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- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
- ;
- ; Collision.cfg
- ;
- ; This files contains runtime configuration variables for collision avoidance.
- ;
- ; By the Mad Dr. I
- ;
- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
-
- [Collision]
-
- ; Which revision of this file are we using?
- COLLISION_CONFIG_FILE_REVISION = 1
-
- ; Range Search Parameters
- AVOIDANCE_USING_RANGE_SEARCH = 1
-
- ; How big is a grid cell in the range search structure?
- GRID_X_SIZE = 80.0
- GRID_Z_SIZE = 80.0
-
- ; Which modes are on?
- ; Any or all of the following four modes can be selected or deselected
- ; together.
- ; The combo most like the old avoidance is (1,0,0,0).
- ; The one recommended by the doctor is (1,1,1,0)
-
- ; COLLISION_DIRECT_REPULSION is a repulsive force pointing directly
- ; at one object from another.
- COLLISION_DIRECT_REPULSION = 1
-
- ; COLLISION_LATERAL_REPULSION is a force which causes one object to move
- ; laterally to take another object out of its direct path. This keeps two
- ; objects from being is a "standoff" facing each other trying to get by.
- COLLISION_LATERAL_REPULSION = 1
-
- ; COLLISION_FULL_POTENTIAL_FIELD uses forces from all really close objects
- ; if its value is 1. Otherwise, the repulsion is only from the single
- ; closest obstacle. This makes a noticable difference when several objects
- ; are close together (cuts down collisions)
- COLLISION_FULL_POTENTIAL_FIELD = 1
-
- ; COLLISION_REAL_COLLISIONS turns on a check (when 1) to see if two objects
- ; really could collide given their current velocities. If not, forces are
- ; nott applied. This is potentially expensive, and the parameters would need
- ; to be tweaked carefully to avoid collisions.
- COLLISION_REAL_COLLISIONS = 1
-
- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
- ; FOR Lateral Repulsion
-
- ; This is a modifier for the magnitude of lateral
- ; forces applied for avoidance
- LATERAL_AVOIDANCE_MULTIPLIER = 600.0 ; Was 120.0
-
- ; This is how many times bigger the danger zone for a collision
- ; can be than the combined radius of the two objects
- LATERAL_DANGER_WIDTH = 1.0
-
-
- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
- ; FOR AIUtil_Detect_2D_Collision
-
- ; When we're looking to see if there will be a collision with an object
- ; in some time period, what is the time we say (in seconds)
- COLLISION_LOOK_AHEAD_TIME = 10.0 ; Was 2.5
-
- ; When doing the Real Collision Look ahead, how much bigger than the
- ; real radius of objects do we consider the objects to be...
- COLLISION_SAFETY_COEFF = 1.2
-
- ; Should we use the cheap 2D collision or the expensive one?
- COLLISION_CHEAP_2D_COLLIDE = 1
-
- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
- ; FOR FindPotentialField
-
- ; How much more attractive is the final goal than a waypoint?
- EXTRA_GOAL_ATTRACTION = 5.0
-
- ; Simple multiplier for the effect of repulsion
- REPULSIVE_COEFFICIENT = 1200.0
-
- ; Simple multiplier for effect of attraction
- ATTRACTIVE_COEFFICIENT = 1.0
-
- ; By default how far away do we cut off the repulsive effect of an object
- ; (in meters)
- DEFAULT_REPULSION_CUTOFF = 40.0
-
- ; Default distance for potential field influence of repulsion
- DISTANCE_OF_INFLUENCE = 30.0
-
- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
- ; FOR CliffForce
-
- ; Additional coefficient for cliffs' repulsive force
- CLIFF_REPULSION_COEFFICIENT = 1.0 ; was 3.0
-
- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
- ; FOR GotoTask::Goto(void)
-
- ; How close to a point on our path should we be before we start heading to
- ; the next point
- SWITCH_TO_NEXT_POINT_DISTANCE = 10.0
-
- ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
- ; FOR UnitTask::IsStuck(void)
-
- ; Give some extra time before we call a unit stuck!
- EXTRA_STUCK_TIME = 5.0
-