[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [29416] branches/soc-2010-nicks/source: - added acceleration and turn speed parameters for obstacle simulation
Nick Samarin
nicks1987 at bigmir.net
Fri Jun 11 23:13:59 CEST 2010
Revision: 29416
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=29416
Author: nicks
Date: 2010-06-11 23:13:59 +0200 (Fri, 11 Jun 2010)
Log Message:
-----------
- added acceleration and turn speed parameters for obstacle simulation
- added debug visualization for object velocities
Modified Paths:
--------------
branches/soc-2010-nicks/source/blender/blenkernel/intern/sca.c
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_ObstacleSimulation.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.h
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/blenkernel/intern/sca.c
===================================================================
--- branches/soc-2010-nicks/source/blender/blenkernel/intern/sca.c 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/blender/blenkernel/intern/sca.c 2010-06-11 21:13:59 UTC (rev 29416)
@@ -416,6 +416,7 @@
bObjectActuator *oa;
bRandomActuator *ra;
bSoundActuator *sa;
+ bSteeringActuator *sta;
if(act->data) MEM_freeN(act->data);
act->data= 0;
@@ -491,6 +492,9 @@
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... */
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 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/blender/editors/space_logic/logic_window.c 2010-06-11 21:13:59 UTC (rev 29416)
@@ -4273,6 +4273,9 @@
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);
}
Modified: branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h
===================================================================
--- branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h 2010-06-11 21:13:59 UTC (rev 29416)
@@ -219,6 +219,8 @@
int type; /* 0=seek, 1=flee, 2=path following */
float dist;
float velocity;
+ float acceleration;
+ float turnspeed;
struct Object *target;
struct Object *navmesh;
} bSteeringActuator;
Modified: branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c
===================================================================
--- branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c 2010-06-11 21:13:59 UTC (rev 29416)
@@ -1872,6 +1872,18 @@
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);
Modified: branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp 2010-06-11 21:13:59 UTC (rev 29416)
@@ -1058,8 +1058,9 @@
}
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;
}
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp 2010-06-11 21:13:59 UTC (rev 29416)
@@ -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 @@
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)
{
@@ -143,7 +139,33 @@
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 @@
}
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 @@
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 @@
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;
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.h
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.h 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.h 2010-06-11 21:13:59 UTC (rev 29416)
@@ -85,7 +85,7 @@
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 @@
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
Modified: branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp 2010-06-11 20:38:51 UTC (rev 29415)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp 2010-06-11 21:13:59 UTC (rev 29416)
@@ -32,11 +32,14 @@
* ***** 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 @@
int mode,
KX_GameObject *target,
KX_GameObject *navmesh,
+ MT_Scalar distance,
MT_Scalar velocity,
- MT_Scalar distance,
+ MT_Scalar acceleration,
+ MT_Scalar turnspeed,
KX_ObstacleSimulation* simulation) :
SCA_IActuator(gameobj, KX_ACT_STEERING),
@@ Diff output truncated at 10240 characters. @@
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