KX_ObstacleSimulation.cpp File Reference

#include "KX_ObstacleSimulation.h"
#include "KX_NavMeshObject.h"
#include "KX_PythonInit.h"
#include "DNA_object_types.h"
#include "BLI_math.h"

Go to the source code of this file.

Classes
struct	TOICircle
Functions
float	triarea (const float *a, const float *b, const float *c)
static void	closestPtPtSeg (const float *pt, const float *sp, const float *sq, float &t)
static float	distPtSegSqr (const float *pt, const float *sp, const float *sq)
static int	sweepCircleCircle (const MT_Vector3 &pos0, const MT_Scalar r0, const MT_Vector2 &v, const MT_Vector3 &pos1, const MT_Scalar r1, float &tmin, float &tmax)
static int	sweepCircleSegment (const MT_Vector3 &pos0, const MT_Scalar r0, const MT_Vector2 &v, const MT_Vector3 &pa, const MT_Vector3 &pb, const MT_Scalar sr, float &tmin, float &tmax)
static bool	inBetweenAngle (float a, float amin, float amax, float &t)
static float	interpolateToi (float a, const float *dir, const float *toi, const int ntoi)
static MT_Point3	nearestPointToObstacle (MT_Point3 &pos, KX_Obstacle *obstacle)
static bool	filterObstacle (KX_Obstacle *activeObst, KX_NavMeshObject *activeNavMeshObj, KX_Obstacle *otherObst, float levelHeight)
static void	processSamples (KX_Obstacle *activeObst, KX_NavMeshObject *activeNavMeshObj, KX_Obstacles &obstacles, float levelHeight, const float vmax, const float *spos, const float cs, const int nspos, float *res, float maxToi, float velWeight, float curVelWeight, float sideWeight, float toiWeight)
Variables
static const int	AVOID_MAX_STEPS = 128

---

Function Documentation

static void closestPtPtSeg	(	const float *	pt,
		const float *	sp,
		const float *	sq,
		float &	t
	)		[static]

Definition at line 68 of file KX_ObstacleSimulation.cpp.

References simple_enum_gen::d, KDL::diff(), vdot(), and vsub().

Referenced by distPtSegSqr().

static float distPtSegSqr	(	const float *	pt,
		const float *	sp,
		const float *	sq
	)		[static]

Definition at line 82 of file KX_ObstacleSimulation.cpp.

References closestPtPtSeg().

Referenced by processSamples().

static bool filterObstacle	(	KX_Obstacle *	activeObst,
		KX_NavMeshObject *	activeNavMeshObj,
		KX_Obstacle *	otherObst,
		float	levelHeight
	)		[static]

Definition at line 395 of file KX_ObstacleSimulation.cpp.

References fabs(), KX_OBSTACLE_NAV_MESH, KX_Obstacle::m_gameObj, KX_Obstacle::m_pos, KX_Obstacle::m_type, nearestPointToObstacle(), p, and MT_Tuple3::z().

Referenced by processSamples(), and KX_ObstacleSimulationTOI_rays::sampleRVO().

static bool inBetweenAngle	(	float	a,
		float	amin,
		float	amax,
		float &	t
	)		[static]

Definition at line 189 of file KX_ObstacleSimulation.cpp.

References M_PI.

Referenced by interpolateToi().

static float interpolateToi	(	float	a,
		const float *	dir,
		const float *	toi,
		const int	ntoi
	)		[static]

Definition at line 202 of file KX_ObstacleSimulation.cpp.

References i, inBetweenAngle(), lerp(), and next.

Referenced by KX_ObstacleSimulationTOI_rays::sampleRVO().

static MT_Point3 nearestPointToObstacle	(	MT_Point3 &	pos,
		KX_Obstacle *	obstacle
	)		[static]

Definition at line 372 of file KX_ObstacleSimulation.cpp.

References CLAMP(), MT_Vector3::dot(), MT_Vector3::fuzzyZero(), KX_OBSTACLE_CIRCLE, KX_OBSTACLE_SEGMENT, MT_Vector3::length(), KX_Obstacle::m_pos, KX_Obstacle::m_pos2, KX_Obstacle::m_shape, and MT_Vector3::normalized().

Referenced by filterObstacle().

static void processSamples	(	KX_Obstacle *	activeObst,
		KX_NavMeshObject *	activeNavMeshObj,
		KX_Obstacles &	obstacles,
		float	levelHeight,
		const float	vmax,
		const float *	spos,
		const float	cs,
		const int	nspos,
		float *	res,
		float	maxToi,
		float	velWeight,
		float	curVelWeight,
		float	sideWeight,
		float	toiWeight
	)		[static]

Definition at line 616 of file KX_ObstacleSimulation.cpp.

References clamp, distPtSegSqr(), KX_Obstacle::dvel, filterObstacle(), FLT_MAX, i, KX_OBSTACLE_CIRCLE, KX_OBSTACLE_NAV_MESH, KX_OBSTACLE_SEGMENT, KX_Obstacle::m_gameObj, KX_Obstacle::m_pos, KX_Obstacle::m_pos2, KX_Obstacle::m_rad, KX_Obstacle::m_shape, KX_Obstacle::m_type, min, p, KX_Obstacle::pvel, KDL::sqr(), sweepCircleCircle(), sweepCircleSegment(), KX_NavMeshObject::TransformToWorldCoords(), triarea(), vdot(), KX_Obstacle::vel, vscale(), vsub(), MT_Tuple3::x(), and MT_Tuple3::y().

Referenced by KX_ObstacleSimulationTOI_cells::sampleRVO().

static int sweepCircleCircle	(	const MT_Vector3 &	pos0,
		const MT_Scalar	r0,
		const MT_Vector2 &	v,
		const MT_Vector3 &	pos1,
		const MT_Scalar	r1,
		float &	tmin,
		float &	tmax
	)		[static]

Definition at line 91 of file KX_ObstacleSimulation.cpp.

References simple_enum_gen::d, EPS, MT_Vector2::length2(), MT_dot(), sqrtf, MT_Tuple3::x(), and MT_Tuple3::y().

Referenced by processSamples(), KX_ObstacleSimulationTOI_rays::sampleRVO(), and sweepCircleSegment().

static int sweepCircleSegment	(	const MT_Vector3 &	pos0,
		const MT_Scalar	r0,
		const MT_Vector2 &	v,
		const MT_Vector3 &	pa,
		const MT_Vector3 &	pb,
		const MT_Scalar	sr,
		float &	tmin,
		float &	tmax
	)		[static]

Definition at line 113 of file KX_ObstacleSimulation.cpp.

References simple_enum_gen::d, H, L, MT_dot(), sqrtf, sweepCircleCircle(), MT_Tuple3::x(), and MT_Tuple3::y().

Referenced by processSamples(), and KX_ObstacleSimulationTOI_rays::sampleRVO().

float triarea	(	const float *	a,
		const float *	b,
		const float *	c
	)		[inline]

Definition at line 63 of file KX_ObstacleSimulation.cpp.

Referenced by processSamples().

---

Variable Documentation

const int AVOID_MAX_STEPS = 128 [static]

Definition at line 452 of file KX_ObstacleSimulation.cpp.