mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-02-23 08:33:50 +00:00
simplify calcs by leveraging pre-existing matrix methods and dot product properties
This commit is contained in:
AzaezelX
parent
71b8046bb1
commit
d8ea8803c3
2 changed files with 46 additions and 255 deletions
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@ -650,119 +650,6 @@ void AIPlayerControllerData::resolveTriggerState(AIController* obj, Move* movePt
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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IMPLEMENT_CO_DATABLOCK_V1(AIWheeledVehicleControllerData);
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// Build a Triangle .. calculate angle of rotation required to meet target..
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// man there has to be a better way! >:)
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F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj, Point3F location)
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{
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WheeledVehicle* wvo = dynamic_cast<WheeledVehicle*>(obj->getAIInfo()->mObj.getPointer());
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if (!wvo)
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{
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//cover the case of a connection controling an object in turn controlling another
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if (obj->getAIInfo()->mObj->getObjectMount())
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wvo = dynamic_cast<WheeledVehicle*>(obj->getAIInfo()->mObj->getObjectMount());
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}
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if (!wvo) return 0;//not a WheeledVehicle
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DrivingState steerState = SteerNull;
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// What is our target
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Point3F desired;
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desired = obj->getNav()->getMoveDestination();
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MatrixF mat = wvo->getTransform();
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Point3F center, front;
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Point3F wFront;
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Box3F box = wvo->getObjBox();
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box.getCenter(¢er);
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front = center;
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front.y = box.maxExtents.y; // should be true for all these objects
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obj->getAIInfo()->mObj->getWorldBox().getCenter(¢er);
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front = center + front;
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Point3F objFront = front;
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Point3F offset = front - center;
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EulerF rot;
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rot = mat.toEuler();
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MatrixF transform(rot);
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transform.mulV(offset, &wFront);
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front = wFront + center;
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Point3F ftoc;
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ftoc.x = mFabs(front.x - center.x);
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ftoc.y = mFabs(front.y - center.y);
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ftoc.z = mFabs(front.z - center.z);
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F32 fToc = mSqrt((ftoc.x * ftoc.x) + (ftoc.y * ftoc.y));
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Point3F ltoc;
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ltoc.x = mFabs(desired.x - center.x);
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ltoc.y = mFabs(desired.y - center.y);
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ltoc.z = mFabs(desired.z - center.z);
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F32 lToc = mSqrt((ltoc.x * ltoc.x) + (ltoc.y * ltoc.y));
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Point3F ftol;
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ftol.x = mFabs(front.x - desired.x);
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ftol.y = mFabs(front.y - desired.y);
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ftol.z = mFabs(front.z - desired.z);
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F32 fTol = mSqrt((ftol.x * ftol.x) + (ftol.y * ftol.y));
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F32 myAngle = mAcos(((lToc * lToc) + (fToc * fToc) - (fTol * fTol)) / (2 * lToc * fToc));
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F32 finalYaw = mRadToDeg(myAngle);
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F32 maxSteeringAngle = 0;
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VehicleData* vd = (VehicleData*)(wvo->getDataBlock());
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maxSteeringAngle = vd->maxSteeringAngle;
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Point2F steering = wvo->getSteering();
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if (finalYaw < 5 && steering.x != 0.0f)
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steerState = Straight;
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else if (finalYaw < 5)
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steerState = SteerNull;
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else
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{// Quickly Hack out left or right turn info
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Point3F rotData = objFront - desired;
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MatrixF leftM(-rot);
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Point3F leftP;
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leftM.mulV(rotData, &leftP);
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leftP = leftP + desired;
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if (leftP.x < desired.x)
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steerState = Right;
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else
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steerState = Left;
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}
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F32 throttle = wvo->getThrottle();
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if (throttle < 0.0f && steerState != Straight)
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{
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F32 reverseReduction = 0.25;
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steering.x = steering.x * reverseReduction * throttle;
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}
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F32 turnAdjust = myAngle - steering.x;
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F32 steer = 0;
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switch (steerState)
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{
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case Left:
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steer = myAngle < maxSteeringAngle ? -turnAdjust : -maxSteeringAngle - steering.x;
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break;
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case Right:
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steer = myAngle < maxSteeringAngle ? turnAdjust : maxSteeringAngle - steering.x;
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break;
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case Straight:
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steer = -steering.x;
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break;
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default:
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break;
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};
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// Con::printf("AI Steering : %f", steer);
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return steer;
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}
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void AIWheeledVehicleControllerData::resolveYaw(AIController* obj, Point3F location, Move* movePtr)
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{
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@ -776,10 +663,29 @@ void AIWheeledVehicleControllerData::resolveYaw(AIController* obj, Point3F locat
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}
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if (!wvo) return;//not a WheeledVehicle
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// Orient towards our destination.
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if (obj->mMovement.mMoveState == AIController::ModeMove || obj->mMovement.mMoveState == AIController::ModeReverse) {
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movePtr->yaw = getSteeringAngle(obj, location);
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}
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F32 lastYaw = wvo->getSteering().x;
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Point3F right = wvo->getTransform().getRightVector();
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right.normalize();
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Point3F aimLoc = obj->mMovement.mAimLocation;
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// Get the Target to AI vector and normalize it.
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Point3F toTarg = aimLoc - location;
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toTarg.normalize();
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F32 dotYaw = mDot(right, toTarg);
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movePtr->yaw = -lastYaw;
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VehicleData* vd = (VehicleData*)(wvo->getDataBlock());
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F32 maxSteeringAngle = vd->maxSteeringAngle;
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if (mFabs(dotYaw) > maxSteeringAngle * 1.5 && wvo->getThrottle() < 0.0f)
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dotYaw *= -1.0f;
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if (dotYaw > maxSteeringAngle) dotYaw = maxSteeringAngle;
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if (dotYaw < -maxSteeringAngle) dotYaw = -maxSteeringAngle;
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if (mFabs(dotYaw) > 0.05f)
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movePtr->yaw = dotYaw - lastYaw;
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};
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void AIWheeledVehicleControllerData::resolveSpeed(AIController* obj, Point3F location, Move* movePtr)
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@ -798,7 +704,7 @@ void AIWheeledVehicleControllerData::resolveSpeed(AIController* obj, Point3F loc
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VehicleData* db = static_cast<VehicleData *>(wvo->getDataBlock());
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movePtr->x = 0;
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movePtr->y *= 1.1 - wvo->getSteering().y / db->maxSteeringAngle;
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movePtr->y *= mMax((db->maxSteeringAngle-mFabs(movePtr->yaw) / db->maxSteeringAngle),0.75f);
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}
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//-----------------------------------------------------------------------------
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@ -821,119 +727,6 @@ void AIFlyingVehicleControllerData::initPersistFields()
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Parent::initPersistFields();
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}
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// Build a Triangle .. calculate angle of rotation required to meet target..
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// man there has to be a better way! >:)
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F32 AIFlyingVehicleControllerData::getSteeringAngle(AIController* obj, Point3F location)
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{
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FlyingVehicle* fvo = dynamic_cast<FlyingVehicle*>(obj->getAIInfo()->mObj.getPointer());
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if (!fvo)
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{
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//cover the case of a connection controling an object in turn controlling another
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if (obj->getAIInfo()->mObj->getObjectMount())
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fvo = dynamic_cast<FlyingVehicle*>(obj->getAIInfo()->mObj->getObjectMount());
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}
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if (!fvo) return 0;//not a FlyingVehicle
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DrivingState steerState = SteerNull;
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// What is our target
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Point3F desired;
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desired = obj->getNav()->getMoveDestination();
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MatrixF mat = fvo->getTransform();
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Point3F center, front;
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Point3F wFront;
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Box3F box = fvo->getObjBox();
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box.getCenter(¢er);
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front = center;
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front.y = box.maxExtents.y; // should be true for all these objects
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obj->getAIInfo()->mObj->getWorldBox().getCenter(¢er);
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front = center + front;
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Point3F objFront = front;
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Point3F offset = front - center;
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EulerF rot;
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rot = mat.toEuler();
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MatrixF transform(rot);
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transform.mulV(offset, &wFront);
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front = wFront + center;
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Point3F ftoc;
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ftoc.x = mFabs(front.x - center.x);
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ftoc.y = mFabs(front.y - center.y);
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ftoc.z = mFabs(front.z - center.z);
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F32 fToc = mSqrt((ftoc.x * ftoc.x) + (ftoc.y * ftoc.y));
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Point3F ltoc;
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ltoc.x = mFabs(desired.x - center.x);
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ltoc.y = mFabs(desired.y - center.y);
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ltoc.z = mFabs(desired.z - center.z);
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F32 lToc = mSqrt((ltoc.x * ltoc.x) + (ltoc.y * ltoc.y));
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Point3F ftol;
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ftol.x = mFabs(front.x - desired.x);
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ftol.y = mFabs(front.y - desired.y);
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ftol.z = mFabs(front.z - desired.z);
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F32 fTol = mSqrt((ftol.x * ftol.x) + (ftol.y * ftol.y));
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F32 myAngle = mAcos(((lToc * lToc) + (fToc * fToc) - (fTol * fTol)) / (2 * lToc * fToc));
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F32 finalYaw = mRadToDeg(myAngle);
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F32 maxSteeringAngle = 0;
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VehicleData* vd = (VehicleData*)(fvo->getDataBlock());
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maxSteeringAngle = vd->maxSteeringAngle;
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Point2F steering = fvo->getSteering();
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if (finalYaw < 5 && steering.x != 0.0f)
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steerState = Straight;
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else if (finalYaw < 5)
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steerState = SteerNull;
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else
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{// Quickly Hack out left or right turn info
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Point3F rotData = objFront - desired;
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MatrixF leftM(-rot);
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Point3F leftP;
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leftM.mulV(rotData, &leftP);
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leftP = leftP + desired;
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if (leftP.x < desired.x)
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steerState = Right;
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else
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steerState = Left;
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}
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F32 throttle = fvo->getThrottle();
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if (throttle < 0.0f && steerState != Straight)
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{
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F32 reverseReduction = 0.25;
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steering.x = steering.x * reverseReduction * throttle;
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}
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F32 turnAdjust = myAngle - steering.x;
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F32 steer = 0;
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switch (steerState)
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{
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case Left:
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steer = myAngle < maxSteeringAngle ? -turnAdjust : -maxSteeringAngle - steering.x;
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break;
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case Right:
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steer = myAngle < maxSteeringAngle ? turnAdjust : maxSteeringAngle - steering.x;
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break;
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case Straight:
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steer = -steering.x;
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break;
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default:
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break;
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};
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// Con::printf("AI Steering : %f", steer);
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return steer;
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}
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void AIFlyingVehicleControllerData::resolveYaw(AIController* obj, Point3F location, Move* movePtr)
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{
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@ -947,8 +740,19 @@ void AIFlyingVehicleControllerData::resolveYaw(AIController* obj, Point3F locati
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}
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if (!fvo) return;//not a FlyingVehicle
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// Orient towards our destination.
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movePtr->yaw = getSteeringAngle(obj, location);
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Point3F right = fvo->getTransform().getRightVector();
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right.normalize();
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Point3F aimLoc = obj->mMovement.mAimLocation;
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// Get the Target to AI vector and normalize it.
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Point3F toTarg = aimLoc - location;
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toTarg.normalize();
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F32 dotYaw = mDot(right, toTarg);
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movePtr->yaw = 0;
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if (mFabs(dotYaw) > 0.05f)
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movePtr->yaw = dotYaw;
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};
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void AIFlyingVehicleControllerData::resolvePitch(AIController* obj, Point3F location, Move* movePtr)
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@ -963,8 +767,6 @@ void AIFlyingVehicleControllerData::resolvePitch(AIController* obj, Point3F loca
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}
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if (!fvo) return;//not a FlyingVehicle
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F32 lastPitch = fvo->getSteering().y* (1.0f - fvo->getThrottle());
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Point3F up = fvo->getTransform().getUpVector();
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up.normalize();
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Point3F aimLoc = obj->mMovement.mAimLocation;
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@ -974,12 +776,16 @@ void AIFlyingVehicleControllerData::resolvePitch(AIController* obj, Point3F loca
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Point3F toTarg = location-aimLoc;
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toTarg.normalize();
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F32 dotPitch = mDot(up, toTarg);
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movePtr->pitch = 0.0f;
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Point3F forward = fvo->getTransform().getForwardVector();
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if (mDot(forward, toTarg)>0.0f)
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{
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F32 dotPitch = mDot(up, toTarg);
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if (mFabs(dotPitch) > 0.05f)
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movePtr->pitch = dotPitch - lastPitch;
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else
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movePtr->pitch = -lastPitch;
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if (mFabs(dotPitch) > 0.05f)
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movePtr->pitch = dotPitch;
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}
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}
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void AIFlyingVehicleControllerData::resolveSpeed(AIController* obj, Point3F location, Move* movePtr)
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@ -206,13 +206,6 @@ class AIWheeledVehicleControllerData : public AIControllerData
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{
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typedef AIControllerData Parent;
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enum DrivingState {
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SteerNull,
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Left,
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Right,
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Straight
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};
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public:
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AIWheeledVehicleControllerData()
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{
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@ -220,7 +213,6 @@ public:
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resolveSpeedPtr.bind(this, &AIWheeledVehicleControllerData::resolveSpeed);
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mHeightTolerance = 2.0f;
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}
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F32 getSteeringAngle(AIController* obj, Point3F location);
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void resolveYaw(AIController* obj, Point3F location, Move* movePtr);
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void resolveSpeed(AIController* obj, Point3F location, Move* movePtr);
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DECLARE_CONOBJECT(AIWheeledVehicleControllerData);
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@ -230,12 +222,6 @@ class AIFlyingVehicleControllerData : public AIControllerData
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{
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typedef AIControllerData Parent;
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enum DrivingState {
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SteerNull,
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Left,
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Right,
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Straight
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};
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F32 mFlightFloor;
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F32 mFlightCeiling;
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public:
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@ -249,7 +235,6 @@ public:
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mFlightFloor = 1.0;
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}
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static void initPersistFields();
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F32 getSteeringAngle(AIController* obj, Point3F location);
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void resolveYaw(AIController* obj, Point3F location, Move* movePtr);
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void resolveSpeed(AIController* obj, Point3F location, Move* movePtr);
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void resolvePitch(AIController* obj, Point3F location, Move* movePtr);
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