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