// XXX 4-23-03: Temporary work around (see comment above)
//
// Checks for intersection of the given spherical obstacle with a
// volume of "likely future vehicle positions": a cylinder along the
// current path, extending minTimeToCollision seconds along the
// forward axis from current position.
//
// If they intersect, a collision is imminent and this function returns
// a steering force pointing laterally away from the obstacle's center.
//
// Returns a zero vector if the obstacle is outside the cylinder
//
// xxx couldn't this be made more compact using localizePosition?
Vector3 steerToAvoid(AbstractVehicle v, float minTimeToCollision)
{
// minimum distance to obstacle before avoidance is required
float minDistanceToCollision = minTimeToCollision * v.speed();
float minDistanceToCenter = minDistanceToCollision + radius;
// contact distance: sum of radii of obstacle and vehicle
float totalRadius = radius + v.radius();
// obstacle center relative to vehicle position
Vector3 localOffset = center - v.Position;
// distance along vehicle's forward axis to obstacle's center
float forwardComponent = localOffset.DotProduct(v.forward());
Vector3 forwardOffset = forwardComponent * v.forward();
// offset from forward axis to obstacle's center
Vector3 offForwardOffset = localOffset - forwardOffset;
// test to see if sphere overlaps with obstacle-free corridor
bool inCylinder = offForwardOffset.Length < totalRadius;
bool nearby = forwardComponent < minDistanceToCenter;
bool inFront = forwardComponent > 0;
// if all three conditions are met, steer away from sphere center
if (inCylinder && nearby && inFront)
{
return(offForwardOffset * -1);
}
else
{
return(Vector3.ZERO);
}
}
// Given the time until nearest approach (predictNearestApproachTime)
// determine position of each vehicle at that time, and the distance
// between them
float computeNearestApproachPositions(AbstractVehicle other, float time)
{
Vector3 myTravel = forward() * speed() * time;
Vector3 otherTravel = other.forward() * other.speed() * time;
Vector3 myFinal = Position + myTravel;
Vector3 otherFinal = other.Position + otherTravel;
// xxx for annotation
ourPositionAtNearestApproach = myFinal;
hisPositionAtNearestApproach = otherFinal;
return((myFinal - otherFinal).Length);//Vector3::distance (myFinal, otherFinal);
}
// ----------------------------------------------------------------------------
// evasion of another vehicle
public Vector3 steerForEvasion(AbstractVehicle menace, float maxPredictionTime)
{
// offset from this to menace, that distance, unit vector toward menace
Vector3 offset = menace.Position - Position;
float distance = offset.Length;
float roughTime = distance / menace.speed();
float predictionTime = ((roughTime > maxPredictionTime) ?
maxPredictionTime :
roughTime);
Vector3 target = menace.predictFuturePosition(predictionTime);
return(steerForFlee(target));
}
// XXX 4-23-03: Temporary work around (see comment above)
//
// Checks for intersection of the given spherical obstacle with a
// volume of "likely future vehicle positions": a cylinder along the
// current path, extending minTimeToCollision seconds along the
// forward axis from current position.
//
// If they intersect, a collision is imminent and this function returns
// a steering force pointing laterally away from the obstacle's center.
//
// Returns a zero vector if the obstacle is outside the cylinder
//
// xxx couldn't this be made more compact using localizePosition?
Vector3 steerToAvoid(AbstractVehicle v, float minTimeToCollision)
{
// minimum distance to obstacle before avoidance is required
float minDistanceToCollision = minTimeToCollision * v.speed();
float minDistanceToCenter = minDistanceToCollision + radius;
// contact distance: sum of radii of obstacle and vehicle
float totalRadius = radius + v.radius();
// obstacle center relative to vehicle position
Vector3 localOffset = center - v.Position;
// distance along vehicle's forward axis to obstacle's center
float forwardComponent = localOffset.DotProduct(v.forward());
Vector3 forwardOffset = forwardComponent * v.forward();
// offset from forward axis to obstacle's center
Vector3 offForwardOffset = localOffset - forwardOffset;
// test to see if sphere overlaps with obstacle-free corridor
bool inCylinder = offForwardOffset.Length < totalRadius;
bool nearby = forwardComponent < minDistanceToCenter;
bool inFront = forwardComponent > 0;
// if all three conditions are met, steer away from sphere center
if (inCylinder && nearby && inFront)
{
return offForwardOffset * -1;
}
else
{
return Vector3.ZERO;
}
}
// ----------------------------------------------------------------------------
// Unaligned collision avoidance behavior: avoid colliding with other nearby
// vehicles moving in unconstrained directions. Determine which (if any)
// other other vehicle we would collide with first, then steers to avoid the
// site of that potential collision. Returns a steering force vector, which
// is zero length if there is no impending collision.
public Vector3 steerToAvoidNeighbors(float minTimeToCollision, ArrayList others)
{
// first priority is to prevent immediate interpenetration
Vector3 separation = steerToAvoidCloseNeighbors(0, others);
if (separation != Vector3.Zero)
{
return(separation);
}
// otherwise, go on to consider potential future collisions
float steer = 0;
AbstractVehicle threat = null;
// Time (in seconds) until the most immediate collision threat found
// so far. Initial value is a threshold: don't look more than this
// many frames into the future.
float minTime = minTimeToCollision;
// xxx solely for annotation
Vector3 xxxThreatPositionAtNearestApproach = new Vector3();
Vector3 xxxOurPositionAtNearestApproach = new Vector3();
// for each of the other vehicles, determine which (if any)
// pose the most immediate threat of collision.
//for (AVIterator i = others.begin(); i != others.end(); i++)
for (int i = 0; i < others.Count; i++)
{
AbstractVehicle other = (AbstractVehicle)others[i];
if (other != this)
{
// avoid when future positions are this close (or less)
float collisionDangerThreshold = radius() * 2;
// predicted time until nearest approach of "this" and "other"
float time = predictNearestApproachTime(other);
// If the time is in the future, sooner than any other
// threatened collision...
if ((time >= 0) && (time < minTime))
{
// if the two will be close enough to collide,
// make a note of it
if (computeNearestApproachPositions(other, time)
< collisionDangerThreshold)
{
minTime = time;
threat = other;
xxxThreatPositionAtNearestApproach
= hisPositionAtNearestApproach;
xxxOurPositionAtNearestApproach
= ourPositionAtNearestApproach;
}
}
}
}
// if a potential collision was found, compute steering to avoid
if (threat != null)
{
// parallel: +1, perpendicular: 0, anti-parallel: -1
float parallelness = forward().Dot(threat.forward());
float angle = 0.707f;
if (parallelness < -angle)
{
// anti-parallel "head on" paths:
// steer away from future threat position
Vector3 offset = xxxThreatPositionAtNearestApproach - Position;
float sideDot = offset.Dot(side());
steer = (sideDot > 0) ? -1.0f : 1.0f;
}
else
{
if (parallelness > angle)
{
// parallel paths: steer away from threat
Vector3 offset = threat.Position - Position;
float sideDot = offset.Dot(side());
steer = (sideDot > 0) ? -1.0f : 1.0f;
}
else
{
// perpendicular paths: steer behind threat
// (only the slower of the two does this)
if (threat.speed() <= speed())
{
float sideDot = side().Dot(threat.velocity());
steer = (sideDot > 0) ? -1.0f : 1.0f;
}
}
}
annotateAvoidNeighbor(threat,
steer,
xxxOurPositionAtNearestApproach,
xxxThreatPositionAtNearestApproach);
}
return(side() * steer);
}
// Given the time until nearest approach (predictNearestApproachTime)
// determine position of each vehicle at that time, and the distance
// between them
float computeNearestApproachPositions(AbstractVehicle other, float time)
{
Vector3 myTravel = forward () * speed () * time;
Vector3 otherTravel = other.forward () * other.speed () * time;
Vector3 myFinal = Position + myTravel;
Vector3 otherFinal = other.Position + otherTravel;
// xxx for annotation
ourPositionAtNearestApproach = myFinal;
hisPositionAtNearestApproach = otherFinal;
return (myFinal - otherFinal).Length;//Vector3::distance (myFinal, otherFinal);
}
// ----------------------------------------------------------------------------
// evasion of another vehicle
public Vector3 steerForEvasion( AbstractVehicle menace, float maxPredictionTime)
{
// offset from this to menace, that distance, unit vector toward menace
Vector3 offset = menace.Position - Position;
float distance = offset.Length;
float roughTime = distance / menace.speed();
float predictionTime = ((roughTime > maxPredictionTime) ?
maxPredictionTime :
roughTime);
Vector3 target = menace.predictFuturePosition (predictionTime);
return steerForFlee (target);
}