ilikecats/stk-code_catmod
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Use raycasted position for point 2

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Fix #2796, #2774
This commit is contained in:
Benau 2017-02-21 13:36:00 +08:00
parent 0cf0002c08
commit 3898678e76
2 changed files with 18 additions and 14 deletions
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16
src/karts/controller/skidding_ai.cpp
View File

@ -40,6 +40,7 @@
#include "karts/skidding.hpp"
#include "modes/linear_world.hpp"
#include "modes/profile_world.hpp"
#include "physics/triangle_mesh.hpp"
#include "race/race_manager.hpp"
#include "tracks/drive_graph.hpp"
#include "tracks/track.hpp"
@ -911,8 +912,15 @@ bool SkiddingAI::steerToAvoid(const std::vector<const Item *> &items_to_avoid,
const Vec3& left = items_to_avoid[index_left_most]->getXYZ();
int node_index = items_to_avoid[index_left_most]->getGraphNode();
const Vec3& normal = DriveGraph::get()->getNode(node_index)->getNormal();
Vec3 hit;
Vec3 hit_nor(0, 1, 0);
const Material* m;
m_track->getPtrTriangleMesh()->castRay(
Vec3(line_to_target.getMiddle()) + normal,
Vec3(line_to_target.getMiddle()) + normal * -10000, &hit, &m,
&hit_nor);
Vec3 p1 = line_to_target.start,
p2 = line_to_target.getMiddle() + normal.toIrrVector(),
p2 = line_to_target.getMiddle() + hit_nor.toIrrVector(),
p3 = line_to_target.end;
int item_index = -1;
@ -929,12 +937,6 @@ bool SkiddingAI::steerToAvoid(const std::vector<const Item *> &items_to_avoid,
else
{
const Vec3& right = items_to_avoid[index_right_most]->getXYZ();
int node_index = items_to_avoid[index_right_most]->getGraphNode();
const Vec3& normal = DriveGraph::get()->getNode(node_index)->getNormal();
Vec3 p1 = line_to_target.start,
p2 = line_to_target.getMiddle() + normal.toIrrVector(),
p3 = line_to_target.end;
if (right.sideofPlane(p1, p2, p3) >= 0)
{
// Right of rightmost point

16
src/karts/controller/test_ai.cpp
View File

@ -40,6 +40,7 @@
#include "karts/skidding.hpp"
#include "modes/linear_world.hpp"
#include "modes/profile_world.hpp"
#include "physics/triangle_mesh.hpp"
#include "race/race_manager.hpp"
#include "tracks/drive_graph.hpp"
#include "tracks/track.hpp"
@ -917,8 +918,15 @@ bool SkiddingAI::steerToAvoid(const std::vector<const Item *> &items_to_avoid,
const Vec3& left = items_to_avoid[index_left_most]->getXYZ();
int node_index = items_to_avoid[index_left_most]->getGraphNode();
const Vec3& normal = DriveGraph::get()->getNode(node_index)->getNormal();
Vec3 hit;
Vec3 hit_nor(0, 1, 0);
const Material* m;
m_track->getPtrTriangleMesh()->castRay(
Vec3(line_to_target.getMiddle()) + normal,
Vec3(line_to_target.getMiddle()) + normal * -10000, &hit, &m,
&hit_nor);
Vec3 p1 = line_to_target.start,
p2 = line_to_target.getMiddle() + normal.toIrrVector(),
p2 = line_to_target.getMiddle() + hit_nor.toIrrVector(),
p3 = line_to_target.end;
int item_index = -1;
@ -935,12 +943,6 @@ bool SkiddingAI::steerToAvoid(const std::vector<const Item *> &items_to_avoid,
else
{
const Vec3& right = items_to_avoid[index_right_most]->getXYZ();
int node_index = items_to_avoid[index_right_most]->getGraphNode();
const Vec3& normal = DriveGraph::get()->getNode(node_index)->getNormal();
Vec3 p1 = line_to_target.start,
p2 = line_to_target.getMiddle() + normal.toIrrVector(),
p3 = line_to_target.end;
if (right.sideofPlane(p1, p2, p3) >= 0)
{
// Right of rightmost point