Behavior

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					      Behavior

      Mark Green
School of Creative Media
Introduction
We’ve done the easy part
Geometry is pretty standard, we have a
good idea of how we should do it
We can get reasonable looking
environments
Now we have the problem of making the
react
Introduction
We need to have some model of behavior
Some theory of how objects behave
May only cover a subset of behavior, but
allows us to develop design tools
Provide a way of building applications
above the programming level
Start to explore such a model
Introduction
For behavior our objects must be able to
react
What do they react to?
 User actions
 Other objects

 Passage of time

We can view all of these as events
Objects and Events
An object will receive a stream of events, it
must know how to respond to these events
There are two parts to this:
 The object declares the set of events its
  interested in, it doesn’t respond to other events
 How it responds to each type of event, the
  actions it performs when it receives the events
Events
Each event has a name, indicates where the
events comes from
What are possible events?
 Tick: one tick of the clock
 Triggers: events generated by the user, pressing
  a button
 Collisions: when two objects collide
 Designer: created by designer, passed between
  objects
Event Response
What the object does when it receives and
event, event handler
In a completely general model we would
allow any program code at this point
The environment designer would provide
the program code required to respond to the
event
But we are trying to avoid programming
     Event Response

                     Geometry
   Tick event
                  Event handler
                                   Trigger event (user)
                  Event handler
Collision event
                  Event handler
                                    Designer event
                   Event handler
Event Response
To avoid programming we need a higher
level way of dealing with behavior
Have a set of actions that objects can
perform, these can be pre-programmed, just
need to select them, put them in event
handler
But what is this set of actions, can we
develop a universal set??
Event Response
No universal set of actions
Need to have an extendable system, be able
to add actions as system evolves
Easy for programmers to add functionality
They can easily produce one or more new
actions and have them integrated into the
system
SE Event Handlers
To make this more concrete look at event
handlers in SE
Event handlers are part of objects, they start
with the word on followed by the name of
the event
For the tick event, we have:
on tick
SE Event Handlers
Body of event handler is list of actions
performed when event occurs
List terminate by end
Basically looks the same as our other
descriptions used for geometry
The key is the actions that we put in the
event handler
SE Event Handlers
Each action starts with the name of the
action, this is decided by the programmer
Action name followed by list of parameters,
all on the same line
Parameters can be numbers, text strings,
expressions and sometimes names
The programmer defines the number of
parameters and their types
Details
Programmer provides actions in form of one
or more C++ objects (you don’t need to
worry about this)
Each object tells SE the names of the
actions is provides, number of parameters
and types of parameters
SE uses this information to process scripts,
set of legal actions and how to process them
Details
Programmer provided objects also execute
the actions
Each event handler becomes list of actions
which call the appropriate actions
Currently programmer provided objects
must be part of SE
In the future they could be dynamically
loaded
Details

Script                  C++ Objects




              SE




          Environment
Event Generation: Tick
Where do the events come from and what
are they used for?
The tick event is generated on each update,
if we are running at 60 updates/sec there
will be 60 tick events generated every
second
Used for object behavior, objects can move
and act on their own, animation
Event Generation: Tick
Example, object has propeller or wheel, on
each tick the propeller or wheel can be
rotated
Used to move objects about the
environment, don’t need other objects or
user to trigger the action
Need a set of action for moving objects,
changing their properties
Event Generation: Trigger
Trigger events are generated by the user
When they press a key or button the trigger
event is generated
An object can respond to many trigger
events
Trigger events are defined in the se.map
file, part of MRObjects
Event Generation: Trigger
A trigger corresponds to a button on a
device
A line in the se.map file describes it:
trigger trigger_name device(button)
Trigger_name is the name used in the script
for the trigger
Device is the name of the device the button
is on
Event Generation: Trigger
Button is the name of the button that
generates the trigger
For the a key on the keyboard we have:
trigger akey console(a)
For button two on a joystick we have:
trigger selection joystick(2)
Event Generation: Trigger
Do we always want objects responding to
triggers?
Probably not, may only want the selected
object to respond to the trigger
For example, the user might select an object
and then start performing some operations
on it, only wants to change the selected
object
Event Generation: Filtering
Only want to process the event if some
condition is true
This is an example of filtering, only
processing some of the events, a filtering
process determines the events to be
processed
Two places to filter: before or after the
event arrives
Event Generation: Filtering
Before event received: need to somehow
specify the filter
Could be part of the on statement, for
example:
on button1 selected
This is reasonably efficient, but not very
flexible, would need to change SE for every
new filter, how do we combine them?
Event Generation: Filtering
Event filtering as part of event handler
Have actions that serve as event filters
If the event passes the filter, continue with
the next action, otherwise exit, example:
on button1
  selected
  ….
end
Event Generation: Filtering
Has advantage of being more flexible:
 Set of filters is extendable
 Can easily combine filters

Not as efficient, need to execute part of the
event handler for each event, can’t discard it
immediately
This is the approach that we will use
Will need a set of filter actions
Event Generation: Collisions
Collision events: a set of related events that
involve multiple objects
One way that objects can react to each other
A collision occurs when two objects collide,
not easy to determine
Must look at each pair of objects to see if
they intersect
Event Generation: Collisions
Must be done centrally, can’t be efficiently
done by individual objects
A central process that looks for collisions
on each update and generates the
appropriate event
Other types of proximity events, attracted or
repelled by certain objects, etc
Event Generation: Designer
Events used by the environment designer
for interaction between objects
Example: a change in one object may
trigger similar changes in other objects,
need to be able to inform the other objects
Designer event can be sent to the other
objects to trigger the change
Event Generation: Designer
Can also be used for timing, within the
same object or between objects
Example: send an event in 5 seconds
Can be used to trigger a delayed reaction
Terminate a motion after a certain period of
time
Need a set of actions to support this
Actions
Now that we have some idea of the events
that can be generated we can examine the
types of actions required
Have the following basic action categories:
 Utility
 Filtering

 Event scheduling

 transformations
Actions: Utility
Generally useful operations that don’t fit in
other categories
One example is print, useful for debugging
event handlers
Do objects need variables?
Do we need to store information in objects
that are useful for event handlers?
Actions: Utility
The print action can have any number of
operands
operand separated by commas (,) and list
terminated by ;
for example:
print “the value of x is “ , x ;
Actions: Utility
What would we use variables for?
They could be part of a filtering
mechanism, a way of indicating that an
action shouldn’t be performed
Could be used to pass information between
event handlers
Used to keep track of the state of the object
Actions: Variables
Example: variables used to keep track of
object’s location: Locx, Locy, Locz
Each time object is moved, values are
changed
Determine when the object has reached the
end of the environment: move it back to the
center or change direction of movement
Actions: Variables
Two types of values:
 Real
 Strings

Set action used to assign values
set variable, value;
value can be a constant, 5 or “some text”, or
its could be an expression
Actions: Variables
An action similar to set is eval
this action has the form:
eval variable = expression ;
both eval and set do basically the same
thing
set usually used to initialise variables, while
eval used to update variable values
Actions: Control Flow
If statement used for testing, there are two
different versions of the if statement:
if expression ;
    actions
endif
if expression ;
    actions
else
    actions
endif
Actions: Control Flow
Similar to if statements in most
programming languages
expressions can have comparison operators:
==
!=
<
<=
>
>=
Actions: Control Flow
If action used to update variables based on
current state of the environment
for example, to keep an object in an
environment with boundaries at 8 and -8
if Locx > 8;
    set Locx, 0;
endif
if Locx < -8;
    set Locx, 0;
endif
Actions: Transformations
Transformations allow us to do some basic
behavior, simple motions
Have the three standard transformations:
translate, scale and rotate
Have both the absolute and relative forms
Relative form adds to the current
transformation, absolute form overwrites
pervious transformation
Actions: Transformations
Why do we have two forms of
transformations?
There are two main uses of transformations:
 Animations and autonomous motions, typically
  applied in each update, want these to be relative
 Actions triggered by an occasional event, for
  example a user pressing a button, or the object
  going out of range, use absolute transformation
Actions: Transformations
For translate there are two actions:
 translate x, y, z;
 move dx, dy, dz;

Translate is the absolute form, moves the
the location give
Move gives a displacement to the object
The parameters can be either real numbers
or variables
Actions: Transformations
For rotate have the following actions:
 rotx angle;
 roty angle;
 rotz angle;
 spinx dangle;
 spiny dangle;
 spinz dangle;

Spin is the relative version
Actions: Transformations
For scale we have the following actions:
 scale sx, sy, sz;
 grow dsx, dsy, dsz;

In this case grow is the relative
transformation and scale is the absolute
transformation
Actions: Transformations
If we want an object to spin about its z axis
we need to have the rotation occur in each
update
Use the following event handler:
on tick
  spinz 0.1;
end
Actions: Filtering
Filtering controls the execution of event
handlers
Determines whether the event handler
should be used, how much of it should be
used
One way of controlling what is executed,
the if is the other way
Actions: Filtering
There are two filtering actions, both test a
single variable:
 select variable
 selectinv variable

The first version checks to see if a variable
exists and its value
If the variable doesn’t exist, or its value is
zero the event handler is terminated
Actions: Filtering
If the variable has a non-zero value, the
event handler continues
Selectinv is the opposite, if the variable has
a non-zero value the event handler is
terminated, otherwise execution is
continued
By setting variables we can control which
event handlers are executed
Actions: Event Scheduling
The last set of basic actions
Cause an event to occur, either in the
current object or another object
The trigger action causes the event to occur
now:
trigger object, event;
First parameter is the name of the object,
second parameter is the event
Actions: Event Scheduling
The triggered event is immediately
executed, before the statements after trigger
are executed
The triggerAt action causes the event to be
executed at some point in the future:
triggerAt object, event, when;
The third parameter is the time when the
event will be executed
Actions: Event Triggering
Time is measured in seconds from the
current time
Example:
triggerAt “fred”, “explode”, 5;
Causes fred to execute its explode event
handler 5 seconds from now
Seconds provides a time unit that is
independent of update rate
Example
Triggers and selection can be combined to
provide some interesting behaviors
Look at an example based on random
motion
Start with a simple event handler that moves
the object a small amount in each update
Object will follow an erratic random path
Example
Random action used to produce random
values for variables:
random variable, lower, upper;
Generates a random number between lower
and upper and assigns it to the variable
We generate a small random displacement
to move the object in the x and y directions
Example
  on tick
            random dx, -0.1, 0.1;
            random dy, -0.1, 0.1;
            move dx, dy, 0;
            if Locx > 8;
                     set Locx, 0;
            endig
            if Locx < -8;
                     set Locx, 0;
            endif
            if Locy > 8;
                     set Locy, 0;
            endif
            if Locy < -8;
                     set Locy, 0;
            endif
     end
Example
This gives a small amount of random
motion, but the object is constantly in
motion
We would like it to start and stop, provide a
bit more interest
We can use a variable and two events for
this
Example
Variable, state, controls execution of tick
event handler, switch its value between 0
and 1
Two events are used to switch the value of
state:
 start: sets state to 1, triggers stop after 10 sec.
 stop: sets state to 0, triggers start after 10 sec
Example
on stop
           set state, 0;
           triggerAt “test”, “start”, 10;
end
on start
           set state, 1;
           triggerAt “test”, “stop”, 10;
end
on tick
           select state;
           …
end
Example
How do we get this started?
The first event is sent at the beginning of
execution, it is only sent once
Can use this for initialization
Our first event handler sets state to 1 and
then schedules a stop event 10 seconds in
the future
State Machine
What we have produced is a state machine
a state machine uses one or more variables
to encode its state, in our case we have:
 state = 0: no motion
 state = 1: random motion

there are also rules for state transitions, in
our case every 10 seconds it changes from
motion to no-motion and then back again
State Machine
A state machine is a powerful way of
organising behaviour
it is conceptually simple, but its simplicity
makes it easy to work with
state machines can have many states, and
the transition rules can be quite complex
SE allows us to do simple state machines
with a few states quite easily
Example
The previous example had random motion,
and since each step was small the object
stayed in a small area
this motion might be okay for an insect, but
doesn’t look very purposeful
we need motion that is more goal directed,
straight line motion, not as random
Example
Look at a simple kinematics based model
assign a motion vector or velocity to the
object
on each update, velocity added to current
position (move does this)
if we hit boundary, bounce back
this can all be done in the tick event handler
 Example
on tick                           on first
          move dx, dy, 0;                    random dx, -0.1, 0.1;
          if Locx > 8;                       random dy, -0.1, 0.1;
                   set dx, -dx;              random dt, 10, 20;
          endif                              triggerAt “test”, “change”, dt;
          if Locx < -8;           end
                   set dx, -dx;
          endif
          if Locy > 8;
                   set dy, -dy;
          endif
          if Locy < -8;
                   set dy, -dy;
          endif
end
Example
The first event handler initialises the motion
it produces the initial values for dx and dy
it also sends the event change at some
random point in the future
the variable dt contains a random time
between 10 and 20 seconds
this becomes time of the change event
Example
One of the problems with this type of
motion is that it can easily get into a loop
the object keeps repeating the same motion
we need to break this up so there is more
variety in the motion
the change event handler generates a new
random velocity and then reschedules itself
for some point in the future
Example

on change
       random dx, -0.1, 0.1;
       random dy, -0.1, 0.1;
       print "change direction”;
       print dx, dy;
       random dt, 10, 20;
       triggerAt “test”, “change”, dt;
end
Discussion
We now have some reasonable motions
we could also change the objects orientation
when we change its velocity
we could add some possibility for the user
to interact with the object
when a key is pressed it changes directions,
or stops moving until another key is pressed
Hierarchical Modeling
One of the most powerful modelling tools
build complex objects from simpler ones
this can help us with behaviour as well, we
can move the parts with respect to each
other
all our behaviors so far involved moving the
objects, they didn’t change shape, we can
change that now
Hierarchical Modeling
To see how this works we will look at a
simple example, a plane
plane consists of two parts:
 propeller
 body

the propeller turns as the plane moves in a
circular path
Example: Plane
Example: Plane
The model is built from two cubes, we scale
them to get the propeller and body shape
this would normally be done in a modeller,
but we don’t need it for this example
the main issue is structuring the model and
getting the transformations right
this isn’t trivial
Example: Plane
There are two places where we can do
transformations:
 at the mesh level with a copy command
 at the object level in a first event handler

scaling to get the shape is done at the mesh
level, this only applies to the mesh, not the
subparts
Example: Plane
The positioning transformations are done in
the first event handlers
they then apply to all of the sub objects in
the model
our model consists of two parts, the
propeller is the child of the plane body
this all becomes the child of the model that
moves the plane
   Transformations

                 Object             Transformation




      Mesh            Mesh          Mesh


Transformation    Transformation   Transformation
Example: Propeller Object

object prop
        add mesh george
        on tick
                 spiny 0.2;
        end
        on first
                 translate 0, 1.1, 0;
        end
end
Example: Plane Object

 object plane
         add mesh fred
         add object prop
         on first
                  translate 5, 0, 0;
                  rotz 3.14;
         end
 end
Transformations
Both the prop and plane objects use mesh
transformations to scale the cubes
The prop object uses a first transformation
to position the propeller, this really isn’t
necessary, could be done at the mesh level
The plane object uses first transformations
to position the plane and orient it in the
right direction
Transformations
The first transformations are applied to the
object, thus they are applied to everything
inside the object
This includes the propeller, which will now
be positioned and oriented correctly and
move with the plane
If this was done at the mesh level the
propeller wouldn’t be moved
Example: Model Object

 object model
        add object plane
        on tick
                spinz 0.01;
        end
 end
Transformations
The final level of the model is the model
object
This object spins the plane on its flight path
Why do we need this object? Why not spin
the plane object?
This is due to the order of transformations,
the plane would rotate about its z axis and
not make a circle
Transformations
If the object is located at the origin (its
mesh location is (0,0,0) all object
transformations are about the object’s center
The order of transformations is:
 Scale
 Rotate z, then y, then x

 Translate
Transformations
In the plane object we translate the plane
away from the origin, the radius of the
circle it travels in
This is the last transformation in the plane,
so any spin occurs before it
Thus a spin at the plane level only rotates it
about its local axis
Example
Lets add one more thing to this example
Let the user control the roll of the plane,
rotation about its long axis, which is the y
axis
Pressing the a key rotates in one direction,
pressing the s key rotates in the opposite
direction
New Plane Object
 object plane
         add mesh fred
         add object prop
         on first
                  translate 5, 0, 0;
                  rotz 3.14;
         end
         on one
                  spiny 0.1;
         end
         on two
                  spiny -0.1;
         end
 end
Discussion
We have managed to construct some non-
trivial behaviors
Objects have autonomous motions and the
user can interact with them
The event based model seems to work
reasonably well
With an expanded set of actions we might
bet more interesting motion
Example
Return to the plane example, want the plane
to start and stop
When it stops the rotation of the propeller
slows, and the plane gradually stops rotating
For start the opposite occurs
The rotation rate will be variable, we need
to replace the constant in spiny and spinz by
a variable
Example
But were does the spin rate come from?
We need to calculate it, we need an
expression
For propeller use proprate, so in the tick
event handler we will have:
Spiny proprate;
Need another event handler to adjust
proprate
Example
on speedup
        select state;
        eval proprate = proprate*1.1;
        if proprate > 0.2;
                 set state, 0;
        endif
        triggerAt “prop”, “speedup”, 0.1;
end
on starttrigger
        set state, 1;
        set proprate, 0.01;
        trigger “prop”, “speedup”;
end
Example Three
We will have a similar event handler for
slowing down
We will need similar event handlers in
plane that vary the rotation speed of the
plane
This gives us more interesting motion
Discussion
There’s one problem
Time, we don’t treat time correctly
Frequency of the tick event depends upon
processor speed
On fast computers propeller spins faster,
objects move faster
Appearance and behavior depend on
processor speed
Discussion
We would like things to look roughly the
same on all processors
This means that rotation amount must
depend upon the time difference between
tick events
At first this seems like a relatively simple
problem, we just modify the relative
transformations to take time difference into
account
Discussion
This doesn’t work!
It solves problem for tick events, but what
happens in the other events?
We use relative transformation to respond
to user events, what time value should we
use?
We need a different approach
Discussion
We can solve this problem in the following
way
On each tick event, set variable dt to the
time difference
Can now use:
 eval rate = proprate * dt;
 spiny rate;

				
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