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