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Logic and Debug Vis for vehicle path checking

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This commit is contained in:
Daniel Evans 2018-11-24 02:24:39 +00:00
parent 97609fcb5e
commit 00240c4125
4 changed files with 64 additions and 8 deletions
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12
rwengine/src/objects/VehicleObject.cpp
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@ -1083,3 +1083,15 @@ float VehicleObject::isOnSide(const glm::vec3& point) {
return distance;
}
std::tuple<glm::vec3, glm::vec3> VehicleObject::obstacleCheckVolume() const {
const auto& dim = info->handling.dimensions;
const auto kMaxDistance = 20.f;
const auto velocity = getVelocity() / info->handling.maxVelocity;
const auto lookDistance = glm::clamp(kMaxDistance * velocity, 0.f, kMaxDistance);
const glm::vec3 areaSize{dim.x * 0.6f, 1.0f + lookDistance, 1.0f};
return {
{0.f, dim.y * 0.5f + areaSize.y, 0.f},
areaSize,
};
}

5
rwengine/src/objects/VehicleObject.hpp
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@ -246,6 +246,11 @@ public:
void grantOccupantRewards(CharacterObject* character);
/**
* @return The position, and size of the area that must be free for the vehicle to continue.
*/
std::tuple<glm::vec3, glm::vec3> obstacleCheckVolume() const;
private:
void setupModel();
void registerPart(ModelFrame* mf);

6
rwengine/src/render/DebugDraw.hpp
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@ -30,6 +30,12 @@ public:
void drawLine(const btVector3 &from, const btVector3 &to,
const btVector3 &color) override;
void drawLine(const glm::vec3 &from, const glm::vec3 &to,
const glm::vec3 &color) {
drawLine(btVector3{from.x, from.y, from.z},
btVector3{to.x, to.y, to.z},
btVector3{color.r, color.g, color.b});
}
void drawContactPoint(const btVector3 &pointOnB, const btVector3 &normalOnB,
btScalar distance, int lifeTime,
const btVector3 &color) override;

49
rwgame/RWGame.cpp
View File

@ -24,6 +24,7 @@
#include <functional>
#include <iomanip>
#include <iostream>
#include <algorithm>
namespace {
static constexpr std::array<
@ -775,17 +776,49 @@ void RWGame::renderDebugPaths(float time) {
for (auto& p : world->pedestrianPool.objects) {
auto v = static_cast<CharacterObject*>(p.second.get());
static const btVector3 color(1.f, 1.f, 0.f);
static const glm::vec3 color(1.f, 1.f, 0.f);
if (v->controller->targetNode && v->getCurrentVehicle()) {
const glm::vec3 pos1 = v->getPosition();
const glm::vec3 pos2 = v->controller->targetNode->position;
if (auto vehicle = v->getCurrentVehicle(); vehicle)
{
if (v->controller->targetNode) {
debug.drawLine(v->getPosition(), v->controller->targetNode->position, color);
}
btVector3 position1(pos1.x, pos1.y, pos1.z);
btVector3 position2(pos2.x, pos2.y, pos2.z);
auto [center, halfSize] = vehicle->obstacleCheckVolume();
std::array<glm::vec3, 8> corners { {
glm::vec3{- halfSize.x, - halfSize.y, - halfSize.z},
glm::vec3{+ halfSize.x, - halfSize.y, - halfSize.z},
glm::vec3{- halfSize.x, - halfSize.y, + halfSize.z},
glm::vec3{+ halfSize.x, - halfSize.y, + halfSize.z},
glm::vec3{- halfSize.x, + halfSize.y, - halfSize.z},
glm::vec3{+ halfSize.x, + halfSize.y, - halfSize.z},
glm::vec3{- halfSize.x, + halfSize.y, + halfSize.z},
glm::vec3{+ halfSize.x, + halfSize.y, + halfSize.z},
}
};
const auto iRotation = (vehicle->getRotation());
const auto rCenter = iRotation * center;
std::transform(corners.begin(), corners.end(), corners.begin(),
[&](const auto& p) -> glm::vec3 {
return vehicle->getPosition() + rCenter + iRotation * p;
});
debug.drawLine(position1, position2, color);
}
static const glm::vec3 color2(1.f, 0.f, 0.f);
debug.drawLine(corners[0], corners[1], color2);
debug.drawLine(corners[0], corners[2], color2);
debug.drawLine(corners[3], corners[1], color2);
debug.drawLine(corners[3], corners[2], color2);
debug.drawLine(corners[0], corners[4], color2);
debug.drawLine(corners[1], corners[5], color2);
debug.drawLine(corners[2], corners[6], color2);
debug.drawLine(corners[3], corners[7], color2);
debug.drawLine(corners[4], corners[5], color2);
debug.drawLine(corners[4], corners[6], color2);
debug.drawLine(corners[7], corners[5], color2);
debug.drawLine(corners[7], corners[6], color2);
}
}
debug.flush(renderer);