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Pathfinding tweaks; coldet fixes.

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This was SVN commit r379.
This commit is contained in:
MarkT
2004-06-03 02:20:48 +00:00
parent 4daa183dd3
commit d32be2011f
14 changed files with 898 additions and 747 deletions
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source/simulation/EntityStateProcessing.cpp
+80 -7
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@@ -14,13 +14,71 @@ bool CEntity::processGotoNoPathing( CEntityOrder* current, float timestep )
float len = delta.length();
if( len < 0.1f )
// Curve smoothing.
// Here there be trig.
if( current->m_type != CEntityOrder::ORDER_GOTO_SMOOTHED )
{
m_orderQueue.pop_front();
return( false );
// We can only really attempt to smooth paths the pathfinder
// has flagged for us. If the turning-radius calculations are
// applied to other types of waypoint, wierdness happens.
// Things like an entity trying to walk to a point inside
// his turning radius (which he can't do directly, so he'll
// orbit the point indefinately), or just massive deviations
// making the paths we calculate useless.
// It's also painful trying to watch two entities resolve their
// collision when they're both bound by turning constraints.
m_ahead = delta / len;
m_orientation = atan2( m_ahead.x, m_ahead.y );
}
else
{
m_targetorientation = atan2( delta.x, delta.y );
float deltatheta = m_targetorientation - m_orientation;
while( deltatheta > PI ) deltatheta -= 2 * PI;
while( deltatheta < -PI ) deltatheta += 2 * PI;
if( fabs( deltatheta ) > 0.01f )
{
float maxTurningSpeed = ( m_speed / m_turningRadius ) * timestep;
if( deltatheta > 0 )
{
m_orientation += MIN( deltatheta, maxTurningSpeed );
}
else
m_orientation += MAX( deltatheta, -maxTurningSpeed );
m_ahead.x = sin( m_orientation );
m_ahead.y = cos( m_orientation );
}
else
{
m_ahead = delta / len;
m_orientation = atan2( m_ahead.x, m_ahead.y );
}
}
m_ahead = delta / len;
if( len < 0.1f )
{
if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
{
// Repath.
CVector2D destination;
while( !m_orderQueue.empty() &&
( ( m_orderQueue.front().m_type == CEntityOrder::ORDER_GOTO_COLLISION )
|| ( m_orderQueue.front().m_type == CEntityOrder::ORDER_GOTO_NOPATHING )
|| ( m_orderQueue.front().m_type == CEntityOrder::ORDER_GOTO_SMOOTHED ) ) )
{
destination = m_orderQueue.front().m_data[0].location;
m_orderQueue.pop_front();
}
g_Pathfinder.requestPath( me, destination );
}
else
m_orderQueue.pop_front();
return( false );
}
if( m_bounds->m_type == CBoundingObject::BOUND_OABB )
((CBoundingBox*)m_bounds)->setOrientation( m_ahead );
@@ -78,7 +136,7 @@ bool CEntity::processGotoNoPathing( CEntityOrder* current, float timestep )
avoidance.m_type = CEntityOrder::ORDER_GOTO_COLLISION;
CVector2D right;
right.x = m_ahead.y; right.y = -m_ahead.x;
CVector2D avoidancePosition = collide->m_bounds->m_pos + right * ( collide->m_bounds->m_radius * 2.5f );
CVector2D avoidancePosition = collide->m_bounds->m_pos + right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
avoidance.m_data[0].location = avoidancePosition;
if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
m_orderQueue.pop_front();
@@ -91,12 +149,27 @@ bool CEntity::processGotoNoPathing( CEntityOrder* current, float timestep )
{
// A circle.
// TODO: Implement this properly.
// Try turning right.
// Work out if our path goes to the left or to the right
// of this obstacle. Go that way.
// Weight a little to the right, too (helps unit-unit collisions)
CEntityOrder avoidance;
avoidance.m_type = CEntityOrder::ORDER_GOTO_COLLISION;
CVector2D right;
right.x = m_ahead.y; right.y = -m_ahead.x;
CVector2D avoidancePosition = collide->m_bounds->m_pos + right * ( collide->m_bounds->m_radius * 2.5f );
CVector2D avoidancePosition;
if( ( collide->m_bounds->m_pos - m_bounds->m_pos ).dot( right ) < 1 )
{
// Turn right.
avoidancePosition = collide->m_bounds->m_pos + right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
}
else
{
// Turn left.
avoidancePosition = collide->m_bounds->m_pos - right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
}
avoidance.m_data[0].location = avoidancePosition;
if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
m_orderQueue.pop_front();