KX_ObstacleSimulation.h

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/*
 * Simulation for obstacle avoidance behavior 
 * (based on Cane Project - http://code.google.com/p/cane  by Mikko Mononen (c) 2009)
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * 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.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef __KX_OBSTACLESIMULATION
#define __KX_OBSTACLESIMULATION

#include <vector>
#include "MT_Point2.h"
#include "MT_Point3.h"

class KX_GameObject;
class KX_NavMeshObject;

enum KX_OBSTACLE_TYPE
{   
    KX_OBSTACLE_OBJ, 
    KX_OBSTACLE_NAV_MESH,
};

enum KX_OBSTACLE_SHAPE
{   
    KX_OBSTACLE_CIRCLE, 
    KX_OBSTACLE_SEGMENT,
};

#define VEL_HIST_SIZE 6
struct KX_Obstacle
{
    KX_OBSTACLE_TYPE m_type;
    KX_OBSTACLE_SHAPE m_shape;
    MT_Point3 m_pos;
    MT_Point3 m_pos2;
    MT_Scalar m_rad;
    
    float vel[2];
    float pvel[2];
    float dvel[2];
    float nvel[2];
    float hvel[VEL_HIST_SIZE*2];
    int hhead;

    
    KX_GameObject* m_gameObj;
};
typedef std::vector<KX_Obstacle*> KX_Obstacles;

class KX_ObstacleSimulation
{
protected:
    KX_Obstacles m_obstacles;

    MT_Scalar m_levelHeight;
    bool m_enableVisualization;

    KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
public:
    KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization);
    virtual ~KX_ObstacleSimulation();

    void DrawObstacles();
    //void DebugDraw();

    void AddObstacleForObj(KX_GameObject* gameobj);
    void DestroyObstacleForObj(KX_GameObject* gameobj);
    void AddObstaclesForNavMesh(KX_NavMeshObject* navmesh);
    KX_Obstacle* GetObstacle(KX_GameObject* gameobj);
    void UpdateObstacles(); 
    virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
                                MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);

}; 
class KX_ObstacleSimulationTOI: public KX_ObstacleSimulation
{
protected:
    int m_maxSamples;               // Number of sample steps
    float m_minToi;                 // Min TOI
    float m_maxToi;                 // Max TOI
    float m_velWeight;              // Sample selection angle weight
    float m_curVelWeight;           // Sample selection current velocity weight
    float m_toiWeight;              // Sample selection TOI weight
    float m_collisionWeight;        // Sample selection collision weight

    virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
                            const float maxDeltaAngle) = 0;
public:
    KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization);
    virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
        MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
};

class KX_ObstacleSimulationTOI_rays: public KX_ObstacleSimulationTOI
{
protected:
    virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
                            const float maxDeltaAngle);
public:
    KX_ObstacleSimulationTOI_rays(MT_Scalar levelHeight, bool enableVisualization);
};

class KX_ObstacleSimulationTOI_cells: public KX_ObstacleSimulationTOI
{
protected:
    float m_bias;
    bool m_adaptive;
    int m_sampleRadius;
    virtual void sampleRVO(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj, 
                            const float maxDeltaAngle);
public:
    KX_ObstacleSimulationTOI_cells(MT_Scalar levelHeight, bool enableVisualization);
};

#endif