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comparison ai/steer.d @ 20:6efd0830715b

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ai work
author zzzzrrr <mason.green@gmail.com>
date Wed, 25 Mar 2009 15:25:25 -0400
parents 08ddf9e71b88
children cad384ad349e
comparison
equal deleted inserted replaced
19:08ddf9e71b88 20:6efd0830715b
157 for (bzBody o = obstacles; o; o = o.next) { 157 for (bzBody o = obstacles; o; o = o.next) {
158 158
159 if(o is m_body) continue; 159 if(o is m_body) continue;
160 160
161 // This code which presumes the obstacle is spherical 161 // This code which presumes the obstacle is spherical
162 findNextIntersectionWithSphere(o, next); 162 findNextIntersectionWithSphere(o, next, minDistanceToCollision);
163 163
164 if (!nearest.intersect || (next.intersect && next.distance < nearest.distance)) { 164 if (!nearest.intersect || (next.intersect && next.distance < nearest.distance)) {
165 nearest = next; 165 nearest = next;
166 } 166 }
167 } 167 }
182 182
183 return avoidance; 183 return avoidance;
184 } 184 }
185 185
186 void findNextIntersectionWithSphere(bzBody obs, 186 void findNextIntersectionWithSphere(bzBody obs,
187 inout PathIntersection intersection) { 187 inout PathIntersection intersection, float mdc) {
188 188
189 // This routine is based on the Paul Bourke's derivation in: 189 // This routine is based on the Paul Bourke's derivation in:
190 // Intersection of a Line and a Sphere (or circle) 190 // Intersection of a Line and a Sphere (or circle)
191 // http://www.swin.edu.au/astronomy/pbourke/geometry/sphereline/ 191 // http://www.swin.edu.au/astronomy/pbourke/geometry/sphereline/
192 192
209 if(shape.sweepRadius > obsRadius) { 209 if(shape.sweepRadius > obsRadius) {
210 obsRadius = shape.sweepRadius; 210 obsRadius = shape.sweepRadius;
211 } 211 }
212 } 212 }
213 213
214 c = square(lc.x) + square(lc.y) - square(obsRadius + m_radius); 214 c = square(lc.x) + square(lc.y) - square(obsRadius + m_radius+mdc);
215 d = (b * b) - (4 * c); 215 d = (b * b) - (4 * c);
216 216
217 // when the path does not intersect the sphere 217 // when the path does not intersect the sphere
218 if (d < 0) return; 218 if (d < 0) return;
219 219