added tests - no sogs yet
Jon Cundill
parent
8f8da4ea10
commit
cdbac1c921
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@ -42,7 +42,7 @@ namespace Flocking
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private Random m_rndnums = new Random (Environment.TickCount);
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private FlockingModel m_model;
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private FlowMap m_flowMap;
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private FlowField m_flowField;
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/// <summary>
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@ -57,13 +57,13 @@ namespace Flocking
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/// <param name='mf'>
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/// Mf. max force / acceleration this boid can extert
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/// </param>
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public Boid (string id, FlockingModel model, FlowMap flowMap)
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public Boid (string id, FlockingModel model, FlowField flowField)
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{
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m_id = id;
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m_acc = Vector3.Zero;
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m_vel = new Vector3 (m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1));
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m_model = model;
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m_flowMap = flowMap;
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m_flowField = flowField;
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}
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public Vector3 Location {
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@ -91,6 +91,7 @@ namespace Flocking
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Flock (boids);
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// our first priority is to not hurt ourselves
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// so adjust where we would like to go to avoid hitting things
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AvoidObstacles ();
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// then we want to avoid any threats
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@ -211,51 +212,14 @@ namespace Flocking
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/// <summary>
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/// Borders this instance.
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/// if we get too close wrap us around
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/// CHANGE THIS to navigate away from whatever it is we are too close to
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/// navigate away from whatever it is we are too close to
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/// </summary>
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void AvoidObstacles ()
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{
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//look tolerance metres ahead
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Vector3 normVel = Vector3.Normalize(m_vel);
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Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_model.Tolerance);
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if( m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
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AdjustVelocityToAvoidObstacles ();
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}
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m_acc += m_flowField.AdjustVelocity( m_loc, m_vel, m_model.Tolerance );
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}
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void AdjustVelocityToAvoidObstacles ()
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{
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for( int i = 1; i < 5; i++ ) {
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Vector3 normVel = Vector3.Normalize(m_vel);
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int xDelta = m_rndnums.Next (-i, i);
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int yDelta = m_rndnums.Next (-i, i);
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int zDelta = m_rndnums.Next (-i, i);
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normVel.X += xDelta;
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normVel.Y += yDelta;
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normVel.Z += zDelta;
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Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_model.Tolerance);
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if( !m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
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m_vel.X += xDelta;
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m_vel.Y += yDelta;
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m_vel.Z += zDelta;
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//m_log.Info("avoided");
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return;
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}
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}
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//m_log.Info("didn't avoid");
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// try increaing our acceleration
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// or try decreasing our acceleration
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// or turn around - coz where we came from was OK
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if (m_loc.X < 5 || m_loc.X > 250)
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m_vel.X = -m_vel.X;
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if (m_loc.Y < 5 || m_loc.Y > 250)
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m_vel.Y = -m_vel.Y;
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if (m_loc.Z < 21 || m_loc.Z > 271 )
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m_vel.Z = -m_vel.Z;
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}
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/// <summary>
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/// Separate ourselves from the specified boids.
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@ -20,6 +20,8 @@
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<include name="FlockingModel.cs" />
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<include name="FlockingModule.cs" />
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<include name="FlockingView.cs" />
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<include name="FlowField.cs" />
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<include name="FlowFieldTest.cs" />
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<include name="FlowMap.cs" />
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<include name="Util.cs" />
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</sources>
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@ -30,12 +32,14 @@
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</lib>
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<include name="../../../bin/log4net.dll"/>
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<include name="../../../bin/Nini.dll"/>
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<include name="../../../bin/nunit.framework.dll"/>
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<include name="../../../bin/OpenMetaverse.dll"/>
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<include name="../../../bin/OpenMetaverseTypes.dll"/>
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<include name="../../../bin/OpenSim.Framework.dll"/>
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<include name="../../../bin/OpenSim.Framework.Communications.dll"/>
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<include name="../../../bin/OpenSim.Framework.Console.dll"/>
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<include name="../../../bin/OpenSim.Region.Framework.dll"/>
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<include name="../../../bin/OpenSim.Tests.Common.dll"/>
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<include name="System.dll" />
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<include name="System.Drawing.dll" />
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<include name="System.Xml.dll" />
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@ -33,7 +33,7 @@ namespace Flocking
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public class FlockingModel
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{
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private List<Boid> m_flock = new List<Boid>();
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private FlowMap m_flowMap;
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private FlowField m_flowField;
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private float m_maxSpeed;
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private float m_maxForce;
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private float m_neighbourDistance;
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@ -63,21 +63,15 @@ namespace Flocking
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void AddBoid (string name)
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{
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Boid boid = new Boid (name, this, m_flowMap);
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Boid boid = new Boid (name, this, m_flowField);
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// find an initial random location for this Boid
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// somewhere not within an obstacle
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int xInit = m_rnd.Next(m_flowMap.LengthX);
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int yInit = m_rnd.Next(m_flowMap.LengthY);
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int zInit = m_rnd.Next(m_flowMap.LengthZ);
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while( m_flowMap.IsWithinObstacle( xInit, yInit, zInit ) ){
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xInit = m_rnd.Next(m_flowMap.LengthX);
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yInit = m_rnd.Next(m_flowMap.LengthY);
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zInit = m_rnd.Next(m_flowMap.LengthZ);
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}
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boid.Location = new Vector3 (Convert.ToSingle(xInit), Convert.ToSingle(yInit), Convert.ToSingle(zInit));
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int xInit = m_rnd.Next(Util.SCENE_SIZE);
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int yInit = m_rnd.Next(Util.SCENE_SIZE);
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int zInit = m_rnd.Next(Util.SCENE_SIZE);
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Vector3 location = new Vector3 (Convert.ToSingle(xInit), Convert.ToSingle(yInit), Convert.ToSingle(zInit));
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boid.Location = location + m_flowField.AdjustVelocity(location, Vector3.UnitZ, 5f);
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m_flock.Add (boid);
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}
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@ -102,9 +96,9 @@ namespace Flocking
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}
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public void Initialise (int num, FlowMap flowMap)
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public void Initialise (int num, FlowField flowField)
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{
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m_flowMap = flowMap;
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m_flowField = flowField;
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for (int i = 0; i < num; i++) {
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AddBoid ("boid"+i );
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}
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@ -90,7 +90,7 @@ namespace Flocking
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public void AddRegion (Scene scene)
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{
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m_log.Info ("ADDING FLOCKING");
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//m_log.Info ("ADDING FLOCKING");
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m_scene = scene;
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if (m_enabled) {
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//register commands
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@ -112,11 +112,14 @@ namespace Flocking
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if (m_enabled) {
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//make a flow map for this scene
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FlowMap flowMap = new FlowMap(scene );
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flowMap.Initialise();
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//FlowMap flowMap = new FlowMap(scene );
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//flowMap.Initialise();
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//build a proper flow field based on the scene
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FlowField field = new FlowField(scene, new Vector3(128f, 128f, 128f), 200, 200, 200);
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// Generate initial flock values
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m_model.Initialise (m_flockSize, flowMap);
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m_model.Initialise (m_flockSize, field);
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// who is the owner for the flock in this region
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m_owner = m_scene.RegionInfo.EstateSettings.EstateOwner;
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@ -282,7 +285,8 @@ namespace Flocking
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{
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if (ShouldHandleCmd ()) {
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bool inWorld = IsInWorldCmd (ref args);
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ShowResponse ("Num Boids = " + m_model.Size, inWorld);
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string str = "Num Boids = " + m_model.Size;
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ShowResponse (str, inWorld);
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}
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}
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@ -0,0 +1,108 @@
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using System;
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using OpenMetaverse;
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using OpenSim.Region.Framework.Scenes;
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namespace Flocking
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{
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public class FlowField
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{
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private const int BUFFER = 5;
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private Scene m_scene;
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private float m_startX;
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private float m_startY;
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private float m_startZ;
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private float m_endX;
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private float m_endY;
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private float m_endZ;
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/// <summary>
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/// Initializes a new instance of the <see cref="Flocking.FlowField"/> class.
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/// </summary>
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/// <param name='scene'>
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/// Scene.
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/// </param>
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/// <param name='centre'>
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/// Centre.
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/// </param>
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/// <param name='width'>
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/// Width.
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/// </param>
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/// <param name='depth'>
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/// Depth.
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/// </param>
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/// <param name='height'>
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/// Height.
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/// </param>
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///
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public FlowField (Scene scene, Vector3 centre, int width, int depth, int height)
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{
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m_scene = scene;
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m_startX = Math.Max( BUFFER, centre.X - width/2f);
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m_startY = Math.Max( BUFFER, centre.Y - depth/2f);
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m_startZ = Math.Max( BUFFER, centre.Z - height/2f);
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m_endX = Math.Min( Util.SCENE_SIZE - BUFFER, centre.X + width/2f);
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m_endY = Math.Min( Util.SCENE_SIZE - BUFFER, centre.Y + depth/2f);
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m_endZ = Math.Min( Util.SCENE_SIZE - BUFFER, centre.Z + height/2f);
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// build the flow field over the given bounds
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Initialize();
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}
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/// <summary>
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/// build a flow field on the scene at the specified centre
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/// position in the scene and of extent given by width, depth and height.
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/// </summary>
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public void Initialize() {
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foreach( SceneObjectGroup sog in m_scene.Entities.GetAllByType<SceneObjectGroup>() ) {
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float offsetHeight;
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Vector3 size = sog.GetAxisAlignedBoundingBox( out offsetHeight );
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Vector3 pos = sog.AbsolutePosition;
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// color in the flow field with the strength at this pos due to
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// this sog
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for( int x = 0; x < size.X; x++ ) {
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for( int y = 0; y < size.Y; y++ ) {
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for( int z = 0; z < size.Z; z++ ) {
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if( IsWithinFlowField(
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}
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}
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}
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}
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}
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public Vector3 AdjustVelocity (Vector3 loc, Vector3 vel, float lookAheadDist)
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{
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Vector3 normVel = Vector3.Normalize(vel);
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Vector3 inFront = loc + normVel * lookAheadDist;
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Vector3 adjustedDestintation = inFront + FieldStrength(inFront);
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Vector3 newVel = Vector3.Normalize(adjustedDestintation - loc) * Vector3.Mag(vel);
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return newVel;
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}
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public Vector3 FieldStrength (Vector3 inFront)
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{
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Vector3 retVal = Vector3.Zero;
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//keep us in bounds
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if( inFront.X > m_endX ) retVal.X -= inFront.X - m_endX;
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if( inFront.Y > m_endY ) retVal.Y -= inFront.Y - m_endY;
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if( inFront.Z > m_endZ ) retVal.Z -= inFront.Z - m_endZ;
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if( inFront.X < m_startX ) retVal.X += m_startX - inFront.X;
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if( inFront.Y < m_startY ) retVal.Y += m_startY - inFront.Y;
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if( inFront.Z < m_startZ ) retVal.Z += m_startZ - inFront.Z;
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//now get the field strength at the inbounds position
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Vector3 strength = LookUp( inFront + retVal);
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return retVal + strength;
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}
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public Vector3 LookUp (Vector3 par1)
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{
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return Vector3.Zero;
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}
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}
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}
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@ -0,0 +1,118 @@
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using System;
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using NUnit.Framework;
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using OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Framework.Scenes;
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using OpenSim.Tests.Common;
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using OpenSim.Tests.Common.Mock;
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namespace Flocking
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{
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[TestFixture()]
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public class FlowFieldTest
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{
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[Test()]
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public void TestEmptyFlowField ()
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{
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Scene scene = SceneSetupHelpers.SetupScene();
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Vector3 centre = new Vector3 (100f, 100f, 100f);
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FlowField field = new FlowField(scene, centre, 50, 50, 50);
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Vector3 strength = field.FieldStrength (centre);
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Assert.That( strength == Vector3.Zero);
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}
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[Test()]
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public void TestWeCanMoveFreely ()
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{
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Scene scene = SceneSetupHelpers.SetupScene();
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Vector3 centre = new Vector3 (100f, 100f, 100f);
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FlowField field = new FlowField(scene, centre, 50, 50, 50);
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Vector3 pos = new Vector3(100f, 100f,100f);
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Vector3 velocity = new Vector3(20f, 0f, 0f);
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Vector3 newVel = field.AdjustVelocity (pos, velocity, 10);
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Console.WriteLine( newVel );
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Assert.That(newVel == velocity);
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Vector3 newPos = pos+newVel;
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Assert.That( newPos.X < 150f);
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}
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[Test()]
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public void TestWeDontFallOfTheEdge ()
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{
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Scene scene = SceneSetupHelpers.SetupScene();
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Vector3 centre = new Vector3 (100f, 100f, 100f);
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FlowField field = new FlowField(scene, centre, 50, 50, 50);
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Vector3 pos = new Vector3(140f, 100f,100f);
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Vector3 velocity = new Vector3(20f, 0f, 0f);
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Vector3 newVel = field.AdjustVelocity (pos, velocity, 10);
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Console.WriteLine( newVel );
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Vector3 newPos = pos+newVel;
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Assert.That( newPos.X < 150f);
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Assert.That(velocity != newVel);
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pos = new Vector3(60f, 100f, 100f);
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velocity = new Vector3(-20f, 0f, 0f);
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newVel = field.AdjustVelocity(pos, velocity, 10);
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newPos = pos+newVel;
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Assert.That( newPos.X > 50f );
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Assert.That(velocity != newVel);
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}
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[Test()]
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public void TestWeCanCopeWithCorners ()
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{
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Scene scene = SceneSetupHelpers.SetupScene();
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Vector3 centre = new Vector3 (100f, 100f, 100f);
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FlowField field = new FlowField(scene, centre, 50, 50, 50);
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Vector3 pos = new Vector3(140f, 140f,140f);
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Vector3 velocity = new Vector3(20f, 20f, 20f); // going to hit the corner
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Vector3 newVel = field.AdjustVelocity (pos, velocity, 10);
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Console.WriteLine( newVel );
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Vector3 newPos = pos+newVel;
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Assert.That( newPos.X < 150f);
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Assert.That( newPos.Y < 150f);
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Assert.That( newPos.Z < 150f);
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Assert.That(velocity != newVel);
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}
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[Test()]
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[Ignore()]
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public void TestNonEmptyFlowField ()
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{
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Scene scene = SceneSetupHelpers.SetupScene();
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Vector3 centre = new Vector3 (100f, 100f, 100f);
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SceneObjectGroup sceneObjectGroup = AddSog (centre, new Vector3(10f,10f,10f));
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scene.AddNewSceneObject(sceneObjectGroup, false);
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FlowField field = new FlowField(scene, centre, 50, 50, 50);
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Vector3 strength = field.FieldStrength (centre);
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Assert.That( strength != Vector3.Zero);
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}
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public static SceneObjectGroup AddSog (Vector3 position, Vector3 size)
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{
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UUID ownerId = new UUID("00000000-0000-0000-0000-000000000010");
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string part1Name = "part1";
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UUID part1Id = new UUID("00000000-0000-0000-0000-000000000001");
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string part2Name = "part2";
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UUID part2Id = new UUID("00000000-0000-0000-0000-000000000002");
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SceneObjectPart part1
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= new SceneObjectPart(ownerId, PrimitiveBaseShape.Default, position, Quaternion.Identity, Vector3.Zero)
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{ Name = part1Name, UUID = part1Id };
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part1.Scale =size;
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SceneObjectGroup so = new SceneObjectGroup(part1);
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return so;
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}
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}
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}
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@ -29,8 +29,11 @@ using OpenMetaverse;
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namespace Flocking
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{
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public class Util
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{
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public const int SCENE_SIZE = 256;
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public static Vector3 Limit (Vector3 initial, float maxLen)
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{
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float currLen = initial.Length ();
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@ -19,7 +19,9 @@
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<Reference name="System.Drawing" />
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<Reference name="System.Xml"/>
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<Reference name="Nini" path="../../../bin/" />
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<Reference name="nunit.framework" path="../../../bin/" />
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<Reference name="OpenSim.Framework" path="../../../bin/" />
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<Reference name="OpenSim.Tests.Common" path="../../../bin/" />
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<Reference name="OpenSim.Framework.Communications" path="../../../bin/" />
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<Reference name="OpenSim.Region.Framework" path="../../../bin/" />
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<Reference name="OpenSim.Framework.Console" path="../../../bin/" />
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