Mercurial > projects > openmelee
comparison ai/steer.d @ 21:cad384ad349e
avoid
| author | zzzzrrr <mason.green@gmail.com> |
|---|---|
| date | Thu, 26 Mar 2009 07:02:56 -0400 |
| parents | 6efd0830715b |
| children | 4fce5596d1f6 |
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| 20:6efd0830715b | 21:cad384ad349e |
|---|---|
| 180 //avoidance += m_forward * m_maxForce * 0.75f; | 180 //avoidance += m_forward * m_maxForce * 0.75f; |
| 181 } | 181 } |
| 182 | 182 |
| 183 return avoidance; | 183 return avoidance; |
| 184 } | 184 } |
| 185 | |
| 186 bzVec2 avoid(float minTimeToCollision, bzBody obstacles) { | |
| 187 | |
| 188 float avoidMargin = 1.0f; | |
| 189 float maxLookahead = minTimeToCollision * m_speed; | |
| 190 | |
| 191 // Make sure we're moving | |
| 192 if (m_velocity.length > 0) | |
| 193 { | |
| 194 for (bzBody o = obstacles; o; o = o.next) { | |
| 195 | |
| 196 if(o is m_body) continue; | |
| 197 | |
| 198 // Find the distance from the line we're moving along to the obstacle. | |
| 199 bzVec2 movementNormal = m_velocity; | |
| 200 movementNormal.normalize(); | |
| 201 bzVec2 characterToObstacle = o.position - m_position; | |
| 202 | |
| 203 real distanceSquared = bzDot(characterToObstacle, movementNormal); | |
| 204 distanceSquared = characterToObstacle.length - | |
| 205 distanceSquared*distanceSquared; | |
| 206 | |
| 207 // Check for collision | |
| 208 // Find radius of obstacle | |
| 209 float oRad = 0; | |
| 210 for (bzShape shape = o.shapeList; shape; shape = shape.next) { | |
| 211 if(shape.sweepRadius > oRad) { | |
| 212 oRad = shape.sweepRadius; | |
| 213 } | |
| 214 } | |
| 215 | |
| 216 real radius = oRad + avoidMargin; | |
| 217 if (distanceSquared < radius*radius) | |
| 218 { | |
| 219 // Find how far along our movement vector the closest pass is | |
| 220 real distanceToClosest = bzDot(characterToObstacle, movementNormal); | |
| 221 | |
| 222 // Make sure this isn't behind us and is closer than our lookahead. | |
| 223 if (distanceToClosest > 0 && distanceToClosest < maxLookahead) | |
| 224 { | |
| 225 // Find the closest point | |
| 226 bzVec2 closestPoint = | |
| 227 o.position + movementNormal*distanceToClosest; | |
| 228 | |
| 229 // Find the point of avoidance | |
| 230 bzVec2 target = | |
| 231 o.position + | |
| 232 (closestPoint - o.position).length * | |
| 233 (oRad + avoidMargin); | |
| 234 | |
| 235 return target; | |
| 236 } | |
| 237 } | |
| 238 } | |
| 239 } | |
| 240 return bzVec2.zeroVect; | |
| 241 | |
| 242 } | |
| 185 | 243 |
| 186 void findNextIntersectionWithSphere(bzBody obs, | 244 void findNextIntersectionWithSphere(bzBody obs, |
| 187 inout PathIntersection intersection, float mdc) { | 245 inout PathIntersection intersection, float mdc) { |
| 188 | 246 |
| 189 // This routine is based on the Paul Bourke's derivation in: | 247 // This routine is based on the Paul Bourke's derivation in: |