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- added acceleration and turn speed parameters for obstacle simulation

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- added debug visualization for object velocities
This commit is contained in:
Nick Samarin
2010-06-11 21:13:59 +00:00
parent 12b33ca099
commit 147e8d01eb
9 changed files with 105 additions and 21 deletions
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4
source/blender/blenkernel/intern/sca.c
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@@ -416,6 +416,7 @@ void init_actuator(bActuator *act)
bObjectActuator *oa;
bRandomActuator *ra;
bSoundActuator *sa;
bSteeringActuator *sta;
if(act->data) MEM_freeN(act->data);
act->data= 0;
@@ -491,6 +492,9 @@ void init_actuator(bActuator *act)
break;
case ACT_STEERING:
act->data = MEM_callocN(sizeof( bSteeringActuator), "steering act");
sta = act->data;
sta->acceleration = 3;
sta->turnspeed = 120;
default:
; /* this is very severe... I cannot make any memory for this */
/* logic brick... */

3
source/blender/editors/space_logic/logic_window.c
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@@ -4273,6 +4273,9 @@ static void draw_actuator_steering(uiLayout *layout, PointerRNA *ptr)
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, "turnspeed", 0, NULL, 0);
}

2
source/blender/makesdna/DNA_actuator_types.h
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@@ -219,6 +219,8 @@ typedef struct bSteeringActuator {
int type; /* 0=seek, 1=flee, 2=path following */
float dist;
float velocity;
float acceleration;
float turnspeed;
struct Object *target;
struct Object *navmesh;
} bSteeringActuator;

12
source/blender/makesrna/intern/rna_actuator.c
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@@ -1872,6 +1872,18 @@ static void rna_def_steering_actuator(BlenderRNA *brna)
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, "turnspeed", 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);

5
source/gameengine/Converter/KX_ConvertActuators.cpp
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@@ -1058,8 +1058,9 @@ void BL_ConvertActuators(char* maggiename,
}
KX_SteeringActuator *tmpstact
= new KX_SteeringActuator(gameobj, mode, targetob, navmeshob,
stAct->velocity, stAct->dist, scene->GetObstacleSimulation());
= new KX_SteeringActuator(gameobj, mode, targetob, navmeshob,stAct->dist,
stAct->velocity, stAct->acceleration, stAct->turnspeed,
scene->GetObstacleSimulation());
baseact = tmpstact;
break;
}

70
source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
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@@ -36,13 +36,12 @@
#include "KX_NavMeshObject.h"
#include "KX_PythonInit.h"
#include "DNA_object_types.h"
#include <math.h>
#include "BLI_math.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
inline float perp(const MT_Vector2& a, const MT_Vector2& b) { return a.x()*b.y() - a.y()*b.x(); }
inline float lerp(float a, float b, float t) { return a + (b-a)*t; }
int sweepCircleCircle(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v,
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)
{
@@ -64,10 +63,7 @@ int sweepCircleCircle(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vecto
return 1;
}
inline float perp(const MT_Vector2& a, const MT_Vector2& b) { return a.x()*b.y() - a.y()*b.x(); }
int sweepCircleSegment(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v,
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)
{
@@ -143,6 +139,32 @@ int sweepCircleSegment(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vect
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()
{
@@ -231,7 +253,7 @@ KX_Obstacle* KX_ObstacleSimulation::GetObstacle(KX_GameObject* gameobj)
}
void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
MT_Vector3& velocity)
MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle)
{
}
@@ -282,7 +304,8 @@ KX_Obstacle* KX_ObstacleSimulationTOI::CreateObstacle()
return obstacle;
}
void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, MT_Vector3& velocity)
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();
@@ -387,10 +410,35 @@ void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, K
tc->toie[iter] = tmine;
}
if (activeObst->m_vel.length() > 0.1)
{
// Constrain max turn rate.
float cura = atan2(activeObst->m_vel.y(),activeObst->m_vel.x());
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;
// Constrain velocity change.
const float curSpeed = (float) activeObst->m_vel.length();
float deltaSpeed = vmax - curSpeed;
CLAMP(deltaSpeed, -maxDeltaSpeed, maxDeltaSpeed);
vmax = curSpeed + deltaSpeed;
// New steering velocity.
vel.x() = cosf(bestDir) * vmax;
vel.y() = sinf(bestDir) * vmax;

4
source/gameengine/Ketsji/KX_ObstacleSimulation.h
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@@ -85,7 +85,7 @@ public:
KX_Obstacle* GetObstacle(KX_GameObject* gameobj);
void UpdateObstacles();
virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
MT_Vector3& velocity);
MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
}; /* end of class KX_ObstacleSimulation*/
@@ -116,7 +116,7 @@ public:
KX_ObstacleSimulationTOI();
~KX_ObstacleSimulationTOI();
virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
MT_Vector3& velocity);
MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
};
#endif

20
source/gameengine/Ketsji/KX_SteeringActuator.cpp
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@@ -32,10 +32,13 @@
* ***** 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"
/* ------------------------------------------------------------------------- */
/* Native functions */
@@ -45,14 +48,18 @@ KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
int mode,
KX_GameObject *target,
KX_GameObject *navmesh,
MT_Scalar velocity,
MT_Scalar distance,
MT_Scalar velocity,
MT_Scalar acceleration,
MT_Scalar turnspeed,
KX_ObstacleSimulation* simulation) :
SCA_IActuator(gameobj, KX_ACT_STEERING),
m_mode(mode),
m_target(target),
m_velocity(velocity),
m_distance(distance),
m_velocity(velocity),
m_acceleration(acceleration),
m_turnspeed(turnspeed),
m_updateTime(0),
m_isActive(false),
m_simulation(simulation),
@@ -157,7 +164,7 @@ bool KX_SteeringActuator::Update(double curtime, bool frame)
const MT_Point3& targpos = m_target->NodeGetWorldPosition();
MT_Vector3 vectotarg = targpos - mypos;
MT_Vector3 steervec = MT_Vector3(0, 0, 0);
bool apply_steerforce = false;
bool apply_steerforce = true;
switch (m_mode) {
case KX_STEERING_SEEK:
@@ -204,9 +211,12 @@ bool KX_SteeringActuator::Update(double curtime, bool frame)
MT_Vector3 newvel = m_velocity*steervec;
//adjust velocity to avoid obstacles
if (m_simulation && m_obstacle)
if (m_simulation && m_obstacle && !newvel.fuzzyZero())
{
m_simulation->AdjustObstacleVelocity(m_obstacle, m_navmesh, newvel);
KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.,0.,0.));
m_simulation->AdjustObstacleVelocity(m_obstacle, m_navmesh, newvel,
m_acceleration*delta, m_turnspeed/180.0f*M_PI*delta);
KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.,1.,0.));
}
//temporary solution: set 2D steering velocity directly to obj

6
source/gameengine/Ketsji/KX_SteeringActuator.h
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@@ -54,6 +54,8 @@ class KX_SteeringActuator : public SCA_IActuator
int m_mode;
MT_Scalar m_distance;
MT_Scalar m_velocity;
MT_Scalar m_acceleration;
MT_Scalar m_turnspeed;
KX_ObstacleSimulation* m_simulation;
KX_Obstacle* m_obstacle;
@@ -73,8 +75,10 @@ public:
int mode,
KX_GameObject *target,
KX_GameObject *navmesh,
MT_Scalar movement,
MT_Scalar distance,
MT_Scalar velocity,
MT_Scalar acceleration,
MT_Scalar turnspeed,
KX_ObstacleSimulation* simulation);
virtual ~KX_SteeringActuator();
virtual bool Update(double curtime, bool frame);