diff --git a/apps/openmw/mwbase/world.hpp b/apps/openmw/mwbase/world.hpp
index f03a9197d..98ec9cfce 100644
--- a/apps/openmw/mwbase/world.hpp
+++ b/apps/openmw/mwbase/world.hpp
@@ -407,6 +407,8 @@ namespace MWBase
virtual bool getLOS(const MWWorld::Ptr& npc,const MWWorld::Ptr& targetNpc) = 0;
///< get Line of Sight (morrowind stupid implementation)
+ virtual float getDistToNearestRayHit(const Ogre::Vector3& from, const Ogre::Vector3& dir, float maxDist) = 0;
+
virtual void enableActorCollision(const MWWorld::Ptr& actor, bool enable) = 0;
virtual int canRest() = 0;
diff --git a/apps/openmw/mwmechanics/aicombat.cpp b/apps/openmw/mwmechanics/aicombat.cpp
index fd2fa61ba..84798ca02 100644
--- a/apps/openmw/mwmechanics/aicombat.cpp
+++ b/apps/openmw/mwmechanics/aicombat.cpp
@@ -31,6 +31,40 @@ namespace
//chooses an attack depending on probability to avoid uniformity
void chooseBestAttack(const ESM::Weapon* weapon, MWMechanics::Movement &movement);
+
+ float getZAngleToDir(const Ogre::Vector3& dir, float dirLen = 0.0f)
+ {
+ float len = (dirLen >= 0.0f)? dirLen : dir.length();
+ return Ogre::Radian( Ogre::Math::ACos(dir.y / len) * sgn(Ogre::Math::ASin(dir.x / len)) ).valueDegrees();
+ }
+
+ const float PATHFIND_Z_REACH = 50.0f;
+ // distance at which actor pays more attention to decide whether to shortcut or stick to pathgrid
+ const float PATHFIND_CAUTION_DIST = 500.0f;
+ // distance after which actor (failed previously to shortcut) will try again
+ const float PATHFIND_SHORTCUT_RETRY_DIST = 300.0f;
+
+ // cast up-down ray with some offset from actor position to check for pits/obstacles on the way to target;
+ // magnitude of pits/obstacles is defined by PATHFIND_Z_REACH
+ bool checkWayIsClear(const Ogre::Vector3& from, const Ogre::Vector3& to, float offset)
+ {
+ if((to - from).length() >= PATHFIND_CAUTION_DIST || abs(from.z - to.z) <= PATHFIND_Z_REACH)
+ {
+ Ogre::Vector3 dir = to - from;
+ dir.z = 0;
+ dir.normalise();
+ float verticalOffset = 200; // instead of '200' here we want the height of the actor
+ Ogre::Vector3 _from = from + dir*offset + Ogre::Vector3::UNIT_Z * verticalOffset;
+
+ // cast up-down ray and find height in world space of hit
+ float h = _from.z - MWBase::Environment::get().getWorld()->getDistToNearestRayHit(_from, -Ogre::Vector3::UNIT_Z, verticalOffset + PATHFIND_Z_REACH + 1);
+
+ if(abs(from.z - h) <= PATHFIND_Z_REACH)
+ return true;
+ }
+
+ return false;
+ }
}
namespace MWMechanics
@@ -44,9 +78,10 @@ namespace MWMechanics
mReadyToAttack(false),
mStrike(false),
mCombatMove(false),
- mRotate(false),
mMovement(),
- mTargetAngle(0)
+ mTargetAngle(0),
+ mForceNoShortcut(false),
+ mShortcutFailPos()
{
}
@@ -71,13 +106,12 @@ namespace MWMechanics
mCombatMove = false;
}
}
-
+
actor.getClass().getMovementSettings(actor) = mMovement;
- if (mRotate)
+ if(actor.getRefData().getPosition().rot[2] != mTargetAngle)
{
- if (zTurn(actor, Ogre::Degree(mTargetAngle)))
- mRotate = false;
+ zTurn(actor, Ogre::Degree(mTargetAngle));
}
@@ -92,7 +126,7 @@ namespace MWMechanics
}
//Update with period = tReaction
-
+
mTimerReact = 0;
//actual attacking logic
@@ -136,6 +170,7 @@ namespace MWMechanics
actor.getClass().getCreatureStats(actor).setMovementFlag(CreatureStats::Flag_Run, true);
+ // Get weapon characteristics
if (actor.getClass().hasInventoryStore(actor))
{
MWMechanics::DrawState_ state = actor.getClass().getCreatureStats(actor).getDrawState();
@@ -166,15 +201,13 @@ namespace MWMechanics
weapRange = 150; //TODO: use true attack range (the same problem in Creature::hit)
}
- ESM::Position pos = actor.getRefData().getPosition();
-
float rangeMelee;
float rangeCloseUp;
bool distantCombat = false;
if (weaptype==WeapType_BowAndArrow || weaptype==WeapType_Crossbow || weaptype==WeapType_Thrown)
{
rangeMelee = 1000; // TODO: should depend on archer skill
- rangeCloseUp = 0; //doesn't needed when attacking from distance
+ rangeCloseUp = 0; // not needed in ranged combat
distantCombat = true;
}
else
@@ -182,23 +215,27 @@ namespace MWMechanics
rangeMelee = weapRange;
rangeCloseUp = 300;
}
+
+ ESM::Position pos = actor.getRefData().getPosition();
+ Ogre::Vector3 vActorPos(pos.pos);
+ Ogre::Vector3 vTargetPos(mTarget.getRefData().getPosition().pos);
+ Ogre::Vector3 vDirToTarget = vTargetPos - vActorPos;
+ float distToTarget = vDirToTarget.length();
- Ogre::Vector3 vStart(pos.pos[0], pos.pos[1], pos.pos[2]);
- ESM::Position targetPos = mTarget.getRefData().getPosition();
- Ogre::Vector3 vDest(targetPos.pos[0], targetPos.pos[1], targetPos.pos[2]);
- Ogre::Vector3 vDir = vDest - vStart;
- float distBetween = vDir.length();
+ bool isStuck = false;
+ float speed = 0.0f;
+ if(mMovement.mPosition[1] && (Ogre::Vector3(mLastPos.pos) - vActorPos).length() < (speed = cls.getSpeed(actor)) / 10.0f)
+ isStuck = true;
- if(distBetween < rangeMelee || (distBetween <= rangeCloseUp && mFollowTarget) )
+ mLastPos = pos;
+
+ if(distToTarget < rangeMelee || (distToTarget <= rangeCloseUp && mFollowTarget && !isStuck) )
{
//Melee and Close-up combat
- vDir.z = 0;
- float dirLen = vDir.length();
- mTargetAngle = Ogre::Radian( Ogre::Math::ACos(vDir.y / dirLen) * sgn(Ogre::Math::ASin(vDir.x / dirLen)) ).valueDegrees();
- mRotate = true;
+ vDirToTarget.z = 0;
+ mTargetAngle = getZAngleToDir(vDirToTarget, distToTarget);
- //bool LOS = MWBase::Environment::get().getWorld()->getLOS(actor, mTarget);
- if (mFollowTarget && distBetween > rangeMelee)
+ if (mFollowTarget && distToTarget > rangeMelee)
{
//Close-up combat: just run up on target
mMovement.mPosition[1] = 1;
@@ -228,7 +265,7 @@ namespace MWMechanics
}
}
- if(distantCombat && distBetween < rangeMelee/4)
+ if(distantCombat && distToTarget < rangeMelee/4)
{
mMovement.mPosition[1] = -1;
}
@@ -238,32 +275,80 @@ namespace MWMechanics
mFollowTarget = true;
}
}
- else
+ else // remote pathfinding
{
- //target is at far distance: build path to target OR follow target (if previously actor had reached it once)
- mFollowTarget = false;
+ bool preferShortcut = false;
+ bool inLOS;
- buildNewPath(actor); //may fail to build a path, check before use
-
- //delete visited path node
- mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1],pos.pos[2]);
-
- //if no new path leave mTargetAngle unchanged
- if(!mPathFinder.getPath().empty())
+ if(mReadyToAttack) isStuck = false;
+
+ // check if shortcut is available
+ if(!isStuck
+ && (!mForceNoShortcut
+ || (Ogre::Vector3(mShortcutFailPos.pos) - vActorPos).length() >= PATHFIND_SHORTCUT_RETRY_DIST)
+ && (inLOS = MWBase::Environment::get().getWorld()->getLOS(actor, mTarget)))
{
- //try shortcut
- if(vDir.length() < mPathFinder.getDistToNext(pos.pos[0],pos.pos[1],pos.pos[2]) && MWBase::Environment::get().getWorld()->getLOS(actor, mTarget))
- mTargetAngle = Ogre::Radian( Ogre::Math::ACos(vDir.y / vDir.length()) * sgn(Ogre::Math::ASin(vDir.x / vDir.length())) ).valueDegrees();
- else
- mTargetAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
- mRotate = true;
+ if(speed == 0.0f) speed = cls.getSpeed(actor);
+ // maximum dist before pit/obstacle for actor to avoid them depending on his speed
+ float maxAvoidDist = tReaction * speed + speed / MAX_VEL_ANGULAR.valueRadians() * 2;
+ //if(actor.getRefData().getPosition().rot[2] != mTargetAngle)
+ preferShortcut = checkWayIsClear(vActorPos, vTargetPos, distToTarget > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2);
+ }
+
+ if(preferShortcut)
+ {
+ mTargetAngle = getZAngleToDir(vDirToTarget, distToTarget);
+ mForceNoShortcut = false;
+ mShortcutFailPos.pos[0] = mShortcutFailPos.pos[1] = mShortcutFailPos.pos[2] = 0;
+ if(mPathFinder.isPathConstructed())
+ mPathFinder.clearPath();
+ }
+ else // if shortcut failed stick to path grid
+ {
+ if(!isStuck && mShortcutFailPos.pos[0] == 0.0f && mShortcutFailPos.pos[1] == 0.0f && mShortcutFailPos.pos[2] == 0.0f)
+ {
+ mForceNoShortcut = true;
+ mShortcutFailPos = pos;
+ }
+
+ mFollowTarget = false;
+
+ buildNewPath(actor); //may fail to build a path, check before use
+
+ //delete visited path node
+ mPathFinder.checkWaypoint(pos.pos[0],pos.pos[1],pos.pos[2]);
+
+ // This works on the borders between the path grid and areas with no waypoints.
+ if(inLOS && mPathFinder.getPath().size() > 1)
+ {
+ // get point just before target
+ std::list<ESM::Pathgrid::Point>::iterator pntIter = --mPathFinder.getPath().end();
+ --pntIter;
+ Ogre::Vector3 vBeforeTarget = Ogre::Vector3(pntIter->mX, pntIter->mY, pntIter->mZ);
+
+ // if current actor pos is closer to target then last point of path (excluding target itself) then go straight on target
+ if(distToTarget <= (vTargetPos - vBeforeTarget).length())
+ {
+ mTargetAngle = getZAngleToDir(vDirToTarget, distToTarget);
+ preferShortcut = true;
+ }
+ }
+
+ // if there is no new path, then go straight on target
+ if(!preferShortcut)
+ {
+ if(!mPathFinder.getPath().empty())
+ mTargetAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
+ else
+ mTargetAngle = getZAngleToDir(vDirToTarget, distToTarget);
+ }
}
mMovement.mPosition[1] = 1;
mReadyToAttack = false;
}
- if(distBetween > rangeMelee)
+ if(distToTarget > rangeMelee)
{
//special run attack; it shouldn't affect melee combat tactics
if(actor.getClass().getMovementSettings(actor).mPosition[1] == 1)
@@ -277,7 +362,7 @@ namespace MWMechanics
&& mTarget.getClass().getMovementSettings(mTarget).mPosition[1] == 0)
speed2 = 0;
- float s1 = distBetween - weapRange;
+ float s1 = distToTarget - weapRange;
float t = s1/speed1;
float s2 = speed2 * t;
float t_swing = 0.17f/weapSpeed;//instead of 0.17 should be the time of playing weapon anim from 'start' to 'hit' tags
@@ -300,31 +385,23 @@ namespace MWMechanics
void AiCombat::buildNewPath(const MWWorld::Ptr& actor)
{
- //Construct path to target
- ESM::Pathgrid::Point dest;
- dest.mX = mTarget.getRefData().getPosition().pos[0];
- dest.mY = mTarget.getRefData().getPosition().pos[1];
- dest.mZ = mTarget.getRefData().getPosition().pos[2];
- Ogre::Vector3 newPathTarget = Ogre::Vector3(dest.mX, dest.mY, dest.mZ);
+ Ogre::Vector3 newPathTarget = Ogre::Vector3(mTarget.getRefData().getPosition().pos);
- float dist = -1; //hack to indicate first time, to construct a new path
+ float dist;
+
if(!mPathFinder.getPath().empty())
{
ESM::Pathgrid::Point lastPt = mPathFinder.getPath().back();
Ogre::Vector3 currPathTarget(lastPt.mX, lastPt.mY, lastPt.mZ);
- dist = Ogre::Math::Abs((newPathTarget - currPathTarget).length());
+ dist = (newPathTarget - currPathTarget).length();
}
+ else dist = 1e+38F; // necessarily construct a new path
- float targetPosThreshold;
- bool isOutside = actor.getCell()->getCell()->isExterior();
- if (isOutside)
- targetPosThreshold = 300;
- else
- targetPosThreshold = 100;
+ float targetPosThreshold = (actor.getCell()->getCell()->isExterior())? 300 : 100;
- if((dist < 0) || (dist > targetPosThreshold))
+ //construct new path only if target has moved away more than on [targetPosThreshold]
+ if(dist > targetPosThreshold)
{
- //construct new path only if target has moved away more than on <targetPosThreshold>
ESM::Position pos = actor.getRefData().getPosition();
ESM::Pathgrid::Point start;
@@ -332,17 +409,18 @@ namespace MWMechanics
start.mY = pos.pos[1];
start.mZ = pos.pos[2];
+ ESM::Pathgrid::Point dest;
+ dest.mX = newPathTarget.x;
+ dest.mY = newPathTarget.y;
+ dest.mZ = newPathTarget.z;
+
if(!mPathFinder.isPathConstructed())
- mPathFinder.buildPath(start, dest, actor.getCell(), isOutside);
+ mPathFinder.buildPath(start, dest, actor.getCell(), false);
else
{
PathFinder newPathFinder;
- newPathFinder.buildPath(start, dest, actor.getCell(), isOutside);
+ newPathFinder.buildPath(start, dest, actor.getCell(), false);
- //TO EXPLORE:
- //maybe here is a mistake (?): PathFinder::getPathSize() returns number of grid points in the path,
- //not the actual path length. Here we should know if the new path is actually more effective.
- //if(pathFinder2.getPathSize() < mPathFinder.getPathSize())
if(!mPathFinder.getPath().empty())
{
newPathFinder.syncStart(mPathFinder.getPath());
diff --git a/apps/openmw/mwmechanics/aicombat.hpp b/apps/openmw/mwmechanics/aicombat.hpp
index 767a36292..b71dd9cf0 100644
--- a/apps/openmw/mwmechanics/aicombat.hpp
+++ b/apps/openmw/mwmechanics/aicombat.hpp
@@ -43,8 +43,11 @@ namespace MWMechanics
bool mReadyToAttack, mStrike;
bool mFollowTarget;
bool mCombatMove;
- bool mRotate;
+ bool mForceNoShortcut;
+ ESM::Position mShortcutFailPos;
+
+ ESM::Position mLastPos;
MWMechanics::Movement mMovement;
MWWorld::Ptr mTarget;
diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp
index 3ecd40743..4aee6f6e4 100644
--- a/apps/openmw/mwmechanics/pathfinding.cpp
+++ b/apps/openmw/mwmechanics/pathfinding.cpp
@@ -384,22 +384,21 @@ namespace MWMechanics
return false;
}
- void PathFinder::syncStart(const std::list<ESM::Pathgrid::Point> &path)
+ bool PathFinder::syncStart(const std::list<ESM::Pathgrid::Point> &path)
{
if (mPath.size() < 2)
- return; //nothing to pop
+ return false; //nothing to pop
std::list<ESM::Pathgrid::Point>::const_iterator oldStart = path.begin();
std::list<ESM::Pathgrid::Point>::iterator iter = ++mPath.begin();
if( (*iter).mX == oldStart->mX
&& (*iter).mY == oldStart->mY
- && (*iter).mZ == oldStart->mZ
- && (*iter).mAutogenerated == oldStart->mAutogenerated
- && (*iter).mConnectionNum == oldStart->mConnectionNum )
+ && (*iter).mZ == oldStart->mZ)
{
mPath.pop_front();
+ return true;
}
-
+ return false;
}
}
diff --git a/apps/openmw/mwmechanics/pathfinding.hpp b/apps/openmw/mwmechanics/pathfinding.hpp
index ecaaef568..86fa3b6bc 100644
--- a/apps/openmw/mwmechanics/pathfinding.hpp
+++ b/apps/openmw/mwmechanics/pathfinding.hpp
@@ -64,10 +64,15 @@ namespace MWMechanics
return mPath;
}
- //When first point of newly created path is the nearest to actor point, then
- //the cituation can occure when this point is undesirable (if the 2nd point of new path == the 1st point of old path)
- //This functions deletes that point.
- void syncStart(const std::list<ESM::Pathgrid::Point> &path);
+ /** Synchronize new path with old one to avoid visiting 1 waypoint 2 times
+ @note
+ If the first point is chosen as the nearest one
+ the cituation can occure when the 1st point of the new path is undesirable
+ (i.e. the 2nd point of new path == the 1st point of old path).
+ @param path - old path
+ @return true if such point was found and deleted
+ */
+ bool syncStart(const std::list<ESM::Pathgrid::Point> &path);
void addPointToPath(ESM::Pathgrid::Point &point)
{
diff --git a/apps/openmw/mwmechanics/steering.cpp b/apps/openmw/mwmechanics/steering.cpp
index d911fd81b..7646e832d 100644
--- a/apps/openmw/mwmechanics/steering.cpp
+++ b/apps/openmw/mwmechanics/steering.cpp
@@ -31,8 +31,7 @@ bool zTurn(const MWWorld::Ptr& actor, Ogre::Radian targetAngle)
if (absDiff < epsilon)
return true;
- // Max. speed of 10 radian per sec
- Ogre::Radian limit = Ogre::Radian(10) * MWBase::Environment::get().getFrameDuration();
+ Ogre::Radian limit = MAX_VEL_ANGULAR * MWBase::Environment::get().getFrameDuration();
if (absDiff > limit)
diff = Ogre::Math::Sign(diff) * limit;
diff --git a/apps/openmw/mwmechanics/steering.hpp b/apps/openmw/mwmechanics/steering.hpp
index 504dc3ac3..9bdf7d4a3 100644
--- a/apps/openmw/mwmechanics/steering.hpp
+++ b/apps/openmw/mwmechanics/steering.hpp
@@ -10,6 +10,9 @@ class Ptr;
namespace MWMechanics
{
+// Max rotating speed, radian/sec
+const Ogre::Radian MAX_VEL_ANGULAR(10);
+
/// configure rotation settings for an actor to reach this target angle (eventually)
/// @return have we reached the target angle?
bool zTurn(const MWWorld::Ptr& actor, Ogre::Radian targetAngle);
diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp
index 594a9f7f4..47536ab6c 100644
--- a/apps/openmw/mwworld/worldimp.cpp
+++ b/apps/openmw/mwworld/worldimp.cpp
@@ -1875,7 +1875,7 @@ namespace MWWorld
out.push_back(searchPtrViaHandle(*it));
}
}
-
+
bool World::getLOS(const MWWorld::Ptr& npc,const MWWorld::Ptr& targetNpc)
{
if (!targetNpc.getRefData().isEnabled() || !npc.getRefData().isEnabled())
@@ -1893,6 +1893,19 @@ namespace MWWorld
return false;
}
+ float World::getDistToNearestRayHit(const Ogre::Vector3& from, const Ogre::Vector3& dir, float maxDist)
+ {
+ btVector3 btFrom(from.x, from.y, from.z);
+ btVector3 btTo = btVector3(dir.x, dir.y, dir.z);
+ btTo.normalize();
+ btTo = btFrom + btTo * maxDist;
+
+ std::pair<std::string, float> result = mPhysEngine->rayTest(btFrom, btTo, false);
+
+ if(result.second == -1) return maxDist;
+ else return result.second*(btTo-btFrom).length();
+ }
+
void World::enableActorCollision(const MWWorld::Ptr& actor, bool enable)
{
OEngine::Physic::PhysicActor *physicActor = mPhysEngine->getCharacter(actor.getRefData().getHandle());
diff --git a/apps/openmw/mwworld/worldimp.hpp b/apps/openmw/mwworld/worldimp.hpp
index f1e89bf6b..0eea3c6a0 100644
--- a/apps/openmw/mwworld/worldimp.hpp
+++ b/apps/openmw/mwworld/worldimp.hpp
@@ -510,6 +510,8 @@ namespace MWWorld
virtual bool getLOS(const MWWorld::Ptr& npc,const MWWorld::Ptr& targetNpc);
///< get Line of Sight (morrowind stupid implementation)
+ virtual float getDistToNearestRayHit(const Ogre::Vector3& from, const Ogre::Vector3& dir, float maxDist);
+
virtual void enableActorCollision(const MWWorld::Ptr& actor, bool enable);
virtual int canRest();