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Simplify code and fix typo

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Because AI always aims quad center now even for 3d quads
This commit is contained in:
Benau
2016-09-25 11:22:15 +08:00
parent 123e667ab4
commit bff7154e03
1 changed files with 11 additions and 35 deletions
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46
src/karts/controller/skidding_ai.cpp
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@@ -779,14 +779,8 @@ void SkiddingAI::handleItemCollectionAndAvoidance(Vec3 *aim_point,
{
// Kart will not hit item, try to get closer to this item
// so that it can potentially become a permanent target.
Vec3 xyz = item_to_collect->getXYZ();
Vec3 item_direction = xyz - m_kart->getXYZ();
Vec3 plane_normal = DriveGraph::get()->getNode(m_track_node)
->getNormal();
float dist_to_plane = item_direction.dot(plane_normal);
Vec3 projected_xyz = xyz - dist_to_plane*plane_normal;
float angle_to_item = (projected_xyz - m_kart->getXYZ())
const Vec3& xyz = item_to_collect->getXYZ();
float angle_to_item = (xyz - m_kart->getXYZ())
.angle(kart_aim_direction);
float angle = normalizeAngle(angle_to_item);
@@ -859,19 +853,8 @@ bool SkiddingAI::handleSelectedItem(Vec3 kart_aim_direction, Vec3 *aim_point)
if(m_item_to_collect->getDisableTime()>0)
return false;
// Project the item's location onto the plane of the current quad.
// This is necessary because the kart's aim point may not be on the track
// in 3D curves. So we project the item's location onto the plane in which
// the kart is. The current quad provides a good estimate of the kart's plane.
const Vec3 &xyz = m_item_to_collect->getXYZ();
Vec3 item_direction = xyz - m_kart->getXYZ();
Vec3 plane_normal = DriveGraph::get()->getNode(m_track_node)->getNormal();
float dist_to_plane = item_direction.dot(plane_normal);
Vec3 projected_xyz = xyz - dist_to_plane*plane_normal;
float angle_to_item = (projected_xyz - m_kart->getXYZ())
.angle(kart_aim_direction);
float angle_to_item = (xyz - m_kart->getXYZ()).angle(kart_aim_direction);
float angle = normalizeAngle(angle_to_item);
if(fabsf(angle)>1.5)
@@ -924,9 +907,9 @@ bool SkiddingAI::steerToAvoid(const std::vector<const Item *> &items_to_avoid,
// Check if we would drive left of the leftmost or right of the
// rightmost point - if so, nothing to do.
Vec3 left(items_to_avoid[index_left_most]->getXYZ());
const Vec3& left = items_to_avoid[index_left_most]->getXYZ();
int node_index = items_to_avoid[index_left_most]->getGraphNode();
Vec3 normal = DriveGraph::get()->getNode(node_index)->getNormal();
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;
@@ -944,14 +927,14 @@ bool SkiddingAI::steerToAvoid(const std::vector<const Item *> &items_to_avoid,
}
else
{
Vec3 left(items_to_avoid[index_left_most]->getXYZ());
int node_index = items_to_avoid[index_left_most]->getGraphNode();
Vec3 normal = DriveGraph::get()->getNode(node_index)->getNormal();
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 (left.sideofPlane(p1, p2, p3) >= 0)
if (right.sideofPlane(p1, p2, p3) >= 0)
{
// Right of rightmost point
item_index = index_right_most;
@@ -996,7 +979,6 @@ bool SkiddingAI::steerToAvoid(const std::vector<const Item *> &items_to_avoid,
for(unsigned int i=0; i<items_to_avoid.size(); i++)
{
const Vec3 &xyz = items_to_avoid[i]->getXYZ();
core::vector2df item2d = xyz.toIrrVector2d();
core::vector3df point3d = line_to_target.getClosestPoint(xyz.toIrrVector());
float d = (xyz.toIrrVector() - point3d).getLengthSQ();
float direction = xyz.sideofPlane(p1,p2,p3);
@@ -1103,14 +1085,8 @@ void SkiddingAI::evaluateItems(const Item *item, Vec3 kart_aim_direction,
// in 3D curves. So we project the item's location onto the plane in which
// the kart is. The current quad provides a good estimate of the kart's plane.
const Vec3 &xyz = item->getXYZ();
Vec3 item_direction = xyz - m_kart->getXYZ();
Vec3 plane_normal = DriveGraph::get()->getNode(m_track_node)->getNormal();
float dist_to_plane = item_direction.dot(plane_normal);
Vec3 projected_xyz = xyz - dist_to_plane*plane_normal;
float angle_to_item = (projected_xyz - m_kart->getXYZ())
.angle(kart_aim_direction);
float angle_to_item =
(xyz - m_kart->getXYZ()).angle(kart_aim_direction);
float diff = normalizeAngle(angle_to_item);
// The kart is driving at high speed, when the current max speed