[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [29325] branches/soc-2010-nicks/source/ gameengine: Added segment obstacles, creation obstacles for walls of navigation mesh
Nick Samarin
nicks1987 at bigmir.net
Tue Jun 8 01:09:50 CEST 2010
Revision: 29325
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=29325
Author: nicks
Date: 2010-06-08 01:09:50 +0200 (Tue, 08 Jun 2010)
Log Message:
-----------
Added segment obstacles, creation obstacles for walls of navigation mesh
Modified Paths:
--------------
branches/soc-2010-nicks/source/gameengine/Converter/BL_BlenderDataConversion.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.h
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.h
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp
Modified: branches/soc-2010-nicks/source/gameengine/Converter/BL_BlenderDataConversion.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Converter/BL_BlenderDataConversion.cpp 2010-06-07 22:57:54 UTC (rev 29324)
+++ branches/soc-2010-nicks/source/gameengine/Converter/BL_BlenderDataConversion.cpp 2010-06-07 23:09:50 UTC (rev 29325)
@@ -2639,6 +2639,7 @@
converter->RegisterWorldInfo(worldinfo);
kxscene->SetWorldInfo(worldinfo);
+
//create object representations for obstacle simulation
KX_ObstacleSimulation* obssimulation = kxscene->GetObstacleSimulation();
if (obssimulation)
@@ -2653,6 +2654,21 @@
}
}
+ //build navigation mesh
+ 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->BuildNavMesh();
+ navmesh->SetVisible(0, true);
+ if (obssimulation)
+ obssimulation->AddObstaclesForNavMesh(navmesh);
+ }
+ }
+
#define CONVERT_LOGIC
#ifdef CONVERT_LOGIC
// convert logic bricks, sensors, controllers and actuators
@@ -2693,19 +2709,7 @@
logicbrick_conversionlist->Release();
- //build navigation mesh
- 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* pathfinder = static_cast<KX_NavMeshObject*>(gameobj);
- pathfinder->BuildNavMesh();
- pathfinder->SetVisible(0, true);
- }
- }
-
+
// Calculate the scene btree -
// too slow - commented out.
//kxscene->SetNodeTree(tf.MakeTree());
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.cpp 2010-06-07 22:57:54 UTC (rev 29324)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.cpp 2010-06-07 23:09:50 UTC (rev 29325)
@@ -307,6 +307,11 @@
return true;
}
+dtStatNavMesh* KX_NavMeshObject::GetNavMesh()
+{
+ return m_navMesh;
+}
+
void KX_NavMeshObject::DrawNavMesh()
{
if (!m_navMesh)
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.h
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.h 2010-06-07 22:57:54 UTC (rev 29324)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_NavMeshObject.h 2010-06-07 23:09:50 UTC (rev 29325)
@@ -55,6 +55,7 @@
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);
void DrawNavMesh();
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp 2010-06-07 22:57:54 UTC (rev 29324)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp 2010-06-07 23:09:50 UTC (rev 29325)
@@ -33,7 +33,8 @@
*/
#include "KX_ObstacleSimulation.h"
-#include "KX_GameObject.h"
+#include "KX_NavMeshObject.h"
+#include "KX_PythonInit.h"
#include "DNA_object_types.h"
#include "math.h"
#define M_PI 3.14159265358979323846
@@ -60,7 +61,86 @@
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,
+ 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;
+}
+
+
KX_ObstacleSimulation::KX_ObstacleSimulation()
{
@@ -75,19 +155,60 @@
}
m_obstacles.clear();
}
+KX_Obstacle* KX_ObstacleSimulation::CreateObstacle()
+{
+ KX_Obstacle* obstacle = new KX_Obstacle();
+ m_obstacles.push_back(obstacle);
+ return obstacle;
+}
+
void KX_ObstacleSimulation::AddObstacleForObj(KX_GameObject* gameobj)
{
- KX_Obstacle* obstacle = new KX_Obstacle();
+ KX_Obstacle* obstacle = CreateObstacle();
struct Object* blenderobject = gameobj->GetBlenderObject();
+ obstacle->m_type = KX_OBSTACLE_OBJ;
+ obstacle->m_shape = KX_OBSTACLE_CIRCLE;
obstacle->m_rad = blenderobject->inertia; //.todo use radius of collision shape bound sphere
obstacle->m_gameObj = gameobj;
- m_obstacles.push_back(obstacle);
+
}
+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();
+ obstacle->m_type = KX_OBSTACLE_NAV_MESH;
+ obstacle->m_shape = KX_OBSTACLE_SEGMENT;
+ obstacle->m_gameObj = navmeshobj;
+ obstacle->m_pos = MT_Vector3(vj[0], vj[2], vj[1]);
+ obstacle->m_pos2 = MT_Vector3(vi[0], vi[2], vi[1]);
+ obstacle->m_rad = 0;
+ obstacle->m_vel = MT_Vector2(0,0);
+ }
+ }
+ }
+}
+
void KX_ObstacleSimulation::UpdateObstacles()
{
for (size_t i=0; i<m_obstacles.size(); i++)
{
+ if (m_obstacles[i]->m_shape==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->m_vel.x() = obs->m_gameObj->GetLinearVelocity().x();
@@ -106,10 +227,23 @@
return NULL;
}
-void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst, MT_Vector3& velocity)
+void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
+ MT_Vector3& velocity)
{
}
+void KX_ObstacleSimulation::DrawObstacles()
+{
+ static const MT_Vector3 bluecolor(0,0,1);
+ for (size_t i=0; i<m_obstacles.size(); i++)
+ {
+ if (m_obstacles[i]->m_shape==KX_OBSTACLE_SEGMENT)
+ {
+ KX_RasterizerDrawDebugLine(m_obstacles[i]->m_pos, m_obstacles[i]->m_pos2, bluecolor);
+ }
+ }
+}
+
KX_ObstacleSimulationTOI::KX_ObstacleSimulationTOI():
m_avoidSteps(32),
m_minToi(0.5f),
@@ -131,13 +265,14 @@
m_toiCircles.clear();
}
-void KX_ObstacleSimulationTOI::AddObstacleForObj(KX_GameObject* gameobj)
+KX_Obstacle* KX_ObstacleSimulationTOI::CreateObstacle()
{
- KX_ObstacleSimulation::AddObstacleForObj(gameobj);
+ KX_Obstacle* obstacle = KX_ObstacleSimulation::CreateObstacle();
m_toiCircles.push_back(new TOICircle());
+ return obstacle;
}
-void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, MT_Vector3& velocity)
+void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, MT_Vector3& velocity)
{
int nobs = m_obstacles.size();
int obstidx = std::find(m_obstacles.begin(), m_obstacles.end(), activeObst) - m_obstacles.begin();
@@ -177,28 +312,38 @@
float tmine = 0;
for (int i = 0; i < nobs; ++i)
{
- if (i==obstidx)
+ KX_Obstacle* ob = m_obstacles[i];
+ if ( (ob==activeObst) ||
+ (ob->m_type==KX_OBSTACLE_NAV_MESH && ob->m_gameObj!=activeNavMeshObj) )
continue;
- KX_Obstacle* ob = m_obstacles[i];
float htmin,htmax;
- MT_Vector2 vab;
- if (ob->m_vel.length2() < 0.01f*0.01f)
+ if (ob->m_type == KX_OBSTACLE_CIRCLE)
{
- // Stationary, use VO
- vab = svel;
+ MT_Vector2 vab;
+ if (ob->m_vel.length2() < 0.01f*0.01f)
+ {
+ // Stationary, use VO
+ vab = svel;
+ }
+ else
+ {
+ // Moving, use RVO
+ vab = 2*svel - vel - ob->m_vel;
+ }
+
+ if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad,
+ vab, ob->m_pos, ob->m_rad, htmin, htmax))
+ continue;
}
- else
+ else if (ob->m_type == KX_OBSTACLE_SEGMENT)
{
- // Moving, use RVO
- vab = 2*svel - vel - ob->m_vel;
+ if (!sweepCircleSegment(activeObst->m_pos, activeObst->m_rad, svel,
+ ob->m_pos, ob->m_pos2, ob->m_rad, htmin, htmax))
+ continue;
}
- if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad,
- vab, ob->m_pos, ob->m_rad, htmin, htmax))
- continue;
-
if (htmin > 0.0f)
{
// The closest obstacle is somewhere ahead of us, keep track of nearest obstacle.
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.h
===================================================================
@@ Diff output truncated at 10240 characters. @@
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