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added basic flow field collision detection for terrain and Prims in scene. Static at the moment

stable0711
Jon Cundill 2011-07-10 16:37:00 +01:00
parent 0006d6cd51
commit f0bc7e018b
4 changed files with 247 additions and 41 deletions
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69
Flocking/Boid.cs
View File

@ -26,28 +26,28 @@
*/
using System;
using System.Collections.Generic;
using log4net;
using OpenMetaverse;
namespace Flocking
{
public class Boid
{
private static readonly ILog m_log = LogManager.GetLogger (System.Reflection.MethodBase.GetCurrentMethod ().DeclaringType);
private string m_id;
private Vector3 m_loc;
private Quaternion m_rotation;
private Vector3 m_vel;
private Vector3 m_acc;
private Random m_rndnums = new Random (Environment.TickCount);
private float m_tolerance; // how close can we get to things witout being edgy
private float m_maxForce; // Maximum steering force
private float m_maxSpeed; // Maximum speed
private float m_width = 255f;
private float m_height = 255f;
private float m_neighborDist = 25.0f;
private float m_desiredSeparation = 20.0f;
private FlowMap m_flowMap;
/// <summary>
@ -62,15 +62,15 @@ namespace Flocking
/// <param name='mf'>
/// Mf. max force / acceleration this boid can extert
/// </param>
public Boid (string id, float ms, float mf)
public Boid (string id, float ms, float mf, FlowMap flowMap)
{
m_id = id;
m_acc = Vector3.Zero;
m_vel = new Vector3 (m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1), m_rndnums.Next (-1, 1));
m_tolerance = 2.0f;
m_tolerance = 5.0f;
m_maxSpeed = ms;
m_maxForce = mf;
m_flowMap = flowMap;
}
public Vector3 Location {
@ -82,10 +82,6 @@ namespace Flocking
get { return m_vel;}
}
public Quaternion Rotation {
get { return m_rotation; }
}
public String Id {
get {return m_id;}
}
@ -98,14 +94,19 @@ namespace Flocking
/// </param>
public void MoveInSceneRelativeToFlock (List<Boid> boids)
{
Vector3 previousLoc = new Vector3( m_loc );
// we would like to stay with our mates
Flock (boids);
// our first priority is to not hurt ourselves
AvoidObstacles ();
// then we want to avoid any threats
// this not implemented yet
// ok so we worked our where we want to go, so ...
UpdatePositionInScene ();
AvoidBorders ();
m_rotation = Vector3.RotationBetween( previousLoc, m_loc );
//render();
}
/// <summary>
@ -221,8 +222,40 @@ namespace Flocking
/// if we get too close wrap us around
/// CHANGE THIS to navigate away from whatever it is we are too close to
/// </summary>
void AvoidBorders ()
void AvoidObstacles ()
{
//look tolerance metres ahead
Vector3 normVel = Vector3.Normalize(m_vel);
Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_tolerance);
if( m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
AdjustVelocityToAvoidObstacles ();
}
}
void AdjustVelocityToAvoidObstacles ()
{
for( int i = 1; i < 5; i++ ) {
Vector3 normVel = Vector3.Normalize(m_vel);
int xDelta = m_rndnums.Next (-i, i);
int yDelta = m_rndnums.Next (-i, i);
int zDelta = m_rndnums.Next (-i, i);
normVel.X += xDelta;
normVel.Y += yDelta;
normVel.Z += zDelta;
Vector3 inFront = m_loc + Vector3.Multiply(normVel, m_tolerance);
if( !m_flowMap.WouldHitObstacle( m_loc, inFront ) ) {
m_vel.X += xDelta;
m_vel.Y += yDelta;
m_vel.Z += zDelta;
//m_log.Info("avoided");
return;
}
}
//m_log.Info("didn't avoid");
// try increaing our acceleration
// or try decreasing our acceleration
// or turn around - coz where we came from was OK
if (m_loc.X < 5 || m_loc.X > 250)
m_vel.X = -m_vel.X;
if (m_loc.Y < 5 || m_loc.Y > 250)

50
Flocking/FlockingModel.cs
View File

@ -32,39 +32,47 @@ namespace Flocking
{
public class FlockingModel
{
private List<Boid> flock = new List<Boid>();
private List<Boid> m_flock = new List<Boid>();
private FlowMap m_flowMap;
private int m_xRange = 200;
private int m_yRange = 200;
private int m_zRange = 200;
private Random m_rnd = new Random(Environment.TickCount);
public int Size {
get {return flock.Count;}
get {return m_flock.Count;}
set {
if( value < flock.Count ) {
flock.RemoveRange( 0, flock.Count - value );
} else while( value > flock.Count ) {
AddBoid( "boid"+flock.Count);
if( value < m_flock.Count ) {
m_flock.RemoveRange( 0, m_flock.Count - value );
} else while( value > m_flock.Count ) {
AddBoid( "boid"+m_flock.Count);
}
}
}
void AddBoid (string name)
{
Boid boid = new Boid (name, 3.0f, 0.05f);
boid.Location = new Vector3 (m_xRange / 2f, m_yRange / 2f, m_zRange / 2f);
flock.Add (boid);
Boid boid = new Boid (name, 3.0f, 0.05f, m_flowMap);
// find an initial random location for this Boid
// somewhere not within an obstacle
int xInit = m_rnd.Next(m_flowMap.LengthX);
int yInit = m_rnd.Next(m_flowMap.LengthY);
int zInit = m_rnd.Next(m_flowMap.LengthZ);
while( m_flowMap.IsWithinObstacle( xInit, yInit, zInit ) ){
xInit = m_rnd.Next(m_flowMap.LengthX);
yInit = m_rnd.Next(m_flowMap.LengthY);
zInit = m_rnd.Next(m_flowMap.LengthZ);
}
boid.Location = new Vector3 (Convert.ToSingle(xInit), Convert.ToSingle(yInit), Convert.ToSingle(zInit));
m_flock.Add (boid);
}
public void Initialise (int num, int xRange, int yRange, int zRange)
public void Initialise (int num, FlowMap flowMap)
{
m_xRange = xRange;
m_yRange = yRange;
m_zRange = zRange;
//TODO: fill in the initial Flock array properly
m_flowMap = flowMap;
for (int i = 0; i < num; i++) {
AddBoid ("boid"+i );
}
@ -72,11 +80,11 @@ namespace Flocking
public List<Boid> UpdateFlockPos ()
{
foreach (Boid b in flock) {
b.MoveInSceneRelativeToFlock(flock); // Passing the entire list of boids to each boid individually
foreach (Boid b in m_flock) {
b.MoveInSceneRelativeToFlock(m_flock); // Passing the entire list of boids to each boid individually
}
return flock;
return m_flock;
}
}
}

11
Flocking/FlockingModule.cs
View File

@ -54,6 +54,7 @@ namespace Flocking
private int m_frameUpdateRate = 1;
private int m_chatChannel = 118;
private string m_boidPrim;
private int m_flockSize = 100;
private UUID m_owner;
#region IRegionModule Members
@ -68,6 +69,7 @@ namespace Flocking
if (config != null) {
m_chatChannel = config.GetInt ("chat-channel", 118);
m_boidPrim = config.GetString ("boid-prim", "boidPrim");
m_flockSize = config.GetInt ("flock-size", 100);
// we're in the config - so turn on this module
m_enabled = true;
@ -96,8 +98,13 @@ namespace Flocking
public void RegionLoaded (Scene scene)
{
if (m_enabled) {
//make a flow map for this scene
FlowMap flowMap = new FlowMap(scene );
flowMap.Initialise();
// Generate initial flock values
m_model.Initialise (200, 255, 255, 255);
m_model.Initialise (m_flockSize, flowMap);
// who is the owner for the flock in this region
m_owner = m_scene.RegionInfo.EstateSettings.EstateOwner;
@ -153,7 +160,7 @@ namespace Flocking
string cmd = msg.Message.ToLower ();
//stick ui in the args so we know to respond in world
//bit of a hack - but lets us us CommandDelegate inWorld
//bit of a hack - but lets us use CommandDelegate inWorld
string[] args = (cmd + " <ui>").Split (" ".ToCharArray ());
if (cmd.StartsWith ("stop")) {

158
Flocking/FlowMap.cs Normal file
View File

@ -0,0 +1,158 @@
using System;
using OpenMetaverse;
using OpenSim.Region.Framework.Scenes;
namespace Flocking
{
public class FlowMap
{
private Scene m_scene;
private float[,,] m_flowMap = new float[256,256,256];
public FlowMap (Scene scene)
{
m_scene = scene;
}
public int LengthX {
get {return 256;}
}
public int LengthY {
get {return 256;}
}
public int LengthZ {
get {return 256;}
}
public void Initialise() {
//fill in the boundaries
for( int x = 0; x < 256; x++ ) {
for( int y = 0; y < 256; y++ ) {
m_flowMap[x,y,0] = 100f;
m_flowMap[x,y,255] = 100f;
}
}
for( int x = 0; x < 256; x++ ) {
for( int z = 0; z < 256; z++ ) {
m_flowMap[x,0,z] = 100f;
m_flowMap[x,255,z] = 100f;
}
}
for( int y = 0; y < 256; y++ ) {
for( int z = 0; z < 256; z++ ) {
m_flowMap[0,y,z] = 100f;
m_flowMap[255,y,z] = 100f;
}
}
//fill in the terrain
for( int x = 0; x < 256; x++ ) {
for( int y = 0; y < 256; y++ ) {
int zMax = Convert.ToInt32(m_scene.GetGroundHeight( x, y ));
for( int z = 1; z < zMax; z++ ) {
m_flowMap[x,y,z] = 100f;
}
}
}
// fill in the things
foreach( EntityBase entity in m_scene.GetEntities() ) {
if( entity is SceneObjectGroup ) {
SceneObjectGroup sog = (SceneObjectGroup)entity;
//todo: ignore phantom
float fmaxX, fminX, fmaxY, fminY, fmaxZ, fminZ;
int maxX, minX, maxY, minY, maxZ, minZ;
sog.GetAxisAlignedBoundingBoxRaw( out fminX, out fmaxX, out fminY, out fmaxY, out fminZ, out fmaxZ );
minX = Convert.ToInt32(fminX);
maxX = Convert.ToInt32(fmaxX);
minY = Convert.ToInt32(fminY);
maxY = Convert.ToInt32(fmaxX);
minZ = Convert.ToInt32(fminZ);
maxZ = Convert.ToInt32(fmaxZ);
for( int x = minX; x < maxX; x++ ) {
for( int y = minY; y < maxY; y++ ) {
for( int z = minZ; z < maxZ; z++ ) {
m_flowMap[x,y,z] = 100f;
}
}
}
}
}
}
public bool WouldHitObstacle (Vector3 currPos, Vector3 targetPos)
{
bool retVal = false;
//fail fast
if( IsOutOfBounds(targetPos) ) {
retVal = true;
} else if( IsWithinObstacle(targetPos) ) {
retVal = true;
} else if( IntersectsObstacle (currPos, targetPos) ) {
retVal = true;
}
return retVal;
}
public bool IsOutOfBounds(Vector3 targetPos) {
bool retVal = false;
if( targetPos.X < 5f ||
targetPos.X > 250f ||
targetPos.Y < 5f ||
targetPos.Y > 250f ||
targetPos.Z < 5f ||
targetPos.Z > 250f ) {
retVal = true;
}
return retVal;
}
public bool IntersectsObstacle (Vector3 currPos, Vector3 targetPos)
{
bool retVal = false;
// Ray trace the Vector and fail as soon as we hit something
Vector3 direction = targetPos - currPos;
float length = direction.Length();
// check every metre
for( float i = 1f; i < length; i += 1f ) {
Vector3 rayPos = currPos + ( direction * i );
//give up if we go OOB on this ray
if( IsOutOfBounds( rayPos ) ){
retVal = true;
break;
}
else if( IsWithinObstacle( rayPos ) ) {
retVal = true;
break;
}
}
return retVal;
}
public bool IsWithinObstacle( Vector3 targetPos ) {
return IsWithinObstacle(Convert.ToInt32(targetPos.X), Convert.ToInt32(targetPos.Y),Convert.ToInt32(targetPos.Z));
}
public bool IsWithinObstacle( int x, int y, int z ) {
bool retVal = false;
if( x > LengthX || y > LengthY || z > LengthZ ) {
retVal = true;
} else if( x < 0 || y < 0 || z < 0 ) {
retVal = true;
} else if (m_flowMap[x,y,z] > 50f) {
retVal = true;
}
return retVal;
}
}
}