104 lines
2.8 KiB
C++
104 lines
2.8 KiB
C++
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// Copyright (C) 2009 - 2012 Mathias Froehlich
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 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, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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#include "AIObject.hxx"
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#include <simgear/bvh/BVHLineSegmentVisitor.hxx>
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#include <simgear/bvh/BVHNode.hxx>
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#include <simgear/math/SGGeometry.hxx>
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#include "AIManager.hxx"
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namespace fgai {
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AIObject::AIObject() :
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_environment(new AIEnvironment),
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_subsystemGroup(new AISubsystemGroup)
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{
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}
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AIObject::~AIObject()
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{
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}
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void
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AIObject::init(AIManager& manager)
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{
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_simTime = manager.getSimTime();
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}
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void
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AIObject::update(AIManager& manager, const SGTimeStamp& simTime)
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{
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_simTime = simTime;
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}
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void
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AIObject::shutdown(AIManager& manager)
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{
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_simTime = SGTimeStamp();
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}
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void
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AIObject::setGroundCache(const AIPhysics& physics, AIBVHPager& pager, const SGTimeStamp& dt)
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{
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SGVec3d point = physics.getLocation().getPosition();
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double linearVelocity = norm(physics.getLinearBodyVelocity());
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// The 2 is a security factor for accelerations, but at least 100 meters
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double radius = std::max(100.0, 2*dt.toSecs()*linearVelocity);
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SGSphered requiredSphere(point, radius);
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/// Are we already good enough?
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if (requiredSphere.inside(_querySphere))
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return;
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// Now query something somehow bigger to avoid querying again in the next frame
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SGSphered sphere(point, 4*radius);
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_node = pager.getBoundingVolumes(sphere);
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if (!_node.valid())
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return;
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_querySphere = sphere;
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}
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bool
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AIObject::getGroundIntersection(SGVec3d& point, SGVec3d& normal, const SGLineSegmentd& lineSegment) const
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{
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if (!_node.valid())
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return false;
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simgear::BVHLineSegmentVisitor lineSegmentVisitor(lineSegment);
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_node->accept(lineSegmentVisitor);
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if (lineSegmentVisitor.empty())
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return false;
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normal = lineSegmentVisitor.getNormal();
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point = lineSegmentVisitor.getPoint();
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return true;
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}
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bool
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AIObject::getGroundIntersection(SGPlaned& plane, const SGLineSegmentd& lineSegment) const
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{
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SGVec3d point;
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SGVec3d normal;
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if (!getGroundIntersection(point, normal, lineSegment))
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return false;
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plane = SGPlaned(normal, point);
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return true;
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}
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} // namespace fgai
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