Revision: 29227
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=29227
Author: nicks
Date: 2010-06-05 01:29:49 +0200 (Sat, 05 Jun 2010)
Log Message:
-----------
added obstacle avoidance code; object movement is implemented via setting
velocity
Modified Paths:
--------------
branches/soc-2010-nicks/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
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/BL_BlenderDataConversion.cpp
branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_Scene.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_Scene.h
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_SteeringActuator.h
Added Paths:
-----------
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.h
Modified:
branches/soc-2010-nicks/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
===================================================================
--- branches/soc-2010-nicks/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
2010-06-04 22:23:34 UTC (rev 29226)
+++ branches/soc-2010-nicks/projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
2010-06-04 23:29:49 UTC (rev 29227)
@@ -556,6 +556,10 @@
>
</File>
<File
+
RelativePath="..\..\..\source\gameengine\Ketsji\KX_ObstacleSimulation.cpp"
+ >
+ </File>
+ <File
RelativePath="..\..\..\source\gameengine\Ketsji\KX_PhysicsObjectWrapper.cpp"
>
</File>
@@ -865,6 +869,10 @@
>
</File>
<File
+
RelativePath="..\..\..\source\gameengine\Ketsji\KX_ObstacleSimulation.h"
+ >
+ </File>
+ <File
RelativePath="..\..\..\source\gameengine\Ketsji\KX_OdePhysicsController.h"
>
</File>
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
2010-06-04 22:23:34 UTC (rev 29226)
+++ branches/soc-2010-nicks/source/blender/editors/space_logic/logic_window.c
2010-06-04 23:29:49 UTC (rev 29227)
@@ -4272,7 +4272,7 @@
row = uiLayoutRow(layout, 0);
uiItemR(row, ptr, "distance", 0, NULL, 0);
- uiItemR(row, ptr, "movement", 0, NULL, 0);
+ uiItemR(row, ptr, "velocity", 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
2010-06-04 22:23:34 UTC (rev 29226)
+++ branches/soc-2010-nicks/source/blender/makesdna/DNA_actuator_types.h
2010-06-04 23:29:49 UTC (rev 29227)
@@ -218,7 +218,7 @@
char pad[4];
int type; /* 0=seek, 1=flee, 2=path following */
float dist;
- float movement;
+ float velocity;
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
2010-06-04 22:23:34 UTC (rev 29226)
+++ branches/soc-2010-nicks/source/blender/makesrna/intern/rna_actuator.c
2010-06-04 23:29:49 UTC (rev 29227)
@@ -1866,10 +1866,10 @@
RNA_def_property_ui_text(prop, "Behavior", "");
RNA_def_property_update(prop, NC_LOGIC, NULL);
- prop= RNA_def_property(srna, "movement", PROP_FLOAT, PROP_NONE);
- RNA_def_property_float_sdna(prop, NULL, "movement");
+ prop= RNA_def_property(srna, "velocity", PROP_FLOAT, PROP_NONE);
+ RNA_def_property_float_sdna(prop, NULL, "velocity");
RNA_def_property_range(prop, 0.0, 1000.0);
- RNA_def_property_ui_text(prop, "Move", "Movement value");
+ RNA_def_property_ui_text(prop, "Velocity", "Velocity magnitude");
RNA_def_property_update(prop, NC_LOGIC, NULL);
prop= RNA_def_property(srna, "distance", PROP_FLOAT, PROP_NONE);
Modified:
branches/soc-2010-nicks/source/gameengine/Converter/BL_BlenderDataConversion.cpp
===================================================================
---
branches/soc-2010-nicks/source/gameengine/Converter/BL_BlenderDataConversion.cpp
2010-06-04 22:23:34 UTC (rev 29226)
+++
branches/soc-2010-nicks/source/gameengine/Converter/BL_BlenderDataConversion.cpp
2010-06-04 23:29:49 UTC (rev 29227)
@@ -173,6 +173,7 @@
#include "BL_DeformableGameObject.h"
#include "KX_NavMeshObject.h"
+#include "KX_ObstacleSimulation.h"
#ifdef __cplusplus
extern "C" {
@@ -2638,6 +2639,20 @@
converter->RegisterWorldInfo(worldinfo);
kxscene->SetWorldInfo(worldinfo);
+ //create object representations for obstacle simulation
+ KX_ObstacleSimulation* obssimulation = kxscene->GetObstacleSimulation();
+ if (obssimulation)
+ {
+ for ( i=0;i<objectlist->GetCount();i++)
+ {
+ KX_GameObject* gameobj =
static_cast<KX_GameObject*>(objectlist->GetValue(i));
+ if (gameobj->IsDynamic())
+ {
+ obssimulation->AddObstacleForObj(gameobj);
+ }
+ }
+ }
+
#define CONVERT_LOGIC
#ifdef CONVERT_LOGIC
// convert logic bricks, sensors, controllers and actuators
@@ -2689,10 +2704,8 @@
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/Converter/KX_ConvertActuators.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp
2010-06-04 22:23:34 UTC (rev 29226)
+++ branches/soc-2010-nicks/source/gameengine/Converter/KX_ConvertActuators.cpp
2010-06-04 23:29:49 UTC (rev 29227)
@@ -1059,7 +1059,7 @@
KX_SteeringActuator *tmpstact
= new KX_SteeringActuator(gameobj,
mode, targetob, navmeshob,
-
stAct->movement, stAct->dist);
+
stAct->velocity, stAct->dist, scene->GetObstacleSimulation());
baseact = tmpstact;
break;
}
Added:
branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
===================================================================
--- branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
(rev 0)
+++ branches/soc-2010-nicks/source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
2010-06-04 23:29:49 UTC (rev 29227)
@@ -0,0 +1,245 @@
+/**
+* Simulation for obstacle avoidance behavior
+*
+* $Id$
+*
+* ***** BEGIN GPL LICENSE BLOCK *****
+*
+* This program is free software; you can redistribute it and/or
+* modify it under the terms of the GNU General Public License
+* as published by the Free Software Foundation; either version 2
+* of the License, or (at your option) any later version. The Blender
+* Foundation also sells licenses for use in proprietary software under
+* the Blender License. See http://www.blender.org/BL/ for information
+* about this.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program; if not, write to the Free Software Foundation,
+* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+*
+* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+* All rights reserved.
+*
+* The Original Code is: all of this file.
+*
+* Contributor(s): none yet.
+*
+* ***** END GPL LICENSE BLOCK *****
+*/
+
+#include "KX_ObstacleSimulation.h"
+#include "KX_GameObject.h"
+#include "DNA_object_types.h"
+#include "math.h"
+#define M_PI 3.14159265358979323846
+
+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)
+{
+ static const float EPS = 0.0001f;
+ MT_Vector2 c0(pos0.x(), pos0.y());
+ MT_Vector2 c1(pos1.x(), pos1.y());
+ MT_Vector2 s = c1 - c0;
+ MT_Scalar r = r0+r1;
+ float c = s.length2() - r*r;
+ float a = v.length2();
+ if (a < EPS) return 0; // not moving
+
+ // Overlap, calc time to exit.
+ float b = MT_dot(v,s);
+ float d = b*b - a*c;
+ if (d < 0.0f) return 0; // no intersection.
+ tmin = (b - sqrtf(d)) / a;
+ tmax = (b + sqrtf(d)) / a;
+ return 1;
+}
+
+
+KX_ObstacleSimulation::KX_ObstacleSimulation()
+{
+
+}
+
+KX_ObstacleSimulation::~KX_ObstacleSimulation()
+{
+ for (size_t i=0; i<m_obstacles.size(); i++)
+ {
+ KX_Obstacle* obs = m_obstacles[i];
+ delete obs;
+ }
+ m_obstacles.clear();
+}
+void KX_ObstacleSimulation::AddObstacleForObj(KX_GameObject* gameobj)
+{
+ KX_Obstacle* obstacle = new KX_Obstacle();
+ struct Object* blenderobject = gameobj->GetBlenderObject();
+ 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::UpdateObstacles()
+{
+ for (size_t i=0; i<m_obstacles.size(); i++)
+ {
+ KX_Obstacle* obs = m_obstacles[i];
+ obs->m_pos = obs->m_gameObj->NodeGetWorldPosition();
+ obs->m_vel.x() = obs->m_gameObj->GetLinearVelocity().x();
+ obs->m_vel.y() = obs->m_gameObj->GetLinearVelocity().y();
+ }
+}
+
+KX_Obstacle* KX_ObstacleSimulation::GetObstacle(KX_GameObject* gameobj)
+{
+ for (size_t i=0; i<m_obstacles.size(); i++)
+ {
+ if (m_obstacles[i]->m_gameObj == gameobj)
+ return m_obstacles[i];
+ }
+
+ return NULL;
+}
+
+void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst,
MT_Vector3& velocity)
+{
+}
+
+KX_ObstacleSimulationTOI::KX_ObstacleSimulationTOI():
+ m_avoidSteps(32),
+ m_minToi(0.5f),
+ m_maxToi(1.2f),
+ m_angleWeight(4.0f),
+ m_toiWeight(1.0f),
+ m_collisionWeight(100.0f)
+{
+
+}
+
+KX_ObstacleSimulationTOI::~KX_ObstacleSimulationTOI()
+{
+ for (size_t i=0; i<m_toiCircles.size(); i++)
+ {
+ TOICircle* toi = m_toiCircles[i];
+ delete toi;
+ }
+ m_toiCircles.clear();
+}
+
+void KX_ObstacleSimulationTOI::AddObstacleForObj(KX_GameObject* gameobj)
+{
+ KX_ObstacleSimulation::AddObstacleForObj(gameobj);
+ m_toiCircles.push_back(new TOICircle());
+}
+
+void KX_ObstacleSimulationTOI::AdjustObstacleVelocity(KX_Obstacle* activeObst,
MT_Vector3& velocity)
+{
+ int nobs = m_obstacles.size();
+ int obstidx = std::find(m_obstacles.begin(), m_obstacles.end(),
activeObst) - m_obstacles.begin();
+ if (obstidx == nobs)
+ return;
+ TOICircle* tc = m_toiCircles[obstidx];
+
+ MT_Vector2 vel(velocity.x(), velocity.y());
+ float vmax = (float) velocity.length();
+ float odir = (float) atan2(velocity.y(), velocity.x());
+
+ MT_Vector2 ddir = vel;
+ ddir.normalize();
+
+ float bestScore = FLT_MAX;
+ float bestDir = odir;
+ float bestToi = 0;
+
+ tc->n = m_avoidSteps;
+ tc->minToi = m_minToi;
+ tc->maxToi = m_maxToi;
+
+ const int iforw = m_avoidSteps/2;
+ const float aoff = (float)iforw / (float)m_avoidSteps;
+
+ for (int iter = 0; iter < m_avoidSteps; ++iter)
+ {
+ // Calculate sample velocity
+ const float ndir = ((float)iter/(float)m_avoidSteps) - aoff;
+ const float dir = odir+ndir*M_PI*2;
+ MT_Vector2 svel;
+ svel.x() = cosf(dir) * vmax;
+ svel.y() = sinf(dir) * vmax;
+
+ // Find min time of impact and exit amongst all obstacles.
+ float tmin = m_maxToi;
+ float tmine = 0;
+ for (int i = 0; i < nobs; ++i)
+ {
@@ Diff output truncated at 10240 characters. @@
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