mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-28 06:37:11 +01:00
83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
|
|
#include "gsai_avoid_collisions.h"
|
|
|
|
#include "../gsai_steering_agent.h"
|
|
#include "../gsai_target_acceleration.h"
|
|
#include "../proximities/gsai_proximity.h"
|
|
|
|
#include "core/math/math_defs.h"
|
|
#include "core/math/math_funcs.h"
|
|
|
|
void GSAIAvoidCollisions::_calculate_steering(Ref<GSAITargetAcceleration> acceleration) {
|
|
ERR_FAIL_COND(!proximity.is_valid());
|
|
ERR_FAIL_COND(!agent.is_valid());
|
|
|
|
_shortest_time = Math_INF;
|
|
_first_neighbor.unref();
|
|
_first_minimum_separation = 0;
|
|
_first_distance = 0;
|
|
int neighbor_count = proximity->find_neighbors(_callback);
|
|
|
|
Vector3 linear = acceleration->get_linear();
|
|
|
|
if (neighbor_count == 0 || !_first_neighbor.is_valid()) {
|
|
acceleration->set_zero();
|
|
linear = Vector3();
|
|
} else {
|
|
if ((_first_minimum_separation <= 0 || _first_distance < agent->get_bounding_radius() + _first_neighbor->get_bounding_radius())) {
|
|
linear = _first_neighbor->get_position() - agent->get_position();
|
|
} else {
|
|
linear = (_first_relative_position + (_first_relative_velocity * _shortest_time));
|
|
}
|
|
}
|
|
|
|
linear = (linear.normalized() * -agent->get_linear_acceleration_max());
|
|
acceleration->set_linear(linear);
|
|
acceleration->set_angular(0);
|
|
}
|
|
|
|
bool GSAIAvoidCollisions::_report_neighbor(Ref<GSAISteeringAgent> neighbor) {
|
|
ERR_FAIL_COND_V(!agent.is_valid(), false);
|
|
|
|
Vector3 relative_position = neighbor->get_position() - agent->get_position();
|
|
Vector3 relative_velocity = neighbor->get_linear_velocity() - agent->get_linear_velocity();
|
|
float relative_speed_squared = relative_velocity.length_squared();
|
|
|
|
if (relative_speed_squared == 0) {
|
|
return false;
|
|
} else {
|
|
float time_to_collision = -relative_position.dot(relative_velocity) / relative_speed_squared;
|
|
|
|
if (time_to_collision <= 0 || time_to_collision >= _shortest_time) {
|
|
return false;
|
|
} else {
|
|
float distance = relative_position.length();
|
|
float minimum_separation = (distance - Math::sqrt(relative_speed_squared) * time_to_collision);
|
|
|
|
if (minimum_separation > agent->get_bounding_radius() + neighbor->get_bounding_radius()) {
|
|
return false;
|
|
} else {
|
|
_shortest_time = time_to_collision;
|
|
_first_neighbor = neighbor;
|
|
_first_minimum_separation = minimum_separation;
|
|
_first_distance = distance;
|
|
_first_relative_position = relative_position;
|
|
_first_relative_velocity = relative_velocity;
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
GSAIAvoidCollisions::GSAIAvoidCollisions() {
|
|
_shortest_time = 0.0;
|
|
_first_minimum_separation = 0.0;
|
|
_first_distance = 0.0;
|
|
}
|
|
|
|
GSAIAvoidCollisions::~GSAIAvoidCollisions() {
|
|
}
|
|
|
|
void GSAIAvoidCollisions::_bind_methods() {
|
|
}
|