna) rna_def_modifier_smoke(brna); rna_def_modifier_solidify(brna); rna_def_modifier_screw(brna); + rna_def_modifier_navmesh(brna); rna_def_modifier_weightvgedit(brna); rna_def_modifier_weightvgmix(brna); rna_def_modifier_weightvgproximity(brna); diff --git a/source/blender/makesrna/intern/rna_object.c b/source/blender/makesrna/intern/rna_object.c index 83efd9d1a9f..571f8d36305 100644 --- a/source/blender/makesrna/intern/rna_object.c +++ b/source/blender/makesrna/intern/rna_object.c @@ -858,6 +858,8 @@ static int rna_GameObjectSettings_physics_type_get(PointerRNA *ptr) if (!(ob->gameflag & OB_COLLISION)) { if (ob->gameflag & OB_OCCLUDER) { ob->body_type = OB_BODY_TYPE_OCCLUDER; + } else if (ob->gameflag & OB_NAVMESH){ + ob->body_type = OB_BODY_TYPE_NAVMESH; } else { ob->body_type = OB_BODY_TYPE_NO_COLLISION; } @@ -887,31 +889,35 @@ static void rna_GameObjectSettings_physics_type_set(PointerRNA *ptr, int value) switch (ob->body_type) { case OB_BODY_TYPE_SENSOR: ob->gameflag |= OB_SENSOR|OB_COLLISION|OB_GHOST; - ob->gameflag &= ~(OB_OCCLUDER|OB_DYNAMIC|OB_RIGID_BODY|OB_SOFT_BODY|OB_ACTOR|OB_ANISOTROPIC_FRICTION|OB_DO_FH|OB_ROT_FH|OB_COLLISION_RESPONSE); + ob->gameflag &= ~(OB_OCCLUDER|OB_DYNAMIC|OB_RIGID_BODY|OB_SOFT_BODY|OB_ACTOR|OB_ANISOTROPIC_FRICTION|OB_DO_FH|OB_ROT_FH|OB_COLLISION_RESPONSE|OB_NAVMESH); break; case OB_BODY_TYPE_OCCLUDER: ob->gameflag |= OB_OCCLUDER; - ob->gameflag &= ~(OB_SENSOR|OB_COLLISION|OB_DYNAMIC); + ob->gameflag &= ~(OB_SENSOR|OB_COLLISION|OB_DYNAMIC|OB_NAVMESH); + break; + case OB_BODY_TYPE_NAVMESH: + ob->gameflag |= OB_NAVMESH; + ob->gameflag &= ~(OB_SENSOR|OB_COLLISION|OB_DYNAMIC|OB_OCCLUDER); break; case OB_BODY_TYPE_NO_COLLISION: - ob->gameflag &= ~(OB_SENSOR|OB_COLLISION|OB_OCCLUDER|OB_DYNAMIC); + ob->gameflag &= ~(OB_SENSOR|OB_COLLISION|OB_OCCLUDER|OB_DYNAMIC|OB_NAVMESH); break; case OB_BODY_TYPE_STATIC: ob->gameflag |= OB_COLLISION; - ob->gameflag &= ~(OB_DYNAMIC|OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR); + ob->gameflag &= ~(OB_DYNAMIC|OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR|OB_NAVMESH); break; case OB_BODY_TYPE_DYNAMIC: ob->gameflag |= OB_COLLISION|OB_DYNAMIC|OB_ACTOR; - ob->gameflag &= ~(OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR); + ob->gameflag &= ~(OB_RIGID_BODY|OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR|OB_NAVMESH); break; case OB_BODY_TYPE_RIGID: ob->gameflag |= OB_COLLISION|OB_DYNAMIC|OB_RIGID_BODY|OB_ACTOR; - ob->gameflag &= ~(OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR); + ob->gameflag &= ~(OB_SOFT_BODY|OB_OCCLUDER|OB_SENSOR|OB_NAVMESH); break; default: case OB_BODY_TYPE_SOFT: ob->gameflag |= OB_COLLISION|OB_DYNAMIC|OB_SOFT_BODY|OB_ACTOR; - ob->gameflag &= ~(OB_RIGID_BODY|OB_OCCLUDER|OB_SENSOR); + ob->gameflag &= ~(OB_RIGID_BODY|OB_OCCLUDER|OB_SENSOR|OB_NAVMESH); /* assume triangle mesh, if no bounds chosen for soft body */ if ((ob->gameflag & OB_BOUNDS) && (ob->boundtype<OB_BOUND_POLYH)) @@ -1343,6 +1349,7 @@ static void rna_def_object_game_settings(BlenderRNA *brna) {OB_BODY_TYPE_SOFT, "SOFT_BODY", 0, "Soft Body", "Soft body"}, {OB_BODY_TYPE_OCCLUDER, "OCCLUDE", 0, "Occlude", "Occluder for optimizing scene rendering"}, {OB_BODY_TYPE_SENSOR, "SENSOR", 0, "Sensor", "Collision Sensor, detects static and dynamic objects but not the other collision sensor objects"}, + {OB_BODY_TYPE_NAVMESH, "NAVMESH", 0, "NavMesh", "Navigation mesh"}, {0, NULL, 0, NULL, NULL}}; srna= RNA_def_struct(brna, "GameObjectSettings", NULL); @@ -1512,6 +1519,15 @@ static void rna_def_object_game_settings(BlenderRNA *brna) RNA_def_property_pointer_sdna(prop, NULL, "bsoft"); RNA_def_property_ui_text(prop, "Soft Body Settings", "Settings for Bullet soft body simulation"); + prop= RNA_def_property(srna, "create_obstacle", PROP_BOOLEAN, PROP_NONE); + RNA_def_property_boolean_sdna(prop, NULL, "gameflag", OB_HASOBSTACLE); + RNA_def_property_ui_text(prop, "Create obstacle", "Create representation for obstacle simulation"); + + prop= RNA_def_property(srna, "obstacle_radius", PROP_FLOAT, PROP_NONE|PROP_UNIT_LENGTH); + RNA_def_property_float_sdna(prop, NULL, "obstacleRad"); + RNA_def_property_range(prop, 0.0, 1000.0); + RNA_def_property_ui_text(prop, "Obstacle Radius", "Radius of object representation in obstacle simulation"); + /* state */ prop= RNA_def_property(srna, "states_visible", PROP_BOOLEAN, PROP_LAYER_MEMBER); diff --git a/source/blender/makesrna/intern/rna_scene.c b/source/blender/makesrna/intern/rna_scene.c index 8c2f473c65e..197ddd2ba06 100644 --- a/source/blender/makesrna/intern/rna_scene.c +++ b/source/blender/makesrna/intern/rna_scene.c @@ -39,6 +39,7 @@ #include "DNA_particle_types.h" #include "DNA_scene_types.h" #include "DNA_userdef_types.h" +#include "BLI_math.h" /* Include for Bake Options */ #include "RE_pipeline.h" @@ -1669,6 +1670,96 @@ void rna_def_render_layer_common(StructRNA *srna, int scene) else RNA_def_property_clear_flag(prop, PROP_EDITABLE); } +static void rna_def_scene_game_recast_data(BlenderRNA *brna) +{ + StructRNA *srna; + PropertyRNA *prop; + + srna= RNA_def_struct(brna, "SceneGameRecastData", NULL); + RNA_def_struct_sdna(srna, "RecastData"); + RNA_def_struct_nested(brna, srna, "Scene"); + RNA_def_struct_ui_text(srna, "Recast Data", "Recast data for a Game datablock"); + + prop= RNA_def_property(srna, "cell_size", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "cellsize"); + RNA_def_property_ui_range(prop, 0.1, 1, 1, 2); + RNA_def_property_ui_text(prop, "Cell Size", "Rasterized cell size"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "cell_height", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "cellheight"); + RNA_def_property_ui_range(prop, 0.1, 1, 1, 2); + RNA_def_property_ui_text(prop, "Cell Height", "Rasterized cell height"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "agent_height", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "agentheight"); + RNA_def_property_ui_range(prop, 0.1, 5, 1, 2); + RNA_def_property_ui_text(prop, "Agent Height", "Minimum height where the agent can still walk"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "agent_radius", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "agentradius"); + RNA_def_property_ui_range(prop, 0.1, 5, 1, 2); + RNA_def_property_ui_text(prop, "Agent Radius", "Radius of the agent"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "max_climb", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "agentmaxclimb"); + RNA_def_property_ui_range(prop, 0.1, 5, 1, 2); + RNA_def_property_ui_text(prop, "Max Climb", "Maximum height between grid cells the agent can climb"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "max_slope", PROP_FLOAT, PROP_ANGLE); + RNA_def_property_float_sdna(prop, NULL, "agentmaxslope"); + RNA_def_property_range(prop, 0, M_PI/2); + RNA_def_property_ui_text(prop, "Max Slope", "Maximum walkable slope angle in degrees"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + + prop= RNA_def_property(srna, "region_min_size", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "regionminsize"); + RNA_def_property_ui_range(prop, 0, 150, 1, 2); + RNA_def_property_ui_text(prop, "Min Region Size", "Minimum regions size. Smaller regions will be deleted"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "region_merge_size", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "regionmergesize"); + RNA_def_property_ui_range(prop, 0, 150, 1, 2); + RNA_def_property_ui_text(prop, "Merged Region Size", "Minimum regions size. Smaller regions will be merged"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "edge_max_len", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "edgemaxlen"); + RNA_def_property_ui_range(prop, 0, 50, 1, 2); + RNA_def_property_ui_text(prop, "Max Edge Length", "Maximum contour edge length"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "edge_max_error", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "edgemaxerror"); + RNA_def_property_ui_range(prop, 0.1, 3.0, 1, 2); + RNA_def_property_ui_text(prop, "Max Edge Error", "Maximum distance error from contour to cells"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "verts_per_poly", PROP_INT, PROP_NONE); + RNA_def_property_int_sdna(prop, NULL, "vertsperpoly"); + RNA_def_property_ui_range(prop, 3, 12, 1, 0); + RNA_def_property_ui_text(prop, "Verts Per Poly", "Max number of vertices per polygon"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "sample_dist", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "detailsampledist"); + RNA_def_property_ui_range(prop, 0.0, 16.0, 1, 2); + RNA_def_property_ui_text(prop, "Sample Distance", "Detail mesh sample spacing"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "sample_max_error", PROP_FLOAT, PROP_NONE); + RNA_def_property_float_sdna(prop, NULL, "detailsamplemaxerror"); + RNA_def_property_ui_range(prop, 0.0, 16.0, 1, 2); + RNA_def_property_ui_text(prop, "Max Sample Error", "Detail mesh simplification max sample error"); + RNA_def_property_update(prop, NC_SCENE, NULL); +} + static void rna_def_scene_game_data(BlenderRNA *brna) { StructRNA *srna; @@ -1718,6 +1809,12 @@ static void rna_def_scene_game_data(BlenderRNA *brna) {GAME_MAT_GLSL, "GLSL", 0, "GLSL", "OpenGL shading language shaders"}, {0, NULL, 0, NULL, NULL}}; + static EnumPropertyItem obstacle_simulation_items[] = { + {OBSTSIMULATION_NONE, "NONE", 0, "None", ""}, + {OBSTSIMULATION_TOI_rays, "RVO (rays)", 0, "RVO (rays)", ""}, + {OBSTSIMULATION_TOI_cells, "RVO (cells)", 0, "RVO (cells)", ""}, + {0, NULL, 0, NULL, NULL}}; + srna= RNA_def_struct(brna, "SceneGameData", NULL); RNA_def_struct_sdna(srna, "GameData"); RNA_def_struct_nested(brna, srna, "Scene"); @@ -1970,6 +2067,33 @@ static void rna_def_scene_game_data(BlenderRNA *brna) RNA_def_property_boolean_negative_sdna(prop, NULL, "flag", GAME_GLSL_NO_EXTRA_TEX); RNA_def_property_ui_text(prop, "GLSL Extra Textures", "Use extra textures like normal or specular maps for GLSL rendering"); RNA_def_property_update(prop, NC_SCENE|NA_EDITED, "rna_Scene_glsl_update"); + + /* obstacle simulation */ + prop= RNA_def_property(srna, "obstacle_simulation", PROP_ENUM, PROP_NONE); + RNA_def_property_enum_sdna(prop, NULL, "obstacleSimulation"); + RNA_def_property_enum_items(prop, obstacle_simulation_items); + RNA_def_property_ui_text(prop, "Obstacle simulation", "Simulation used for obstacle avoidance in the game engine"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "level_height", PROP_FLOAT, PROP_ACCELERATION); + RNA_def_property_float_sdna(prop, NULL, "levelHeight"); + RNA_def_property_range(prop, 0.0f, 200.0f); + RNA_def_property_ui_text(prop, "Level height", "Max difference in heights of obstacles to enable their interaction"); + RNA_def_property_update(prop, NC_SCENE, NULL); + + prop= RNA_def_property(srna, "show_obstacle_simulation", PROP_BOOLEAN, PROP_NONE); + RNA_def_property_boolean_sdna(prop, NULL, "flag", GAME_SHOW_OBSTACLE_SIMULATION); + RNA_def_property_ui_text(prop, "Visualization", "Enable debug visualization for obstacle simulation"); + + /* Recast Settings */ + prop= RNA_def_property(srna, "recast_data", PROP_POINTER, PROP_NONE); + RNA_def_property_flag(prop, PROP_NEVER_NULL); + RNA_def_property_pointer_sdna(prop, NULL, "recastData"); + RNA_def_property_struct_type(prop, "SceneGameRecastData"); + RNA_def_property_ui_text(prop, "Recast Data", ""); + + /* Nestled Data */ + rna_def_scene_game_recast_data(brna); } static void rna_def_scene_render_layer(BlenderRNA *brna) diff --git a/source/blender/modifiers/CMakeLists.txt b/source/blender/modifiers/CMakeLists.txt index f374de3fd17..d06ada737ee 100644 --- a/source/blender/modifiers/CMakeLists.txt +++ b/source/blender/modifiers/CMakeLists.txt @@ -34,12 +34,16 @@ set(INC ../makesdna ../makesrna ../render/extern/include + ../editors/include + ../gpu ../../../intern/elbeem/extern ../../../intern/guardedalloc + ../../../extern/recastnavigation/Recast/Include ) set(INC_SYS ${ZLIB_INCLUDE_DIRS} + ${GLEW_INCLUDE_PATH} ) set(SRC @@ -64,6 +68,7 @@ set(SRC intern/MOD_meshdeform.c intern/MOD_mirror.c intern/MOD_multires.c + intern/MOD_navmesh.cpp intern/MOD_none.c intern/MOD_particleinstance.c intern/MOD_particlesystem.c diff --git a/source/blender/modifiers/MOD_modifiertypes.h b/source/blender/modifiers/MOD_modifiertypes.h index 0ba906a433b..0ae9768c0e6 100644 --- a/source/blender/modifiers/MOD_modifiertypes.h +++ b/source/blender/modifiers/MOD_modifiertypes.h @@ -72,6 +72,7 @@ extern ModifierTypeInfo modifierType_ShapeKey; extern ModifierTypeInfo modifierType_Solidify; extern ModifierTypeInfo modifierType_Screw; extern ModifierTypeInfo modifierType_Warp; +extern ModifierTypeInfo modifierType_NavMesh; extern ModifierTypeInfo modifierType_WeightVGEdit; extern ModifierTypeInfo modifierType_WeightVGMix; extern ModifierTypeInfo modifierType_WeightVGProximity; diff --git a/source/blender/modifiers/SConscript b/source/blender/modifiers/SConscript index 66dd00f0248..f90e637d151 100644 --- a/source/blender/modifiers/SConscript +++ b/source/blender/modifiers/SConscript @@ -1,12 +1,14 @@ #!/usr/bin/python Import ('env') -sources = env.Glob('intern/*.c') +sources = env.Glob('intern/*.c') + env.Glob('intern/*.cpp') incs = '. ./intern' -incs += ' #/intern/guardedalloc #/intern/decimation/extern #/intern/bsp/extern #/intern/elbeem/extern' +incs += ' #/intern/guardedalloc #/intern/decimation/extern #/intern/bsp/extern #/intern/elbeem/extern #/extern/glew/include' incs += ' ../render/extern/include ../blenloader' incs += ' ../include ../blenlib ../makesdna ../makesrna ../blenkernel ../blenkernel/intern' +incs += ' ../editors/include ../gpu' +incs += ' #extern/recastnavigation/Recast/Include' incs += ' ' + env['BF_ZLIB_INC'] diff --git a/source/blender/modifiers/intern/MOD_navmesh.cpp b/source/blender/modifiers/intern/MOD_navmesh.cpp new file mode 100644 index 00000000000..888da7ba985 --- /dev/null +++ b/source/blender/modifiers/intern/MOD_navmesh.cpp @@ -0,0 +1,269 @@ +/* +* $Id$ +* +* ***** 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. +* +* 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) 2005 by the Blender Foundation. +* All rights reserved. +* +* Contributor(s): +* +* ***** END GPL LICENSE BLOCK ***** +* +*/ +#include <math.h> +#include "Recast.h" + +extern "C"{ +#include "ED_navmesh_conversion.h" + +#include "DNA_mesh_types.h" +#include "DNA_meshdata_types.h" +#include "BLI_math.h" +#include "BKE_cdderivedmesh.h" +#include "BKE_mesh.h" +#include "BKE_modifier.h" +#include "BKE_particle.h" +#include "BKE_customdata.h" +#include "MEM_guardedalloc.h" +#include "BIF_gl.h" +#include "GPU_buffers.h" +#include "GPU_draw.h" +#include "UI_resources.h" + +static void initData(ModifierData *md) +{ + NavMeshModifierData *nmmd = (NavMeshModifierData*) md; +} + +static void copyData(ModifierData *md, ModifierData *target) +{ + NavMeshModifierData *nmmd = (NavMeshModifierData*) md; + NavMeshModifierData *tnmmd = (NavMeshModifierData*) target; + + //.todo - deep copy +} + +/* +static void (*drawFacesSolid_original)(DerivedMesh *dm, float (*partial_redraw_planes)[4], + int fast, int (*setMaterial)(int, void *attribs)) = NULL;*/ + +static void drawNavMeshColored(DerivedMesh *dm) +{ + int a, glmode; + MVert *mvert = (MVert *)CustomData_get_layer(&dm->vertData, CD_MVERT); + MFace *mface = (MFace *)CustomData_get_layer(&dm->faceData, CD_MFACE); + int* polygonIdx = (int*)CustomData_get_layer(&dm->faceData, CD_RECAST); + if (!polygonIdx) + return; + const float BLACK_COLOR[3] = {0.f, 0.f, 0.f}; + float col[3]; + /* + //UI_ThemeColor(TH_WIRE); + glDisable(GL_LIGHTING); + glLineWidth(2.0); + dm->drawEdges(dm, 0, 1); + glLineWidth(1.0); + glEnable(GL_LIGHTING);*/ + + glDisable(GL_LIGHTING); + if(GPU_buffer_legacy(dm) ) { + DEBUG_VBO( "Using legacy code. drawNavMeshColored\n" ); + //glShadeModel(GL_SMOOTH); + glBegin(glmode = GL_QUADS); + for(a = 0; a < dm->numFaceData; a++, mface++) { + int new_glmode = mface->v4?GL_QUADS:GL_TRIANGLES; + int polygonIdx = *(int*)CustomData_get(&dm->faceData, a, CD_RECAST); + if (polygonIdx<=0) + memcpy(col, BLACK_COLOR, 3*sizeof(float)); + else + intToCol(polygonIdx, col); + + if(new_glmode != glmode) { + glEnd(); + glBegin(glmode = new_glmode); + } + glColor3fv(col); + glVertex3fv(mvert[mface->v1].co); + glVertex3fv(mvert[mface->v2].co); + glVertex3fv(mvert[mface->v3].co); + if(mface->v4) { + glVertex3fv(mvert[mface->v4].co); + } + } + glEnd(); + } + glEnable(GL_LIGHTING); +} + +static void navDM_drawFacesTex(DerivedMesh *dm, int (*setDrawOptions)(MTFace *tface, MCol *mcol, int matnr)) +{ + drawNavMeshColored(dm); +} + +static void navDM_drawFacesSolid(DerivedMesh *dm, + float (*partial_redraw_planes)[4], + int fast, int (*setMaterial)(int, void *attribs)) +{ + //drawFacesSolid_original(dm, partial_redraw_planes, fast, setMaterial); + drawNavMeshColored(dm); +} + +static DerivedMesh *createNavMeshForVisualization(NavMeshModifierData *mmd,DerivedMesh *dm) +{ + DerivedMesh *result; + int maxFaces = dm->getNumFaces(dm); + + result = CDDM_copy(dm); + if (!CustomData_has_layer(&result->faceData, CD_RECAST)) + { + int *sourceRecastData = (int*)CustomData_get_layer(&dm->faceData, CD_RECAST); + CustomData_add_layer_named(&result->faceData, CD_RECAST, CD_DUPLICATE, + sourceRecastData, maxFaces, "recastData"); + } + int *recastData = (int*)CustomData_get_layer(&result->faceData, CD_RECAST); + result->drawFacesTex = navDM_drawFacesTex; + result->drawFacesSolid = navDM_drawFacesSolid; + + + //process mesh + int vertsPerPoly=0, nverts=0, ndtris=0, npolys=0; + float* verts=NULL; + unsigned short *dtris=NULL, *dmeshes=NULL, *polys=NULL; + int *dtrisToPolysMap=NULL, *dtrisToTrisMap=NULL, *trisToFacesMap=NULL; + + bool res = buildNavMeshDataByDerivedMesh(dm, vertsPerPoly, nverts, verts, ndtris, dtris, + npolys, dmeshes, polys, dtrisToPolysMap, dtrisToTrisMap, + trisToFacesMap); + if (res) + { + //invalidate concave polygon + for (size_t polyIdx=0; polyIdx<(size_t)npolys; polyIdx++) + { + unsigned short* poly = &polys[polyIdx*2*vertsPerPoly]; + if (!polyIsConvex(poly, vertsPerPoly, verts)) + { + //set negative polygon idx to all faces + unsigned short *dmesh = &dmeshes[4*polyIdx]; + unsigned short tbase = dmesh[2]; + unsigned short tnum = dmesh[3]; + for (unsigned short ti=0; ti<tnum; ti++) + { + unsigned short triidx = dtrisToTrisMap[tbase+ti]; + unsigned short faceidx = trisToFacesMap[triidx]; + if (recastData[faceidx]>0) + recastData[faceidx] = -recastData[faceidx]; + } + } + } + + } + else + { + printf("Error during creation polygon infos\n"); + } + + //clean up + if (verts!=NULL) + delete verts; + if (dtris!=NULL) + delete dtris; + if (dmeshes!=NULL) + delete dmeshes; + if (polys!=NULL) + delete polys; + if (dtrisToPolysMap!=NULL) + delete dtrisToPolysMap; + if (dtrisToTrisMap!=NULL) + delete dtrisToTrisMap; + if (trisToFacesMap!=NULL) + delete trisToFacesMap; + + return result; +} + +/* +static int isDisabled(ModifierData *md, int useRenderParams) +{ + NavMeshModifierData *amd = (NavMeshModifierData*) md; + return false; +}*/ + + + +static DerivedMesh *applyModifier(ModifierData *md, Object *ob, DerivedMesh *derivedData, + int useRenderParams, int isFinalCalc) +{ + DerivedMesh *result = NULL; + NavMeshModifierData *nmmd = (NavMeshModifierData*) md; + bool hasRecastData = CustomData_has_layer(&derivedData->faceData, CD_RECAST)>0; + if (ob->body_type!=OB_BODY_TYPE_NAVMESH || !hasRecastData ) + { + //convert to nav mesh object: + //1)set physics type + ob->gameflag &= ~OB_COLLISION; + ob->gameflag |= OB_NAVMESH; + ob->body_type = OB_BODY_TYPE_NAVMESH; + //2)add and init recast data layer + if (!hasRecastData) + { + Mesh* obmesh = (Mesh *)ob->data; + if (obmesh) + { + int numFaces = obmesh->totface; + CustomData_add_layer_named(&obmesh->fdata, CD_RECAST, CD_CALLOC, NULL, numFaces, "recastData"); + int* recastData = (int*)CustomData_get_layer(&obmesh->fdata, CD_RECAST); + for (int i=0; i<numFaces; i++) + { + recastData[i] = i+1; + } + CustomData_add_layer_named(&derivedData->faceData, CD_RECAST, CD_REFERENCE, recastData, numFaces, "recastData"); + } + } + } + + result = createNavMeshForVisualization(nmmd, derivedData); + + return result; +} + + +ModifierTypeInfo modifierType_NavMesh = { + /* name */ "NavMesh", + /* structName */ "NavMeshModifierData", + /* structSize */ sizeof(NavMeshModifierData), + /* type */ eModifierTypeType_Constructive, + /* flags */ (ModifierTypeFlag) (eModifierTypeFlag_AcceptsMesh + | eModifierTypeFlag_Single), + /* copyData */ copyData, + /* deformVerts */ 0, + /* deformMatrices */ 0, + /* deformVertsEM */ 0, + /* deformMatricesEM */ 0, + /* applyModifier */ applyModifier, + /* applyModifierEM */ 0, + /* initData */ initData, + /* requiredDataMask */ 0, + /* freeData */ 0, + /* isDisabled */ 0, + /* updateDepgraph */ 0, + /* dependsOnTime */ 0, + /* foreachObjectLink */ 0, + /* foreachIDLink */ 0, +}; + +};
\ No newline at end of file diff --git a/source/blender/modifiers/intern/MOD_util.c b/source/blender/modifiers/intern/MOD_util.c index 26e9d48cd0a..a2fe947a523 100644 --- a/source/blender/modifiers/intern/MOD_util.c +++ b/source/blender/modifiers/intern/MOD_util.c @@ -295,6 +295,7 @@ void modifier_type_init(ModifierTypeInfo *types[]) INIT_TYPE(Solidify); INIT_TYPE(Screw); INIT_TYPE(Warp); + INIT_TYPE(NavMesh); INIT_TYPE(WeightVGEdit); INIT_TYPE(WeightVGMix); INIT_TYPE(WeightVGProximity); diff --git a/source/creator/CMakeLists.txt b/source/creator/CMakeLists.txt index bf2808ba4c0..243f51f04db 100644 --- a/source/creator/CMakeLists.txt +++ b/source/creator/CMakeLists.txt @@ -797,6 +797,7 @@ endif() bf_intern_smoke extern_minilzo extern_lzma + extern_recastnavigation ge_logic_ketsji ge_phys_common ge_logic diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp index fcfc07e631e..d4b43cd7ac1 100644 --- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp +++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp @@ -180,6 +180,9 @@ extern Material defmaterial; /* material.c */ #include "BL_ArmatureObject.h" #include "BL_DeformableGameObject.h" +#include "KX_NavMeshObject.h" +#include "KX_ObstacleSimulation.h" + #ifdef __cplusplus extern "C" { #endif @@ -1741,7 +1744,14 @@ static KX_GameObject *gameobject_from_blenderobject( // needed for python scripting kxscene->GetLogicManager()->RegisterMeshName(meshobj->GetName(),meshobj); - + + if (ob->gameflag & OB_NAVMESH) + { + gameobj = new KX_NavMeshObject(kxscene,KX_Scene::m_callbacks); + gameobj->AddMesh(meshobj); + break; + } + gameobj = new BL_DeformableGameObject(ob,kxscene,KX_Scene::m_callbacks); // set transformation @@ -2710,6 +2720,46 @@ void BL_ConvertBlenderObjects(struct Main* maggie, converter->RegisterWorldInfo(worldinfo); kxscene->SetWorldInfo(worldinfo); + //create object representations for obstacle simulation + KX_ObstacleSimulation* obssimulation = kxscene->GetObstacleSimulation(); + if (obssimulation) + { + for ( i=0;i<objectlist->GetCount();i++) + { + KX_GameObject* gameobj = static_cast<KX_GameObject*>(objectlist->GetValue(i)); + struct Object* blenderobject = gameobj->GetBlenderObject(); + if (blenderobject->gameflag & OB_HASOBSTACLE) + { + obssimulation->AddObstacleForObj(gameobj); + } + } + } + + //process navigation mesh objects + for ( i=0; i<objectlist->GetCount();i++) + { + KX_GameObject* gameobj = static_cast<KX_GameObject*>(objectlist->GetValue(i)); + struct Object* blenderobject = gameobj->GetBlenderObject(); + if (blenderobject->type==OB_MESH && (blenderobject->gameflag & OB_NAVMESH)) + { + KX_NavMeshObject* navmesh = static_cast<KX_NavMeshObject*>(gameobj); + navmesh->SetVisible(0, true); + navmesh->BuildNavMesh(); + if (obssimulation) + obssimulation->AddObstaclesForNavMesh(navmesh); + } + } + for ( i=0; i<inactivelist->GetCount();i++) + { + KX_GameObject* gameobj = static_cast<KX_GameObject*>(inactivelist->GetValue(i)); + struct Object* blenderobject = gameobj->GetBlenderObject(); + if (blenderobject->type==OB_MESH && (blenderobject->gameflag & OB_NAVMESH)) + { + KX_NavMeshObject* navmesh = static_cast<KX_NavMeshObject*>(gameobj); + navmesh->SetVisible(0, true); + } + } + #define CONVERT_LOGIC #ifdef CONVERT_LOGIC // convert logic bricks, sensors, controllers and actuators diff --git a/source/gameengine/Converter/CMakeLists.txt b/source/gameengine/Converter/CMakeLists.txt index 3a217ce9d74..039f454e870 100644 --- a/source/gameengine/Converter/CMakeLists.txt +++ b/source/gameengine/Converter/CMakeLists.txt @@ -56,6 +56,7 @@ set(INC ../../../intern/guardedalloc ../../../intern/moto/include ../../../intern/string + ../../../extern/recastnavigation/Detour/Include ) set(INC_SYS diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp index 6ba178cbb2f..a14e5fb5449 100644 --- a/source/gameengine/Converter/KX_ConvertActuators.cpp +++ b/source/gameengine/Converter/KX_ConvertActuators.cpp @@ -72,6 +72,7 @@ #include "KX_SCA_ReplaceMeshActuator.h" #include "KX_ParentActuator.h" #include "KX_SCA_DynamicActuator.h" +#include "KX_SteeringActuator.h" #include "KX_Scene.h" #include "KX_KetsjiEngine.h" @@ -100,6 +101,7 @@ #include "BL_ActionActuator.h" #include "BL_ShapeActionActuator.h" #include "BL_ArmatureActuator.h" +#include "RNA_access.h" #include "BL_Action.h" /* end of blender include block */ @@ -1064,6 +1066,45 @@ void BL_ConvertActuators(char* maggiename, baseact = tmparmact; break; } + case ACT_STEERING: + { + bSteeringActuator *stAct = (bSteeringActuator *) bact->data; + KX_GameObject *navmeshob = NULL; + if (stAct->navmesh) + { + PointerRNA settings_ptr; + RNA_pointer_create((ID *)stAct->navmesh, &RNA_GameObjectSettings, stAct->navmesh, &settings_ptr); + if (RNA_enum_get(&settings_ptr, "physics_type") == OB_BODY_TYPE_NAVMESH) + navmeshob = converter->FindGameObject(stAct->navmesh); + } + KX_GameObject *targetob = converter->FindGameObject(stAct->target); + + int mode = KX_SteeringActuator::KX_STEERING_NODEF; + switch(stAct->type) + { + case ACT_STEERING_SEEK: + mode = KX_SteeringActuator::KX_STEERING_SEEK; + break; + case ACT_STEERING_FLEE: + mode = KX_SteeringActuator::KX_STEERING_FLEE; + break; + case ACT_STEERING_PATHFOLLOWING: + mode = KX_SteeringActuator::KX_STEERING_PATHFOLLOWING; + break; + } + + bool selfTerminated = (stAct->flag & ACT_STEERING_SELFTERMINATED) !=0; + bool enableVisualization = (stAct->flag & ACT_STEERING_ENABLEVISUALIZATION) !=0; + short facingMode = (stAct->flag & ACT_STEERING_AUTOMATICFACING) ? stAct->facingaxis : 0; + bool normalup = (stAct->flag & ACT_STEERING_NORMALUP) !=0; + KX_SteeringActuator *tmpstact + = new KX_SteeringActuator(gameobj, mode, targetob, navmeshob,stAct->dist, + stAct->velocity, stAct->acceleration, stAct->turnspeed, + selfTerminated, stAct->updateTime, + scene->GetObstacleSimulation(), facingMode, normalup, enableVisualization); + baseact = tmpstact; + break; + } default: ; /* generate some error */ } diff --git a/source/gameengine/Converter/SConscript b/source/gameengine/Converter/SConscript index 0ae22d548c5..e155677e522 100644 --- a/source/gameengine/Converter/SConscript +++ b/source/gameengine/Converter/SConscript @@ -20,6 +20,7 @@ incs += ' #source/blender/misc #source/blender/blenloader #source/blender/gpu' incs += ' #source/blender/windowmanager' incs += ' #source/blender/makesrna' incs += ' #source/blender/ikplugin' +incs += ' #extern/recastnavigation/Detour/Include' incs += ' #extern/Eigen2' incs += ' ' + env['BF_BULLET_INC'] diff --git a/source/gameengine/GameLogic/SCA_IActuator.h b/source/gameengine/GameLogic/SCA_IActuator.h index bfcec983e2a..d2a8de32895 100644 --- a/source/gameengine/GameLogic/SCA_IActuator.h +++ b/source/gameengine/GameLogic/SCA_IActuator.h @@ -90,6 +90,7 @@ public: KX_ACT_SHAPEACTION, KX_ACT_STATE, KX_ACT_ARMATURE, + KX_ACT_STEERING, }; SCA_IActuator(SCA_IObject* gameobj, KX_ACTUATOR_TYPE type); diff --git a/source/gameengine/Ketsji/CMakeLists.txt b/source/gameengine/Ketsji/CMakeLists.txt index 99c9fb25a65..6846da5b019 100644 --- a/source/gameengine/Ketsji/CMakeLists.txt +++ b/source/gameengine/Ketsji/CMakeLists.txt @@ -57,6 +57,9 @@ set(INC set(INC_SYS ${GLEW_INCLUDE_PATH} + ../../../extern/recastnavigation/Recast/Include + ../../../extern/recastnavigation/Detour/Include + ../../../source/blender/editors/include ) set(SRC @@ -90,9 +93,11 @@ set(SRC KX_MeshProxy.cpp KX_MotionState.cpp KX_MouseFocusSensor.cpp + KX_NavMeshObject.cpp KX_NearSensor.cpp KX_ObColorIpoSGController.cpp KX_ObjectActuator.cpp + KX_ObstacleSimulation.cpp KX_OrientationInterpolator.cpp KX_ParentActuator.cpp KX_PhysicsObjectWrapper.cpp @@ -120,6 +125,7 @@ set(SRC KX_SceneActuator.cpp KX_SoundActuator.cpp KX_StateActuator.cpp + KX_SteeringActuator.cpp KX_TimeCategoryLogger.cpp KX_TimeLogger.cpp KX_TouchEventManager.cpp @@ -167,9 +173,11 @@ set(SRC KX_MeshProxy.h KX_MotionState.h KX_MouseFocusSensor.h + KX_NavMeshObject.h KX_NearSensor.h KX_ObColorIpoSGController.h KX_ObjectActuator.h + KX_ObstacleSimulation.h KX_OrientationInterpolator.h KX_ParentActuator.h KX_PhysicsEngineEnums.h @@ -199,6 +207,7 @@ set(SRC KX_SceneActuator.h KX_SoundActuator.h KX_StateActuator.h + KX_SteeringActuator.h KX_TimeCategoryLogger.h KX_TimeLogger.h KX_TouchEventManager.h diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp index 6adaea2d6ad..ae8d7094015 100644 --- a/source/gameengine/Ketsji/KX_GameObject.cpp +++ b/source/gameengine/Ketsji/KX_GameObject.cpp @@ -73,6 +73,7 @@ typedef unsigned long uint_ptr; #include "SCA_ISensor.h" #include "SCA_IController.h" #include "NG_NetworkScene.h" //Needed for sendMessage() +#include "KX_ObstacleSimulation.h" #include "BL_ActionManager.h" @@ -110,7 +111,8 @@ KX_GameObject::KX_GameObject( m_xray(false), m_pHitObject(NULL), m_actionManager(NULL), - m_isDeformable(false) + m_isDeformable(false), + m_pObstacleSimulation(NULL) #ifdef WITH_PYTHON , m_attr_dict(NULL) #endif @@ -157,6 +159,12 @@ KX_GameObject::~KX_GameObject() { delete m_pGraphicController; } + + if (m_pObstacleSimulation) + { + m_pObstacleSimulation->DestroyObstacleForObj(this); + } + if (m_actionManager) { KX_GetActiveScene()->RemoveAnimatedObject(this); @@ -428,6 +436,14 @@ void KX_GameObject::ProcessReplica() m_actionManager = new BL_ActionManager(this); m_state = 0; + KX_Scene* scene = KX_GetActiveScene(); + KX_ObstacleSimulation* obssimulation = scene->GetObstacleSimulation(); + struct Object* blenderobject = GetBlenderObject(); + if (obssimulation && (blenderobject->gameflag & OB_HASOBSTACLE)) + { + obssimulation->AddObstacleForObj(this); + } + #ifdef WITH_PYTHON if(m_attr_dict) m_attr_dict= PyDict_Copy(m_attr_dict); diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h index 6e79914172b..655bc9ff080 100644 --- a/source/gameengine/Ketsji/KX_GameObject.h +++ b/source/gameengine/Ketsji/KX_GameObject.h @@ -65,6 +65,7 @@ class PHY_IGraphicController; class PHY_IPhysicsEnvironment; class BL_ActionManager; struct Object; +class KX_ObstacleSimulation; struct bAction; #ifdef WITH_PYTHON @@ -115,6 +116,9 @@ protected: MT_CmMatrix4x4 m_OpenGL_4x4Matrix; + KX_ObstacleSimulation* m_pObstacleSimulation; + + // The action manager is used to play/stop/update actions BL_ActionManager* m_actionManager; @@ -864,6 +868,16 @@ public: } m_bSuspendDynamics = false; } + + void RegisterObstacle(KX_ObstacleSimulation* obstacleSimulation) + { + m_pObstacleSimulation = obstacleSimulation; + } + + void UnregisterObstacle() + { + m_pObstacleSimulation = NULL; + } KX_ClientObjectInfo* getClientInfo() { return m_pClient_info; } diff --git a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp index ca67333166c..db919b7bc5a 100644 --- a/source/gameengine/Ketsji/KX_KetsjiEngine.cpp +++ b/source/gameengine/Ketsji/KX_KetsjiEngine.cpp @@ -84,6 +84,8 @@ #include "DNA_world_types.h" #include "DNA_scene_types.h" +#include "KX_NavMeshObject.h" + // If define: little test for Nzc: guarded drawing. If the canvas is // not valid, skip rendering this frame. //#define NZC_GUARDED_OUTPUT @@ -1343,7 +1345,7 @@ void KX_KetsjiEngine::PostRenderScene(KX_Scene* scene) #ifdef WITH_PYTHON scene->RunDrawingCallbacks(scene->GetPostDrawCB()); #endif - m_rasterizer->FlushDebugLines(); + m_rasterizer->FlushDebugShapes(); } void KX_KetsjiEngine::StopEngine() diff --git a/source/gameengine/Ketsji/KX_NavMeshObject.cpp b/source/gameengine/Ketsji/KX_NavMeshObject.cpp new file mode 100644 index 00000000000..499cbae85e9 --- /dev/null +++ b/source/gameengine/Ketsji/KX_NavMeshObject.cpp @@ -0,0 +1,708 @@ +/** +* $Id$ +* ***** 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. +* +* 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_vector.h" +#include "KX_NavMeshObject.h" +#include "RAS_MeshObject.h" + +#include "DNA_mesh_types.h" +#include "DNA_meshdata_types.h" + +extern "C" { +#include "BKE_scene.h" +#include "BKE_customdata.h" +#include "BKE_cdderivedmesh.h" +#include "BKE_DerivedMesh.h" + + +#include "ED_navmesh_conversion.h" +} + +#include "KX_PythonInit.h" +#include "KX_PyMath.h" +#include "Value.h" +#include "Recast.h" +#include "DetourStatNavMeshBuilder.h" +#include "KX_ObstacleSimulation.h" + +static const int MAX_PATH_LEN = 256; +static const float polyPickExt[3] = {2, 4, 2}; + +static void calcMeshBounds(const float* vert, int nverts, float* bmin, float* bmax) +{ + bmin[0] = bmax[0] = vert[0]; + bmin[1] = bmax[1] = vert[1]; + bmin[2] = bmax[2] = vert[2]; + for (int i=1; i<nverts; i++) + { + if (bmin[0]>vert[3*i+0]) bmin[0] = vert[3*i+0]; + if (bmin[1]>vert[3*i+1]) bmin[1] = vert[3*i+1]; + if (bmin[2]>vert[3*i+2]) bmin[2] = vert[3*i+2]; + + if (bmax[0]<vert[3*i+0]) bmax[0] = vert[3*i+0]; + if (bmax[1]<vert[3*i+1]) bmax[1] = vert[3*i+1]; + if (bmax[2]<vert[3*i+2]) bmax[2] = vert[3*i+2]; + } +} + +inline void flipAxes(float* vec) +{ + std::swap(vec[1],vec[2]); +} +KX_NavMeshObject::KX_NavMeshObject(void* sgReplicationInfo, SG_Callbacks callbacks) +: KX_GameObject(sgReplicationInfo, callbacks) +, m_navMesh(NULL) +{ + +} + +KX_NavMeshObject::~KX_NavMeshObject() +{ + if (m_navMesh) + delete m_navMesh; +} + +CValue* KX_NavMeshObject::GetReplica() +{ + KX_NavMeshObject* replica = new KX_NavMeshObject(*this); + replica->ProcessReplica(); + return replica; +} + +void KX_NavMeshObject::ProcessReplica() +{ + KX_GameObject::ProcessReplica(); + + BuildNavMesh(); + KX_Scene* scene = KX_GetActiveScene(); + KX_ObstacleSimulation* obssimulation = scene->GetObstacleSimulation(); + if (obssimulation) + obssimulation->AddObstaclesForNavMesh(this); + +} + +bool KX_NavMeshObject::BuildVertIndArrays(float *&vertices, int& nverts, + unsigned short* &polys, int& npolys, unsigned short *&dmeshes, + float *&dvertices, int &ndvertsuniq, unsigned short *&dtris, + int& ndtris, int &vertsPerPoly) +{ + DerivedMesh* dm = mesh_create_derived_no_virtual(KX_GetActiveScene()->GetBlenderScene(), GetBlenderObject(), + NULL, CD_MASK_MESH); + int* recastData = (int*) dm->getFaceDataArray(dm, CD_RECAST); + if (recastData) + { + int *dtrisToPolysMap=NULL, *dtrisToTrisMap=NULL, *trisToFacesMap=NULL; + int nAllVerts = 0; + float *allVerts = NULL; + buildNavMeshDataByDerivedMesh(dm, vertsPerPoly, nAllVerts, allVerts, ndtris, dtris, + npolys, dmeshes, polys, dtrisToPolysMap, dtrisToTrisMap, trisToFacesMap); + + unsigned short *verticesMap = new unsigned short[nAllVerts]; + memset(verticesMap, 0xffff, sizeof(unsigned short)*nAllVerts); + int curIdx = 0; + //vertices - mesh verts + //iterate over all polys and create map for their vertices first... + for (int polyidx=0; polyidx<npolys; polyidx++) + { + unsigned short* poly = &polys[polyidx*vertsPerPoly*2]; + for (int i=0; i<vertsPerPoly; i++) + { + unsigned short idx = poly[i]; + if (idx==0xffff) + break; + if (verticesMap[idx]==0xffff) + { + verticesMap[idx] = curIdx++; + } + poly[i] = verticesMap[idx]; + } + } + nverts = curIdx; + //...then iterate over detailed meshes + //transform indices to local ones (for each navigation polygon) + for (int polyidx=0; polyidx<npolys; polyidx++) + { + unsigned short *poly = &polys[polyidx*vertsPerPoly*2]; + int nv = polyNumVerts(poly, vertsPerPoly); + unsigned short *dmesh = &dmeshes[4*polyidx]; + unsigned short tribase = dmesh[2]; + unsigned short trinum = dmesh[3]; + unsigned short vbase = curIdx; + for (int j=0; j<trinum; j++) + { + unsigned short* dtri = &dtris[(tribase+j)*3*2]; + for (int k=0; k<3; k++) + { + int newVertexIdx = verticesMap[dtri[k]]; + if (newVertexIdx==0xffff) + { + newVertexIdx = curIdx++; + verticesMap[dtri[k]] = newVertexIdx; + } + + if (newVertexIdx<nverts) + { + //it's polygon vertex ("shared") + int idxInPoly = polyFindVertex(poly, vertsPerPoly, newVertexIdx); + if (idxInPoly==-1) + { + printf("Building NavMeshObject: Error! Can't find vertex in polygon\n"); + return false; + } + dtri[k] = idxInPoly; + } + else + { + dtri[k] = newVertexIdx - vbase + nv; + } + } + } + dmesh[0] = vbase-nverts; //verts base + dmesh[1] = curIdx-vbase; //verts num + } + + vertices = new float[nverts*3]; + ndvertsuniq = curIdx - nverts; + if (ndvertsuniq>0) + { + dvertices = new float[ndvertsuniq*3]; + } + for (int vi=0; vi<nAllVerts; vi++) + { + int newIdx = verticesMap[vi]; + if (newIdx!=0xffff) + { + if (newIdx<nverts) + { + //navigation mesh vertex + memcpy(vertices+3*newIdx, allVerts+3*vi, 3*sizeof(float)); + } + else + { + //detailed mesh vertex + memcpy(dvertices+3*(newIdx-nverts), allVerts+3*vi, 3*sizeof(float)); + } + } + } + } + else + { + //create from RAS_MeshObject (detailed mesh is fake) + RAS_MeshObject* meshobj = GetMesh(0); + vertsPerPoly = 3; + nverts = meshobj->m_sharedvertex_map.size(); + if (nverts >= 0xffff) + return false; + //calculate count of tris + int nmeshpolys = meshobj->NumPolygons(); + npolys = nmeshpolys; + for (int p=0; p<nmeshpolys; p++) + { + int vertcount = meshobj->GetPolygon(p)->VertexCount(); + npolys+=vertcount-3; + } + + //create verts + vertices = new float[nverts*3]; + float* vert = vertices; + for (int vi=0; vi<nverts; vi++) + { + const float* pos = !meshobj->m_sharedvertex_map[vi].empty() ? meshobj->GetVertexLocation(vi) : NULL; + if (pos) + copy_v3_v3(vert, pos); + else + { + memset(vert, NULL, 3*sizeof(float)); //vertex isn't in any poly, set dummy zero coordinates + } + vert+=3; + } + + //create tris + polys = new unsigned short[npolys*3*2]; + memset(polys, 0xff, sizeof(unsigned short)*3*2*npolys); + unsigned short *poly = polys; + RAS_Polygon* raspoly; + for (int p=0; p<nmeshpolys; p++) + { + raspoly = meshobj->GetPolygon(p); + for (int v=0; v<raspoly->VertexCount()-2; v++) + { + poly[0]= raspoly->GetVertex(0)->getOrigIndex(); + for (size_t i=1; i<3; i++) + { + poly[i]= raspoly->GetVertex(v+i)->getOrigIndex(); + } + poly += 6; + } + } + dmeshes = NULL; + dvertices = NULL; + ndvertsuniq = 0; + dtris = NULL; + ndtris = npolys; + } + dm->release(dm); + + return true; +} + + +bool KX_NavMeshObject::BuildNavMesh() +{ + if (m_navMesh) + { + delete m_navMesh; + m_navMesh = NULL; + } + + if (GetMeshCount()==0) + { + printf("Can't find mesh for navmesh object: %s \n", m_name); + return false; + } + + float *vertices = NULL, *dvertices = NULL; + unsigned short *polys = NULL, *dtris = NULL, *dmeshes = NULL; + int nverts = 0, npolys = 0, ndvertsuniq = 0, ndtris = 0; + int vertsPerPoly = 0; + if (!BuildVertIndArrays(vertices, nverts, polys, npolys, + dmeshes, dvertices, ndvertsuniq, dtris, ndtris, vertsPerPoly ) + || vertsPerPoly<3) + { + printf("Can't build navigation mesh data for object:%s \n", m_name); + return false; + } + + MT_Point3 pos; + if (dmeshes==NULL) + { + for (int i=0; i<nverts; i++) + { + flipAxes(&vertices[i*3]); + } + for (int i=0; i<ndvertsuniq; i++) + { + flipAxes(&dvertices[i*3]); + } + } + + buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly); + + float cs = 0.2f; + + if (!nverts || !npolys) + return false; + + float bmin[3], bmax[3]; + calcMeshBounds(vertices, nverts, bmin, bmax); + //quantize vertex pos + unsigned short* vertsi = new unsigned short[3*nverts]; + float ics = 1.f/cs; + for (int i=0; i<nverts; i++) + { + vertsi[3*i+0] = static_cast<unsigned short>((vertices[3*i+0]-bmin[0])*ics); + vertsi[3*i+1] = static_cast<unsigned short>((vertices[3*i+1]-bmin[1])*ics); + vertsi[3*i+2] = static_cast<unsigned short>((vertices[3*i+2]-bmin[2])*ics); + } + + // Calculate data size + const int headerSize = sizeof(dtStatNavMeshHeader); + const int vertsSize = sizeof(float)*3*nverts; + const int polysSize = sizeof(dtStatPoly)*npolys; + const int nodesSize = sizeof(dtStatBVNode)*npolys*2; + const int detailMeshesSize = sizeof(dtStatPolyDetail)*npolys; + const int detailVertsSize = sizeof(float)*3*ndvertsuniq; + const int detailTrisSize = sizeof(unsigned char)*4*ndtris; + + const int dataSize = headerSize + vertsSize + polysSize + nodesSize + + detailMeshesSize + detailVertsSize + detailTrisSize; + unsigned char* data = new unsigned char[dataSize]; + if (!data) + return false; + memset(data, 0, dataSize); + + unsigned char* d = data; + dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)d; d += headerSize; + float* navVerts = (float*)d; d += vertsSize; + dtStatPoly* navPolys = (dtStatPoly*)d; d += polysSize; + dtStatBVNode* navNodes = (dtStatBVNode*)d; d += nodesSize; + dtStatPolyDetail* navDMeshes = (dtStatPolyDetail*)d; d += detailMeshesSize; + float* navDVerts = (float*)d; d += detailVertsSize; + unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize; + + // Store header + header->magic = DT_STAT_NAVMESH_MAGIC; + header->version = DT_STAT_NAVMESH_VERSION; + header->npolys = npolys; + header->nverts = nverts; + header->cs = cs; + header->bmin[0] = bmin[0]; + header->bmin[1] = bmin[1]; + header->bmin[2] = bmin[2]; + header->bmax[0] = bmax[0]; + header->bmax[1] = bmax[1]; + header->bmax[2] = bmax[2]; + header->ndmeshes = npolys; + header->ndverts = ndvertsuniq; + header->ndtris = ndtris; + + // Store vertices + for (int i = 0; i < nverts; ++i) + { + const unsigned short* iv = &vertsi[i*3]; + float* v = &navVerts[i*3]; + v[0] = bmin[0] + iv[0] * cs; + v[1] = bmin[1] + iv[1] * cs; + v[2] = bmin[2] + iv[2] * cs; + } + //memcpy(navVerts, vertices, nverts*3*sizeof(float)); + + // Store polygons + const unsigned short* src = polys; + for (int i = 0; i < npolys; ++i) + { + dtStatPoly* p = &navPolys[i]; + p->nv = 0; + for (int j = 0; j < vertsPerPoly; ++j) + { + if (src[j] == 0xffff) break; + p->v[j] = src[j]; + p->n[j] = src[vertsPerPoly+j]+1; + p->nv++; + } + src += vertsPerPoly*2; + } + + header->nnodes = createBVTree(vertsi, nverts, polys, npolys, vertsPerPoly, + cs, cs, npolys*2, navNodes); + + + if (dmeshes==NULL) + { + //create fake detail meshes + for (int i = 0; i < npolys; ++i) + { + dtStatPolyDetail& dtl = navDMeshes[i]; + dtl.vbase = 0; + dtl.nverts = 0; + dtl.tbase = i; + dtl.ntris = 1; + } + // setup triangles. + unsigned char* tri = navDTris; + for(size_t i=0; i<ndtris; i++) + { + for (size_t j=0; j<3; j++) + tri[4*i+j] = j; + } + } + else + { + //verts + memcpy(navDVerts, dvertices, ndvertsuniq*3*sizeof(float)); + //tris + unsigned char* tri = navDTris; + for(size_t i=0; i<ndtris; i++) + { + for (size_t j=0; j<3; j++) + tri[4*i+j] = dtris[6*i+j]; + } + //detailed meshes + for (int i = 0; i < npolys; ++i) + { + dtStatPolyDetail& dtl = navDMeshes[i]; + dtl.vbase = dmeshes[i*4+0]; + dtl.nverts = dmeshes[i*4+1]; + dtl.tbase = dmeshes[i*4+2]; + dtl.ntris = dmeshes[i*4+3]; + } + } + + m_navMesh = new dtStatNavMesh; + m_navMesh->init(data, dataSize, true); + + delete [] vertices; + delete [] polys; + if (dvertices) + { + delete [] dvertices; + } + + return true; +} + +dtStatNavMesh* KX_NavMeshObject::GetNavMesh() +{ + return m_navMesh; +} + +void KX_NavMeshObject::DrawNavMesh(NavMeshRenderMode renderMode) +{ + if (!m_navMesh) + return; + MT_Vector3 color(0.f, 0.f, 0.f); + + switch (renderMode) + { + case RM_POLYS : + case RM_WALLS : + for (int pi=0; pi<m_navMesh->getPolyCount(); pi++) + { + const dtStatPoly* poly = m_navMesh->getPoly(pi); + + for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++) + { + if (poly->n[j] && renderMode==RM_WALLS) + continue; + const float* vif = m_navMesh->getVertex(poly->v[i]); + const float* vjf = m_navMesh->getVertex(poly->v[j]); + MT_Point3 vi(vif[0], vif[2], vif[1]); + MT_Point3 vj(vjf[0], vjf[2], vjf[1]); + vi = TransformToWorldCoords(vi); + vj = TransformToWorldCoords(vj); + KX_RasterizerDrawDebugLine(vi, vj, color); + } + } + break; + case RM_TRIS : + for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i) + { + const dtStatPoly* p = m_navMesh->getPoly(i); + const dtStatPolyDetail* pd = m_navMesh->getPolyDetail(i); + + for (int j = 0; j < pd->ntris; ++j) + { + const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j); + MT_Point3 tri[3]; + for (int k = 0; k < 3; ++k) + { + const float* v; + if (t[k] < p->nv) + v = m_navMesh->getVertex(p->v[t[k]]); + else + v = m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv)); + float pos[3]; + vcopy(pos, v); + flipAxes(pos); + tri[k].setValue(pos); + } + + for (int k=0; k<3; k++) + tri[k] = TransformToWorldCoords(tri[k]); + + for (int k=0; k<3; k++) + KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color); + } + } + break; + } +} + +MT_Point3 KX_NavMeshObject::TransformToLocalCoords(const MT_Point3& wpos) +{ + MT_Matrix3x3 orientation = NodeGetWorldOrientation(); + const MT_Vector3& scaling = NodeGetWorldScaling(); + orientation.scale(scaling[0], scaling[1], scaling[2]); + MT_Transform worldtr(NodeGetWorldPosition(), orientation); + MT_Transform invworldtr; + invworldtr.invert(worldtr); + MT_Point3 lpos = invworldtr(wpos); + return lpos; +} + +MT_Point3 KX_NavMeshObject::TransformToWorldCoords(const MT_Point3& lpos) +{ + MT_Matrix3x3 orientation = NodeGetWorldOrientation(); + const MT_Vector3& scaling = NodeGetWorldScaling(); + orientation.scale(scaling[0], scaling[1], scaling[2]); + MT_Transform worldtr(NodeGetWorldPosition(), orientation); + MT_Point3 wpos = worldtr(lpos); + return wpos; +} + +int KX_NavMeshObject::FindPath(const MT_Point3& from, const MT_Point3& to, float* path, int maxPathLen) +{ + if (!m_navMesh) + return 0; + MT_Point3 localfrom = TransformToLocalCoords(from); + MT_Point3 localto = TransformToLocalCoords(to); + float spos[3], epos[3]; + localfrom.getValue(spos); flipAxes(spos); + localto.getValue(epos); flipAxes(epos); + dtStatPolyRef sPolyRef = m_navMesh->findNearestPoly(spos, polyPickExt); + dtStatPolyRef ePolyRef = m_navMesh->findNearestPoly(epos, polyPickExt); + + int pathLen = 0; + if (sPolyRef && ePolyRef) + { + dtStatPolyRef* polys = new dtStatPolyRef[maxPathLen]; + int npolys; + npolys = m_navMesh->findPath(sPolyRef, ePolyRef, spos, epos, polys, maxPathLen); + if (npolys) + { + pathLen = m_navMesh->findStraightPath(spos, epos, polys, npolys, path, maxPathLen); + for (int i=0; i<pathLen; i++) + { + flipAxes(&path[i*3]); + MT_Point3 waypoint(&path[i*3]); + waypoint = TransformToWorldCoords(waypoint); + waypoint.getValue(&path[i*3]); + } + } + } + + return pathLen; +} + +float KX_NavMeshObject::Raycast(const MT_Point3& from, const MT_Point3& to) +{ + if (!m_navMesh) + return 0.f; + MT_Point3 localfrom = TransformToLocalCoords(from); + MT_Point3 localto = TransformToLocalCoords(to); + float spos[3], epos[3]; + localfrom.getValue(spos); flipAxes(spos); + localto.getValue(epos); flipAxes(epos); + dtStatPolyRef sPolyRef = m_navMesh->findNearestPoly(spos, polyPickExt); + float t=0; + static dtStatPolyRef polys[MAX_PATH_LEN]; + m_navMesh->raycast(sPolyRef, spos, epos, t, polys, MAX_PATH_LEN); + return t; +} + +void KX_NavMeshObject::DrawPath(const float *path, int pathLen, const MT_Vector3& color) +{ + MT_Vector3 a,b; + for (int i=0; i<pathLen-1; i++) + { + a.setValue(&path[3*i]); + b.setValue(&path[3*(i+1)]); + KX_RasterizerDrawDebugLine(a, b, color); + } +} + + +#ifndef DISABLE_PYTHON +//---------------------------------------------------------------------------- +//Python + +PyTypeObject KX_NavMeshObject::Type = { + PyVarObject_HEAD_INIT(NULL, 0) + "KX_NavMeshObject", + 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, + &KX_GameObject::Type, + 0,0,0,0,0,0, + py_base_new +}; + +PyAttributeDef KX_NavMeshObject::Attributes[] = { + { NULL } //Sentinel +}; + +//KX_PYMETHODTABLE_NOARGS(KX_GameObject, getD), +PyMethodDef KX_NavMeshObject::Methods[] = { + KX_PYMETHODTABLE(KX_NavMeshObject, findPath), + KX_PYMETHODTABLE(KX_NavMeshObject, raycast), + KX_PYMETHODTABLE(KX_NavMeshObject, draw), + KX_PYMETHODTABLE(KX_NavMeshObject, rebuild), + {NULL,NULL} //Sentinel +}; + +KX_PYMETHODDEF_DOC(KX_NavMeshObject, findPath, + "findPath(start, goal): find path from start to goal points\n" + "Returns a path as list of points)\n") +{ + PyObject *ob_from, *ob_to; + if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to)) + return NULL; + MT_Point3 from, to; + if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to)) + return NULL; + + float path[MAX_PATH_LEN*3]; + int pathLen = FindPath(from, to, path, MAX_PATH_LEN); + PyObject *pathList = PyList_New( pathLen ); + for (int i=0; i<pathLen; i++) + { + MT_Point3 point(&path[3*i]); + PyList_SET_ITEM(pathList, i, PyObjectFrom(point)); + } + + return pathList; +} + +KX_PYMETHODDEF_DOC(KX_NavMeshObject, raycast, + "raycast(start, goal): raycast from start to goal points\n" + "Returns hit factor)\n") +{ + PyObject *ob_from, *ob_to; + if (!PyArg_ParseTuple(args,"OO:getPath",&ob_from,&ob_to)) + return NULL; + MT_Point3 from, to; + if (!PyVecTo(ob_from, from) || !PyVecTo(ob_to, to)) + return NULL; + float hit = Raycast(from, to); + return PyFloat_FromDouble(hit); +} + +KX_PYMETHODDEF_DOC(KX_NavMeshObject, draw, + "draw(mode): navigation mesh debug drawing\n" + "mode: WALLS, POLYS, TRIS\n") +{ + int arg; + NavMeshRenderMode renderMode = RM_TRIS; + if (PyArg_ParseTuple(args,"i:rebuild",&arg) && arg>=0 && arg<RM_MAX) + renderMode = (NavMeshRenderMode)arg; + DrawNavMesh(renderMode); + Py_RETURN_NONE; +} + +KX_PYMETHODDEF_DOC_NOARGS(KX_NavMeshObject, rebuild, + "rebuild(): rebuild navigation mesh\n") +{ + BuildNavMesh(); + Py_RETURN_NONE; +} + +#endif // DISABLE_PYTHON
\ No newline at end of file diff --git a/source/gameengine/Ketsji/KX_NavMeshObject.h b/source/gameengine/Ketsji/KX_NavMeshObject.h new file mode 100644 index 00000000000..78e9488ad1c --- /dev/null +++ b/source/gameengine/Ketsji/KX_NavMeshObject.h @@ -0,0 +1,83 @@ +/** +* $Id$ +* +* ***** 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. +* +* 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_NAVMESHOBJECT +#define __KX_NAVMESHOBJECT +#include "DetourStatNavMesh.h" +#include "KX_GameObject.h" +#include "PyObjectPlus.h" +#include <vector> + +class RAS_MeshObject; +class MT_Transform; + +class KX_NavMeshObject: public KX_GameObject +{ + Py_Header; + +protected: + dtStatNavMesh* m_navMesh; + + bool BuildVertIndArrays(float *&vertices, int& nverts, + unsigned short* &polys, int& npolys, unsigned short *&dmeshes, + float *&dvertices, int &ndvertsuniq, unsigned short* &dtris, + int& ndtris, int &vertsPerPoly); + +public: + KX_NavMeshObject(void* sgReplicationInfo, SG_Callbacks callbacks); + ~KX_NavMeshObject(); + + virtual CValue* GetReplica(); + virtual void ProcessReplica(); + + + bool BuildNavMesh(); + dtStatNavMesh* GetNavMesh(); + int FindPath(const MT_Point3& from, const MT_Point3& to, float* path, int maxPathLen); + float Raycast(const MT_Point3& from, const MT_Point3& to); + + enum NavMeshRenderMode {RM_WALLS, RM_POLYS, RM_TRIS, RM_MAX}; + void DrawNavMesh(NavMeshRenderMode mode); + void DrawPath(const float *path, int pathLen, const MT_Vector3& color); + + MT_Point3 TransformToLocalCoords(const MT_Point3& wpos); + MT_Point3 TransformToWorldCoords(const MT_Point3& lpos); +#ifndef DISABLE_PYTHON + /* --------------------------------------------------------------------- */ + /* Python interface ---------------------------------------------------- */ + /* --------------------------------------------------------------------- */ + + KX_PYMETHOD_DOC(KX_NavMeshObject, findPath); + KX_PYMETHOD_DOC(KX_NavMeshObject, raycast); + KX_PYMETHOD_DOC(KX_NavMeshObject, draw); + KX_PYMETHOD_DOC_NOARGS(KX_NavMeshObject, rebuild); +#endif +}; + +#endif //__KX_NAVMESHOBJECT + diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp new file mode 100644 index 00000000000..9bca98d7fde --- /dev/null +++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp @@ -0,0 +1,869 @@ +/** +* Simulation for obstacle avoidance behavior +* +* $Id$ +* +* ***** 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_ObstacleSimulation.h" +#include "KX_NavMeshObject.h" +#include "KX_PythonInit.h" +#include "DNA_object_types.h" +#include "BLI_math.h" + +namespace +{ + inline float perp(const MT_Vector2& a, const MT_Vector2& b) { return a.x()*b.y() - a.y()*b.x(); } + + inline float sqr(float x) { return x*x; } + inline float lerp(float a, float b, float t) { return a + (b-a)*t; } + inline float clamp(float a, float mn, float mx) { return a < mn ? mn : (a > mx ? mx : a); } + + inline float vdistsqr(const float* a, const float* b) { return sqr(b[0]-a[0]) + sqr(b[1]-a[1]); } + inline float vdist(const float* a, const float* b) { return sqrtf(vdistsqr(a,b)); } + inline void vcpy(float* a, const float* b) { a[0]=b[0]; a[1]=b[1]; } + inline float vdot(const float* a, const float* b) { return a[0]*b[0] + a[1]*b[1]; } + inline float vperp(const float* a, const float* b) { return a[0]*b[1] - a[1]*b[0]; } + inline void vsub(float* v, const float* a, const float* b) { v[0] = a[0]-b[0]; v[1] = a[1]-b[1]; } + inline void vadd(float* v, const float* a, const float* b) { v[0] = a[0]+b[0]; v[1] = a[1]+b[1]; } + inline void vscale(float* v, const float* a, const float s) { v[0] = a[0]*s; v[1] = a[1]*s; } + inline void vset(float* v, float x, float y) { v[0]=x; v[1]=y; } + inline float vlensqr(const float* v) { return vdot(v,v); } + inline float vlen(const float* v) { return sqrtf(vlensqr(v)); } + inline void vlerp(float* v, const float* a, const float* b, float t) { v[0] = lerp(a[0], b[0], t); v[1] = lerp(a[1], b[1], t); } + inline void vmad(float* v, const float* a, const float* b, float s) { v[0] = a[0] + b[0]*s; v[1] = a[1] + b[1]*s; } + inline void vnorm(float* v) + { + float d = vlen(v); + if (d > 0.0001f) + { + d = 1.0f/d; + v[0] *= d; + v[1] *= d; + } + } +} +inline float triarea(const float* a, const float* b, const float* c) +{ + return (b[0]*a[1] - a[0]*b[1]) + (c[0]*b[1] - b[0]*c[1]) + (a[0]*c[1] - c[0]*a[1]); +} + +static void closestPtPtSeg(const float* pt, + const float* sp, const float* sq, + float& t) +{ + float dir[2],diff[3]; + vsub(dir,sq,sp); + vsub(diff,pt,sp); + t = vdot(diff,dir); + if (t <= 0.0f) { t = 0; return; } + float d = vdot(dir,dir); + if (t >= d) { t = 1; return; } + t /= d; +} + +static float distPtSegSqr(const float* pt, const float* sp, const float* sq) +{ + float t; + closestPtPtSeg(pt, sp,sq, t); + float np[2]; + vlerp(np, sp,sq, t); + return vdistsqr(pt,np); +} + +static int sweepCircleCircle(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v, + const MT_Vector3& pos1, const MT_Scalar r1, + float& tmin, float& tmax) +{ + static const float EPS = 0.0001f; + MT_Vector2 c0(pos0.x(), pos0.y()); + MT_Vector2 c1(pos1.x(), pos1.y()); + MT_Vector2 s = c1 - c0; + MT_Scalar r = r0+r1; + float c = s.length2() - r*r; + float a = v.length2(); + if (a < EPS) return 0; // not moving + + // Overlap, calc time to exit. + float b = MT_dot(v,s); + float d = b*b - a*c; + if (d < 0.0f) return 0; // no intersection. + tmin = (b - sqrtf(d)) / a; + tmax = (b + sqrtf(d)) / a; + return 1; +} + +static int sweepCircleSegment(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v, + const MT_Vector3& pa, const MT_Vector3& pb, const MT_Scalar sr, + float& tmin, float &tmax) +{ + // equation parameters + MT_Vector2 c0(pos0.x(), pos0.y()); + MT_Vector2 sa(pa.x(), pa.y()); + MT_Vector2 sb(pb.x(), pb.y()); + MT_Vector2 L = sb-sa; + MT_Vector2 H = c0-sa; + MT_Scalar radius = r0+sr; + float l2 = L.length2(); + float r2 = radius * radius; + float dl = perp(v, L); + float hl = perp(H, L); + float a = dl * dl; + float b = 2.0f * hl * dl; + float c = hl * hl - (r2 * l2); + float d = (b*b) - (4.0f * a * c); + + // infinite line missed by infinite ray. + if (d < 0.0f) + return 0; + + d = sqrtf(d); + tmin = (-b - d) / (2.0f * a); + tmax = (-b + d) / (2.0f * a); + + // line missed by ray range. + /* if (tmax < 0.0f || tmin > 1.0f) + return 0;*/ + + // find what part of the ray was collided. + MT_Vector2 Pedge; + Pedge = c0+v*tmin; + H = Pedge - sa; + float e0 = MT_dot(H, L) / l2; + Pedge = c0 + v*tmax; + H = Pedge - sa; + float e1 = MT_dot(H, L) / l2; + + if (e0 < 0.0f || e1 < 0.0f) + { + float ctmin, ctmax; + if (sweepCircleCircle(pos0, r0, v, pa, sr, ctmin, ctmax)) + { + if (e0 < 0.0f && ctmin > tmin) + tmin = ctmin; + if (e1 < 0.0f && ctmax < tmax) + tmax = ctmax; + } + else + { + return 0; + } + } + + if (e0 > 1.0f || e1 > 1.0f) + { + float ctmin, ctmax; + if (sweepCircleCircle(pos0, r0, v, pb, sr, ctmin, ctmax)) + { + if (e0 > 1.0f && ctmin > tmin) + tmin = ctmin; + if (e1 > 1.0f && ctmax < tmax) + tmax = ctmax; + } + else + { + return 0; + } + } + + return 1; +} + +static bool inBetweenAngle(float a, float amin, float amax, float& t) +{ + if (amax < amin) amax += (float)M_PI*2; + if (a < amin-(float)M_PI) a += (float)M_PI*2; + if (a > amin+(float)M_PI) a -= (float)M_PI*2; + if (a >= amin && a < amax) + { + t = (a-amin) / (amax-amin); + return true; + } + return false; +} + +static float interpolateToi(float a, const float* dir, const float* toi, const int ntoi) +{ + for (int i = 0; i < ntoi; ++i) + { + int next = (i+1) % ntoi; + float t; + if (inBetweenAngle(a, dir[i], dir[next], t)) + { + return lerp(toi[i], toi[next], t); + } + } + return 0; +} + +KX_ObstacleSimulation::KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization) +: m_levelHeight(levelHeight) +, m_enableVisualization(enableVisualization) +{ + +} + +KX_ObstacleSimulation::~KX_ObstacleSimulation() +{ + for (size_t i=0; i<m_obstacles.size(); i++) + { + KX_Obstacle* obs = m_obstacles[i]; + delete obs; + } + m_obstacles.clear(); +} +KX_Obstacle* KX_ObstacleSimulation::CreateObstacle(KX_GameObject* gameobj) +{ + KX_Obstacle* obstacle = new KX_Obstacle(); + obstacle->m_gameObj = gameobj; + + vset(obstacle->vel, 0,0); + vset(obstacle->pvel, 0,0); + vset(obstacle->dvel, 0,0); + vset(obstacle->nvel, 0,0); + for (int i = 0; i < VEL_HIST_SIZE; ++i) + vset(&obstacle->hvel[i*2], 0,0); + obstacle->hhead = 0; + + gameobj->RegisterObstacle(this); + m_obstacles.push_back(obstacle); + return obstacle; +} + +void KX_ObstacleSimulation::AddObstacleForObj(KX_GameObject* gameobj) +{ + KX_Obstacle* obstacle = CreateObstacle(gameobj); + struct Object* blenderobject = gameobj->GetBlenderObject(); + obstacle->m_type = KX_OBSTACLE_OBJ; + obstacle->m_shape = KX_OBSTACLE_CIRCLE; + obstacle->m_rad = blenderobject->obstacleRad; +} + +void KX_ObstacleSimulation::AddObstaclesForNavMesh(KX_NavMeshObject* navmeshobj) +{ + dtStatNavMesh* navmesh = navmeshobj->GetNavMesh(); + if (navmesh) + { + int npoly = navmesh->getPolyCount(); + for (int pi=0; pi<npoly; pi++) + { + const dtStatPoly* poly = navmesh->getPoly(pi); + + for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++) + { + if (poly->n[j]) continue; + const float* vj = navmesh->getVertex(poly->v[j]); + const float* vi = navmesh->getVertex(poly->v[i]); + + KX_Obstacle* obstacle = CreateObstacle(navmeshobj); + obstacle->m_type = KX_OBSTACLE_NAV_MESH; + obstacle->m_shape = KX_OBSTACLE_SEGMENT; + obstacle->m_pos = MT_Point3(vj[0], vj[2], vj[1]); + obstacle->m_pos2 = MT_Point3(vi[0], vi[2], vi[1]); + obstacle->m_rad = 0; + } + } + } +} + +void KX_ObstacleSimulation::DestroyObstacleForObj(KX_GameObject* gameobj) +{ + for (size_t i=0; i<m_obstacles.size(); ) + { + if (m_obstacles[i]->m_gameObj == gameobj) + { + KX_Obstacle* obstacle = m_obstacles[i]; + obstacle->m_gameObj->UnregisterObstacle(); + m_obstacles[i] = m_obstacles.back(); + m_obstacles.pop_back(); + delete obstacle; + } + else + i++; + } +} + +void KX_ObstacleSimulation::UpdateObstacles() +{ + for (size_t i=0; i<m_obstacles.size(); i++) + { + if (m_obstacles[i]->m_type==KX_OBSTACLE_NAV_MESH || m_obstacles[i]->m_shape==KX_OBSTACLE_SEGMENT) + continue; + + KX_Obstacle* obs = m_obstacles[i]; + obs->m_pos = obs->m_gameObj->NodeGetWorldPosition(); + obs->vel[0] = obs->m_gameObj->GetLinearVelocity().x(); + obs->vel[1] = obs->m_gameObj->GetLinearVelocity().y(); + + // Update velocity history and calculate perceived (average) velocity. + vcpy(&obs->hvel[obs->hhead*2], obs->vel); + obs->hhead = (obs->hhead+1) % VEL_HIST_SIZE; + vset(obs->pvel,0,0); + for (int j = 0; j < VEL_HIST_SIZE; ++j) + vadd(obs->pvel, obs->pvel, &obs->hvel[j*2]); + vscale(obs->pvel, obs->pvel, 1.0f/VEL_HIST_SIZE); + } +} + +KX_Obstacle* KX_ObstacleSimulation::GetObstacle(KX_GameObject* gameobj) +{ + for (size_t i=0; i<m_obstacles.size(); i++) + { + if (m_obstacles[i]->m_gameObj == gameobj) + return m_obstacles[i]; + } + + return NULL; +} + +void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle) +{ +} + +void KX_ObstacleSimulation::DrawObstacles() +{ + if (!m_enableVisualization) + return; + static const MT_Vector3 bluecolor(0,0,1); + static const MT_Vector3 normal(0.,0.,1.); + static const int SECTORS_NUM = 32; + for (size_t i=0; i<m_obstacles.size(); i++) + { + if (m_obstacles[i]->m_shape==KX_OBSTACLE_SEGMENT) + { + MT_Point3 p1 = m_obstacles[i]->m_pos; + MT_Point3 p2 = m_obstacles[i]->m_pos2; + //apply world transform + if (m_obstacles[i]->m_type == KX_OBSTACLE_NAV_MESH) + { + KX_NavMeshObject* navmeshobj = static_cast<KX_NavMeshObject*>(m_obstacles[i]->m_gameObj); + p1 = navmeshobj->TransformToWorldCoords(p1); + p2 = navmeshobj->TransformToWorldCoords(p2); + } + + KX_RasterizerDrawDebugLine(p1, p2, bluecolor); + } + else if (m_obstacles[i]->m_shape==KX_OBSTACLE_CIRCLE) + { + KX_RasterizerDrawDebugCircle(m_obstacles[i]->m_pos, m_obstacles[i]->m_rad, bluecolor, + normal, SECTORS_NUM); + } + } +} + +static MT_Point3 nearestPointToObstacle(MT_Point3& pos ,KX_Obstacle* obstacle) +{ + switch (obstacle->m_shape) + { + case KX_OBSTACLE_SEGMENT : + { + MT_Vector3 ab = obstacle->m_pos2 - obstacle->m_pos; + if (!ab.fuzzyZero()) + { + MT_Vector3 abdir = ab.normalized(); + MT_Vector3 v = pos - obstacle->m_pos; + MT_Scalar proj = abdir.dot(v); + CLAMP(proj, 0, ab.length()); + MT_Point3 res = obstacle->m_pos + abdir*proj; + return res; + } + } + case KX_OBSTACLE_CIRCLE : + default: + return obstacle->m_pos; + } +} + +static bool filterObstacle(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObst, + float levelHeight) +{ + //filter obstacles by type + if ( (otherObst == activeObst) || + (otherObst->m_type==KX_OBSTACLE_NAV_MESH && otherObst->m_gameObj!=activeNavMeshObj) ) + return false; + + //filter obstacles by position + MT_Point3 p = nearestPointToObstacle(activeObst->m_pos, otherObst); + if ( fabs(activeObst->m_pos.z() - p.z()) > levelHeight) + return false; + + return true; +} + +///////////*********TOI_rays**********///////////////// +KX_ObstacleSimulationTOI::KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization) +: KX_ObstacleSimulation(levelHeight, enableVisualization), + m_maxSamples(32), + m_minToi(0.0f), + m_maxToi(0.0f), + m_velWeight(1.0f), + m_curVelWeight(1.0f), + m_toiWeight(1.0f), + m_collisionWeight(1.0f) +{ +} + + +void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + MT_Vector3& velocity, MT_Scalar maxDeltaSpeed, MT_Scalar maxDeltaAngle) +{ + int nobs = m_obstacles.size(); + int obstidx = std::find(m_obstacles.begin(), m_obstacles.end(), activeObst) - m_obstacles.begin(); + if (obstidx == nobs) + return; + + vset(activeObst->dvel, velocity.x(), velocity.y()); + + //apply RVO + sampleRVO(activeObst, activeNavMeshObj, maxDeltaAngle); + + // Fake dynamic constraint. + float dv[2]; + float vel[2]; + vsub(dv, activeObst->nvel, activeObst->vel); + float ds = vlen(dv); + if (ds > maxDeltaSpeed || ds<-maxDeltaSpeed) + vscale(dv, dv, fabs(maxDeltaSpeed/ds)); + vadd(vel, activeObst->vel, dv); + + velocity.x() = vel[0]; + velocity.y() = vel[1]; +} + +///////////*********TOI_rays**********///////////////// +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) +}; + +KX_ObstacleSimulationTOI_rays::KX_ObstacleSimulationTOI_rays(MT_Scalar levelHeight, bool enableVisualization): + KX_ObstacleSimulationTOI(levelHeight, enableVisualization) +{ + m_maxSamples = 32; + m_minToi = 0.5f; + m_maxToi = 1.2f; + m_velWeight = 4.0f; + m_toiWeight = 1.0f; + m_collisionWeight = 100.0f; +} + + +void KX_ObstacleSimulationTOI_rays::sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + const float maxDeltaAngle) +{ + MT_Vector2 vel(activeObst->dvel[0], activeObst->dvel[1]); + float vmax = (float) vel.length(); + float odir = (float) atan2(vel.y(), vel.x()); + + MT_Vector2 ddir = vel; + ddir.normalize(); + + float bestScore = FLT_MAX; + float bestDir = odir; + float bestToi = 0; + + TOICircle tc; + tc.n = m_maxSamples; + tc.minToi = m_minToi; + tc.maxToi = m_maxToi; + + const int iforw = m_maxSamples/2; + const float aoff = (float)iforw / (float)m_maxSamples; + + size_t nobs = m_obstacles.size(); + for (int iter = 0; iter < m_maxSamples; ++iter) + { + // Calculate sample velocity + const float ndir = ((float)iter/(float)m_maxSamples) - aoff; + const float dir = odir+ndir*M_PI*2; + MT_Vector2 svel; + svel.x() = cosf(dir) * vmax; + svel.y() = sinf(dir) * vmax; + + // Find min time of impact and exit amongst all obstacles. + float tmin = m_maxToi; + float tmine = 0; + for (int i = 0; i < nobs; ++i) + { + KX_Obstacle* ob = m_obstacles[i]; + bool res = filterObstacle(activeObst, activeNavMeshObj, ob, m_levelHeight); + if (!res) + continue; + + float htmin,htmax; + + if (ob->m_shape == KX_OBSTACLE_CIRCLE) + { + MT_Vector2 vab; + if (vlen(ob->vel) < 0.01f*0.01f) + { + // Stationary, use VO + vab = svel; + } + else + { + // Moving, use RVO + vab = 2*svel - vel - ob->vel; + } + + if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad, + vab, ob->m_pos, ob->m_rad, htmin, htmax)) + continue; + } + else if (ob->m_shape == KX_OBSTACLE_SEGMENT) + { + MT_Point3 p1 = ob->m_pos; + MT_Point3 p2 = ob->m_pos2; + //apply world transform + if (ob->m_type == KX_OBSTACLE_NAV_MESH) + { + KX_NavMeshObject* navmeshobj = static_cast<KX_NavMeshObject*>(ob->m_gameObj); + p1 = navmeshobj->TransformToWorldCoords(p1); + p2 = navmeshobj->TransformToWorldCoords(p2); + } + if (!sweepCircleSegment(activeObst->m_pos, activeObst->m_rad, svel, + p1, p2, ob->m_rad, htmin, htmax)) + continue; + } + + if (htmin > 0.0f) + { + // The closest obstacle is somewhere ahead of us, keep track of nearest obstacle. + if (htmin < tmin) + tmin = htmin; + } + else if (htmax > 0.0f) + { + // The agent overlaps the obstacle, keep track of first safe exit. + if (htmax > tmine) + tmine = htmax; + } + } + + // Calculate sample penalties and final score. + const float apen = m_velWeight * fabsf(ndir); + const float tpen = m_toiWeight * (1.0f/(0.0001f+tmin/m_maxToi)); + const float cpen = m_collisionWeight * (tmine/m_minToi)*(tmine/m_minToi); + const float score = apen + tpen + cpen; + + // Update best score. + if (score < bestScore) + { + bestDir = dir; + bestToi = tmin; + bestScore = score; + } + + tc.dir[iter] = dir; + tc.toi[iter] = tmin; + tc.toie[iter] = tmine; + } + + if (vlen(activeObst->vel) > 0.1) + { + // Constrain max turn rate. + float cura = atan2(activeObst->vel[1],activeObst->vel[0]); + float da = bestDir - cura; + if (da < -M_PI) da += (float)M_PI*2; + if (da > M_PI) da -= (float)M_PI*2; + if (da < -maxDeltaAngle) + { + bestDir = cura - maxDeltaAngle; + bestToi = min(bestToi, interpolateToi(bestDir, tc.dir, tc.toi, tc.n)); + } + else if (da > maxDeltaAngle) + { + bestDir = cura + maxDeltaAngle; + bestToi = min(bestToi, interpolateToi(bestDir, tc.dir, tc.toi, tc.n)); + } + } + + // Adjust speed when time of impact is less than min TOI. + if (bestToi < m_minToi) + vmax *= bestToi/m_minToi; + + // New steering velocity. + activeObst->nvel[0] = cosf(bestDir) * vmax; + activeObst->nvel[1] = sinf(bestDir) * vmax; +} + +///////////********* TOI_cells**********///////////////// + +static void processSamples(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + KX_Obstacles& obstacles, float levelHeight, const float vmax, + const float* spos, const float cs, const int nspos, float* res, + float maxToi, float velWeight, float curVelWeight, float sideWeight, + float toiWeight) +{ + vset(res, 0,0); + + const float ivmax = 1.0f / vmax; + + float adir[2], adist; + vcpy(adir, activeObst->pvel); + if (vlen(adir) > 0.01f) + vnorm(adir); + else + vset(adir,0,0); + float activeObstPos[2]; + vset(activeObstPos, activeObst->m_pos.x(), activeObst->m_pos.y()); + adist = vdot(adir, activeObstPos); + + float minPenalty = FLT_MAX; + + for (int n = 0; n < nspos; ++n) + { + float vcand[2]; + vcpy(vcand, &spos[n*2]); + + // Find min time of impact and exit amongst all obstacles. + float tmin = maxToi; + float side = 0; + int nside = 0; + + for (int i = 0; i < obstacles.size(); ++i) + { + KX_Obstacle* ob = obstacles[i]; + bool res = filterObstacle(activeObst, activeNavMeshObj, ob, levelHeight); + if (!res) + continue; + float htmin, htmax; + + if (ob->m_shape==KX_OBSTACLE_CIRCLE) + { + float vab[2]; + + // Moving, use RVO + vscale(vab, vcand, 2); + vsub(vab, vab, activeObst->vel); + vsub(vab, vab, ob->vel); + + // Side + // NOTE: dp, and dv are constant over the whole calculation, + // they can be precomputed per object. + const float* pa = activeObstPos; + float pb[2]; + vset(pb, ob->m_pos.x(), ob->m_pos.y()); + + const float orig[2] = {0,0}; + float dp[2],dv[2],np[2]; + vsub(dp,pb,pa); + vnorm(dp); + vsub(dv,ob->dvel, activeObst->dvel); + + const float a = triarea(orig, dp,dv); + if (a < 0.01f) + { + np[0] = -dp[1]; + np[1] = dp[0]; + } + else + { + np[0] = dp[1]; + np[1] = -dp[0]; + } + + side += clamp(min(vdot(dp,vab)*2,vdot(np,vab)*2), 0.0f, 1.0f); + nside++; + + if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad, vab, ob->m_pos, ob->m_rad, + htmin, htmax)) + continue; + + // Handle overlapping obstacles. + if (htmin < 0.0f && htmax > 0.0f) + { + // Avoid more when overlapped. + htmin = -htmin * 0.5f; + } + } + else if (ob->m_shape == KX_OBSTACLE_SEGMENT) + { + MT_Point3 p1 = ob->m_pos; + MT_Point3 p2 = ob->m_pos2; + //apply world transform + if (ob->m_type == KX_OBSTACLE_NAV_MESH) + { + KX_NavMeshObject* navmeshobj = static_cast<KX_NavMeshObject*>(ob->m_gameObj); + p1 = navmeshobj->TransformToWorldCoords(p1); + p2 = navmeshobj->TransformToWorldCoords(p2); + } + float p[2], q[2]; + vset(p, p1.x(), p1.y()); + vset(q, p2.x(), p2.y()); + + // NOTE: the segments are assumed to come from a navmesh which is shrunken by + // the agent radius, hence the use of really small radius. + // This can be handle more efficiently by using seg-seg test instead. + // If the whole segment is to be treated as obstacle, use agent->rad instead of 0.01f! + const float r = 0.01f; // agent->rad + if (distPtSegSqr(activeObstPos, p, q) < sqr(r+ob->m_rad)) + { + float sdir[2], snorm[2]; + vsub(sdir, q, p); + snorm[0] = sdir[1]; + snorm[1] = -sdir[0]; + // If the velocity is pointing towards the segment, no collision. + if (vdot(snorm, vcand) < 0.0f) + continue; + // Else immediate collision. + htmin = 0.0f; + htmax = 10.0f; + } + else + { + if (!sweepCircleSegment(activeObstPos, r, vcand, p, q, ob->m_rad, htmin, htmax)) + continue; + } + + // Avoid less when facing walls. + htmin *= 2.0f; + } + + if (htmin >= 0.0f) + { + // The closest obstacle is somewhere ahead of us, keep track of nearest obstacle. + if (htmin < tmin) + tmin = htmin; + } + } + + // Normalize side bias, to prevent it dominating too much. + if (nside) + side /= nside; + + const float vpen = velWeight * (vdist(vcand, activeObst->dvel) * ivmax); + const float vcpen = curVelWeight * (vdist(vcand, activeObst->vel) * ivmax); + const float spen = sideWeight * side; + const float tpen = toiWeight * (1.0f/(0.1f+tmin/maxToi)); + + const float penalty = vpen + vcpen + spen + tpen; + + if (penalty < minPenalty) + { + minPenalty = penalty; + vcpy(res, vcand); + } + } +} + +void KX_ObstacleSimulationTOI_cells::sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + const float maxDeltaAngle) +{ + vset(activeObst->nvel, 0.f, 0.f); + float vmax = vlen(activeObst->dvel); + + float* spos = new float[2*m_maxSamples]; + int nspos = 0; + + if (!m_adaptive) + { + const float cvx = activeObst->dvel[0]*m_bias; + const float cvy = activeObst->dvel[1]*m_bias; + float vmax = vlen(activeObst->dvel); + const float vrange = vmax*(1-m_bias); + const float cs = 1.0f / (float)m_sampleRadius*vrange; + + for (int y = -m_sampleRadius; y <= m_sampleRadius; ++y) + { + for (int x = -m_sampleRadius; x <= m_sampleRadius; ++x) + { + if (nspos < m_maxSamples) + { + const float vx = cvx + (float)(x+0.5f)*cs; + const float vy = cvy + (float)(y+0.5f)*cs; + if (vx*vx+vy*vy > sqr(vmax+cs/2)) continue; + spos[nspos*2+0] = vx; + spos[nspos*2+1] = vy; + nspos++; + } + } + } + processSamples(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, vmax, spos, cs/2, + nspos, activeObst->nvel, m_maxToi, m_velWeight, m_curVelWeight, m_collisionWeight, m_toiWeight); + } + else + { + int rad; + float res[2]; + float cs; + // First sample location. + rad = 4; + res[0] = activeObst->dvel[0]*m_bias; + res[1] = activeObst->dvel[1]*m_bias; + cs = vmax*(2-m_bias*2) / (float)(rad-1); + + for (int k = 0; k < 5; ++k) + { + const float half = (rad-1)*cs*0.5f; + + nspos = 0; + for (int y = 0; y < rad; ++y) + { + for (int x = 0; x < rad; ++x) + { + const float vx = res[0] + x*cs - half; + const float vy = res[1] + y*cs - half; + if (vx*vx+vy*vy > sqr(vmax+cs/2)) continue; + spos[nspos*2+0] = vx; + spos[nspos*2+1] = vy; + nspos++; + } + } + + processSamples(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, vmax, spos, cs/2, + nspos, res, m_maxToi, m_velWeight, m_curVelWeight, m_collisionWeight, m_toiWeight); + + cs *= 0.5f; + } + vcpy(activeObst->nvel, res); + } +} + +KX_ObstacleSimulationTOI_cells::KX_ObstacleSimulationTOI_cells(MT_Scalar levelHeight, bool enableVisualization) +: KX_ObstacleSimulationTOI(levelHeight, enableVisualization) +, m_bias(0.4f) +, m_adaptive(true) +, m_sampleRadius(15) +{ + m_maxSamples = (m_sampleRadius*2+1)*(m_sampleRadius*2+1) + 100; + m_maxToi = 1.5f; + m_velWeight = 2.0f; + m_curVelWeight = 0.75f; + m_toiWeight = 2.5f; + m_collisionWeight = 0.75f; //side_weight +}
\ No newline at end of file diff --git a/source/gameengine/Ketsji/KX_ObstacleSimulation.h b/source/gameengine/Ketsji/KX_ObstacleSimulation.h new file mode 100644 index 00000000000..d926e8deb71 --- /dev/null +++ b/source/gameengine/Ketsji/KX_ObstacleSimulation.h @@ -0,0 +1,145 @@ +/** +* 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; +class KX_NavMeshObject; + +enum KX_OBSTACLE_TYPE +{ + KX_OBSTACLE_OBJ, + KX_OBSTACLE_NAV_MESH, +}; + +enum KX_OBSTACLE_SHAPE +{ + KX_OBSTACLE_CIRCLE, + KX_OBSTACLE_SEGMENT, +}; + +#define VEL_HIST_SIZE 6 +struct KX_Obstacle +{ + KX_OBSTACLE_TYPE m_type; + KX_OBSTACLE_SHAPE m_shape; + MT_Point3 m_pos; + MT_Point3 m_pos2; + MT_Scalar m_rad; + + float vel[2]; + float pvel[2]; + float dvel[2]; + float nvel[2]; + float hvel[VEL_HIST_SIZE*2]; + int hhead; + + + KX_GameObject* m_gameObj; +}; +typedef std::vector<KX_Obstacle*> KX_Obstacles; + +class KX_ObstacleSimulation +{ +protected: + KX_Obstacles m_obstacles; + + MT_Scalar m_levelHeight; + bool m_enableVisualization; + + KX_Obstacle* CreateObstacle(KX_GameObject* gameobj); +public: + KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization); + virtual ~KX_ObstacleSimulation(); + + void DrawObstacles(); + //void DebugDraw(); + + void AddObstacleForObj(KX_GameObject* gameobj); + void DestroyObstacleForObj(KX_GameObject* gameobj); + void AddObstaclesForNavMesh(KX_NavMeshObject* navmesh); + KX_Obstacle* GetObstacle(KX_GameObject* gameobj); + void UpdateObstacles(); + virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle); + +}; +class KX_ObstacleSimulationTOI: public KX_ObstacleSimulation +{ +protected: + int m_maxSamples; // Number of sample steps + float m_minToi; // Min TOI + float m_maxToi; // Max TOI + float m_velWeight; // Sample selection angle weight + float m_curVelWeight; // Sample selection current velocity weight + float m_toiWeight; // Sample selection TOI weight + float m_collisionWeight; // Sample selection collision weight + + virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + const float maxDeltaAngle) = 0; +public: + KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization); + virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle); +}; + +class KX_ObstacleSimulationTOI_rays: public KX_ObstacleSimulationTOI +{ +protected: + virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + const float maxDeltaAngle); +public: + KX_ObstacleSimulationTOI_rays(MT_Scalar levelHeight, bool enableVisualization); +}; + +class KX_ObstacleSimulationTOI_cells: public KX_ObstacleSimulationTOI +{ +protected: + float m_bias; + bool m_adaptive; + int m_sampleRadius; + virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, + const float maxDeltaAngle); +public: + KX_ObstacleSimulationTOI_cells(MT_Scalar levelHeight, bool enableVisualization); +}; + +#endif diff --git a/source/gameengine/Ketsji/KX_PythonInit.cpp b/source/gameengine/Ketsji/KX_PythonInit.cpp index f14d73cb990..7ddaa97770b 100644 --- a/source/gameengine/Ketsji/KX_PythonInit.cpp +++ b/source/gameengine/Ketsji/KX_PythonInit.cpp @@ -87,6 +87,8 @@ extern "C" { #include "KX_GameActuator.h" #include "KX_ParentActuator.h" #include "KX_SCA_DynamicActuator.h" +#include "KX_SteeringActuator.h" +#include "KX_NavMeshObject.h" #include "SCA_IInputDevice.h" #include "SCA_PropertySensor.h" @@ -181,6 +183,13 @@ void KX_RasterizerDrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,cons gp_Rasterizer->DrawDebugLine(from,to,color); } +void KX_RasterizerDrawDebugCircle(const MT_Vector3& center, const MT_Scalar radius, const MT_Vector3& color, + const MT_Vector3& normal, int nsector) +{ + if (gp_Rasterizer) + gp_Rasterizer->DrawDebugCircle(center, radius, color, normal, nsector); +} + #ifdef WITH_PYTHON static PyObject *gp_OrigPythonSysPath= NULL; @@ -1655,6 +1664,16 @@ PyObject* initGameLogic(KX_KetsjiEngine *engine, KX_Scene* scene) // quick hack KX_MACRO_addTypesToDict(d, ROT_MODE_ZXY, ROT_MODE_ZXY); KX_MACRO_addTypesToDict(d, ROT_MODE_ZYX, ROT_MODE_ZYX); + /* Steering actuator */ + KX_MACRO_addTypesToDict(d, KX_STEERING_SEEK, KX_SteeringActuator::KX_STEERING_SEEK); + KX_MACRO_addTypesToDict(d, KX_STEERING_FLEE, KX_SteeringActuator::KX_STEERING_FLEE); + KX_MACRO_addTypesToDict(d, KX_STEERING_PATHFOLLOWING, KX_SteeringActuator::KX_STEERING_PATHFOLLOWING); + + /* KX_NavMeshObject render mode */ + KX_MACRO_addTypesToDict(d, RM_WALLS, KX_NavMeshObject::RM_WALLS); + KX_MACRO_addTypesToDict(d, RM_POLYS, KX_NavMeshObject::RM_POLYS); + KX_MACRO_addTypesToDict(d, RM_TRIS, KX_NavMeshObject::RM_TRIS); + /* BL_Action play modes */ KX_MACRO_addTypesToDict(d, KX_ACTION_MODE_PLAY, BL_Action::ACT_MODE_PLAY); KX_MACRO_addTypesToDict(d, KX_ACTION_MODE_LOOP, BL_Action::ACT_MODE_LOOP); diff --git a/source/gameengine/Ketsji/KX_PythonInit.h b/source/gameengine/Ketsji/KX_PythonInit.h index 1b172c35eff..d76e8f913df 100644 --- a/source/gameengine/Ketsji/KX_PythonInit.h +++ b/source/gameengine/Ketsji/KX_PythonInit.h @@ -72,6 +72,9 @@ class KX_KetsjiEngine* KX_GetActiveEngine(); #include "MT_Vector3.h" void KX_RasterizerDrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color); +void KX_RasterizerDrawDebugCircle(const MT_Vector3& center, const MT_Scalar radius, const MT_Vector3& color, + const MT_Vector3& normal, int nsector); + #endif //__KX_PYTHON_INIT diff --git a/source/gameengine/Ketsji/KX_PythonInitTypes.cpp b/source/gameengine/Ketsji/KX_PythonInitTypes.cpp index 1c4a17e31fc..49a08135c38 100644 --- a/source/gameengine/Ketsji/KX_PythonInitTypes.cpp +++ b/source/gameengine/Ketsji/KX_PythonInitTypes.cpp @@ -68,6 +68,7 @@ #include "KX_SCA_ReplaceMeshActuator.h" #include "KX_SceneActuator.h" #include "KX_StateActuator.h" +#include "KX_SteeringActuator.h" #include "KX_TrackToActuator.h" #include "KX_VehicleWrapper.h" #include "KX_VertexProxy.h" @@ -99,6 +100,7 @@ #include "SCA_PythonController.h" #include "SCA_RandomActuator.h" #include "SCA_IController.h" +#include "KX_NavMeshObject.h" static void PyType_Attr_Set(PyGetSetDef *attr_getset, PyAttributeDef *attr) { @@ -217,9 +219,11 @@ void initPyTypes(void) PyType_Ready_Attr(dict, KX_SCA_EndObjectActuator, init_getset); PyType_Ready_Attr(dict, KX_SCA_ReplaceMeshActuator, init_getset); PyType_Ready_Attr(dict, KX_Scene, init_getset); + PyType_Ready_Attr(dict, KX_NavMeshObject, init_getset); PyType_Ready_Attr(dict, KX_SceneActuator, init_getset); PyType_Ready_Attr(dict, KX_SoundActuator, init_getset); PyType_Ready_Attr(dict, KX_StateActuator, init_getset); + PyType_Ready_Attr(dict, KX_SteeringActuator, init_getset); PyType_Ready_Attr(dict, KX_TouchSensor, init_getset); PyType_Ready_Attr(dict, KX_TrackToActuator, init_getset); PyType_Ready_Attr(dict, KX_VehicleWrapper, init_getset); diff --git a/source/gameengine/Ketsji/KX_Scene.cpp b/source/gameengine/Ketsji/KX_Scene.cpp index 7c76ab01e93..bdc30810b9e 100644 --- a/source/gameengine/Ketsji/KX_Scene.cpp +++ b/source/gameengine/Ketsji/KX_Scene.cpp @@ -87,6 +87,7 @@ #include "BL_ModifierDeformer.h" #include "BL_ShapeDeformer.h" #include "BL_DeformableGameObject.h" +#include "KX_ObstacleSimulation.h" #ifdef USE_BULLET #include "KX_SoftBodyDeformer.h" @@ -214,6 +215,19 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice, m_bucketmanager=new RAS_BucketManager(); + bool showObstacleSimulation = scene->gm.flag & GAME_SHOW_OBSTACLE_SIMULATION; + switch (scene->gm.obstacleSimulation) + { + case OBSTSIMULATION_TOI_rays: + m_obstacleSimulation = new KX_ObstacleSimulationTOI_rays((MT_Scalar)scene->gm.levelHeight, showObstacleSimulation); + break; + case OBSTSIMULATION_TOI_cells: + m_obstacleSimulation = new KX_ObstacleSimulationTOI_cells((MT_Scalar)scene->gm.levelHeight, showObstacleSimulation); + break; + default: + m_obstacleSimulation = NULL; + } + #ifdef WITH_PYTHON m_attr_dict = PyDict_New(); /* new ref */ m_draw_call_pre = NULL; @@ -236,6 +250,9 @@ KX_Scene::~KX_Scene() this->RemoveObject(parentobj); } + if (m_obstacleSimulation) + delete m_obstacleSimulation; + if(m_objectlist) m_objectlist->Release(); @@ -1545,6 +1562,10 @@ void KX_Scene::LogicEndFrame() obj->Release(); RemoveObject(obj); } + + //prepare obstacle simulation for new frame + if (m_obstacleSimulation) + m_obstacleSimulation->UpdateObstacles(); } @@ -1977,6 +1998,8 @@ PyMethodDef KX_Scene::Methods[] = { KX_PYMETHODTABLE(KX_Scene, replace), KX_PYMETHODTABLE(KX_Scene, suspend), KX_PYMETHODTABLE(KX_Scene, resume), + KX_PYMETHODTABLE(KX_Scene, drawObstacleSimulation), + /* dict style access */ KX_PYMETHODTABLE(KX_Scene, get), @@ -2301,6 +2324,16 @@ KX_PYMETHODDEF_DOC(KX_Scene, resume, Py_RETURN_NONE; } +KX_PYMETHODDEF_DOC(KX_Scene, drawObstacleSimulation, + "drawObstacleSimulation()\n" + "Draw debug visualization of obstacle simulation.\n") +{ + if (GetObstacleSimulation()) + GetObstacleSimulation()->DrawObstacles(); + + Py_RETURN_NONE; +} + /* Matches python dict.get(key, [default]) */ KX_PYMETHODDEF_DOC(KX_Scene, get, "") { diff --git a/source/gameengine/Ketsji/KX_Scene.h b/source/gameengine/Ketsji/KX_Scene.h index 499861bce50..5954d5465ba 100644 --- a/source/gameengine/Ketsji/KX_Scene.h +++ b/source/gameengine/Ketsji/KX_Scene.h @@ -88,6 +88,7 @@ class SCA_JoystickManager; class btCollisionShape; class KX_BlenderSceneConverter; struct KX_ClientObjectInfo; +class KX_ObstacleSimulation; #ifdef WITH_CXX_GUARDEDALLOC #include "MEM_guardedalloc.h" @@ -293,6 +294,9 @@ protected: struct Scene* m_blenderScene; RAS_2DFilterManager m_filtermanager; + + KX_ObstacleSimulation* m_obstacleSimulation; + public: KX_Scene(class SCA_IInputDevice* keyboarddevice, class SCA_IInputDevice* mousedevice, @@ -585,6 +589,8 @@ public: void Update2DFilter(vector<STR_String>& propNames, void* gameObj, RAS_2DFilterManager::RAS_2DFILTER_MODE filtermode, int pass, STR_String& text); void Render2DFilters(RAS_ICanvas* canvas); + KX_ObstacleSimulation* GetObstacleSimulation() {return m_obstacleSimulation;}; + #ifdef WITH_PYTHON /* --------------------------------------------------------------------- */ /* Python interface ---------------------------------------------------- */ @@ -597,6 +603,8 @@ public: KX_PYMETHOD_DOC(KX_Scene, suspend); KX_PYMETHOD_DOC(KX_Scene, resume); KX_PYMETHOD_DOC(KX_Scene, get); + KX_PYMETHOD_DOC(KX_Scene, drawObstacleSimulation); + /* attributes */ static PyObject* pyattr_get_name(void* self_v, const KX_PYATTRIBUTE_DEF *attrdef); diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.cpp b/source/gameengine/Ketsji/KX_SteeringActuator.cpp new file mode 100644 index 00000000000..a0a2e148c1e --- /dev/null +++ b/source/gameengine/Ketsji/KX_SteeringActuator.cpp @@ -0,0 +1,630 @@ +/** +* 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 "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) : + SCA_IActuator(gameobj, KX_ACT_STEERING), + m_mode(mode), + m_target(target), + m_distance(distance), + m_velocity(velocity), + m_acceleration(acceleration), + m_turnspeed(turnspeed), + m_isSelfTerminated(isSelfTerminated), + m_pathUpdatePeriod(pathUpdatePeriod), + m_updateTime(0), + m_isActive(false), + m_simulation(simulation), + m_enableVisualization(enableVisualization), + m_facingMode(facingmode), + m_normalUp(normalup), + m_obstacle(NULL), + m_pathLen(0), + 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(); +} + + +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; + m_pathUpdateTime = -1; + 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; + m_steerVec = MT_Vector3(0, 0, 0); + 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(0.25); + + if (m_pathUpdateTime<0 || (m_pathUpdatePeriod>=0 && + curtime - m_pathUpdateTime>((double)m_pathUpdatePeriod/1000))) + { + 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(1,0,0); + 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.,0.,0.)); + m_simulation->AdjustObstacleVelocity(m_obstacle, m_mode!=KX_STEERING_PATHFOLLOWING ? m_navmesh : NULL, + newvel, m_acceleration*delta, m_turnspeed/180.0f*M_PI*delta); + if (m_enableVisualization) + KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.,1.,0.)); + } + + 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(); + 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]; + vsub(v0, c,a); + vsub(v1, b,a); + vsub(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); + } + +} + +#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_INT_RW("behaviour", 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), + { 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; +} + +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(value, &gameobj, true, "actuator.object = value: KX_SteeringActuator")) + return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error + + if (!PyObject_TypeCheck(value, &KX_NavMeshObject::Type)) + { + 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 // DISABLE_PYTHON + +/* eof */ + diff --git a/source/gameengine/Ketsji/KX_SteeringActuator.h b/source/gameengine/Ketsji/KX_SteeringActuator.h new file mode 100644 index 00000000000..4f8303107f7 --- /dev/null +++ b/source/gameengine/Ketsji/KX_SteeringActuator.h @@ -0,0 +1,130 @@ +/** +* 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 ***** +*/ + +#ifndef __KX_STEERINGACTUATOR +#define __KX_STEERINGACTUATOR + +#include "SCA_IActuator.h" +#include "SCA_LogicManager.h" +#include "MT_Matrix3x3.h" + +class KX_GameObject; +class KX_NavMeshObject; +struct KX_Obstacle; +class KX_ObstacleSimulation; +const int MAX_PATH_LENGTH = 128; + +class KX_SteeringActuator : public SCA_IActuator +{ + Py_Header; + + /** Target object */ + KX_GameObject *m_target; + KX_NavMeshObject *m_navmesh; + int m_mode; + float m_distance; + float m_velocity; + float m_acceleration; + float m_turnspeed; + KX_ObstacleSimulation* m_simulation; + + KX_Obstacle* m_obstacle; + double m_updateTime; + bool m_isActive; + bool m_isSelfTerminated; + bool m_enableVisualization; + short m_facingMode; + bool m_normalUp; + float m_path[MAX_PATH_LENGTH*3]; + int m_pathLen; + int m_pathUpdatePeriod; + double m_pathUpdateTime; + int m_wayPointIdx; + MT_Matrix3x3 m_parentlocalmat; + MT_Vector3 m_steerVec; + void HandleActorFace(MT_Vector3& velocity); +public: + enum KX_STEERINGACT_MODE + { + KX_STEERING_NODEF = 0, + KX_STEERING_SEEK, + KX_STEERING_FLEE, + KX_STEERING_PATHFOLLOWING, + KX_STEERING_MAX + }; + + KX_SteeringActuator(class 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); + virtual ~KX_SteeringActuator(); + virtual bool Update(double curtime, bool frame); + + virtual CValue* GetReplica(); + virtual void ProcessReplica(); + virtual void Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map); + virtual bool UnlinkObject(SCA_IObject* clientobj); + const MT_Vector3& GetSteeringVec(); + +#ifndef DISABLE_PYTHON + + /* --------------------------------------------------------------------- */ + /* Python interface ---------------------------------------------------- */ + /* --------------------------------------------------------------------- */ + + /* These are used to get and set m_target */ + static PyObject* pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef); + static int pyattr_set_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value); + static PyObject* pyattr_get_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef); + static int pyattr_set_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value); + static PyObject* pyattr_get_steeringVec(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef); + + +#endif // DISABLE_PYTHON + +}; /* end of class KX_SteeringActuator : public SCA_PropertyActuator */ + +#endif + diff --git a/source/gameengine/Ketsji/SConscript b/source/gameengine/Ketsji/SConscript index c5509dd7de8..7c9785c24e7 100644 --- a/source/gameengine/Ketsji/SConscript +++ b/source/gameengine/Ketsji/SConscript @@ -20,6 +20,8 @@ incs += ' #source/gameengine/GameLogic #source/gameengine/Expressions #source/ga incs += ' #source/gameengine/SceneGraph #source/gameengine/Physics/common' incs += ' #source/gameengine/Physics/Dummy' incs += ' #source/blender/misc #source/blender/blenloader #extern/glew/include #source/blender/gpu' +incs += ' #extern/recastnavigation/Recast/Include #extern/recastnavigation/Detour/Include' +incs += ' #source/blender/editors/include' incs += ' ' + env['BF_BULLET_INC'] incs += ' ' + env['BF_OPENGL_INC'] diff --git a/source/gameengine/Rasterizer/RAS_IRasterizer.h b/source/gameengine/Rasterizer/RAS_IRasterizer.h index c46ebf742a0..877a7219a1c 100644 --- a/source/gameengine/Rasterizer/RAS_IRasterizer.h +++ b/source/gameengine/Rasterizer/RAS_IRasterizer.h @@ -393,7 +393,9 @@ public: virtual void SetPolygonOffset(float mult, float add) = 0; virtual void DrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color)=0; - virtual void FlushDebugLines()=0; + virtual void DrawDebugCircle(const MT_Vector3& center, const MT_Scalar radius, const MT_Vector3& color, + const MT_Vector3& normal, int nsector)=0; + virtual void FlushDebugShapes()=0; diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp index 50d034a5a5a..6ad9e591474 100644 --- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp +++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.cpp @@ -55,6 +55,10 @@ #include "BKE_DerivedMesh.h" +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + /** * 32x32 bit masks for vinterlace stereo mode */ @@ -354,9 +358,9 @@ void RAS_OpenGLRasterizer::ClearCachingInfo(void) m_materialCachingInfo = 0; } -void RAS_OpenGLRasterizer::FlushDebugLines() +void RAS_OpenGLRasterizer::FlushDebugShapes() { - if(!m_debugLines.size()) + if(!m_debugShapes.size()) return; // DrawDebugLines @@ -368,29 +372,67 @@ void RAS_OpenGLRasterizer::FlushDebugLines() if(light) glDisable(GL_LIGHTING); if(tex) glDisable(GL_TEXTURE_2D); + //draw lines glBegin(GL_LINES); - for (unsigned int i=0;i<m_debugLines.size();i++) + for (unsigned int i=0;i<m_debugShapes.size();i++) { - glColor4f(m_debugLines[i].m_color[0],m_debugLines[i].m_color[1],m_debugLines[i].m_color[2],1.f); - const MT_Scalar* fromPtr = &m_debugLines[i].m_from.x(); - const MT_Scalar* toPtr= &m_debugLines[i].m_to.x(); - + if (m_debugShapes[i].m_type != OglDebugShape::LINE) + continue; + glColor4f(m_debugShapes[i].m_color[0],m_debugShapes[i].m_color[1],m_debugShapes[i].m_color[2],1.f); + const MT_Scalar* fromPtr = &m_debugShapes[i].m_pos.x(); + const MT_Scalar* toPtr= &m_debugShapes[i].m_param.x(); glVertex3dv(fromPtr); glVertex3dv(toPtr); } glEnd(); + //draw circles + for (unsigned int i=0;i<m_debugShapes.size();i++) + { + if (m_debugShapes[i].m_type != OglDebugShape::CIRCLE) + continue; + glBegin(GL_LINE_LOOP); + glColor4f(m_debugShapes[i].m_color[0],m_debugShapes[i].m_color[1],m_debugShapes[i].m_color[2],1.f); + + static const MT_Vector3 worldUp(0.,0.,1.); + MT_Vector3 norm = m_debugShapes[i].m_param; + MT_Matrix3x3 tr; + if (norm.fuzzyZero() || norm == worldUp) + { + tr.setIdentity(); + } + else + { + MT_Vector3 xaxis, yaxis; + xaxis = MT_cross(norm, worldUp); + yaxis = MT_cross(xaxis, norm); + tr.setValue(xaxis.x(), xaxis.y(), xaxis.z(), + yaxis.x(), yaxis.y(), yaxis.z(), + norm.x(), norm.y(), norm.z()); + } + MT_Scalar rad = m_debugShapes[i].m_param2.x(); + int n = (int) m_debugShapes[i].m_param2.y(); + for (int j = 0; j<n; j++) + { + MT_Scalar theta = j*M_PI*2/n; + MT_Vector3 pos(cos(theta)*rad, sin(theta)*rad, 0.); + pos = pos*tr; + pos += m_debugShapes[i].m_pos; + const MT_Scalar* posPtr = &pos.x(); + glVertex3dv(posPtr); + } + glEnd(); + } + if(light) glEnable(GL_LIGHTING); if(tex) glEnable(GL_TEXTURE_2D); - m_debugLines.clear(); + m_debugShapes.clear(); } void RAS_OpenGLRasterizer::EndFrame() { - - - FlushDebugLines(); + FlushDebugShapes(); glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE); diff --git a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h index 61568df91eb..c0e02f6df77 100644 --- a/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h +++ b/source/gameengine/Rasterizer/RAS_OpenGLRasterizer/RAS_OpenGLRasterizer.h @@ -49,10 +49,15 @@ using namespace std; #define RAS_MAX_TEXCO 8 // match in BL_Material #define RAS_MAX_ATTRIB 16 // match in BL_BlenderShader -struct OglDebugLine +struct OglDebugShape { - MT_Vector3 m_from; - MT_Vector3 m_to; + enum SHAPE_TYPE{ + LINE, CIRCLE + }; + SHAPE_TYPE m_type; + MT_Vector3 m_pos; + MT_Vector3 m_param; + MT_Vector3 m_param2; MT_Vector3 m_color; }; @@ -256,18 +261,32 @@ public: virtual void SetPolygonOffset(float mult, float add); - virtual void FlushDebugLines(); + virtual void FlushDebugShapes(); - virtual void DrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color) + virtual void DrawDebugLine(const MT_Vector3& from,const MT_Vector3& to,const MT_Vector3& color) { - OglDebugLine line; - line.m_from = from; - line.m_to = to; + OglDebugShape line; + line.m_type = OglDebugShape::LINE; + line.m_pos= from; + line.m_param = to; line.m_color = color; - m_debugLines.push_back(line); + m_debugShapes.push_back(line); + } + + virtual void DrawDebugCircle(const MT_Vector3& center, const MT_Scalar radius, const MT_Vector3& color, + const MT_Vector3& normal, int nsector) + { + OglDebugShape line; + line.m_type = OglDebugShape::CIRCLE; + line.m_pos= center; + line.m_param = normal; + line.m_color = color; + line.m_param2.x() = radius; + line.m_param2.y() = (float) nsector; + m_debugShapes.push_back(line); } - std::vector <OglDebugLine> m_debugLines; + std::vector <OglDebugShape> m_debugShapes; virtual void SetTexCoordNum(int num); virtual void SetAttribNum(int num); |