Util::Vector SocialForcesAgent::calcProximityForce(float dt)
{
Util::Vector proximityForce = Util::Vector(0,0,0);
std::set<SteerLib::SpatialDatabaseItemPtr> _neighbors;
gSpatialDatabase->getItemsInRange(_neighbors,
position().x - (radius() + _SocialForcesParams.sf_query_radius),
position().x + (radius() + _SocialForcesParams.sf_query_radius),
position().z - (radius() + _SocialForcesParams.sf_query_radius),
position().z + (radius() + _SocialForcesParams.sf_query_radius),
this);
for (std::set<SteerLib::SpatialDatabaseItemPtr>::iterator neighbor = _neighbors.begin();
neighbor != _neighbors.end(); neighbor++) {
if ((*neighbor)->isAgent()) {
SteerLib::AgentInterface *other = dynamic_cast<SteerLib::AgentInterface *>(*neighbor);
if (id() != other->id()) {
proximityForce += _SocialForcesParams.sf_agent_a
* exp(((radius()+other->radius())-(position()-other->position()).length())/_SocialForcesParams.sf_agent_b)
* normalize(position() - other->position());
}
}
else {
SteerLib::ObstacleInterface *wall = dynamic_cast<SteerLib::ObstacleInterface *>(*neighbor);
if (wall->computePenetration(position(), radius()) > 0.000001) {
Util::Vector wallNormal = calcWallNormal(wall);
std::pair<Util::Point, Util::Point> edge = calcWallPointsFromNormal(wall, wallNormal);
std::pair<float, Util::Point> distance = minimum_distance(edge.first, edge.second, position());
proximityForce += _SocialForcesParams.sf_wall_a
* exp( (radius()-distance.first) / _SocialForcesParams.sf_wall_b )
* normalize(position() - distance.second);
}
}
}
return proximityForce;
}
Util::Vector SocialForcesAgent::calcWallRepulsionForce(float dt)
{
//std::cerr<<"<<<calcWallRepulsionForce>>> Please Implement my body\n";
Util::Vector wall_repulsion_force = Util::Vector(0, 0, 0);
std::set<SteerLib::SpatialDatabaseItemPtr> _neighbors;
gSpatialDatabase->getItemsInRange(_neighbors,
_position.x - (this->_radius + _SocialForcesParams.sf_query_radius),
_position.x + (this->_radius + _SocialForcesParams.sf_query_radius),
_position.z - (this->_radius + _SocialForcesParams.sf_query_radius),
_position.z + (this->_radius + _SocialForcesParams.sf_query_radius),
dynamic_cast<SteerLib::SpatialDatabaseItemPtr>(this));
SteerLib::ObstacleInterface * tempObstacle;
for (std::set<SteerLib::SpatialDatabaseItemPtr>::iterator neighbour = _neighbors.begin(); neighbour != _neighbors.end(); neighbour++)
{
if (!(*neighbour)->isAgent())
{
tempObstacle = dynamic_cast<SteerLib::ObstacleInterface *>(*neighbour);
}
else
{
continue;
}
if (tempObstacle->computePenetration(this->position(), this->radius()) > 0.000001)
{
Util::Vector wall_normal = calcWallNormal(tempObstacle);
std::pair<Util::Point, Util::Point> line = calcWallPointsFromNormal(tempObstacle, wall_normal);
std::pair<float, Util::Point> min_stuff = minimum_distance(line.first, line.second, position());
wall_repulsion_force = wall_normal * (min_stuff.first + radius()) * _SocialForcesParams.sf_body_force;
}
}
return wall_repulsion_force;
}
Util::Vector SocialForcesAgent::calcWallRepulsionForce(float dt)
{
Util::Vector wallRepulsionForce = Util::Vector(0,0,0);
std::set<SteerLib::SpatialDatabaseItemPtr> _neighbors;
gSpatialDatabase->getItemsInRange(_neighbors,
position().x - (radius() + _SocialForcesParams.sf_query_radius),
position().x + (radius() + _SocialForcesParams.sf_query_radius),
position().z - (radius() + _SocialForcesParams.sf_query_radius),
position().z + (radius() + _SocialForcesParams.sf_query_radius),
this);
for (std::set<SteerLib::SpatialDatabaseItemPtr>::iterator neighbor = _neighbors.begin();
neighbor != _neighbors.end(); neighbor++) {
if (!(*neighbor)->isAgent()) {
SteerLib::ObstacleInterface *wall = dynamic_cast<SteerLib::ObstacleInterface *>(*neighbor);
if (wall->computePenetration(position(), radius()) > 0.000001) {
Util::Vector wallNormal = calcWallNormal(wall);
std::pair<Util::Point, Util::Point> edge = calcWallPointsFromNormal(wall, wallNormal);
std::pair<float, Util::Point> distance = minimum_distance(edge.first, edge.second, position());
// Repulsion
wallRepulsionForce += wallNormal * (radius() - distance.first) * _SocialForcesParams.sf_body_force;
// Friction
Util::Vector wallTangent = normalize(Util::Vector(velocity().x * abs(wallNormal.z), 0, velocity().z * abs(wallNormal.x)));
wallRepulsionForce -= _SocialForcesParams.sf_sliding_friction_force // k
* (radius() - distance.first) // g
* (velocity() * wallTangent)
* wallTangent;
}
}
}
return wallRepulsionForce;
}
Util::Vector SocialForcesAgent::calcWallRepulsionForce(float dt)
{
Util::Vector wallRepulsionForce = Util::Vector(0, 0, 0);
SteerLib::ObstacleInterface *objectInterface;
std::set<SteerLib::SpatialDatabaseItemPtr> _neighbors;
gSpatialDatabase->getItemsInRange(_neighbors,
_position.x - this->_radius - _SocialForcesParams.sf_query_radius,
_position.x + this->_radius + _SocialForcesParams.sf_query_radius,
_position.z - this->_radius - _SocialForcesParams.sf_query_radius,
_position.z + this->_radius + _SocialForcesParams.sf_query_radius,
dynamic_cast<SteerLib::SpatialDatabaseItemPtr>(this));
std::set<SteerLib::SpatialDatabaseItemPtr>::iterator neighbor = _neighbors.begin();
while (neighbor != _neighbors.end()){
if (!(*neighbor)->isAgent()){
objectInterface = dynamic_cast<SteerLib::ObstacleInterface *>(*neighbor);
float penetration = objectInterface->computePenetration(this->position(), this->radius());
if (penetration){
Util::Vector objectNormal = calcWallNormal(objectInterface);
// std::pair<Util::Point, Util::Point> wallPoints = calcWallPointsFromNormal(objectInterface, objectNormal);
// std::pair<float, Util::Point> minDistToPoint = minimum_distance(wallPoints.first, wallPoints.second, position());
//Does this have units of force?
wallRepulsionForce += objectNormal * penetration * _SocialForcesParams.sf_body_force * dt;
}
}
neighbor++;
}
return wallRepulsionForce;
}
