projects/openmelee: ai/steer.d comparison

comparison ai/steer.d @ 23:e79347dd38a3

steering

author	zzzzrrr <mason.green@gmail.com>
date	Thu, 26 Mar 2009 20:35:58 -0400
parents	4fce5596d1f6
children	441eb7672404

comparison

equal deleted inserted replaced

-:4fce5596d1f6
+:e79347dd38a3
 auto state = cast(State) m_body.userData;
 state.avoid = avoidance;
 return avoidance;
 }
-bzVec2 avoid(float minTimeToCollision, bzBody obstacles) {
+bzVec2 getSteering(bzBody obstacles) {
+// 1. Find the target that’s closest to collision
+float radius = m_radius;
+float rad;
+// Store the first collision time
+float shortestTime = 0.5;
+// Store the target that collides then, and other data
+// that we will need and can avoid recalculating
+bzBody firstTarget = null;
+float firstMinSeparation = 0;
+float firstDistance = 0;
+bzVec2 firstRelativePos;
+bzVec2 firstRelativeVel;
+bzVec2 relativePos;
+// Loop through each target
+for (bzBody target = obstacles; target; target = target.next) {
+if(target is m_body) continue;
+// Calculate the time to collision
+relativePos = m_body.localPoint(target.position); // - m_position;
+bzVec2 relativeVel = target.linearVelocity - m_velocity;
+float relativeSpeed = relativeVel.length;
+float timeToCollision = bzDot(relativePos, relativeVel) /
+(relativeSpeed * relativeSpeed);
+// Check if it is going to be a collision at all
+float distance = relativePos.length;
+float minSeparation = distance - relativeSpeed * shortestTime;
+float eRad;
+for (bzShape s = target.shapeList; s; s = s.next) {
+if(s.sweepRadius > eRad) {
+eRad = s.sweepRadius;
+}
+}
+if (minSeparation > radius + eRad) continue;
+// Check if it is the shortest
+if (timeToCollision > 0 && timeToCollision < shortestTime) {
+// Store the time, target and other data
+shortestTime = timeToCollision;
+firstTarget = target;
+firstMinSeparation = minSeparation;
+firstDistance = distance;
+firstRelativePos = relativePos;
+firstRelativeVel = relativeVel;
+rad = eRad;
+}
+}
+// 2. Calculate the steering
+// If we have no target, then exit
+if(!firstTarget) return bzVec2.zeroVect;
+Stdout(shortestTime).newline;
+// If we’re going to hit exactly, or if we’re already
+// colliding, then do the steering based on current
+// position.
+if(firstMinSeparation <= 0 || firstDistance < radius + rad) {
+relativePos = firstTarget.position - m_position;
+} else {
+// Otherwise calculate the future relative position:
+relativePos = firstRelativePos +
+firstRelativeVel * shortestTime;
+}
+// Avoid the target
+bzVec2 steering = relativePos;
+steering.normalize();
+//steering.linear = relativePos * maxAcceleration
+return steering;
+}
+bzVec2 avoid(float maxLookAhead, bzBody obstacles) {
 float avoidMargin = 1.0f;
-float maxLookahead = minTimeToCollision * m_speed;
+float maxLookahead = maxLookAhead * m_speed;
 // Make sure we're moving
 		if (m_velocity.length > 0)
 		{
 for (bzBody o = obstacles; o; o = o.next) {
 bzVec2 closestPoint =  o.position + movementNormal * distanceToClosest;
 // Find the point of avoidance
 bzVec2 target = o.position + (closestPoint - o.position).length * radius;
+target -= m_position;
 auto state = cast(State) m_body.userData;
-state.avoid = target;
+state.avoid = m_body.localPoint(target);
 return target;
 }
 }
 }
 		}

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comparison ai/steer.d @ 23:e79347dd38a3