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2022-10-20 20:29:11 +08:00
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+// Copyright (C) 2009 - 2012  Mathias Froehlich
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+#include "AIObject.hxx"
+
+#include <simgear/bvh/BVHLineSegmentVisitor.hxx>
+#include <simgear/bvh/BVHNode.hxx>
+#include <simgear/math/SGGeometry.hxx>
+
+#include "AIManager.hxx"
+
+namespace fgai {
+
+AIObject::AIObject() :
+    _environment(new AIEnvironment),
+    _subsystemGroup(new AISubsystemGroup)
+{
+}
+
+AIObject::~AIObject()
+{
+}
+
+void
+AIObject::init(AIManager& manager)
+{
+    _simTime = manager.getSimTime();
+}
+
+void
+AIObject::update(AIManager& manager, const SGTimeStamp& simTime)
+{
+    _simTime = simTime;
+}
+
+void
+AIObject::shutdown(AIManager& manager)
+{
+    _simTime = SGTimeStamp();
+}
+
+void
+AIObject::setGroundCache(const AIPhysics& physics, AIBVHPager& pager, const SGTimeStamp& dt)
+{
+    SGVec3d point = physics.getLocation().getPosition();
+    double linearVelocity = norm(physics.getLinearBodyVelocity());
+    // The 2 is a security factor for accelerations, but at least 100 meters
+    double radius = std::max(100.0, 2*dt.toSecs()*linearVelocity);
+    SGSphered requiredSphere(point, radius);
+    /// Are we already good enough?
+    if (requiredSphere.inside(_querySphere))
+        return;
+    // Now query something somehow bigger to avoid querying again in the next frame
+    SGSphered sphere(point, 4*radius);
+    _node = pager.getBoundingVolumes(sphere);
+    if (!_node.valid())
+        return;
+    _querySphere = sphere;
+}
+
+bool
+AIObject::getGroundIntersection(SGVec3d& point, SGVec3d& normal, const SGLineSegmentd& lineSegment) const
+{
+    if (!_node.valid())
+        return false;
+    simgear::BVHLineSegmentVisitor lineSegmentVisitor(lineSegment);
+    _node->accept(lineSegmentVisitor);
+    if (lineSegmentVisitor.empty())
+        return false;
+    normal = lineSegmentVisitor.getNormal();
+    point = lineSegmentVisitor.getPoint();
+    return true;
+}
+
+bool
+AIObject::getGroundIntersection(SGPlaned& plane, const SGLineSegmentd& lineSegment) const
+{
+    SGVec3d point;
+    SGVec3d normal;
+    if (!getGroundIntersection(point, normal, lineSegment))
+        return false;
+    plane = SGPlaned(normal, point);
+    return true;
+}
+
+} // namespace fgai