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/*
* Simulation for obstacle avoidance behavior
* (based on Cane Project - http://code.google.com/p/cane by Mikko Mononen (c) 2009)
*
* ***** 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.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifndef __KX_OBSTACLESIMULATION_H__
#define __KX_OBSTACLESIMULATION_H__
#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
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