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Go far out if end pos is in the opposite direction

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Lingis
2020-03-11 14:22:09 -04:00
committed by Emma Broman
parent 8a0b406a60
commit ec0213e1c9
1 changed files with 16 additions and 2 deletions
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18
modules/autonavigation/avoidcollisioncurve.cpp
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@@ -60,12 +60,26 @@ AvoidCollisionCurve::AvoidCollisionCurve(const Waypoint& start, const Waypoint&
glm::dvec3 startNodePos = start.node()->worldPosition();
double startNodeRadius = start.nodeDetails.validBoundingSphere;
glm::dvec3 startNodeToStartPos = start.position() - startNodePos;
glm::dvec3 startViewDir = glm::normalize(start.rotation() * glm::dvec3(0.0, 0.0, -1.0));
if (glm::length(startNodeToStartPos) < thresholdFactor * startNodeRadius) {
glm::dvec3 viewDir = glm::normalize(start.rotation() * glm::dvec3(0.0, 0.0, -1.0));
double distance = startNodeRadius;
glm::dvec3 newPos = start.position() - distance * viewDir;
glm::dvec3 newPos = start.position() - distance * startViewDir;
_points.push_back(newPos);
}
// Add point for moving out if the end state is in opposite direction
//TODO: determine if its best to compare to end orientation or position
glm::dvec3 startToEnd = end.position() - start.position();
double cosStartAngle = glm::dot(normalize(-startViewDir), normalize(startToEnd));
if (cosStartAngle > 0.7) {
glm::dquat middleRotation = this->rotationAt(0.5); // undefined behaviour for other types than Slerp!
glm::dvec3 middleViewDir = glm::normalize(middleRotation * glm::dvec3(0.0, 0.0, -1.0));
double distance = 0.4 * glm::length(startToEnd);
glm::dvec3 newPos = start.position() + 0.2 * startToEnd - distance * middleViewDir;
_points.push_back(newPos);
}