[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [58892] trunk/blender/source/gameengine/ Ketsji/KX_ObstacleSimulation.cpp: KX_ObstacleSimulation: replace inline math functions with BLI_math functions
Campbell Barton
ideasman42 at gmail.com
Sun Aug 4 05:47:44 CEST 2013
Revision: 58892
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=58892
Author: campbellbarton
Date: 2013-08-04 03:47:43 +0000 (Sun, 04 Aug 2013)
Log Message:
-----------
KX_ObstacleSimulation: replace inline math functions with BLI_math functions
Modified Paths:
--------------
trunk/blender/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
Modified: trunk/blender/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp 2013-08-04 03:45:30 UTC (rev 58891)
+++ trunk/blender/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp 2013-08-04 03:47:43 UTC (rev 58892)
@@ -36,62 +36,12 @@
{
inline float perp(const MT_Vector2& a, const MT_Vector2& b) { return a.x()*b.y() - a.y()*b.x(); }
- inline float sqr(float x) { return x*x; }
- inline float lerp(float a, float b, float t) { return a + (b-a)*t; }
+ inline float sqr(float x) { return x * x; }
+ inline float lerp(float a, float b, float t) { return a + (b - a) * t; }
inline float clamp(float a, float mn, float mx) { return a < mn ? mn : (a > mx ? mx : a); }
-
- inline float vdistsqr(const float* a, const float* b) { return sqr(b[0]-a[0]) + sqr(b[1]-a[1]); }
- inline float vdist(const float* a, const float* b) { return sqrtf(vdistsqr(a,b)); }
- inline void vcpy(float* a, const float* b) { a[0]=b[0]; a[1]=b[1]; }
- inline float vdot(const float* a, const float* b) { return a[0]*b[0] + a[1]*b[1]; }
-/* inline float vperp(const float* a, const float* b) { return a[0]*b[1] - a[1]*b[0]; } */ /* UNUSED */
- inline void vsub(float* v, const float* a, const float* b) { v[0] = a[0]-b[0]; v[1] = a[1]-b[1]; }
- inline void vadd(float* v, const float* a, const float* b) { v[0] = a[0]+b[0]; v[1] = a[1]+b[1]; }
- inline void vscale(float* v, const float* a, const float s) { v[0] = a[0]*s; v[1] = a[1]*s; }
- inline void vset(float* v, float x, float y) { v[0]=x; v[1]=y; }
- inline float vlensqr(const float* v) { return vdot(v,v); }
- inline float vlen(const float* v) { return sqrtf(vlensqr(v)); }
- inline void vlerp(float* v, const float* a, const float* b, float t) { v[0] = lerp(a[0], b[0], t); v[1] = lerp(a[1], b[1], t); }
-/* inline void vmad(float* v, const float* a, const float* b, float s) { v[0] = a[0] + b[0]*s; v[1] = a[1] + b[1]*s; } */ /* UNUSED */
- inline void vnorm(float* v)
- {
- float d = vlen(v);
- if (d > 0.0001f)
- {
- d = 1.0f/d;
- v[0] *= d;
- v[1] *= d;
- }
- }
+ inline void vset(float v[2], float x, float y) { v[0] = x; v[1] = y; }
}
-inline float triarea(const float* a, const float* b, const float* c)
-{
- return (b[0]*a[1] - a[0]*b[1]) + (c[0]*b[1] - b[0]*c[1]) + (a[0]*c[1] - c[0]*a[1]);
-}
-static void closestPtPtSeg(const float* pt,
- const float* sp, const float* sq,
- float& t)
-{
- float dir[2],diff[3];
- vsub(dir,sq,sp);
- vsub(diff,pt,sp);
- t = vdot(diff,dir);
- if (t <= 0.0f) { t = 0; return; }
- float d = vdot(dir,dir);
- if (t >= d) { t = 1; return; }
- t /= d;
-}
-
-static float distPtSegSqr(const float* pt, const float* sp, const float* sq)
-{
- float t;
- closestPtPtSeg(pt, sp,sq, t);
- float np[2];
- vlerp(np, sp,sq, t);
- return vdistsqr(pt,np);
-}
-
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)
@@ -317,12 +267,12 @@
obs->vel[1] = obs->m_gameObj->GetLinearVelocity().y();
// Update velocity history and calculate perceived (average) velocity.
- vcpy(&obs->hvel[obs->hhead*2], obs->vel);
+ copy_v2_v2(&obs->hvel[obs->hhead * 2], obs->vel);
obs->hhead = (obs->hhead+1) % VEL_HIST_SIZE;
vset(obs->pvel,0,0);
for (int j = 0; j < VEL_HIST_SIZE; ++j)
- vadd(obs->pvel, obs->pvel, &obs->hvel[j*2]);
- vscale(obs->pvel, obs->pvel, 1.0f/VEL_HIST_SIZE);
+ add_v2_v2v2(obs->pvel, obs->pvel, &obs->hvel[j * 2]);
+ mul_v2_fl(obs->pvel, 1.0f / VEL_HIST_SIZE);
}
}
@@ -443,11 +393,11 @@
// Fake dynamic constraint.
float dv[2];
float vel[2];
- vsub(dv, activeObst->nvel, activeObst->vel);
- float ds = vlen(dv);
+ sub_v2_v2v2(dv, activeObst->nvel, activeObst->vel);
+ float ds = len_v2(dv);
if (ds > maxDeltaSpeed || ds<-maxDeltaSpeed)
- vscale(dv, dv, fabs(maxDeltaSpeed/ds));
- vadd(vel, activeObst->vel, dv);
+ mul_v2_fl(dv, fabs(maxDeltaSpeed / ds));
+ add_v2_v2v2(vel, activeObst->vel, dv);
velocity.x() = vel[0];
velocity.y() = vel[1];
@@ -524,8 +474,7 @@
if (ob->m_shape == KX_OBSTACLE_CIRCLE)
{
MT_Vector2 vab;
- if (vlen(ob->vel) < 0.01f*0.01f)
- {
+ if (len_v2(ob->vel) < 0.01f * 0.01f) {
// Stationary, use VO
vab = svel;
}
@@ -591,8 +540,7 @@
tc.toie[iter] = tmine;
}
- if (vlen(activeObst->vel) > 0.1)
- {
+ if (len_v2(activeObst->vel) > 0.1f) {
// Constrain max turn rate.
float cura = atan2(activeObst->vel[1],activeObst->vel[0]);
float da = bestDir - cura;
@@ -622,21 +570,20 @@
///////////********* TOI_cells**********/////////////////
static void processSamples(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
- KX_Obstacles& obstacles, float levelHeight, const float vmax,
- const float* spos, const float cs, const int nspos, float* res,
- float maxToi, float velWeight, float curVelWeight, float sideWeight,
- float toiWeight)
+ KX_Obstacles& obstacles, float levelHeight, const float vmax,
+ const float* spos, const float cs, const int nspos, float* res,
+ float maxToi, float velWeight, float curVelWeight, float sideWeight,
+ float toiWeight)
{
vset(res, 0,0);
const float ivmax = 1.0f / vmax;
float adir[2] /*, adist */;
- vcpy(adir, activeObst->pvel);
- if (vlen(adir) > 0.01f)
- vnorm(adir);
- else
- vset(adir,0,0);
+ if (normalize_v2_v2(adir, activeObst->pvel) <= 0.01f) {
+ zero_v2(adir);
+ }
+
float activeObstPos[2];
vset(activeObstPos, activeObst->m_pos.x(), activeObst->m_pos.y());
/* adist = vdot(adir, activeObstPos); */
@@ -646,7 +593,7 @@
for (int n = 0; n < nspos; ++n)
{
float vcand[2];
- vcpy(vcand, &spos[n*2]);
+ copy_v2_v2(vcand, &spos[n * 2]);
// Find min time of impact and exit amongst all obstacles.
float tmin = maxToi;
@@ -666,9 +613,9 @@
float vab[2];
// Moving, use RVO
- vscale(vab, vcand, 2);
- vsub(vab, vab, activeObst->vel);
- vsub(vab, vab, ob->vel);
+ mul_v2_v2fl(vab, vcand, 2);
+ sub_v2_v2v2(vab, vab, activeObst->vel);
+ sub_v2_v2v2(vab, vab, ob->vel);
// Side
// NOTE: dp, and dv are constant over the whole calculation,
@@ -677,25 +624,24 @@
float pb[2];
vset(pb, ob->m_pos.x(), ob->m_pos.y());
- const float orig[2] = {0,0};
- float dp[2],dv[2],np[2];
- vsub(dp,pb,pa);
- vnorm(dp);
- vsub(dv,ob->dvel, activeObst->dvel);
+ const float orig[2] = {0, 0};
+ float dp[2], dv[2], np[2];
+ sub_v2_v2v2(dp, pb, pa);
+ normalize_v2(dp);
+ sub_v2_v2v2(dv, ob->dvel, activeObst->dvel);
- const float a = triarea(orig, dp,dv);
- if (a < 0.01f)
- {
+ /* TODO: use line_point_side_v2 */
+ if (area_tri_signed_v2(orig, dp, dv) < 0.01f) {
np[0] = -dp[1];
np[1] = dp[0];
}
- else
- {
+ else {
np[0] = dp[1];
np[1] = -dp[0];
}
- side += clamp(min(vdot(dp,vab)*2,vdot(np,vab)*2), 0.0f, 1.0f);
+ side += clamp(min(dot_v2v2(dp, vab),
+ dot_v2v2(np, vab)) * 2.0f, 0.0f, 1.0f);
nside++;
if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad, vab, ob->m_pos, ob->m_rad,
@@ -729,14 +675,13 @@
// This can be handle more efficiently by using seg-seg test instead.
// If the whole segment is to be treated as obstacle, use agent->rad instead of 0.01f!
const float r = 0.01f; // agent->rad
- if (distPtSegSqr(activeObstPos, p, q) < sqr(r+ob->m_rad))
- {
+ if (dist_squared_to_line_segment_v2(activeObstPos, p, q) < sqr(r + ob->m_rad)) {
float sdir[2], snorm[2];
- vsub(sdir, q, p);
+ sub_v2_v2v2(sdir, q, p);
snorm[0] = sdir[1];
snorm[1] = -sdir[0];
// If the velocity is pointing towards the segment, no collision.
- if (vdot(snorm, vcand) < 0.0f)
+ if (dot_v2v2(snorm, vcand) < 0.0f)
continue;
// Else immediate collision.
htmin = 0.0f;
@@ -767,17 +712,16 @@
if (nside)
side /= nside;
- const float vpen = velWeight * (vdist(vcand, activeObst->dvel) * ivmax);
- const float vcpen = curVelWeight * (vdist(vcand, activeObst->vel) * ivmax);
+ const float vpen = velWeight * (len_v2v2(vcand, activeObst->dvel) * ivmax);
+ const float vcpen = curVelWeight * (len_v2v2(vcand, activeObst->vel) * ivmax);
const float spen = sideWeight * side;
const float tpen = toiWeight * (1.0f/(0.1f+tmin/maxToi));
const float penalty = vpen + vcpen + spen + tpen;
- if (penalty < minPenalty)
- {
+ if (penalty < minPenalty) {
minPenalty = penalty;
- vcpy(res, vcand);
+ copy_v2_v2(res, vcand);
}
}
}
@@ -786,7 +730,7 @@
const float maxDeltaAngle)
{
vset(activeObst->nvel, 0.f, 0.f);
- float vmax = vlen(activeObst->dvel);
+ float vmax = len_v2(activeObst->dvel);
float* spos = new float[2*m_maxSamples];
int nspos = 0;
@@ -795,7 +739,7 @@
{
const float cvx = activeObst->dvel[0]*m_bias;
const float cvy = activeObst->dvel[1]*m_bias;
- float vmax = vlen(activeObst->dvel);
+ float vmax = len_v2(activeObst->dvel);
const float vrange = vmax*(1-m_bias);
const float cs = 1.0f / (float)m_sampleRadius*vrange;
@@ -837,21 +781,24 @@
{
for (int x = 0; x < rad; ++x)
{
- const float vx = res[0] + x*cs - half;
- const float vy = res[1] + y*cs - half;
- if (vx*vx+vy*vy > sqr(vmax+cs/2)) continue;
- spos[nspos*2+0] = vx;
- spos[nspos*2+1] = vy;
+ const float v_xy[2] = {
+ res[0] + x * cs - half,
+ res[1] + y * cs - half};
+
+ if (len_squared_v2(v_xy) > sqr(vmax + cs / 2))
+ continue;
+
+ copy_v2_v2(&spos[nspos * 2 + 0], v_xy);
nspos++;
}
}
- processSamples(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, vmax, spos, cs/2,
- nspos, res, m_maxToi, m_velWeight, m_curVelWeight, m_collisionWeight, m_toiWeight);
+ processSamples(activeObst, activeNavMeshObj, m_obstacles, m_levelHeight, vmax, spos, cs/2,
+ nspos, res, m_maxToi, m_velWeight, m_curVelWeight, m_collisionWeight, m_toiWeight);
cs *= 0.5f;
}
- vcpy(activeObst->nvel, res);
+ copy_v2_v2(activeObst->nvel, res);
}
}
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