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metaforce/Runtime/Character/CSteeringBehaviors.cpp

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#include "Runtime/Character/CSteeringBehaviors.hpp"
#include "Runtime/CStateManager.hpp"
#include "Runtime/World/CPhysicsActor.hpp"
namespace urde {
zeus::CVector3f CSteeringBehaviors::Flee(const CPhysicsActor& actor, const zeus::CVector3f& v0) const {
zeus::CVector3f actVec = actor.GetTranslation() - v0;
if (actVec.canBeNormalized())
return actVec.normalized();
return actor.GetTransform().frontVector();
}
zeus::CVector3f CSteeringBehaviors::Seek(const CPhysicsActor& actor, const zeus::CVector3f& target) const {
zeus::CVector3f posDiff = target - actor.GetTranslation();
if (posDiff.canBeNormalized())
return posDiff.normalized();
return {};
}
zeus::CVector3f CSteeringBehaviors::Arrival(const CPhysicsActor& actor, const zeus::CVector3f& dest,
float dampingRadius) const {
zeus::CVector3f posDiff = dest - actor.GetTranslation();
if (!posDiff.canBeNormalized())
return {};
if (posDiff.magSquared() < (dampingRadius * dampingRadius))
dampingRadius = posDiff.magSquared() / (dampingRadius * dampingRadius);
else
dampingRadius = 1.f;
return dampingRadius * posDiff.normalized();
}
zeus::CVector3f CSteeringBehaviors::Pursuit(const CPhysicsActor& actor, const zeus::CVector3f& v0,
const zeus::CVector3f& v1) const {
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, const zeus::CVector3f& pos,
float separation) const {
zeus::CVector3f posDiff = actor.GetTranslation() - pos;
if (posDiff.magSquared() >= separation * separation)
return {};
if (!posDiff.canBeNormalized())
return actor.GetTransform().frontVector();
return (1.f - (posDiff.magSquared() / (separation * separation))) * posDiff.normalized();
}
zeus::CVector3f CSteeringBehaviors::Alignment(const CPhysicsActor& actor, rstl::reserved_vector<TUniqueId, 1024>& list,
const CStateManager& mgr) const {
zeus::CVector3f align;
if (!list.empty()) {
for (const TUniqueId& id : list)
if (const CActor* act = static_cast<const CActor*>(mgr.GetObjectById(id)))
align += act->GetTransform().frontVector();
align *= zeus::CVector3f(1.f / float(list.size()));
}
float diff = zeus::CVector3f::getAngleDiff(actor.GetTransform().frontVector(), align);
return align * (diff / M_PIF);
}
zeus::CVector3f CSteeringBehaviors::Cohesion(const CPhysicsActor& actor, rstl::reserved_vector<TUniqueId, 1024>& list,
float dampingRadius, const CStateManager& mgr) const {
zeus::CVector3f dest;
if (!list.empty()) {
for (const TUniqueId& id : list)
if (const CActor* act = static_cast<const CActor*>(mgr.GetObjectById(id)))
dest += act->GetTranslation();
dest *= zeus::CVector3f(1.f / float(list.size()));
return Arrival(actor, dest, dampingRadius);
}
return dest;
}
zeus::CVector2f CSteeringBehaviors::Flee2D(const CPhysicsActor& actor, const zeus::CVector2f& v0) const {
zeus::CVector2f diffVec = actor.GetTranslation().toVec2f() - v0;
if (diffVec.magSquared() > FLT_EPSILON)
return diffVec.normalized();
else
return actor.GetTransform().basis[1].toVec2f();
}
zeus::CVector2f CSteeringBehaviors::Arrival2D(const CPhysicsActor& actor, const zeus::CVector2f& v0, float f1) const {
zeus::CVector2f diffVec = v0 - actor.GetTranslation().toVec2f();
if (diffVec.magSquared() > FLT_EPSILON)
return diffVec.normalized();
else
return {};
}
bool CSteeringBehaviors::SolveQuadratic(float a, float b, float c, float& xPos, float& xNeg) {
float numSq = b * b - 4.f * a * c;
if (numSq < FLT_EPSILON || std::fabs(a) < FLT_EPSILON)
return false;
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) {
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;
}
bool CSteeringBehaviors::ProjectLinearIntersection(const zeus::CVector3f& v0, float f1, const zeus::CVector3f& v1,
const zeus::CVector3f& v2, const zeus::CVector3f& v3,
zeus::CVector3f& v4) {
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;
}
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) {
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::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::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;
}
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) {
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::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::skUp) * f26 + f25 * _168;
}
} else {
return ProjectLinearIntersection(v0, f1, v1, v2, v3, v5);
}
}
return false;
}
zeus::CVector3f CSteeringBehaviors::ProjectOrbitalPosition(const zeus::CVector3f& pos, const zeus::CVector3f& vel,
const zeus::CVector3f& orbitPoint, float dt,
float preThinkDt) {
zeus::CVector3f usePos = pos;
if (vel.canBeNormalized()) {
zeus::CVector3f pointToPos = pos - orbitPoint;
pointToPos.z() = 0.f;
if (pointToPos.canBeNormalized()) {
zeus::CVector3f useVel = vel;
pointToPos.normalize();
float f29 = pointToPos.dot(useVel);
float f30 = pointToPos.cross(zeus::skUp).dot(useVel);
for (float curDt = 0.f; curDt < dt;) {
usePos += preThinkDt * useVel;
zeus::CVector3f usePointToPos = usePos - orbitPoint;
usePointToPos.z() = 0.f;
if (usePointToPos.canBeNormalized()) {
usePointToPos.normalize();
useVel = usePointToPos.cross(zeus::skUp) * f30 + usePointToPos * f29;
}
curDt += std::min(dt - curDt, preThinkDt);
}
}
}
return usePos;
}
} // namespace urde
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