Finish CSteeringBehaviors

This commit is contained in:
Jack Andersen 2018-11-15 20:06:20 -10:00
parent 5c3cfb519c
commit cc4a895818
4 changed files with 281 additions and 37 deletions

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@ -11,7 +11,7 @@ struct Parasite : IScriptObject
AT_DECL_DNA_YAML
AT_DECL_DNAV
String<-1> name;
Value<atUint32> unknown1;
Value<atUint32> flavor;
Value<atVec3f> location;
Value<atVec3f> orientation;
Value<atVec3f> scale;

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@ -16,9 +16,9 @@ zeus::CVector3f CSteeringBehaviors::Flee(const CPhysicsActor& actor,
}
zeus::CVector3f CSteeringBehaviors::Seek(const CPhysicsActor& actor,
const zeus::CVector3f& v0) const
const zeus::CVector3f& target) const
{
zeus::CVector3f posDiff = actor.GetTranslation() - v0;
zeus::CVector3f posDiff = target - actor.GetTranslation();
if (posDiff.canBeNormalized())
return posDiff.normalized();
@ -42,7 +42,10 @@ zeus::CVector3f CSteeringBehaviors::Arrival(const CPhysicsActor& actor,
zeus::CVector3f CSteeringBehaviors::Pursuit(const CPhysicsActor& actor,
const zeus::CVector3f& v0, const zeus::CVector3f& v1) const
{
return {};
zeus::CVector3f target;
if (!ProjectLinearIntersection(actor.GetTranslation(), actor.GetVelocity().magnitude(), v0, v1, target))
target = v1 * 1.f + v0;
return CSteeringBehaviors::Seek(actor, target);
}
zeus::CVector3f CSteeringBehaviors::Separation(const CPhysicsActor& actor,
@ -96,64 +99,305 @@ zeus::CVector3f CSteeringBehaviors::Cohesion(const CPhysicsActor& actor,
return cohesion;
}
zeus::CVector3f CSteeringBehaviors::Flee2D(const CPhysicsActor& actor,
zeus::CVector2f CSteeringBehaviors::Flee2D(const CPhysicsActor& actor,
const zeus::CVector2f& v0) const
{
return {};
zeus::CVector2f diffVec = actor.GetTranslation().toVec2f() - v0;
if (diffVec.magSquared() > FLT_EPSILON)
return diffVec.normalized();
else
return actor.GetTransform().basis[1].toVec2f();
}
zeus::CVector3f CSteeringBehaviors::Arrival2D(const CPhysicsActor& actor,
zeus::CVector2f CSteeringBehaviors::Arrival2D(const CPhysicsActor& actor,
const zeus::CVector2f& v0, float f1) const
{
return {};
zeus::CVector2f diffVec = v0 - actor.GetTranslation().toVec2f();
if (diffVec.magSquared() > FLT_EPSILON)
return diffVec.normalized();
else
return {};
}
bool CSteeringBehaviors::SolveQuadratic(float f30, float f31, float f3, float f4, float& out1, float& out2)
bool CSteeringBehaviors::SolveQuadratic(float a, float b, float c, float& xPos, float& xNeg)
{
float f1 = f31 * f31 - 4.f * f30 * f3;
if (f1 > FLT_EPSILON && std::fabs(f1) < FLT_EPSILON)
float numSq = b * b - 4.f * a * c;
if (numSq < FLT_EPSILON || std::fabs(a) < FLT_EPSILON)
return false;
out1 = -f31 + std::sqrt(f1) / 2.f * f30;
out2 = -f31 - std::sqrt(f1) / 2.f * f30;
numSq = std::sqrt(numSq);
float denom = 2.f * a;
xPos = (-b + numSq) / denom;
xNeg = (-b - numSq) / denom;
return true;
}
bool CSteeringBehaviors::SolveCubic(
const rstl::reserved_vector<float, 4>& in, rstl::reserved_vector<float, 4>& out)
{
return false;
if (in[3] != 0.f)
{
float f3 = 3.f * in[3];
float f31 = in[2] / f3;
float f4 = in[1] / f3 - f31 * f31;
float f0 = (f31 * f4 - in[0]) / in[3];
float f1 = 2.f * f31 * f31;
f3 = f4 * f4 * f4;
float f24 = -0.5f * (f31 * f1 - f0);
f1 = f24 * f24 + f3;
if (f1 < 0.f)
{
float f25 = std::acos(zeus::clamp(-1.f, f24 / std::sqrt(-f3), 1.f));
f24 = 2.f * std::pow(-f3, 0.166667f);
for (float f23 = 0.f; f23 < 2.01f; f23 += 1.f)
out.push_back(std::cos((2.f * f23 * M_PIF + f25) / 3.f) * f24 - f31);
if (out[1] < out[0])
std::swap(out[1], out[0]);
if (out[2] < out[1])
std::swap(out[2], out[1]);
if (out[1] < out[0])
std::swap(out[1], out[0]);
}
else
{
float f30 = std::sqrt(f1);
float f25 = std::pow(std::fabs(f24 + f30), 0.333333f);
f1 = std::pow(std::fabs(f24 - f30), 0.333333f);
f1 = (f24 - f30) > 0.f ? f1 : -f1;
f25 = (f24 - f30) > 0.f ? f25 : -f25;
out.push_back(f25 + f1 - f31);
}
for (float& f : out)
{
float f8 = (2.f * in[2] + 3.f * f * in[3]) * f + in[1];
if (f8 != 0.f)
f -= (((f * in[3] + in[2]) * f + in[1]) * f + in[0]) / f8;
}
}
else if (in[2] != 0.f)
{
float f23 = 0.5f * in[1] / in[2];
float f1 = f23 * f23 - (in[1] / in[2]);
if (f1 >= 0.f)
{
f1 = std::sqrt(f1);
out.push_back(-f23 - f1);
out.push_back(-f23 + f1);
}
}
else if (in[1] != 0.f)
{
out.push_back(-in[0] / in[1]);
}
return out.size() != 0;
}
bool CSteeringBehaviors::SolveQuartic(
const rstl::reserved_vector<float, 5>& in, rstl::reserved_vector<float, 4>& out)
{
if (in[4] == 0.f)
{
rstl::reserved_vector<float, 4> newIn;
newIn.push_back(in[0]);
newIn.push_back(in[1]);
newIn.push_back(in[2]);
newIn.push_back(in[3]);
return SolveCubic(newIn, out);
}
else
{
rstl::reserved_vector<float, 4> newIn;
float f30 = in[3] / (4.f * in[4]);
float f2 = in[1] / in[4];
float f29 = f30 * (8.f * f30 * f30 - 2.f * in[2] / in[4]) + f2;
float f31 = -6.f * f30 * f30 + (in[2] / in[4]);
float f28 = f30 * (f30 * (-3.f * f30 * f30 + (in[2] / in[4])) - f2) + (in[0] / in[4]);
newIn.push_back(4.f * f28 * f31 - f29 * f29);
newIn.push_back(-8.f * f28);
newIn.push_back(-4.f * f31);
newIn.push_back(8.f);
rstl::reserved_vector<float, 4> newOut;
if (SolveCubic(newIn, newOut))
{
float f26 = 2.f * newOut.back() - f31;
f31 = std::sqrt(f26);
float f1;
if (f31 == 0.f)
{
f1 = newOut.back() * newOut.back() - f28;
if (f1 < 0.f)
return false;
f1 = std::sqrt(f1);
}
else
{
f1 = f29 / (2.f * f31);
}
float f1b = f26 - (newOut.back() + f1) * 4.f;
f26 = f26 - (newOut.back() - f1) * 4.f;
if (f1b >= 0.f)
{
f1b = std::sqrt(f1b);
out.push_back((f31 - f1b) * 0.5f - f30);
out.push_back((f31 + f1b) * 0.5f - f30);
}
if (f26 >= 0.f)
{
f1b = std::sqrt(f26);
out.push_back((-f31 - f1b) * 0.5f - f30);
out.push_back((-f31 + f1b) * 0.5f - f30);
}
for (float& f : out)
{
float f10 = ((3.f * in[3] + 4.f * f * in[4]) * f + 2.f * in[2]) * f + in[1];
if (f10 != 0.f)
f -= ((((f * in[4] + in[3]) * f + in[2]) * f + in[1]) * f + in[0]) / f10;
}
if (out.size() > 2)
{
if (out[2] < out[0])
std::swap(out[2], out[0]);
if (out[3] < out[1])
std::swap(out[3], out[1]);
if (out[1] < out[0])
std::swap(out[1], out[0]);
if (out[3] < out[2])
std::swap(out[3], out[2]);
if (out[2] < out[1])
std::swap(out[2], out[1]);
}
}
return out.size() != 0;
}
}
bool CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, zeus::CVector3f& v3)
{
zeus::CVector3f posDiff = v1 - v0;
float xPos, xNeg;
if (SolveQuadratic(v2.magSquared() - f1 * f1,
posDiff.dot(v2) * 2.f,
posDiff.magSquared(),
xPos, xNeg) && xNeg > 0.f)
{
v3 = v2 * xNeg + v1;
return true;
}
return false;
}
zeus::CVector3f CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, zeus::CVector3f& v3)
{
return {};
}
zeus::CVector3f CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
bool CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3, zeus::CVector3f& v4)
{
return {};
rstl::reserved_vector<float, 5> newIn;
rstl::reserved_vector<float, 4> newOut;
zeus::CVector3f f7 = v1 - v0;
newIn.push_back(f7.magSquared());
newIn.push_back(f7.dot(v2) * 2.f);
newIn.push_back(f7.dot(v3) + v2.magSquared() - f1 * f1);
newIn.push_back(v2.dot(v3));
newIn.push_back(v3.magSquared() * 0.25f);
bool ret = false;
if (SolveQuartic(newIn, newOut))
for (float& f : newOut)
if (f > 0.f)
{
ret = true;
v4 = v1 + v2 * f + 0.5f * f * f * v3;
}
return ret;
}
zeus::CVector3f CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
bool CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3, zeus::CVector3f& v4)
{
return {};
if (f1 > 0.f)
{
if (v2.canBeNormalized())
{
zeus::CVector3f _12c = (v1 - v3).toVec2f();
if (_12c.canBeNormalized())
{
zeus::CVector3f f25 = v1;
zeus::CVector3f f22 = v2;
float f17 = (f25 - v0).magnitude() / f1 - 0.f;
float f18 = FLT_MAX;
zeus::CVector3f _150 = _12c.normalized();
float f26 = _150.dot(f22);
float f27 = _150.cross(zeus::CVector3f::skUp).dot(f22);
for (float f19 = 0.f; f17 < f18 && f19 < 4.f;)
{
if (zeus::close_enough(f17, f2) || f17 < 0.f)
{
v4 = f25;
return true;
}
f25 += f2 * f22;
f18 = f17;
_12c = (f25 - v3).toVec2f();
if (!_12c.canBeNormalized())
break;
zeus::CVector3f _168 = _12c.normalized();
f22 = _168.cross(zeus::CVector3f::skUp) * f27 + f26 * _168;
f19 += f2;
f17 = (f25 - v0).magnitude() / f1 - f19;
}
}
else
{
return ProjectLinearIntersection(v0, f1, v1, v2, v4);
}
}
else
{
v4 = v1;
return true;
}
}
return false;
}
zeus::CVector3f CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
bool CSteeringBehaviors::ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
const zeus::CVector3f& v4, zeus::CVector3f& v5)
{
return {};
if (f1 > 0.f)
{
zeus::CVector3f _12c = (v1 - v4).toVec2f();
if (v2.canBeNormalized() && _12c.canBeNormalized())
{
zeus::CVector3f f24 = v1;
zeus::CVector3f f21 = v2;
float f16 = (f24 - v0).magnitude() / f1 - 0.f;
float f17 = FLT_MAX;
zeus::CVector3f _150 = _12c.normalized();
float f25 = _150.dot(f21);
float f26 = _150.cross(zeus::CVector3f::skUp).dot(f21);
for (float f18 = 0.f; f16 < f17 && f18 < 4.f;)
{
if (zeus::close_enough(f16, f2) || f16 < 0.f)
{
v5 = f24;
return true;
}
f24 += f2 * f21;
f17 = f16;
f18 += f2;
f16 = (f24 - v0).magnitude() / f1 - f18;
_12c = (f24 - v4).toVec2f();
if (!_12c.canBeNormalized())
break;
zeus::CVector3f _168 = _12c.normalized();
f21 = _168.cross(zeus::CVector3f::skUp) * f26 + f25 * _168;
}
}
else
{
return ProjectLinearIntersection(v0, f1, v1, v2, v3, v5);
}
}
return false;
}
zeus::CVector3f

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@ -13,7 +13,7 @@ class CSteeringBehaviors
float x0_ = M_PIF / 2.f;
public:
zeus::CVector3f Flee(const CPhysicsActor& actor, const zeus::CVector3f& v0) const;
zeus::CVector3f Seek(const CPhysicsActor& actor, const zeus::CVector3f& v0) const;
zeus::CVector3f Seek(const CPhysicsActor& actor, const zeus::CVector3f& target) const;
zeus::CVector3f Arrival(const CPhysicsActor& actor, const zeus::CVector3f& v0, float f1) const;
zeus::CVector3f Pursuit(const CPhysicsActor& actor, const zeus::CVector3f& v0, const zeus::CVector3f& v1) const;
zeus::CVector3f Separation(const CPhysicsActor& actor, const zeus::CVector3f& pos, float separation) const;
@ -21,20 +21,20 @@ public:
const CStateManager& mgr) const;
zeus::CVector3f Cohesion(const CPhysicsActor& actor, rstl::reserved_vector<TUniqueId, 1024>& list,
float f1, const CStateManager& mgr) const;
zeus::CVector3f Flee2D(const CPhysicsActor& actor, const zeus::CVector2f& v0) const;
zeus::CVector3f Arrival2D(const CPhysicsActor& actor, const zeus::CVector2f& v0, float f1) const;
static bool SolveQuadratic(float, float, float, float, float&, float&);
zeus::CVector2f Flee2D(const CPhysicsActor& actor, const zeus::CVector2f& v0) const;
zeus::CVector2f Arrival2D(const CPhysicsActor& actor, const zeus::CVector2f& v0, float f1) const;
static bool SolveQuadratic(float, float, float, float&, float&);
static bool SolveCubic(const rstl::reserved_vector<float, 4>& in, rstl::reserved_vector<float, 4>& out);
static bool SolveQuartic(const rstl::reserved_vector<float, 5>& in, rstl::reserved_vector<float, 4>& out);
static zeus::CVector3f ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
static bool ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, zeus::CVector3f& v3);
static zeus::CVector3f ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
static bool ProjectLinearIntersection(const zeus::CVector3f& v0, float f1,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
zeus::CVector3f& v4);
static zeus::CVector3f ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
static bool ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
zeus::CVector3f& v4);
static zeus::CVector3f ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1,
static bool ProjectOrbitalIntersection(const zeus::CVector3f& v0, float f1, float f2,
const zeus::CVector3f& v1, const zeus::CVector3f& v2, const zeus::CVector3f& v3,
const zeus::CVector3f& v4, zeus::CVector3f& v5);
static zeus::CVector3f ProjectOrbitalPosition(const zeus::CVector3f& pos, const zeus::CVector3f& vel,

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@ -1002,9 +1002,9 @@ void CParasite::UpdateJumpVelocity()
{
float f27 = 0.f;
bool isNeg = f31 < 0.f;
float out1, out2;
if (CSteeringBehaviors::SolveQuadratic(f30, vec.z, -f31, vec2.y, out1, out2))
f27 = isNeg ? out1 : out2;
float xPos, xNeg;
if (CSteeringBehaviors::SolveQuadratic(f30, vec.z, -f31, xPos, xNeg))
f27 = isNeg ? xPos : xNeg;
if (!isNeg)
f27 = f27 * f29 / f28;