static int rule_separate(BoidRule *UNUSED(rule), BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
{
KDTreeNearest *ptn = NULL;
ParticleTarget *pt;
float len = 2.0f * val->personal_space * pa->size + 1.0f;
float vec[3] = {0.0f, 0.0f, 0.0f};
int neighbors = BLI_kdtree_range_search(
bbd->sim->psys->tree, pa->prev_state.co,
&ptn, 2.0f * val->personal_space * pa->size);
int ret = 0;
if (neighbors > 1 && ptn[1].dist!=0.0f) {
sub_v3_v3v3(vec, pa->prev_state.co, bbd->sim->psys->particles[ptn[1].index].state.co);
mul_v3_fl(vec, (2.0f * val->personal_space * pa->size - ptn[1].dist) / ptn[1].dist);
add_v3_v3(bbd->wanted_co, vec);
bbd->wanted_speed = val->max_speed;
len = ptn[1].dist;
ret = 1;
}
if (ptn) { MEM_freeN(ptn); ptn=NULL; }
/* check other boid systems */
for (pt=bbd->sim->psys->targets.first; pt; pt=pt->next) {
ParticleSystem *epsys = psys_get_target_system(bbd->sim->ob, pt);
if (epsys) {
neighbors = BLI_kdtree_range_search(
epsys->tree, pa->prev_state.co,
&ptn, 2.0f * val->personal_space * pa->size);
if (neighbors > 0 && ptn[0].dist < len) {
sub_v3_v3v3(vec, pa->prev_state.co, ptn[0].co);
mul_v3_fl(vec, (2.0f * val->personal_space * pa->size - ptn[0].dist) / ptn[1].dist);
add_v3_v3(bbd->wanted_co, vec);
bbd->wanted_speed = val->max_speed;
len = ptn[0].dist;
ret = 1;
}
if (ptn) { MEM_freeN(ptn); ptn=NULL; }
}
}
return ret;
}
static PyObject *py_kdtree_find_range(PyKDTree *self, PyObject *args, PyObject *kwargs)
{
PyObject *py_list;
PyObject *py_co;
float co[3];
KDTreeNearest *nearest = NULL;
float radius;
int i, found;
const char *keywords[] = {"co", "radius", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwargs, (char *) "Of:find_range", (char **)keywords,
&py_co, &radius))
{
return NULL;
}
if (mathutils_array_parse(co, 3, 3, py_co, "find_range: invalid 'co' arg") == -1)
return NULL;
if (radius < 0.0f) {
PyErr_SetString(PyExc_RuntimeError, "negative radius given");
return NULL;
}
if (self->count != self->count_balance) {
PyErr_SetString(PyExc_RuntimeError, "KDTree must be balanced before calling find_range()");
return NULL;
}
found = BLI_kdtree_range_search(self->obj, co, &nearest, radius);
py_list = PyList_New(found);
for (i = 0; i < found; i++) {
PyList_SET_ITEM(py_list, i, kdtree_nearest_to_py(&nearest[i]));
}
if (nearest) {
MEM_freeN(nearest);
}
return py_list;
}
static int rule_fight(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
{
BoidRuleFight *fbr = (BoidRuleFight*)rule;
KDTreeNearest *ptn = NULL;
ParticleTarget *pt;
ParticleData *epars;
ParticleData *enemy_pa = NULL;
BoidParticle *bpa;
/* friends & enemies */
float closest_enemy[3] = {0.0f, 0.0f, 0.0f};
float closest_dist = fbr->distance + 1.0f;
float f_strength = 0.0f, e_strength = 0.0f;
float health = 0.0f;
int n, ret = 0;
/* calculate own group strength */
int neighbors = BLI_kdtree_range_search(
bbd->sim->psys->tree, pa->prev_state.co,
&ptn, fbr->distance);
for (n=0; n<neighbors; n++) {
bpa = bbd->sim->psys->particles[ptn[n].index].boid;
health += bpa->data.health;
}
f_strength += bbd->part->boids->strength * health;
if (ptn) { MEM_freeN(ptn); ptn=NULL; }
/* add other friendlies and calculate enemy strength and find closest enemy */
for (pt=bbd->sim->psys->targets.first; pt; pt=pt->next) {
ParticleSystem *epsys = psys_get_target_system(bbd->sim->ob, pt);
if (epsys) {
epars = epsys->particles;
neighbors = BLI_kdtree_range_search(
epsys->tree, pa->prev_state.co,
&ptn, fbr->distance);
health = 0.0f;
for (n=0; n<neighbors; n++) {
bpa = epars[ptn[n].index].boid;
health += bpa->data.health;
if (n==0 && pt->mode==PTARGET_MODE_ENEMY && ptn[n].dist < closest_dist) {
copy_v3_v3(closest_enemy, ptn[n].co);
closest_dist = ptn[n].dist;
enemy_pa = epars + ptn[n].index;
}
}
if (pt->mode==PTARGET_MODE_ENEMY)
e_strength += epsys->part->boids->strength * health;
else if (pt->mode==PTARGET_MODE_FRIEND)
f_strength += epsys->part->boids->strength * health;
if (ptn) { MEM_freeN(ptn); ptn=NULL; }
}
}
/* decide action if enemy presence found */
if (e_strength > 0.0f) {
sub_v3_v3v3(bbd->wanted_co, closest_enemy, pa->prev_state.co);
/* attack if in range */
if (closest_dist <= bbd->part->boids->range + pa->size + enemy_pa->size) {
float damage = BLI_rng_get_float(bbd->rng);
float enemy_dir[3];
normalize_v3_v3(enemy_dir, bbd->wanted_co);
/* fight mode */
bbd->wanted_speed = 0.0f;
/* must face enemy to fight */
if (dot_v3v3(pa->prev_state.ave, enemy_dir)>0.5f) {
bpa = enemy_pa->boid;
bpa->data.health -= bbd->part->boids->strength * bbd->timestep * ((1.0f-bbd->part->boids->accuracy)*damage + bbd->part->boids->accuracy);
}
}
else {
/* approach mode */
bbd->wanted_speed = val->max_speed;
}
/* check if boid doesn't want to fight */
bpa = pa->boid;
if (bpa->data.health/bbd->part->boids->health * bbd->part->boids->aggression < e_strength / f_strength) {
/* decide to flee */
if (closest_dist < fbr->flee_distance * fbr->distance) {
negate_v3(bbd->wanted_co);
bbd->wanted_speed = val->max_speed;
}
else { /* wait for better odds */
bbd->wanted_speed = 0.0f;
}
}
ret = 1;
}
return ret;
}
static int rule_avoid_collision(BoidRule *rule, BoidBrainData *bbd, BoidValues *val, ParticleData *pa)
{
BoidRuleAvoidCollision *acbr = (BoidRuleAvoidCollision*) rule;
KDTreeNearest *ptn = NULL;
ParticleTarget *pt;
BoidParticle *bpa = pa->boid;
ColliderCache *coll;
float vec[3] = {0.0f, 0.0f, 0.0f}, loc[3] = {0.0f, 0.0f, 0.0f};
float co1[3], vel1[3], co2[3], vel2[3];
float len, t, inp, t_min = 2.0f;
int n, neighbors = 0, nearest = 0;
int ret = 0;
//check deflector objects first
if(acbr->options & BRULE_ACOLL_WITH_DEFLECTORS && bbd->sim->colliders) {
ParticleCollision col;
BVHTreeRayHit hit;
float radius = val->personal_space * pa->size, ray_dir[3];
copy_v3_v3(col.co1, pa->prev_state.co);
add_v3_v3v3(col.co2, pa->prev_state.co, pa->prev_state.vel);
sub_v3_v3v3(ray_dir, col.co2, col.co1);
mul_v3_fl(ray_dir, acbr->look_ahead);
col.f = 0.0f;
hit.index = -1;
hit.dist = col.original_ray_length = len_v3(ray_dir);
/* find out closest deflector object */
for(coll = bbd->sim->colliders->first; coll; coll=coll->next) {
/* don't check with current ground object */
if(coll->ob == bpa->ground)
continue;
col.current = coll->ob;
col.md = coll->collmd;
if(col.md && col.md->bvhtree)
BLI_bvhtree_ray_cast(col.md->bvhtree, col.co1, ray_dir, radius, &hit, BKE_psys_collision_neartest_cb, &col);
}
/* then avoid that object */
if(hit.index>=0) {
t = hit.dist/col.original_ray_length;
/* avoid head-on collision */
if(dot_v3v3(col.pce.nor, pa->prev_state.ave) < -0.99f) {
/* don't know why, but uneven range [0.0,1.0] */
/* works much better than even [-1.0,1.0] */
bbd->wanted_co[0] = BLI_frand();
bbd->wanted_co[1] = BLI_frand();
bbd->wanted_co[2] = BLI_frand();
}
else {
copy_v3_v3(bbd->wanted_co, col.pce.nor);
}
mul_v3_fl(bbd->wanted_co, (1.0f - t) * val->personal_space * pa->size);
bbd->wanted_speed = sqrtf(t) * len_v3(pa->prev_state.vel);
bbd->wanted_speed = MAX2(bbd->wanted_speed, val->min_speed);
return 1;
}
}
//check boids in own system
if(acbr->options & BRULE_ACOLL_WITH_BOIDS)
{
neighbors = BLI_kdtree_range_search(bbd->sim->psys->tree, acbr->look_ahead * len_v3(pa->prev_state.vel), pa->prev_state.co, pa->prev_state.ave, &ptn);
if(neighbors > 1) for(n=1; n<neighbors; n++) {
copy_v3_v3(co1, pa->prev_state.co);
copy_v3_v3(vel1, pa->prev_state.vel);
copy_v3_v3(co2, (bbd->sim->psys->particles + ptn[n].index)->prev_state.co);
copy_v3_v3(vel2, (bbd->sim->psys->particles + ptn[n].index)->prev_state.vel);
sub_v3_v3v3(loc, co1, co2);
sub_v3_v3v3(vec, vel1, vel2);
inp = dot_v3v3(vec,vec);
/* velocities not parallel */
if(inp != 0.0f) {
t = -dot_v3v3(loc, vec)/inp;
/* cpa is not too far in the future so investigate further */
if(t > 0.0f && t < t_min) {
madd_v3_v3fl(co1, vel1, t);
madd_v3_v3fl(co2, vel2, t);
sub_v3_v3v3(vec, co2, co1);
len = normalize_v3(vec);
/* distance of cpa is close enough */
if(len < 2.0f * val->personal_space * pa->size) {
t_min = t;
mul_v3_fl(vec, len_v3(vel1));
mul_v3_fl(vec, (2.0f - t)/2.0f);
sub_v3_v3v3(bbd->wanted_co, vel1, vec);
bbd->wanted_speed = len_v3(bbd->wanted_co);
ret = 1;
}
}
}
}
}
if(ptn){ MEM_freeN(ptn); ptn=NULL; }
/* check boids in other systems */
for(pt=bbd->sim->psys->targets.first; pt; pt=pt->next) {
ParticleSystem *epsys = psys_get_target_system(bbd->sim->ob, pt);
if(epsys) {
neighbors = BLI_kdtree_range_search(epsys->tree, acbr->look_ahead * len_v3(pa->prev_state.vel), pa->prev_state.co, pa->prev_state.ave, &ptn);
if(neighbors > 0) for(n=0; n<neighbors; n++) {
copy_v3_v3(co1, pa->prev_state.co);
copy_v3_v3(vel1, pa->prev_state.vel);
copy_v3_v3(co2, (epsys->particles + ptn[n].index)->prev_state.co);
copy_v3_v3(vel2, (epsys->particles + ptn[n].index)->prev_state.vel);
sub_v3_v3v3(loc, co1, co2);
sub_v3_v3v3(vec, vel1, vel2);
inp = dot_v3v3(vec,vec);
/* velocities not parallel */
if(inp != 0.0f) {
t = -dot_v3v3(loc, vec)/inp;
/* cpa is not too far in the future so investigate further */
if(t > 0.0f && t < t_min) {
madd_v3_v3fl(co1, vel1, t);
madd_v3_v3fl(co2, vel2, t);
sub_v3_v3v3(vec, co2, co1);
len = normalize_v3(vec);
/* distance of cpa is close enough */
if(len < 2.0f * val->personal_space * pa->size) {
t_min = t;
mul_v3_fl(vec, len_v3(vel1));
mul_v3_fl(vec, (2.0f - t)/2.0f);
sub_v3_v3v3(bbd->wanted_co, vel1, vec);
bbd->wanted_speed = len_v3(bbd->wanted_co);
ret = 1;
}
}
}
}
if(ptn){ MEM_freeN(ptn); ptn=NULL; }
}
}
if(ptn && nearest==0)
MEM_freeN(ptn);
return ret;
}
