r3-legacy/src/game-lib-component-vehicle-ai-object-avoidance.js

/**
 *
 * @param componentId
 * @param physicsWorld
 * @constructor
 */
GameLib.D3.ComponentVehicleAIObjectAvoidance = function(
    componentId,
    physicsWorld
) {
    this.componentId = componentId || GameLib.D3.Tools.RandomId();
    this.parentEntity = null;
    GameLib.D3.Utils.Extend(GameLib.D3.ComponentVehicleAIObjectAvoidance, GameLib.D3.ComponentInterface);

    this.raycastVehicleComponent = null;
    this.physicsWorld = physicsWorld || null;
    this.sensors = [];

    // debug
    this.debugArrows = {};


    console.log("constructor for : ComponentVehicleAIObjectAvoidance");
};

/////////////////////////////////////////////////////////////////////////
///////////////////////// Methods to override ///////////////////////////
/////////////////////////////////////////////////////////////////////////
GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onSetParentEntity = function(
    parentScene,
    parentEntity
) {
    this.parentEntity = parentEntity;
    this.raycastVehicleComponent = parentEntity.getComponent(GameLib.D3.RaycastVehicle);

    console.log("onSetParentEntity for : ComponentVehicleAIObjectAvoidance");


    if(!this.raycastVehicleComponent) {
        console.warn("NO RAYCAST VEHICLE FOUND!");
    }

    // create sensors

    var boundingBox = this.parentEntity.mesh.geometry.boundingBox;
    // this is taken from the main.js.
    // this should be configurable inside the editor
    var carBoxScaleModifier = { x : 3 / 4, y : 1 / 2, z : 0.90 };

    var sensorLength = 0.65;
    var sensorColor = new THREE.Color(0, 0, 1);

    // . . . . . . . . . . FRONT . . . . . . . . . .

    // right
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                1,
                0,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );


    // left
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                1,
                0,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                -boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );


    // center
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                1,
                0,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                0,
                0
            )
        }
    );


    // . . . . . .  DIAGONAL FRONT . . . . . . . .
    // right
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                0,
                1,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );


    // left
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                0,
                -1,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                -boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );

    // right
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                0.5,
                0.5,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );


    // left
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                0.5,
                -0.5,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                -boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );

    // right
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                0.75,
                0.25,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );


    // left
    this.sensors.push(
        {
            sensorLength : sensorLength,

            sensorColor : sensorColor,

            sensorDirection : new THREE.Vector3(
                0.75,
                -0.25,
                0
            ).normalize(),

            sensorPositionOffset : new THREE.Vector3(
                boundingBox.max.x * this.parentEntity.mesh.scale.x * carBoxScaleModifier.x,
                -boundingBox.max.z * this.parentEntity.mesh.scale.z * carBoxScaleModifier.z,
                boundingBox.max.y * this.parentEntity.mesh.scale.y * carBoxScaleModifier.y // this is still swapped with y, because cannon.
            )
        }
    );


    console.log("pushed sensors", this.sensors.length);

};

GameLib.D3.ComponentVehicleAIObjectAvoidance.prototype.onUpdate = function(
    deltaTime,
    parentEntity
) {
    if(this.raycastVehicleComponent && this.physicsWorld) {
        var vehicleVelocity = this.parentEntity.getComponent(GameLib.D3.RigidBody).instance.velocity;
        var vehicleVelocityLength = 12;


        // shoot rays for each sensor & check collisions.
        var world = this.physicsWorld.instance;
        var result = new CANNON.RaycastResult();

        for(var s = 0, l = this.sensors.length; s < l; ++s) {
            var sensor = this.sensors[s];

            var from = new THREE.Vector3(
                this.parentEntity.position.x,
                this.parentEntity.position.y,
                this.parentEntity.position.z
            ).add(new THREE.Vector3(
                sensor.sensorPositionOffset.x,
                sensor.sensorPositionOffset.y,
                sensor.sensorPositionOffset.z
            ).applyQuaternion(new THREE.Quaternion(
                this.parentEntity.quaternion.x,
                this.parentEntity.quaternion.y,
                this.parentEntity.quaternion.z,
                this.parentEntity.quaternion.w
            )));

            var fromC = new CANNON.Vec3(
                from.x,
                from.y,
                from.z
            );

            var to = new THREE.Vector3(
                sensor.sensorDirection.x,
                sensor.sensorDirection.y,
                sensor.sensorDirection.z
            ).applyQuaternion(new THREE.Quaternion(
                this.parentEntity.quaternion.x,
                this.parentEntity.quaternion.y,
                this.parentEntity.quaternion.z,
                this.parentEntity.quaternion.w
            )).normalize().multiplyScalar(sensor.sensorLength * vehicleVelocityLength);


            var toC = new CANNON.Vec3(
                from.x + to.x,
                from.y + to.y,
                from.z + to.z
            );

            world.raycastClosest(
                fromC,

                toC,

                {
                    collisionFilterMask : 2 // check only group 2 (track)
                },

                result
            );

            if(result.hasHit) {
                sensor.sensorColor = new THREE.Color(1, 0, 0);
            } else {
                sensor.sensorColor = new THREE.Color(0, 0, 1);
            }
        }



        // draw sensors
        {
            this.debugArrows.sensors = this.debugArrows.sensors || [];

            for(var s = 0, l = this.sensors.length; s < l; ++s) {

                if(!this.debugArrows.sensors[s]) {
                    this.debugArrows.sensors[s] = {};
                }

                if(!this.debugArrows.sensors[s].mesh) {

                    var geometry = new THREE.Geometry();
                    var mesh = new THREE.Mesh(
                        geometry,
                        new THREE.MeshBasicMaterial(
                            {
                                color : 0x000000,
                                wireframe : true
                            }
                        )
                    );

                    this.debugArrows.sensors[s].mesh = mesh;
                    sys.game.scenes["MainScene"].instance.add(this.debugArrows.sensors[s].mesh);
                }

                // remove old arrow, if we have one
                if(this.debugArrows.sensors[s].arrow) {
                    this.debugArrows.sensors[s].mesh.remove(this.debugArrows.sensors[s].arrow);
                }


                var sensor = this.sensors[s];
                var sensorLength = sensor.sensorLength; // should get this from the sensor itself

                this.debugArrows.sensors[s].arrow = new THREE.ArrowHelper(
                    new THREE.Vector3(
                        sensor.sensorDirection.x,
                        sensor.sensorDirection.y,
                        sensor.sensorDirection.z
                    ).applyQuaternion(new THREE.Quaternion(
                        this.parentEntity.quaternion.x,
                        this.parentEntity.quaternion.y,
                        this.parentEntity.quaternion.z,
                        this.parentEntity.quaternion.w
                    )).normalize(),

                    new THREE.Vector3(
                        this.parentEntity.position.x,
                        this.parentEntity.position.y,
                        this.parentEntity.position.z
                    ).add(new THREE.Vector3(
                        sensor.sensorPositionOffset.x,
                        sensor.sensorPositionOffset.y,
                        sensor.sensorPositionOffset.z
                    ).applyQuaternion(new THREE.Quaternion(
                        this.parentEntity.quaternion.x,
                        this.parentEntity.quaternion.y,
                        this.parentEntity.quaternion.z,
                        this.parentEntity.quaternion.w
                    ))),

                    sensorLength * vehicleVelocityLength,

                    sensor.sensorColor
                );

                this.debugArrows.sensors[s].mesh.add(this.debugArrows.sensors[s].arrow);
            }
        }
    }
};