[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [31355] branches/soc-2010-nicks/source: added option to set "up" vector of the actor orientation using navmesh normal (steering actuator)
Nick Samarin
nicks1987 at bigmir.net
Sun Aug 15 19:40:57 CEST 2010
Revision: 31355
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=31355
Author: nicks
Date: 2010-08-15 19:40:57 +0200 (Sun, 15 Aug 2010)
Log Message:
-----------
added option to set "up" vector of the actor orientation using navmesh normal (steering actuator)
Modified Paths:
--------------
branches/soc-2010-nicks/source/blender/editors/space_logic/logic_window.c
branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h
branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c
branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.h
Modified: branches/soc-2010-nicks/source/blender/editors/space_logic/logic_window.c
===================================================================
--- branches/soc-2010-nicks/source/blender/editors/space_logic/logic_window.c 2010-08-15 16:50:58 UTC (rev 31354)
+++ branches/soc-2010-nicks/source/blender/editors/space_logic/logic_window.c 2010-08-15 17:40:57 UTC (rev 31355)
@@ -4351,8 +4351,12 @@
uiItemR(row, ptr, "facing", 0, NULL, 0);
if (RNA_boolean_get(ptr, "facing"))
{
- uiItemR(row, ptr, "facingaxis", 0, NULL, 0);
+ uiItemR(row, ptr, "facingaxis", 0, NULL, 0);
}
+ if (RNA_pointer_get(ptr, "navmesh").data)
+ {
+ uiItemR(row, ptr, "normalup", 0, NULL, 0);
+ }
row = uiLayoutRow(layout, 0);
uiItemR(row, ptr, "selfterminated", 0, NULL, 0);
if (RNA_enum_get(ptr, "mode")==ACT_STEERING_PATHFOLLOWING)
Modified: branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h
===================================================================
--- branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h 2010-08-15 16:50:58 UTC (rev 31354)
+++ branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h 2010-08-15 17:40:57 UTC (rev 31355)
@@ -527,6 +527,7 @@
#define ACT_STEERING_SELFTERMINATED 1
#define ACT_STEERING_ENABLEVISUALIZATION 2
#define ACT_STEERING_AUTOMATICFACING 4
+#define ACT_STEERING_NORMALUP 8
#endif
Modified: branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c
===================================================================
--- branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c 2010-08-15 16:50:58 UTC (rev 31354)
+++ branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c 2010-08-15 17:40:57 UTC (rev 31355)
@@ -1976,7 +1976,11 @@
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, "normalup", 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)
Modified: branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp 2010-08-15 16:50:58 UTC (rev 31354)
+++ branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp 2010-08-15 17:40:57 UTC (rev 31355)
@@ -1060,11 +1060,12 @@
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, enableVisualization);
+ scene->GetObstacleSimulation(), facingMode, normalup, enableVisualization);
baseact = tmpstact;
break;
}
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp 2010-08-15 16:50:58 UTC (rev 31354)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp 2010-08-15 17:40:57 UTC (rev 31355)
@@ -39,8 +39,8 @@
#include "KX_ObstacleSimulation.h"
#include "KX_PythonInit.h"
#include "KX_PyMath.h"
+#include "Recast.h"
-
/* ------------------------------------------------------------------------- */
/* Native functions */
/* ------------------------------------------------------------------------- */
@@ -57,6 +57,7 @@
int pathUpdatePeriod,
KX_ObstacleSimulation* simulation,
short facingmode,
+ bool normalup,
bool enableVisualization) :
SCA_IActuator(gameobj, KX_ACT_STEERING),
m_mode(mode),
@@ -72,6 +73,7 @@
m_simulation(simulation),
m_enableVisualization(enableVisualization),
m_facingMode(facingmode),
+ m_normalUp(normalup),
m_obstacle(NULL),
m_pathLen(0),
m_wayPointIdx(-1),
@@ -309,23 +311,129 @@
const MT_Vector3& KX_SteeringActuator::GetSteeringVec()
{
+ static MT_Vector3 ZERO_VECTOR(0, 0, 0);
if (m_isActive)
return m_steerVec;
else
- return MT_Vector3(0, 0, 0);
+ 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)
+ if (m_facingMode==0 && (!m_navmesh || !m_normalUp))
return;
- MT_Vector3 dir = velocity;
+ 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
@@ -370,14 +478,15 @@
break;
}
}
+
mat.setValue (
left[0], dir[0],up[0],
left[1], dir[1],up[1],
left[2], dir[2],up[2]
);
- KX_GameObject* curobj = (KX_GameObject*) GetParent();
+
KX_GameObject* parentObject = curobj->GetParent();
if(parentObject)
{
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.h
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.h 2010-08-15 16:50:58 UTC (rev 31354)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.h 2010-08-15 17:40:57 UTC (rev 31355)
@@ -66,6 +66,7 @@
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;
@@ -96,6 +97,7 @@
int pathUpdatePeriod,
KX_ObstacleSimulation* simulation,
short facingmode,
+ bool normalup,
bool enableVisualization);
virtual ~KX_SteeringActuator();
virtual bool Update(double curtime, bool frame);
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