83 lines
3.1 KiB
Lua
83 lines
3.1 KiB
Lua
-- // ----------------------------------------------------------------------------
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-- // Obstacle: a pure virtual base class for an abstract shape in space, to be
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-- // used with obstacle avoidance.
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-- //
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-- // XXX this should define generic methods for querying the obstacle shape
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-- // ----------------------------------------------------------------------------
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-- // SphericalObstacle a simple concrete type of obstacle
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local veclib = require("opensteer.os-vec")
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local osmath, osvec, Vec3 = veclib.osmath, veclib.osvec, veclib.vec3
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local obstacle = {
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SphericalObstacle = function()
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local self = {}
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self.radius = 1.0
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self.center = Vec3()
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self._seenFrom = nil
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-- // constructors
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self.seenFrom = function() return _seenFrom end
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self.setSeenFrom = function( s) self._seenFrom = s end
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-- // XXX 4-23-03: Temporary work around (see comment above)
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-- //
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-- // Checks for intersection of the given spherical obstacle with a
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-- // volume of "likely future vehicle positions": a cylinder along the
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-- // current path, extending minTimeToCollision seconds along the
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-- // forward axis from current position.
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-- //
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-- // If they intersect, a collision is imminent and this function returns
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-- // a steering force pointing laterally away from the obstacle's center.
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-- //
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-- // Returns a zero vector if the obstacle is outside the cylinder
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-- //
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-- // xxx couldn't this be made more compact using localizePosition?
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self.steerToAvoid = function( v, minTimeToCollision)
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-- // minimum distance to obstacle before avoidance is required
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local minDistanceToCollision = minTimeToCollision * v.speed()
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local minDistanceToCenter = minDistanceToCollision + self.radius
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-- // contact distance: sum of radii of obstacle and vehicle
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local totalRadius = self.radius + v.radius()
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-- // obstacle center relative to vehicle position
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local localOffset = self.center.sub( v.position() )
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-- // distance along vehicle's forward axis to obstacle's center
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local forwardComponent = localOffset.dot (v.forward())
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local forwardOffset = forwardComponent.mult( v.forward())
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-- // offset from forward axis to obstacle's center
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local offForwardOffset = localOffset.sub(forwardOffset)
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-- // test to see if sphere overlaps with obstacle-free corridor
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local inCylinder = offForwardOffset.length() < totalRadius
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local nearby = forwardComponent < minDistanceToCenter
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local inFront = forwardComponent > 0
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-- // if all three conditions are met, steer away from sphere center
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if (inCylinder and nearby and inFront) then
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return offForwardOffset.mult( -1 )
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else
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return Vec3.zero
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end
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end
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return self
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end,
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}
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obstacle.SphericalObstacle1 = function( r, c )
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local so = SphericalObstacle()
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so.center = c
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so.radius = r
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return so
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end
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return obstacle |