545 lines
12 KiB
C++
545 lines
12 KiB
C++
// Ryzom - MMORPG Framework <http://dev.ryzom.com/projects/ryzom/>
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// Copyright (C) 2010 Winch Gate Property Limited
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//
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU Affero General Public License as
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// published by the Free Software Foundation, either version 3 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU Affero General Public License for more details.
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//
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// You should have received a copy of the GNU Affero General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#include "stdpch.h"
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#include "track.h"
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#include "reynolds_manager.h"
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using namespace std;
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using namespace NLMISC;
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using namespace NLPACS;
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// ------------------------------------
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// Attraction/Repulsion functions
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// strong repulsion limited
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inline double softPointing(double dist, double strength, double amp = 1.0)
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{
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return amp*atan(strength*dist)/1.5707963268;
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}
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// strong repulsion limited
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inline double softTargetting(double dist, double moderateDist, double strength, double amp = 1.0)
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{
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return amp*( atan(strength*(dist-moderateDist-0.2)) + atan(strength*(dist-moderateDist+0.2)) )/3.1415927;
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}
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// strong repulsion limited
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inline double softRepulse(double dist, double moderateDist, double strength, double amp = 1.0)
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{
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return amp*(0.5 - atan(strength*(dist-moderateDist)-1.0)/3.1415927);
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}
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// Required target spacing
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double CTrack::TargetSpacing = 0.5;
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// Target attraction strength
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double CTrack::TargetAttraction = 3.0;
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// Target attraction amplification
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double CTrack::TargetAmp = 2.0;
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// Fast obstacle exclusion distance
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double CTrack::ObstacleExcludeDistance = 6.0;
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// Required obstacle spacing
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double CTrack::ObstacleSpacing = 0.5;
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// Obstacle repulsion strength
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double CTrack::ObstacleRepulsion = 3.0;
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// Obstacle repulsion amplification
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double CTrack::ObstacleAmp = 2.0;
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// Minimum motion distance
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double CTrack::MinimumMotion = 0.2;
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// Lock distance threshold
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double CTrack::LockThreshold = 0.1;
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// Lose distance threshold
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double CTrack::LoseThreshold = 2.0;
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// Stabilise cycle
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uint32 CTrack::StabiliseCycle = 5;
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// The default sheet
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CTrack::CSheet CTrack::CSheet::DefaultSheet;
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// ------------------------------------
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// Destructor
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CTrack::~CTrack()
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{
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nldebug("ReynoldsLib:CTrack:~CTrack(): Delete Track %s", _Id.toString().c_str());
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// remove this track from the manager map
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CReynoldsManager::removeTrackFromMap(_Id);
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// delete move primitive
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deleteMovePrimitive();
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nldebug("ReynoldsLib:CTrack:~CTrack(): Track %s deleted", _Id.toString().c_str());
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}
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// ------------------------------------
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// Init track
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void CTrack::setId(const NLMISC::CEntityId &id, const NLMISC::CSheetId &sheet)
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{
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_Id = id;
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_SheetId = sheet;
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_HasId = true;
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_IdRequested = false;
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_Sheet = CReynoldsManager::lookup(_SheetId);
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if (_Sheet == NULL)
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_Sheet = &(CSheet::DefaultSheet);
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}
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// ------------------------------------
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// Follow
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void CTrack::follow(CTrack *followed)
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{
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acquireControl();
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acquireVision();
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_Followed = followed;
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}
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// ------------------------------------
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// Leave
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void CTrack::leave()
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{
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releaseControl();
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releaseVision();
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_Followed = NULL;
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// warn reynolds manager the track left its target
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CReynoldsManager::trackStop(this);
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}
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// ------------------------------------
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// Update
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void CTrack::update(double dt)
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{
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// do not update not owned tracks
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if (!_OwnControl)
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return;
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// check if target is forced to leave
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CTrack *target = (CTrack*)_Followed;
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if (target == NULL || target->_ForceRelease)
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{
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leave();
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return;
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}
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// check if entity has id
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if (!hasId() || !hasPosition())
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return;
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// check if has a move primitive
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if (_MovePrimitive == NULL)
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{
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createMovePrimitive();
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// if failed, just leave
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if (_MovePrimitive == NULL)
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leave();
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return;
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}
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// if target hasn't position and is not owned by manager, request for position updates
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if (!target->isValid())
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return;
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// motion
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CVectorD motion(CVectorD::Null);
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CVectorD heading;
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// --------------------------
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// move toward target
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double targetObjective;
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if (target->isStatic())
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{
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CVectorD vdist;
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double ddist;
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ddist = rawDistance(target, vdist);
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heading = vdist;
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targetObjective = ddist;
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double strength = softPointing(ddist, TargetAttraction, TargetAmp);
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motion += (vdist * (_Sheet->RunSpeed*dt*strength/(ddist+0.01)));
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}
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else
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{
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CVectorD vdist;
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double ddist;
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double cdist = contactDistance(target, vdist, ddist);
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targetObjective = cdist-TargetSpacing;
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double strength = softTargetting(cdist, TargetSpacing, TargetAttraction, TargetAmp);
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motion += (vdist * (_Sheet->RunSpeed*dt*strength/(ddist+0.01)));
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}
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// --------------------------
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// check target not lost
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if (_State == TargetLocked &&
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targetObjective > LoseThreshold)
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{
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_State = TargetLost;
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CReynoldsManager::stateChanged(_Id, _State);
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leave();
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return;
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}
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// --------------------------
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// check target reachable
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const double SmoothFactor = 0.7;
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double tddelta = (_LastTargetDistance<0) ? _SmoothedTargetDistanceDelta : _LastTargetDistance-targetObjective;
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_SmoothedTargetDistanceDelta = _SmoothedTargetDistanceDelta*SmoothFactor + tddelta*(1.0-SmoothFactor);
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_LastTargetDistance = targetObjective;
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// if actor seems not to move fast enough, leave
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if (_State == MovingTowardsTarget &&
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_SmoothedTargetDistanceDelta < 0.1 &&
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targetObjective > 1.0)
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{
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_State = TargetUnreachable;
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CReynoldsManager::stateChanged(_Id, _State);
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leave();
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return;
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}
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// --------------------------
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// avoid obstacles in vision
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TVision::iterator itv;
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for (itv=_Vision.begin(); itv!=_Vision.end(); )
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{
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CTrack *obstacle = (CTrack*)((*itv).second);
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// if obstacle is forced to be release, delete it
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if (obstacle->_ForceRelease)
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{
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TVision::iterator itr = itv++;
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_Vision.erase(itr);
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continue;
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}
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// if obstacle not yet ready, don't avoid it
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if (!obstacle->isValid())
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continue;
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// don't avoid static obstacles (virtual tracks)
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if (!obstacle->isStatic())
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{
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CVectorD vdist;
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double ddist;
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ddist = rawDistance(obstacle, vdist);
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if (ddist > ObstacleExcludeDistance)
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continue;
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double cdist = contactDistanceWithRawDistance(obstacle, vdist, ddist);
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double strength = softRepulse(cdist, ObstacleSpacing, ObstacleRepulsion, ObstacleAmp);
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motion -= (vdist * (_Sheet->WalkSpeed*dt*strength/(ddist+0.01)));
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}
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++itv;
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}
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// --------------------------
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// avoid walls
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CVectorD front = motion.normed();
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CVectorD lateral(-front.y, front.x, 0.0);
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CVectorD normal;
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float thetaProbe = frand(3.1415926535f) - 1.570796f;
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if (!_MoveContainer->testMove(_MovePrimitive, front*cos(thetaProbe)*2.0 + lateral*sin(thetaProbe)*1.0, 1, 0, &normal))
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motion += normal*_Sheet->WalkSpeed*dt;
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// --------------------------
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// other motion applied by user
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CReynoldsManager::applyUserMotion(this, motion);
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// --------------------------
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// Do move
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double motionNorm = motion.norm();
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// check if enough motion
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if (motionNorm < MinimumMotion)
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{
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if (targetObjective < LockThreshold &&
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_State == MovingTowardsTarget &&
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CReynoldsManager::getCycle()-_LastMoveCycle > StabiliseCycle)
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{
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_State = TargetLocked;
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CReynoldsManager::stateChanged(_Id, _State);
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}
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return;
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}
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// reset last moving cycle
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_LastMoveCycle = CReynoldsManager::getCycle();
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// renorm motion if needed
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if (motionNorm > dt*_Sheet->RunSpeed)
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motion *= dt*_Sheet->RunSpeed/motionNorm;
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// eval move
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_MovePrimitive->move(motion, 0);
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_MoveContainer->evalNCPrimitiveCollision(1, _MovePrimitive, 0);
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// store new position/heading
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_Heading = (float)atan2(heading.y, heading.x);
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_Position = _MovePrimitive->getFinalPosition(0);
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}
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// ------------------------------------
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// Update vision
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void CTrack::updateVision(const std::vector<NLMISC::CEntityId> &in, const std::vector<NLMISC::CEntityId> &out)
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{
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uint i;
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// add new in vision
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for (i=0; i<in.size(); ++i)
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{
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CTrack *newin = CReynoldsManager::createTrack(in[i]);
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if (newin == NULL)
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continue;
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_Vision.insert(make_pair<CEntityId, CSmartPtr<CTrack> >(in[i], newin));
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}
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// remove old of vision
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for (i=0; i<out.size(); ++i)
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{
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_Vision.erase(out[i]);
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}
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}
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// ------------------------------------
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// Update vision
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void CTrack::updateVision(const std::vector<NLMISC::CEntityId> &vision)
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{
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uint i;
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// add new in vision
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TVision copy = _Vision;
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_Vision.clear();
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for (i=0; i<vision.size(); ++i)
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{
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CTrack *newin = CReynoldsManager::createTrack(vision[i]);
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if (newin == NULL)
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continue;
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_Vision.insert(make_pair<CEntityId, CSmartPtr<CTrack> >(vision[i], newin));
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}
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}
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// ------------------------------------
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// Acquire Control
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void CTrack::acquireControl()
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{
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// set state to moving
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_State = MovingTowardsTarget;
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CReynoldsManager::stateChanged(_Id, _State);
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if (_OwnControl)
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return;
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// unrequest for position updates if necessary
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if (_PositionUpdatesRequested)
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{
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CReynoldsManager::unrequestPositionUpdates(_Id);
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_PositionUpdatesRequested = false;
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}
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// invalidate position
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invalidPosition();
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// and request for valid position
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CReynoldsManager::requestPosition(_Id);
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// init user motion
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CReynoldsManager::initUserMotion(this);
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_OwnControl = true;
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// init last move cycle
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_LastMoveCycle = CReynoldsManager::getCycle();
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}
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// ------------------------------------
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// Release Control
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void CTrack::releaseControl()
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{
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// invalidate position
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invalidPosition();
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// remove primitive
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deleteMovePrimitive();
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// release user motion
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CReynoldsManager::releaseUserMotion(this);
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// set state to moving
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_State = Idle;
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CReynoldsManager::stateChanged(_Id, _State);
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_OwnControl = false;
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}
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// ------------------------------------
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// Acquire vision
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void CTrack::acquireVision()
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{
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if (_ReceiveVision)
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return;
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_ReceiveVision = true;
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CReynoldsManager::requestVision(_Id);
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}
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// ------------------------------------
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// Release vision
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void CTrack::releaseVision()
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{
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if (!_ReceiveVision)
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return;
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_ReceiveVision = false;
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CReynoldsManager::unrequestVision(_Id);
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}
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// ------------------------------------
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// Create Move primitive
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void CTrack::createMovePrimitive()
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{
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if (!hasPosition())
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{
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nlwarning("ReynoldsLib:CTrack:createMovePrimitive(): Can't create move primitive, Track %s has no valid position", _Id.toString().c_str());
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return;
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}
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if (!hasId())
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{
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nlwarning("ReynoldsLib:CTrack:createMovePrimitive(): Can't create move primitive, Track %s has no valid id", _Id.toString().c_str());
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return;
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}
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deleteMovePrimitive();
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CReynoldsManager::createMovePrimitive(_Position, _MovePrimitive, _MoveContainer);
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_MovePrimitive->setPrimitiveType(UMovePrimitive::_2DOrientedCylinder);
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_MovePrimitive->setReactionType(UMovePrimitive::Slide);
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_MovePrimitive->setTriggerType(UMovePrimitive::NotATrigger);
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_MovePrimitive->setCollisionMask(0);
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_MovePrimitive->setOcclusionMask(0);
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_MovePrimitive->setObstacle(false);
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_MovePrimitive->setDontSnapToGround(false);
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_MovePrimitive->setRadius(_Sheet->Radius);
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_MovePrimitive->setHeight(_Sheet->Height);
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_MovePrimitive->insertInWorldImage(0);
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_MovePrimitive->setGlobalPosition(_Position, 0);
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_MovePrimitive->setOrientation(_Heading, 0);
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_MoveContainer->evalCollision(1, 0);
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}
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// ------------------------------------
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// Delete Move primitive
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void CTrack::deleteMovePrimitive()
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{
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if (_MovePrimitive != NULL)
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{
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if (_MoveContainer == NULL)
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{
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nlwarning("ReynoldsLib:CTrack:deleteMovePrimitive(): Track %s has a MovePrimitive, but MoveContainer not set", _Id.toString().c_str());
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}
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else
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{
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_MoveContainer->removePrimitive(_MovePrimitive);
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}
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}
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_MovePrimitive = NULL;
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_MoveContainer = NULL;
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}
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// ------------------------------------
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// Request Id
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void CTrack::requestId()
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{
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_IdRequested = true;
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CReynoldsManager::requestSheet(_Id);
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}
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// ------------------------------------
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// Request Position
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void CTrack::requestPositionUpdates()
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{
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_PositionUpdatesRequested = true;
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CReynoldsManager::requestPositionUpdates(_Id);
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}
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