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/**
* 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,
};
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;
MT_Vector2 m_vel;
KX_GameObject* m_gameObj;
};
class KX_ObstacleSimulation
{
protected:
std::vector<KX_Obstacle*> m_obstacles;
MT_Scalar m_levelHeight;
bool m_enableVisualization;
virtual KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
bool FilterObstacle(KX_Obstacle* activeObstacle, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObstacle);
public:
KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization);
virtual ~KX_ObstacleSimulation();
void DrawObstacles();
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);
}; /* end of class KX_ObstacleSimulation*/
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)
};
class KX_ObstacleSimulationTOI: public KX_ObstacleSimulation
{
protected:
int m_avoidSteps; // Number of sample steps
float m_minToi; // Min TOI
float m_maxToi; // Max TOI
float m_angleWeight; // Sample selection angle weight
float m_toiWeight; // Sample selection TOI weight
float m_collisionWeight; // Sample selection collision weight
std::vector<TOICircle*> m_toiCircles; // TOI circles (one per active agent)
virtual KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
public:
KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization);
~KX_ObstacleSimulationTOI();
virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
};
#endif
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