generated from rpuzonas/raylib-cpp-template
add world with collisions to obstacles
This commit is contained in:
parent
875c37c215
commit
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2
.gitignore
vendored
2
.gitignore
vendored
@ -1,3 +1,5 @@
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include
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lib
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bin
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.cache
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compile_commands.json
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1
Makefile
1
Makefile
@ -73,6 +73,7 @@ include: submodules
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$(MKDIR) $(call platformpth, ./include)
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$(call COPY,depends/raylib/src,./include,raylib.h)
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$(call COPY,depends/raylib/src,./include,raymath.h)
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$(call COPY,depends/raylib/src,./include,rlgl.h)
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$(call COPY,depends/raylib-cpp/include,./include,*.hpp)
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# Build the raylib static library file and copy it into lib
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422
src/main.cpp
422
src/main.cpp
@ -1,29 +1,421 @@
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#include "raylib.h"
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#include "raymath.h"
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#include "rlgl.h"
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#include <cmath>
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#include <assert.h>
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#include <optional>
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#include <raylib-cpp.hpp>
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int main() {
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// Initialization
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int screenWidth = 800;
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int screenHeight = 450;
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#define ARRAY_LEN(arr) (sizeof(arr)/sizeof(arr[0]))
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#define LogTrace(...) TraceLog(LOG_TRACE, __VA_ARGS__)
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#define ASSERT(...) assert(__VA_ARGS__)
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struct Boid {
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Vector2 pos;
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Vector2 dir;
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};
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struct Obstacle {
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Vector2 center;
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std::vector<Vector2> points;
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};
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struct RayHitResult {
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float hit = -1;
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// TODO: `line1` and `line2` are not used, maybe remove them?
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Vector2 line1;
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Vector2 line2;
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};
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struct World {
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std::vector<Boid> boids;
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std::vector<Obstacle> obstacles;
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float boid_view_radius = 100;
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float boid_view_angle = PI*2;
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float boid_speed = 80;
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float boid_turn_speed = PI*2;
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float avoidance_distance = 75;
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float avoidance_ray_angle = PI/1.5;
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int avoidance_ray_count = 4;
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Vector2 size;
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};
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struct Visuals {
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float boid_edge_size = 20;
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};
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static void boid_rand_init(Boid *boid, int min_x, int max_x, int min_y, int max_y)
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{
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boid->pos.x = GetRandomValue(min_x, max_x);
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boid->pos.y = GetRandomValue(min_y, max_y);
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float facing = GetRandomValue(0, 2*PI);
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boid->dir = Vector2Rotate({ 1, 0 }, facing);
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}
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static Vector2 get_center_point(std::vector<Vector2> &points)
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{
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Vector2 center = { 0, 0 };
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for (int i = 0; i < points.size(); i++) {
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center.x += points[i].x;
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center.y += points[i].y;
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}
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center.x /= points.size();
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center.y /= points.size();
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return center;
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}
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static void draw_obstacle(Obstacle *obstacle, Color color)
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{
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std::vector<Vector2> *points = &obstacle->points;
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int point_count = points->size();
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rlBegin(RL_TRIANGLES);
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{
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rlColor4ub(color.r, color.g, color.b, color.a);
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for (int j = 0; j < point_count-1; j++) {
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Vector2 *point1 = &(*points)[j];
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Vector2 *point2 = &(*points)[j+1];
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rlVertex2f(point1->x, point1->y);
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rlVertex2f(obstacle->center.x, obstacle->center.y);
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rlVertex2f(point2->x, point2->y);
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}
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rlVertex2f((*points)[point_count-1].x, (*points)[point_count-1].y);
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rlVertex2f(obstacle->center.x, obstacle->center.y);
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rlVertex2f((*points)[0].x, (*points)[0].y);
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}
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rlEnd();
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}
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static float get_intersect_point(Vector2 ray_origin, Vector2 ray_dir, Vector2 line1, Vector2 line2) {
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Vector2 line_dir = Vector2Subtract(line2, line1);
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float D = ray_dir.x * line_dir.y - ray_dir.y * line_dir.x;
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float u = ((line1.x - ray_origin.x) * ray_dir.y - (line1.y - ray_origin.y) * ray_dir.x) / D;
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float t = ((line1.x - ray_origin.x) * line_dir.y - (line1.y - ray_origin.y) * line_dir.x) / D;
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if (0 <= u && u <= 1 && t >= 0) {
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return t;
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} else {
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return -1;
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}
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}
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static void set_nearest_hit(RayHitResult *nearest_hit, float hit, Vector2 line1, Vector2 line2) {
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bool got_hit = hit >= 0;
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bool is_gotten_hit_better = (nearest_hit->hit < 0 || nearest_hit->hit > hit);
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if (got_hit && is_gotten_hit_better) {
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nearest_hit->hit = hit;
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nearest_hit->line1 = line1;
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nearest_hit->line2 = line2;
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}
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}
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static void get_intersect_with_polygon(RayHitResult *result, Vector2 ray_origin, Vector2 ray_dir, Vector2 *points, int point_count) {
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if (point_count < 2) return;
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for (int i = 0; i < point_count-1; i++) {
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Vector2 p1 = points[i];
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Vector2 p2 = points[i+1];
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float hit = get_intersect_point(ray_origin, ray_dir, p1, p2);
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set_nearest_hit(result, hit, p1, p2);
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}
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if (point_count > 2) {
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Vector2 p1 = points[0];
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Vector2 p2 = points[point_count-1];
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float hit = get_intersect_point(ray_origin, ray_dir, p1, p2);
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set_nearest_hit(result, hit, p1, p2);
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}
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}
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static void get_intersect_with_obstacles(RayHitResult *result, Vector2 ray_origin, Vector2 ray_dir, std::vector<Obstacle> *obstacles) {
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for (int i = 0; i < (*obstacles).size(); i++) {
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Obstacle *obstacle = &(*obstacles)[i];
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get_intersect_with_polygon(result, ray_origin, ray_dir, obstacle->points.data(), obstacle->points.size());
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}
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}
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static void get_intersect_with_world(RayHitResult *result, Vector2 ray_origin, Vector2 ray_dir, World *world) {
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get_intersect_with_obstacles(result, ray_origin, ray_dir, &world->obstacles);
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if (result->hit == -1) {
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Vector2 lines[] = {
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{ 0 , 0 },
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{ world->size.x, 0 },
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{ world->size.x, world->size.y },
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{ 0 , world->size.y }
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};
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get_intersect_with_polygon(result, ray_origin, ray_dir, lines, 4);
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}
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}
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static void fill_avoidance_ray_angles(float *rays, int ray_count, float ray_angle) {
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ASSERT(ray_count >= 1 && "Ray count must be at least 1");
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ASSERT(((ray_count - 1) % 2 == 0) && "Ray count must be a multiple of 2n+1");
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rays[0] = 0;
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int side_ray_count = ((ray_count-1)/2);
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float ray_angle_step = ray_angle / side_ray_count;
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for (int i = 0; i < side_ray_count; i++) {
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rays[2*i+0 + 1] = ray_angle_step * (i+1);
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rays[2*i+1 + 1] = -ray_angle_step * (i+1);
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}
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}
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static void draw_debug_boid_obstacle_avoidance(Visuals *visuals, World *world, Boid *boid) {
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Vector2 pos = boid->pos;
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int ray_count = world->avoidance_ray_count * 2 + 1;
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float ray_angles[ray_count];
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fill_avoidance_ray_angles(ray_angles, ray_count, world->avoidance_ray_angle);
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float facing = std::atan2(boid->dir.y, boid->dir.x);
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for (int i = 0; i < ray_count; i++) {
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Vector2 ray_dir = {
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std::cos(facing + ray_angles[i]),
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std::sin(facing + ray_angles[i])
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};
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RayHitResult hit_result;
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get_intersect_with_world(&hit_result, pos, ray_dir, world);
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bool hit_obstacle = (hit_result.hit != -1 && hit_result.hit <= world->avoidance_distance);
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Color ray_color = GREEN;
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float ray_length = world->avoidance_distance;
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if (hit_obstacle) {
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ray_length = hit_result.hit;
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ray_color = BLUE;
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}
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Vector2 hit_pos = Vector2Add(pos, Vector2Multiply(ray_dir, { ray_length, ray_length }));
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DrawLine(pos.x, pos.y, hit_pos.x, hit_pos.y, ray_color);
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if (hit_obstacle) {
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DrawCircle(hit_pos.x, hit_pos.y, visuals->boid_edge_size * 0.05, ray_color);
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}
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}
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}
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static void try_avoiding_obstacles(World *world, Boid *boid, float dt) {
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int ray_count = world->avoidance_ray_count * 2 + 1;
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float ray_angles[ray_count];
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fill_avoidance_ray_angles(ray_angles, ray_count, world->avoidance_ray_angle);
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float facing = std::atan2(boid->dir.y, boid->dir.x);
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bool got_hit = false;
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RayHitResult hit_results[ray_count];
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int best_avoidance = 0;
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for (int i = 0; i < ray_count; i++) {
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Vector2 ray_dir = {
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std::cos(facing + ray_angles[i]),
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std::sin(facing + ray_angles[i])
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};
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get_intersect_with_world(&hit_results[i], boid->pos, ray_dir, world);
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if (hit_results[i].hit != -1 && hit_results[i].hit <= world->avoidance_distance) {
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got_hit = true;
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}
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if (hit_results[i].hit > hit_results[best_avoidance].hit) {
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best_avoidance = i;
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}
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}
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if (got_hit) {
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float turn_angle = ray_angles[best_avoidance];
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boid->dir = Vector2Rotate(boid->dir, turn_angle * world->boid_turn_speed * dt);
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}
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}
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static int count_out_of_bounds_boids(World *world) {
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int count = 0;
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for (int i = 0; i < world->boids.size(); i++) {
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Vector2 *pos = &world->boids[i].pos;
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bool x_out_of_bounds = (pos->x <= 0 || pos->x >= world->size.x);
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bool y_out_of_bounds = (pos->y <= 0 || pos->y >= world->size.y);
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if (x_out_of_bounds || y_out_of_bounds) {
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count++;
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}
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}
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return count;
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}
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static void draw_circle_sector(Vector2 center, float radius, float start_angle, float end_angle, int segments, Color color) {
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rlBegin(RL_TRIANGLES);
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float angle_step = (end_angle - start_angle) / segments;
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for (int i = 0; i < segments; i++)
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{
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rlColor4ub(color.r, color.g, color.b, color.a);
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float angle = start_angle + i * angle_step;
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float nextAngle = start_angle + (i+1) * angle_step;
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rlVertex2f(center.x, center.y);
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rlVertex2f(center.x + cosf(nextAngle)*radius, center.y + sinf(nextAngle)*radius);
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rlVertex2f(center.x + cosf(angle) *radius, center.y + sinf(angle) *radius);
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}
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rlEnd();
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}
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static int get_boids_in_view_cone(Boid **boids_in_view, Boid *boid, float view_radius, float view_angle, Boid *boids, int boid_count) {
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int count = 0;
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float dot_threshold = Vector2DotProduct(boid->dir, Vector2Rotate(boid->dir, view_angle/2));
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for (int i = 0; i < boid_count; i++) {
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if (&boids[i] == boid) continue;
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Vector2 dir_to_boid = Vector2Normalize(Vector2Subtract(boids[i].pos, boid->pos));
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float dot = Vector2DotProduct(boid->dir, dir_to_boid);
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// TODO: if (dot >= dot_threshold && Vector2Distance(boids[i].pos, boid->pos) <= view_radius) {
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if (Vector2Distance(boids[i].pos, boid->pos) <= view_radius) {
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boids_in_view[count] = &boids[i];
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count++;
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}
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}
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return count;
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}
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static float vector2_atan2(Vector2 a)
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{
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return std::atan2(a.x, a.y);
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}
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int main() {
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SetTraceLogLevel(LOG_TRACE);
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int screen_width = 1280;
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int screen_height = 720;
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raylib::Color text_color(LIGHTGRAY);
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raylib::Window window(screen_width, screen_height, "Boid Playground");
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raylib::Color textColor(LIGHTGRAY);
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raylib::Window w(screenWidth, screenHeight, "Raylib C++ Starter Kit Example");
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SetTargetFPS(60);
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// Main game loop
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while (!w.ShouldClose()) // Detect window close button or ESC key
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{
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// Update
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World world;
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world.size = { (float)screen_width, (float)screen_height };
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Visuals visuals;
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// TODO: Update your variables here
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float border = visuals.boid_edge_size;
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for (int i = 0; i < 10; i++) {
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Boid boid;
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boid_rand_init(&boid, border, world.size.x - border, border, world.size.y - border);
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world.boids.push_back(boid);
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}
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// world.boids.push_back({ .pos = { 150, 100 }, .dir = { 1, 0 }});
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// world.boids.push_back({ .pos = { 200, 180 }, .dir = { 0, -1 }});
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// Main game loop
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while (!window.ShouldClose())
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{
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// TODO: Show this on screen
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// LogTrace("%d", count_out_of_bounds_boids(&world));
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float dt = GetFrameTime();
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for (int i = 0; i < world.boids.size(); i++) {
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LogTrace("i:%d", i);
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Boid *boid = &world.boids[i];
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Vector2 step = Vector2Multiply(boid->dir, { world.boid_speed * dt, world.boid_speed * dt });
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Vector2 pos = Vector2Add(boid->pos, step);
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RayHitResult hit_result;
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get_intersect_with_world(&hit_result, pos, step, &world);
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if (hit_result.hit == -1 || hit_result.hit > 2) {
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boid->pos = pos;
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Boid *boids_in_view[world.boids.size()];
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int boids_in_view_count = get_boids_in_view_cone(boids_in_view, boid, world.boid_view_radius, world.boid_view_angle, world.boids.data(), world.boids.size());
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if (boids_in_view_count > 0) {
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float current_facing = vector2_atan2(boid->dir);
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float average_facing = 0;
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Vector2 average_pos = { 0, 0 };
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for (int j = 0; j < boids_in_view_count; j++) {
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if (boids_in_view[j] == boid) continue;
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average_facing += std::atan2(boids_in_view[j]->dir.y, boids_in_view[j]->dir.x);
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average_pos.x += boids_in_view[j]->pos.x;
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average_pos.y += boids_in_view[j]->pos.y;
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}
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average_facing /= boids_in_view_count;
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average_pos.x /= boids_in_view_count;
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average_pos.y /= boids_in_view_count;
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Vector2 dir_to_average_pos = Vector2Subtract(average_pos, boid->pos);
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float average_pos_angle = vector2_atan2(dir_to_average_pos);
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float angle_to_average_pos = current_facing - vector2_atan2(dir_to_average_pos);
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if (angle_to_average_pos > PI) {
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angle_to_average_pos -= 2*PI;
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} else if (angle_to_average_pos < -PI) {
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angle_to_average_pos += 2*PI;
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}
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float angle_to_average_facing = (average_facing - current_facing);
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float turn_angle = (angle_to_average_pos + angle_to_average_facing) / 2;
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boid->dir = Vector2Rotate(boid->dir, turn_angle * world.boid_turn_speed * dt);
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// boid->dir = Vector2Rotate(boid->dir, () * world.boid_turn_speed * dt);
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}
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}
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try_avoiding_obstacles(&world, boid, dt);
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}
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// Draw
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BeginDrawing();
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ClearBackground(RAYWHITE);
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textColor.DrawText("Congrats! You created your first window!", 190, 200, 20);
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for (int i = 0; i < world.obstacles.size(); i++) {
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draw_obstacle(&world.obstacles[i], GRAY);
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}
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Color view_cone_color = Fade(GRAY, 0.4);
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for (int i = 0; i < world.boids.size(); i++) {
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Boid *boid = &world.boids[i];
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Vector2 pos = boid->pos;
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float facing = std::atan2(boid->dir.y, boid->dir.x);
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float view_angle = world.boid_view_angle;
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float segments = 16;
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draw_circle_sector(pos, world.boid_view_radius, facing - view_angle/2, facing + view_angle/2, segments, view_cone_color);
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}
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float boid_length = visuals.boid_edge_size * std::sqrt(3)/2;
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float boid_width = visuals.boid_edge_size * 0.6;
|
||||
for (int i = 0; i < world.boids.size(); i++) {
|
||||
Boid *boid = &world.boids[i];
|
||||
|
||||
draw_debug_boid_obstacle_avoidance(&visuals, &world, boid);
|
||||
|
||||
Vector2 triangle[] = {
|
||||
{ boid_length*2/3.0f, 0 },
|
||||
{ -boid_length*1/3.0f, -boid_width/2 },
|
||||
{ -boid_length*1/3.0f, boid_width/2 },
|
||||
};
|
||||
|
||||
float facing = std::atan2(boid->dir.y, boid->dir.x);
|
||||
for (int i = 0; i < 3; i++) {
|
||||
triangle[i] = Vector2Add(boid->pos, Vector2Rotate(triangle[i], facing));
|
||||
}
|
||||
|
||||
DrawTriangle(triangle[0], triangle[1], triangle[2], BLACK);
|
||||
DrawCircle(boid->pos.x, boid->pos.y, visuals.boid_edge_size * 0.05, RED);
|
||||
|
||||
Vector2 look_pos = Vector2Add(boid->pos, Vector2Multiply(boid->dir, { 30, 30 }));
|
||||
DrawLine(boid->pos.x, boid->pos.y, look_pos.x, look_pos.y, RED);
|
||||
}
|
||||
|
||||
EndDrawing();
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user