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Merge pull request #993 from mrcheko/pathfinding

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Pathfinding unification
pull/35/head
scrawl 9 years ago committed by GitHub
parent d7845012bf e2cd87fcc7
commit 5190275b37
16 changed files with 436 additions and 488 deletions
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14
apps/openmw/mwmechanics/aiactivate.cpp
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@ -25,31 +25,27 @@ namespace MWMechanics
bool AiActivate::execute(const MWWorld::Ptr& actor, CharacterController& characterController, AiState& state, float duration)
{
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
const MWWorld::Ptr target = MWBase::Environment::get().getWorld()->searchPtr(mObjectId, false); //The target to follow
actor.getClass().getCreatureStats(actor).setDrawState(DrawState_Nothing);
if (target == MWWorld::Ptr() ||
!target.getRefData().getCount() || !target.getRefData().isEnabled() // Really we should be checking whether the target is currently registered
!target.getRefData().getCount() || !target.getRefData().isEnabled() // Really we should check whether the target is currently registered
// with the MechanicsManager
)
return true; //Target doesn't exist
//Set the target desition from the actor
//Set the target destination for the actor
ESM::Pathgrid::Point dest = target.getRefData().getPosition().pos;
if(distance(dest, pos.pos[0], pos.pos[1], pos.pos[2]) < MWBase::Environment::get().getWorld()->getMaxActivationDistance()) { //Stop when you get in activation range
actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
if (pathTo(actor, dest, duration, MWBase::Environment::get().getWorld()->getMaxActivationDistance())) //Stop when you get in activation range
{
// activate when reached
MWWorld::Ptr target = MWBase::Environment::get().getWorld()->getPtr(mObjectId,false);
MWBase::Environment::get().getWorld()->activate(target, actor);
return true;
}
else {
pathTo(actor, dest, duration); //Go to the destination
}
return false;
}

356
apps/openmw/mwmechanics/aicombat.cpp
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@ -27,46 +27,6 @@ namespace
osg::Vec3f AimDirToMovingTarget(const MWWorld::Ptr& actor, const MWWorld::Ptr& target, const osg::Vec3f& vLastTargetPos,
float duration, int weapType, float strength);
float getZAngleToDir(const osg::Vec3f& dir)
{
return std::atan2(dir.x(), dir.y());
}
float getXAngleToDir(const osg::Vec3f& dir)
{
return -std::asin(dir.z() / dir.length());
}
const float REACTION_INTERVAL = 0.25f;
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 osg::Vec3f& from, const osg::Vec3f& to, float offsetXY)
{
if((to - from).length() >= PATHFIND_CAUTION_DIST || std::abs(from.z() - to.z()) <= PATHFIND_Z_REACH)
{
osg::Vec3f dir = to - from;
dir.z() = 0;
dir.normalize();
float verticalOffset = 200; // instead of '200' here we want the height of the actor
osg::Vec3f _from = from + dir*offsetXY + osg::Vec3f(0,0,1) * verticalOffset;
// cast up-down ray and find height in world space of hit
float h = _from.z() - MWBase::Environment::get().getWorld()->getDistToNearestRayHit(_from, osg::Vec3f(0,0,-1), verticalOffset + PATHFIND_Z_REACH + 1);
if(std::abs(from.z() - h) <= PATHFIND_Z_REACH)
return true;
}
return false;
}
}
namespace MWMechanics
@ -80,7 +40,7 @@ namespace MWMechanics
float mTimerCombatMove;
bool mReadyToAttack;
bool mAttack;
bool mFollowTarget;
float mAttackRange;
bool mCombatMove;
osg::Vec3f mLastTargetPos;
const MWWorld::CellStore* mCell;
@ -89,16 +49,15 @@ namespace MWMechanics
float mStrength;
bool mForceNoShortcut;
ESM::Position mShortcutFailPos;
osg::Vec3f mLastActorPos;
MWMechanics::Movement mMovement;
AiCombatStorage():
mAttackCooldown(0),
mTimerReact(0),
mTimerReact(AI_REACTION_TIME),
mTimerCombatMove(0),
mReadyToAttack(false),
mAttack(false),
mFollowTarget(false),
mAttackRange(0),
mCombatMove(false),
mLastTargetPos(0,0,0),
mCell(NULL),
@ -107,8 +66,8 @@ namespace MWMechanics
mStrength(),
mForceNoShortcut(false),
mShortcutFailPos(),
mLastActorPos(0,0,0),
mMovement(){}
mMovement()
{}
void startCombatMove(bool isNpc, bool isDistantCombat, float distToTarget, float rangeAttack);
void updateCombatMove(float duration);
@ -179,6 +138,7 @@ namespace MWMechanics
* Use the Observer Pattern to co-ordinate attacks, provide intelligence on
* whether the target was hit, etc.
*/
bool AiCombat::execute (const MWWorld::Ptr& actor, CharacterController& characterController, AiState& state, float duration)
{
// get or create temporary storage
@ -197,34 +157,38 @@ namespace MWMechanics
|| target.getClass().getCreatureStats(target).isDead())
return true;
if (storage.mCurrentAction.get()) // need to wait to init action with it's attack range
{
//Update every frame
bool is_target_reached = pathTo(actor, target.getRefData().getPosition().pos, duration, storage.mAttackRange);
if (is_target_reached) storage.mReadyToAttack = true;
}
storage.updateCombatMove(duration);
updateActorsMovement(actor, duration, storage.mMovement);
if (storage.mReadyToAttack) updateActorsMovement(actor, duration, storage);
storage.updateAttack(characterController);
storage.mActionCooldown -= duration;
float& timerReact = storage.mTimerReact;
if(timerReact < REACTION_INTERVAL)
if (timerReact < AI_REACTION_TIME)
{
timerReact += duration;
return false;
}
else
{
timerReact = 0;
return reactionTimeActions(actor, characterController, storage, target);
attack(actor, target, storage, characterController);
}
return false;
}
bool AiCombat::reactionTimeActions(const MWWorld::Ptr& actor, CharacterController& characterController,
AiCombatStorage& storage, MWWorld::Ptr target)
void AiCombat::attack(const MWWorld::Ptr& actor, const MWWorld::Ptr& target, AiCombatStorage& storage, CharacterController& characterController)
{
MWMechanics::Movement& movement = storage.mMovement;
if (isTargetMagicallyHidden(target))
{
storage.stopAttack();
return false; // TODO: run away instead of doing nothing
return; // TODO: run away instead of doing nothing
}
const MWWorld::CellStore*& currentCell = storage.mCell;
@ -239,10 +203,9 @@ namespace MWMechanics
float& actionCooldown = storage.mActionCooldown;
if (actionCooldown > 0)
return false;
return;
float rangeAttack = 0;
float rangeFollow = 0;
float &rangeAttack = storage.mAttackRange;
boost::shared_ptr<Action>& currentAction = storage.mCurrentAction;
if (characterController.readyToPrepareAttack())
{
@ -250,98 +213,15 @@ namespace MWMechanics
actionCooldown = currentAction->getActionCooldown();
}
if (currentAction.get())
currentAction->getCombatRange(rangeAttack, rangeFollow);
// FIXME: consider moving this stuff to ActionWeapon::getCombatRange
const ESM::Weapon *weapon = NULL;
MWMechanics::WeaponType weaptype = WeapType_None;
float weapRange = 1.0f;
// Get weapon characteristics
MWBase::World* world = MWBase::Environment::get().getWorld();
static const float fCombatDistance = world->getStore().get<ESM::GameSetting>().find("fCombatDistance")->getFloat();
if (actorClass.hasInventoryStore(actor))
{
//Get weapon range
MWWorld::ContainerStoreIterator weaponSlot =
MWMechanics::getActiveWeapon(actorClass.getCreatureStats(actor), actorClass.getInventoryStore(actor), &weaptype);
if (weaptype == WeapType_HandToHand)
{
static float fHandToHandReach =
world->getStore().get<ESM::GameSetting>().find("fHandToHandReach")->getFloat();
weapRange = fHandToHandReach;
}
else if (weaptype != WeapType_PickProbe && weaptype != WeapType_Spell && weaptype != WeapType_None)
{
// All other WeapTypes are actually weapons, so get<ESM::Weapon> is safe.
weapon = weaponSlot->get<ESM::Weapon>()->mBase;
weapRange = weapon->mData.mReach;
}
weapRange *= fCombatDistance;
}
else //is creature
{
weaptype = actorClass.getCreatureStats(actor).getDrawState() == DrawState_Spell ? WeapType_Spell : WeapType_HandToHand;
weapRange = fCombatDistance;
}
bool distantCombat = false;
if (weaptype != WeapType_Spell)
{
// TODO: move to ActionWeapon
if (weaptype == WeapType_BowAndArrow || weaptype == WeapType_Crossbow || weaptype == WeapType_Thrown)
{
rangeAttack = 1000;
rangeFollow = 0; // not needed in ranged combat
distantCombat = true;
}
else
{
rangeAttack = weapRange;
rangeFollow = 300;
}
}
else
bool isRangedCombat = false;
if (currentAction.get())
{
distantCombat = (rangeAttack > 500);
rangeAttack = currentAction->getCombatRange(isRangedCombat);
// Get weapon characteristics
weapon = currentAction->getWeapon();
}
bool& readyToAttack = storage.mReadyToAttack;
// start new attack
storage.startAttackIfReady(actor, characterController, weapon, distantCombat);
/*
* Some notes on meanings of variables:
*
* rangeAttack:
*
* - Distance where attack using the actor's weapon is possible:
* longer for ranged weapons (obviously?) vs. melee weapons
* - Determined by weapon's reach parameter; hardcoded value
* for ranged weapon and for creatures
* - Once within this distance mFollowTarget is triggered
*
* rangeFollow:
*
* - Applies to melee weapons or hand to hand only (or creatures without
* weapons)
* - Distance a little further away than the actor's weapon reach
* i.e. rangeFollow > rangeAttack for melee weapons
* - Hardcoded value (0 for ranged weapons)
* - Once the target gets beyond this distance mFollowTarget is cleared
* and a path to the target needs to be found
*
* mFollowTarget:
*
* - Once triggered, the actor follows the target with LOS shortcut
* (the shortcut really only applies to cells where pathgrids are
* available, since the default path without pathgrids is direct to
* target even if LOS is not achieved)
*/
ESM::Position pos = actor.getRefData().getPosition();
osg::Vec3f vActorPos(pos.asVec3());
osg::Vec3f vTargetPos(target.getRefData().getPosition().asVec3());
@ -349,154 +229,51 @@ namespace MWMechanics
osg::Vec3f vAimDir = MWBase::Environment::get().getWorld()->aimToTarget(actor, target);
float distToTarget = MWBase::Environment::get().getWorld()->getHitDistance(actor, target);
osg::Vec3f& lastActorPos = storage.mLastActorPos;
bool& followTarget = storage.mFollowTarget;
bool isStuck = false;
float speed = 0.0f;
if(movement.mPosition[1] && (lastActorPos - vActorPos).length() < (speed = actorClass.getSpeed(actor)) * REACTION_INTERVAL / 2)
isStuck = true;
lastActorPos = vActorPos;
// check if actor can move along z-axis
bool canMoveByZ = (actorClass.canSwim(actor) && world->isSwimming(actor))
|| world->isFlying(actor);
storage.mReadyToAttack = (distToTarget <= rangeAttack);
// can't fight if attacker can't go where target is. E.g. A fish can't attack person on land.
if (distToTarget >= rangeAttack
if (distToTarget > rangeAttack
&& !actorClass.isNpc() && !MWMechanics::isEnvironmentCompatible(actor, target))
{
// TODO: start fleeing?
storage.stopAttack();
return false;
return;
}
// for distant combat we should know if target is in LOS even if distToTarget < rangeAttack
bool inLOS = distantCombat ? world->getLOS(actor, target) : true;
// (within attack dist) || (not quite attack dist while following)
if(inLOS && (distToTarget < rangeAttack || (distToTarget <= rangeFollow && followTarget && !isStuck)))
if (storage.mReadyToAttack)
{
mPathFinder.clearPath();
//Melee and Close-up combat
storage.startCombatMove(actorClass.isNpc(), isRangedCombat, distToTarget, rangeAttack);
// start new attack
storage.startAttackIfReady(actor, characterController, weapon, isRangedCombat);
// getXAngleToDir determines vertical angle to target:
// if actor can move along z-axis it will control movement dir
// if can't - it will control correct aiming.
// note: in getZAngleToDir if we preserve dir.z then horizontal angle can be inaccurate
if (distantCombat)
if (isRangedCombat)
{
// rotate actor taking into account target movement direction and projectile speed
osg::Vec3f& lastTargetPos = storage.mLastTargetPos;
vAimDir = AimDirToMovingTarget(actor, target, lastTargetPos, REACTION_INTERVAL, weaptype,
storage.mStrength);
vAimDir = AimDirToMovingTarget(actor, target, lastTargetPos, AI_REACTION_TIME, (weapon ? weapon->mData.mType : 0), storage.mStrength);
lastTargetPos = vTargetPos;
movement.mRotation[0] = getXAngleToDir(vAimDir);
movement.mRotation[2] = getZAngleToDir(vAimDir);
}
else
{
movement.mRotation[0] = getXAngleToDir(vAimDir);
movement.mRotation[2] = getZAngleToDir((vTargetPos-vActorPos)); // using vAimDir results in spastic movements since the head is animated
}
// (not quite attack dist while following)
if (followTarget && distToTarget > rangeAttack)
{
//Close-up combat: just run up on target
storage.stopCombatMove();
movement.mPosition[1] = 1;
}
else // (within attack dist)
{
storage.startCombatMove(actorClass.isNpc(), distantCombat, distToTarget, rangeAttack);
readyToAttack = true;
//only once got in melee combat, actor is allowed to use close-up shortcutting
followTarget = true;
}
}
else // remote pathfinding
{
bool preferShortcut = false;
if (!distantCombat) inLOS = world->getLOS(actor, target);
// check if shortcut is available
bool& forceNoShortcut = storage.mForceNoShortcut;
ESM::Position& shortcutFailPos = storage.mShortcutFailPos;
if(inLOS && (!isStuck || readyToAttack)
&& (!forceNoShortcut || (shortcutFailPos.asVec3() - vActorPos).length() >= PATHFIND_SHORTCUT_RETRY_DIST))
{
if(speed == 0.0f) speed = actorClass.getSpeed(actor);
// maximum dist before pit/obstacle for actor to avoid them depending on his speed
float maxAvoidDist = REACTION_INTERVAL * speed + speed / MAX_VEL_ANGULAR_RADIANS * 2; // *2 - for reliability
preferShortcut = checkWayIsClear(vActorPos, vTargetPos, osg::Vec3f(vAimDir.x(), vAimDir.y(), 0).length() > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2);
}
// don't use pathgrid when actor can move in 3 dimensions
if (canMoveByZ)
{
preferShortcut = true;
movement.mRotation[0] = getXAngleToDir(vAimDir);
}
if(preferShortcut)
{
movement.mRotation[2] = getZAngleToDir((vTargetPos-vActorPos));
forceNoShortcut = false;
shortcutFailPos.pos[0] = shortcutFailPos.pos[1] = shortcutFailPos.pos[2] = 0;
mPathFinder.clearPath();
}
else // if shortcut failed stick to path grid
{
if(!isStuck && shortcutFailPos.pos[0] == 0.0f && shortcutFailPos.pos[1] == 0.0f && shortcutFailPos.pos[2] == 0.0f)
{
forceNoShortcut = true;
shortcutFailPos = pos;
}
followTarget = false;
buildNewPath(actor, target);
// should always return a path (even if it's just go straight on target.)
assert(mPathFinder.isPathConstructed());
storage.mMovement.mRotation[0] = getXAngleToDir(vAimDir);
storage.mMovement.mRotation[2] = getZAngleToDir(vAimDir);
}
if (readyToAttack)
else
{
// to stop possible sideway moving after target moved out of attack range
storage.stopCombatMove();
readyToAttack = false;
storage.mMovement.mRotation[0] = getXAngleToDir(vAimDir);
storage.mMovement.mRotation[2] = getZAngleToDir((vTargetPos-vActorPos)); // using vAimDir results in spastic movements since the head is animated
}
movement.mPosition[1] = 1;
}
return false;
}
void AiCombat::updateActorsMovement(const MWWorld::Ptr& actor, float duration, MWMechanics::Movement& desiredMovement)
void AiCombat::updateActorsMovement(const MWWorld::Ptr& actor, float duration, AiCombatStorage& storage)
{
// apply combat movement
MWMechanics::Movement& actorMovementSettings = actor.getClass().getMovementSettings(actor);
if (mPathFinder.isPathConstructed())
{
const ESM::Position& pos = actor.getRefData().getPosition();
if (mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1]))
{
actorMovementSettings.mPosition[1] = 0;
}
else
{
evadeObstacles(actor, duration, pos);
}
}
else
{
actorMovementSettings = desiredMovement;
rotateActorOnAxis(actor, 2, actorMovementSettings, desiredMovement);
rotateActorOnAxis(actor, 0, actorMovementSettings, desiredMovement);
}
actorMovementSettings.mPosition[0] = storage.mMovement.mPosition[0];
actorMovementSettings.mPosition[1] = storage.mMovement.mPosition[1];
actorMovementSettings.mPosition[2] = storage.mMovement.mPosition[2];
rotateActorOnAxis(actor, 2, actorMovementSettings, storage.mMovement);
rotateActorOnAxis(actor, 0, actorMovementSettings, storage.mMovement);
}
void AiCombat::rotateActorOnAxis(const MWWorld::Ptr& actor, int axis,
@ -514,35 +291,6 @@ namespace MWMechanics
}
}
bool AiCombat::doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell)
{
if (!mPathFinder.getPath().empty())
{
osg::Vec3f currPathTarget(PathFinder::MakeOsgVec3(mPathFinder.getPath().back()));
osg::Vec3f newPathTarget = PathFinder::MakeOsgVec3(dest);
float dist = (newPathTarget - currPathTarget).length();
float targetPosThreshold = (cell->isExterior()) ? 300.0f : 100.0f;
return dist > targetPosThreshold;
}
else
{
// necessarily construct a new path
return true;
}
}
void AiCombat::buildNewPath(const MWWorld::Ptr& actor, const MWWorld::Ptr& target)
{
ESM::Pathgrid::Point newPathTarget = PathFinder::MakePathgridPoint(target.getRefData().getPosition());
//construct new path only if target has moved away more than on [targetPosThreshold]
if (doesPathNeedRecalc(newPathTarget, actor.getCell()->getCell()))
{
ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(actor.getRefData().getPosition()));
mPathFinder.buildSyncedPath(start, newPathTarget, actor.getCell(), false);
}
}
int AiCombat::getTypeId() const
{
return TypeIdCombat;
@ -582,13 +330,13 @@ namespace MWMechanics
mTimerCombatMove = 0.1f + 0.1f * Misc::Rng::rollClosedProbability();
mCombatMove = true;
}
// only NPCs are smart enough to use dodge movements
// dodge movements (for NPCs only)
else if (isNpc && (!isDistantCombat || (distToTarget < rangeAttack / 2)))
{
//apply sideway movement (kind of dodging) with some probability
if (Misc::Rng::rollClosedProbability() < 0.25)
{
mMovement.mPosition[0] = Misc::Rng::rollProbability() < 0.5 ? 1.0f : -1.0f;
mMovement.mPosition[0] = Misc::Rng::rollProbability() < 0.5 ? 1.0f : -1.0f; // to the left/right
mTimerCombatMove = 0.05f + 0.15f * Misc::Rng::rollClosedProbability();
mCombatMove = true;
}
@ -651,7 +399,7 @@ namespace MWMechanics
mAttackCooldown = std::min(baseDelay + 0.01 * Misc::Rng::roll0to99(), baseDelay + 0.9);
}
else
mAttackCooldown -= REACTION_INTERVAL;
mAttackCooldown -= AI_REACTION_TIME;
}
}

9
apps/openmw/mwmechanics/aicombat.hpp
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@ -55,19 +55,14 @@ namespace MWMechanics
virtual bool canCancel() const { return false; }
virtual bool shouldCancelPreviousAi() const { return false; }
protected:
virtual bool doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell);
private:
int mTargetActorId;
void buildNewPath(const MWWorld::Ptr& actor, const MWWorld::Ptr& target);
bool reactionTimeActions(const MWWorld::Ptr& actor, CharacterController& characterController,
AiCombatStorage& storage, MWWorld::Ptr target);
void attack(const MWWorld::Ptr& actor, const MWWorld::Ptr& target, AiCombatStorage& storage, CharacterController& characterController);
/// Transfer desired movement (from AiCombatStorage) to Actor
void updateActorsMovement(const MWWorld::Ptr& actor, float duration, MWMechanics::Movement& movement);
void updateActorsMovement(const MWWorld::Ptr& actor, float duration, AiCombatStorage& storage);
void rotateActorOnAxis(const MWWorld::Ptr& actor, int axis,
MWMechanics::Movement& actorMovementSettings, MWMechanics::Movement& desiredMovement);
};

67
apps/openmw/mwmechanics/aicombataction.cpp
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@ -40,23 +40,21 @@ int getRangeTypes (const ESM::EffectList& effects)
return types;
}
void suggestCombatRange(int rangeTypes, float& rangeAttack, float& rangeFollow)
float suggestCombatRange(int rangeTypes)
{
if (rangeTypes & Touch)
{
rangeAttack = 100.f;
rangeFollow = 300.f;
static const float fCombatDistance = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fCombatDistance")->getFloat();
return fCombatDistance;
}
else if (rangeTypes & Target)
{
rangeAttack = 1000.f;
rangeFollow = 0.f;
return 1000.f;
}
else
{
// For Self spells, distance doesn't matter, so back away slightly to avoid enemy hits
rangeAttack = 600.f;
rangeFollow = 0.f;
return 600.f;
}
}
@ -427,11 +425,13 @@ namespace MWMechanics
}
}
void ActionSpell::getCombatRange(float& rangeAttack, float& rangeFollow)
float ActionSpell::getCombatRange (bool& isRanged) const
{
const ESM::Spell* spell = MWBase::Environment::get().getWorld()->getStore().get<ESM::Spell>().find(mSpellId);
int types = getRangeTypes(spell->mEffects);
suggestCombatRange(types, rangeAttack, rangeFollow);
isRanged = (types & Target);
return suggestCombatRange(types);
}
void ActionEnchantedItem::prepare(const MWWorld::Ptr &actor)
@ -441,18 +441,17 @@ namespace MWMechanics
actor.getClass().getCreatureStats(actor).setDrawState(DrawState_Spell);
}
void ActionEnchantedItem::getCombatRange(float& rangeAttack, float& rangeFollow)
float ActionEnchantedItem::getCombatRange(bool& isRanged) const
{
const ESM::Enchantment* enchantment = MWBase::Environment::get().getWorld()->getStore().get<ESM::Enchantment>().find(mItem->getClass().getEnchantment(*mItem));
int types = getRangeTypes(enchantment->mEffects);
suggestCombatRange(types, rangeAttack, rangeFollow);
return suggestCombatRange(types);
}
void ActionPotion::getCombatRange(float& rangeAttack, float& rangeFollow)
float ActionPotion::getCombatRange(bool& isRanged) const
{
// distance doesn't matter, so back away slightly to avoid enemy hits
rangeAttack = 600.f;
rangeFollow = 0.f;
return 600.f;
}
void ActionPotion::prepare(const MWWorld::Ptr &actor)
@ -463,6 +462,8 @@ namespace MWMechanics
void ActionWeapon::prepare(const MWWorld::Ptr &actor)
{
mIsNpc = actor.getClass().isNpc();
if (actor.getClass().hasInventoryStore(actor))
{
if (mWeapon.isEmpty())
@ -482,9 +483,43 @@ namespace MWMechanics
actor.getClass().getCreatureStats(actor).setDrawState(DrawState_Weapon);
}
void ActionWeapon::getCombatRange(float& rangeAttack, float& rangeFollow)
float ActionWeapon::getCombatRange(bool& isRanged) const
{
isRanged = false;
static const float fCombatDistance = MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fCombatDistance")->getFloat();
if (mWeapon.isEmpty())
{
// Already done in AiCombat itself
if (!mIsNpc)
{
return fCombatDistance;
}
else
{
static float fHandToHandReach =
MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fHandToHandReach")->getFloat();
return fHandToHandReach * fCombatDistance;
}
}
const ESM::Weapon* weapon = mWeapon.get<ESM::Weapon>()->mBase;
if (weapon->mData.mType >= ESM::Weapon::MarksmanBow)
{
isRanged = true;
return 1000.f;
}
else
return weapon->mData.mReach * fCombatDistance;
}
const ESM::Weapon* ActionWeapon::getWeapon() const
{
if (mWeapon.isEmpty())
return NULL;
return mWeapon.get<ESM::Weapon>()->mBase;
}
boost::shared_ptr<Action> prepareNextAction(const MWWorld::Ptr &actor, const MWWorld::Ptr &enemy)

13
apps/openmw/mwmechanics/aicombataction.hpp
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@ -16,8 +16,9 @@ namespace MWMechanics
public:
virtual ~Action() {}
virtual void prepare(const MWWorld::Ptr& actor) = 0;
virtual void getCombatRange (float& rangeAttack, float& rangeFollow) = 0;
virtual float getCombatRange (bool& isRanged) const = 0;
virtual float getActionCooldown() { return 0.f; }
virtual const ESM::Weapon* getWeapon() const { return NULL; };
};
class ActionSpell : public Action
@ -28,7 +29,7 @@ namespace MWMechanics
/// Sets the given spell as selected on the actor's spell list.
virtual void prepare(const MWWorld::Ptr& actor);
virtual void getCombatRange (float& rangeAttack, float& rangeFollow);
virtual float getCombatRange (bool& isRanged) const;
};
class ActionEnchantedItem : public Action
@ -38,7 +39,7 @@ namespace MWMechanics
MWWorld::ContainerStoreIterator mItem;
/// Sets the given item as selected enchanted item in the actor's InventoryStore.
virtual void prepare(const MWWorld::Ptr& actor);
virtual void getCombatRange (float& rangeAttack, float& rangeFollow);
virtual float getCombatRange (bool& isRanged) const;
/// Since this action has no animation, apply a small cool down for using it
virtual float getActionCooldown() { return 1.f; }
@ -51,7 +52,7 @@ namespace MWMechanics
MWWorld::Ptr mPotion;
/// Drinks the given potion.
virtual void prepare(const MWWorld::Ptr& actor);
virtual void getCombatRange (float& rangeAttack, float& rangeFollow);
virtual float getCombatRange (bool& isRanged) const;
/// Since this action has no animation, apply a small cool down for using it
virtual float getActionCooldown() { return 1.f; }
@ -62,6 +63,7 @@ namespace MWMechanics
private:
MWWorld::Ptr mAmmunition;
MWWorld::Ptr mWeapon;
bool mIsNpc;
public:
/// \a weapon may be empty for hand-to-hand combat
@ -69,7 +71,8 @@ namespace MWMechanics
: mAmmunition(ammo), mWeapon(weapon) {}
/// Equips the given weapon.
virtual void prepare(const MWWorld::Ptr& actor);
virtual void getCombatRange (float& rangeAttack, float& rangeFollow);
virtual float getCombatRange (bool& isRanged) const;
virtual const ESM::Weapon* getWeapon() const;
};
float rateSpell (const ESM::Spell* spell, const MWWorld::Ptr& actor, const MWWorld::Ptr& enemy);

27
apps/openmw/mwmechanics/aifollow.cpp
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@ -137,35 +137,24 @@ bool AiFollow::execute (const MWWorld::Ptr& actor, CharacterController& characte
//Set the target destination from the actor
ESM::Pathgrid::Point dest = target.getRefData().getPosition().pos;
float dist = distance(dest, pos.pos[0], pos.pos[1], pos.pos[2]);
if (storage.mMoving) //Stop when you get close
storage.mMoving = (dist > followDistance);
else
if (!storage.mMoving)
{
const float threshold = 10;
storage.mMoving = (dist > followDistance + threshold);
const float threshold = 10; // to avoid constant switching between moving/stopping
followDistance += threshold;
}
if(!storage.mMoving)
{
actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
storage.mMoving = !pathTo(actor, dest, duration, followDistance); // Go to the destination
// turn towards target anyway
float directionX = target.getRefData().getPosition().pos[0] - actor.getRefData().getPosition().pos[0];
float directionY = target.getRefData().getPosition().pos[1] - actor.getRefData().getPosition().pos[1];
zTurn(actor, std::atan2(directionX,directionY), osg::DegreesToRadians(5.f));
}
else
if (storage.mMoving)
{
pathTo(actor, dest, duration); //Go to the destination
}
//Check if you're far away
float dist = distance(dest, pos.pos[0], pos.pos[1], pos.pos[2]);
if (dist > 450)
actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, true); //Make NPC run
else if (dist < 325) //Have a bit of a dead zone, otherwise npc will constantly flip between running and not when right on the edge of the running threshhold
actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, false); //make NPC walk
}
return false;
}

179
apps/openmw/mwmechanics/aipackage.cpp
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@ -21,6 +21,13 @@
MWMechanics::AiPackage::~AiPackage() {}
MWMechanics::AiPackage::AiPackage() :
mTimer(AI_REACTION_TIME + 1.0f), // to force initial pathbuild
mIsShortcutting(false),
mShortcutProhibited(false), mShortcutFailPos()
{
}
MWWorld::Ptr MWMechanics::AiPackage::getTarget() const
{
return MWWorld::Ptr();
@ -51,14 +58,20 @@ bool MWMechanics::AiPackage::getRepeat() const
return false;
}
MWMechanics::AiPackage::AiPackage() : mTimer(0.26f) { //mTimer starts at .26 to force initial pathbuild
void MWMechanics::AiPackage::reset()
{
// reset all members
mTimer = AI_REACTION_TIME + 1.0f;
mIsShortcutting = false;
mShortcutProhibited = false;
mShortcutFailPos = ESM::Pathgrid::Point();
mPathFinder.clearPath();
mObstacleCheck.clear();
}
bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Point dest, float duration)
bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance)
{
//Update various Timers
mTimer += duration; //Update timer
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
@ -73,16 +86,40 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
return false;
}
//***********************
/// Checks if you can't get to the end position at all, adds end position to end of path
/// Rebuilds path every quarter of a second, in case the target has moved
//***********************
if(mTimer > 0.25)
// handle path building and shortcutting
ESM::Pathgrid::Point start = pos.pos;
float distToTarget = distance(start, dest);
bool isDestReached = (distToTarget <= destTolerance);
if (!isDestReached && mTimer > AI_REACTION_TIME)
{
bool wasShortcutting = mIsShortcutting;
bool destInLOS = false;
if (getTypeId() != TypeIdWander) // prohibit shortcuts for AiWander
mIsShortcutting = shortcutPath(start, dest, actor, &destInLOS); // try to shortcut first
if (!mIsShortcutting)
{
if (wasShortcutting || doesPathNeedRecalc(dest)) // if need to rebuild path
{
mPathFinder.buildSyncedPath(start, dest, actor.getCell());
// give priority to go directly on target if there is minimal opportunity
if (destInLOS && mPathFinder.getPath().size() > 1)
{
// get point just before dest
std::list<ESM::Pathgrid::Point>::const_iterator pPointBeforeDest = mPathFinder.getPath().end();
--pPointBeforeDest;
--pPointBeforeDest;
// if start point is closer to the target then last point of path (excluding target itself) then go straight on the target
if (distance(start, dest) <= distance(dest, *pPointBeforeDest))
{
const ESM::Cell *cell = actor.getCell()->getCell();
if (doesPathNeedRecalc(dest, cell)) { //Only rebuild path if it's moved
mPathFinder.buildSyncedPath(pos.pos, dest, actor.getCell(), true); //Rebuild path, in case the target has moved
mPrevDest = dest;
mPathFinder.clearPath();
mPathFinder.addPointToPath(dest);
}
}
}
if (!mPathFinder.getPath().empty()) //Path has points in it
@ -92,23 +129,29 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
if(distance(dest, lastPos) > 100) //End of the path is far from the destination
mPathFinder.addPointToPath(dest); //Adds the final destination to the path, to try to get to where you want to go
}
}
mTimer = 0;
}
//************************
/// Checks if you aren't moving; attempts to unstick you
//************************
if(mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1])) //Path finished?
if (isDestReached || mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1])) // if path is finished
{
// Reset mTimer so that path will be built right away when a package is repeated
mTimer = 0.26f;
// turn to destination point
zTurn(actor, getZAngleToPoint(start, dest));
smoothTurn(actor, getXAngleToPoint(start, dest), 0);
return true;
}
else
{
actor.getClass().getMovementSettings(actor).mPosition[1] = 1; // run to target
// handle obstacles on the way
evadeObstacles(actor, duration, pos);
}
// turn to next path point by X,Z axes
zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
smoothTurn(actor, mPathFinder.getXAngleToNext(pos.pos[0], pos.pos[1], pos.pos[2]), 0);
return false;
}
@ -117,30 +160,106 @@ void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, float dur
zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
if (mObstacleCheck.check(actor, duration))
// check if stuck due to obstacles
if (!mObstacleCheck.check(actor, duration)) return;
// first check if obstacle is a door
MWWorld::Ptr door = getNearbyDoor(actor); // NOTE: checks interior cells only
if (door != MWWorld::Ptr())
{
// first check if we're walking into a door
MWWorld::Ptr door = getNearbyDoor(actor);
if (door != MWWorld::Ptr()) // NOTE: checks interior cells only
// note: AiWander currently does not open doors
if (getTypeId() != TypeIdWander && !door.getCellRef().getTeleport() && door.getCellRef().getTrap().empty()
&& door.getCellRef().getLockLevel() <= 0 && door.getClass().getDoorState(door) == 0)
{
if (!door.getCellRef().getTeleport() && door.getCellRef().getTrap().empty()
&& door.getCellRef().getLockLevel() <= 0 && door.getClass().getDoorState(door) == 0) {
MWBase::Environment::get().getWorld()->activateDoor(door, 1);
}
}
else // probably walking into another NPC
else // any other obstacle (NPC, crate, etc.)
{
mObstacleCheck.takeEvasiveAction(movement);
}
}
else { //Not stuck, so reset things
movement.mPosition[1] = 1; //Just run forward
bool MWMechanics::AiPackage::shortcutPath(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor, bool *destInLOS)
{
const MWWorld::Class& actorClass = actor.getClass();
MWBase::World* world = MWBase::Environment::get().getWorld();
// check if actor can move along z-axis
bool actorCanMoveByZ = (actorClass.canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor))
|| world->isFlying(actor);
// don't use pathgrid when actor can move in 3 dimensions
bool isPathClear = actorCanMoveByZ;
if (!isPathClear
&& (!mShortcutProhibited || (PathFinder::MakeOsgVec3(mShortcutFailPos) - PathFinder::MakeOsgVec3(startPoint)).length() >= PATHFIND_SHORTCUT_RETRY_DIST))
{
// check if target is clearly visible
isPathClear = !MWBase::Environment::get().getWorld()->castRay(
static_cast<float>(startPoint.mX), static_cast<float>(startPoint.mY), static_cast<float>(startPoint.mZ),
static_cast<float>(endPoint.mX), static_cast<float>(endPoint.mY), static_cast<float>(endPoint.mZ));
if (destInLOS != NULL) *destInLOS = isPathClear;
if (!isPathClear)
return false;
// check if an actor can move along the shortcut path
isPathClear = checkWayIsClearForActor(startPoint, endPoint, actor);
}
if (isPathClear) // can shortcut the path
{
mPathFinder.clearPath();
mPathFinder.addPointToPath(endPoint);
return true;
}
return false;
}
bool MWMechanics::AiPackage::checkWayIsClearForActor(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor)
{
bool actorCanMoveByZ = (actor.getClass().canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor))
|| MWBase::Environment::get().getWorld()->isFlying(actor);
if (actorCanMoveByZ)
return true;
float actorSpeed = actor.getClass().getSpeed(actor);
float maxAvoidDist = AI_REACTION_TIME * actorSpeed + actorSpeed / MAX_VEL_ANGULAR_RADIANS * 2; // *2 - for reliability
osg::Vec3f::value_type distToTarget = osg::Vec3f(static_cast<float>(endPoint.mX), static_cast<float>(endPoint.mY), 0).length();
float offsetXY = distToTarget > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2;
bool isClear = checkWayIsClear(PathFinder::MakeOsgVec3(startPoint), PathFinder::MakeOsgVec3(endPoint), offsetXY);
// update shortcut prohibit state
if (isClear)
{
if (mShortcutProhibited)
{
mShortcutProhibited = false;
mShortcutFailPos = ESM::Pathgrid::Point();
}
}
if (!isClear)
{
if (mShortcutFailPos.mX == 0 && mShortcutFailPos.mY == 0 && mShortcutFailPos.mZ == 0)
{
mShortcutProhibited = true;
mShortcutFailPos = startPoint;
}
}
return isClear;
}
bool MWMechanics::AiPackage::doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell)
bool MWMechanics::AiPackage::doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest)
{
return mPathFinder.getPath().empty() || (distance(mPrevDest, dest) > 10);
return mPathFinder.getPath().empty() || (distance(mPathFinder.getPath().back(), newDest) > 10);
}
bool MWMechanics::AiPackage::isTargetMagicallyHidden(const MWWorld::Ptr& target)

26
apps/openmw/mwmechanics/aipackage.hpp
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@ -24,6 +24,7 @@ namespace ESM
namespace MWMechanics
{
const float AI_REACTION_TIME = 0.25f;
class CharacterController;
@ -91,14 +92,26 @@ namespace MWMechanics
/// Return true if this package should repeat. Currently only used for Wander packages.
virtual bool getRepeat() const;
/// Reset pathfinding state
void reset();
bool isTargetMagicallyHidden(const MWWorld::Ptr& target);
protected:
/// Causes the actor to attempt to walk to the specified location
/// Handles path building and shortcutting with obstacles avoiding
/** \return If the actor has arrived at his destination **/
bool pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Point dest, float duration);
bool pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance = 0.0f);
/// Check if there aren't any obstacles along the path to make shortcut possible
/// If a shortcut is possible then path will be cleared and filled with the destination point.
/// \param destInLOS If not NULL function will return ray cast check result
/// \return If can shortcut the path
bool shortcutPath(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor, bool *destInLOS);
/// Check if the way to the destination is clear, taking into account actor speed
bool checkWayIsClearForActor(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor);
virtual bool doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell);
virtual bool doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest);
void evadeObstacles(const MWWorld::Ptr& actor, float duration, const ESM::Position& pos);
@ -108,11 +121,14 @@ namespace MWMechanics
float mTimer;
ESM::Pathgrid::Point mPrevDest;
osg::Vec3f mLastActorPos;
bool mIsShortcutting; // if shortcutting at the moment
bool mShortcutProhibited; // shortcutting may be prohibited after unsuccessful attempt
ESM::Pathgrid::Point mShortcutFailPos; // position of last shortcut fail
private:
bool isNearInactiveCell(const ESM::Position& actorPos);
};
}

9
apps/openmw/mwmechanics/aipursue.cpp
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@ -33,7 +33,6 @@ bool AiPursue::execute (const MWWorld::Ptr& actor, CharacterController& characte
if(actor.getClass().getCreatureStats(actor).isDead())
return true;
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
const MWWorld::Ptr target = MWBase::Environment::get().getWorld()->searchPtrViaActorId(mTargetActorId); //The target to follow
if(target == MWWorld::Ptr() || !target.getRefData().getCount() || !target.getRefData().isEnabled() // Really we should be checking whether the target is currently registered
@ -52,14 +51,10 @@ bool AiPursue::execute (const MWWorld::Ptr& actor, CharacterController& characte
//Set the target desition from the actor
ESM::Pathgrid::Point dest = target.getRefData().getPosition().pos;
if(distance(dest, pos.pos[0], pos.pos[1], pos.pos[2]) < 100) { //Stop when you get close
actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
target.getClass().activate(target,actor).get()->execute(actor); //Arrest player
if (pathTo(actor, dest, duration, 100)) {
target.getClass().activate(target,actor).get()->execute(actor); //Arrest player when reached
return true;
}
else {
pathTo(actor, dest, duration); //Go to the destination
}
actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, true); //Make NPC run

1
apps/openmw/mwmechanics/aisequence.cpp
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@ -234,6 +234,7 @@ void AiSequence::execute (const MWWorld::Ptr& actor, CharacterController& charac
// Put repeating noncombat AI packages on the end of the stack so they can be used again
if (isActualAiPackage(packageTypeId) && (mRepeat || package->getRepeat()))
{
package->reset();
mPackages.push_back(package->clone());
}
// To account for the rare case where AiPackage::execute() queued another AI package

72
apps/openmw/mwmechanics/aiwander.cpp
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@ -29,7 +29,6 @@ namespace MWMechanics
{
static const int COUNT_BEFORE_RESET = 10;
static const float DOOR_CHECK_INTERVAL = 1.5f;
static const float REACTION_INTERVAL = 0.25f;
static const int GREETING_SHOULD_START = 4; //how many reaction intervals should pass before NPC can greet player
static const int GREETING_SHOULD_END = 10;
@ -74,8 +73,6 @@ namespace MWMechanics
unsigned short mIdleAnimation;
std::vector<unsigned short> mBadIdles; // Idle animations that when called cause errors
PathFinder mPathFinder;
// do we need to calculate allowed nodes based on mDistance
bool mPopulateAvailableNodes;
@ -86,8 +83,6 @@ namespace MWMechanics
ESM::Pathgrid::Point mCurrentNode;
bool mTrimCurrentNode;
ObstacleCheck mObstacleCheck;
float mDoorCheckDuration;
int mStuckCount;
@ -118,7 +113,7 @@ namespace MWMechanics
AiWander::AiWander(int distance, int duration, int timeOfDay, const std::vector<unsigned char>& idle, bool repeat):
mDistance(distance), mDuration(duration), mRemainingDuration(duration), mTimeOfDay(timeOfDay), mIdle(idle),
mRepeat(repeat), mStoredInitialActorPosition(false)
mRepeat(repeat), mStoredInitialActorPosition(false), mIsWanderDestReady(false)
{
mIdle.resize(8, 0);
init();
@ -223,7 +218,7 @@ namespace MWMechanics
float& lastReaction = storage.mReaction;
lastReaction += duration;
if (REACTION_INTERVAL <= lastReaction)
if (AI_REACTION_TIME <= lastReaction)
{
lastReaction = 0;
return reactionTimeActions(actor, storage, currentCell, cellChange, pos, duration);
@ -273,7 +268,7 @@ namespace MWMechanics
}
// If Wandering manually and hit an obstacle, stop
if (storage.mIsWanderingManually && storage.mObstacleCheck.check(actor, duration, 2.0f)) {
if (storage.mIsWanderingManually && mObstacleCheck.check(actor, duration, 2.0f)) {
completeManualWalking(actor, storage);
}
@ -300,14 +295,14 @@ namespace MWMechanics
if ((wanderState == Wander_MoveNow) && storage.mCanWanderAlongPathGrid)
{
// Construct a new path if there isn't one
if(!storage.mPathFinder.isPathConstructed())
if(!mPathFinder.isPathConstructed())
{
if (!storage.mAllowedNodes.empty())
{
setPathToAnAllowedNode(actor, storage, pos);
}
}
} else if (storage.mIsWanderingManually && storage.mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1], DESTINATION_TOLERANCE)) {
} else if (storage.mIsWanderingManually && mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1], DESTINATION_TOLERANCE)) {
completeManualWalking(actor, storage);
}
@ -337,7 +332,7 @@ namespace MWMechanics
void AiWander::returnToStartLocation(const MWWorld::Ptr& actor, AiWanderStorage& storage, ESM::Position& pos)
{
if (!storage.mPathFinder.isPathConstructed())
if (!mPathFinder.isPathConstructed())
{
ESM::Pathgrid::Point dest(PathFinder::MakePathgridPoint(mReturnPosition));
@ -345,10 +340,11 @@ namespace MWMechanics
ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(pos));
// don't take shortcuts for wandering
storage.mPathFinder.buildSyncedPath(start, dest, actor.getCell(), false);
mPathFinder.buildSyncedPath(start, dest, actor.getCell());
if (storage.mPathFinder.isPathConstructed())
if (mPathFinder.isPathConstructed())
{
mIsWanderDestReady = true;
storage.setState(Wander_Walking);
}
}
@ -379,9 +375,14 @@ namespace MWMechanics
// Check if land creature will walk onto water or if water creature will swim onto land
if ((!isWaterCreature && !destinationIsAtWater(actor, destination)) ||
(isWaterCreature && !destinationThroughGround(currentPositionVec3f, destination))) {
storage.mPathFinder.buildSyncedPath(currentPosition, destinationPosition, actor.getCell(), true);
storage.mPathFinder.addPointToPath(destinationPosition);
mPathFinder.buildSyncedPath(currentPosition, destinationPosition, actor.getCell());
mPathFinder.addPointToPath(destinationPosition);
if (mPathFinder.isPathConstructed())
{
mIsWanderDestReady = true;
storage.setState(Wander_Walking, true);
}
return;
}
} while (--attempts);
@ -407,7 +408,7 @@ namespace MWMechanics
void AiWander::completeManualWalking(const MWWorld::Ptr &actor, AiWanderStorage &storage) {
stopWalking(actor, storage);
storage.mObstacleCheck.clear();
mObstacleCheck.clear();
storage.setState(Wander_IdleNow);
}
@ -475,7 +476,7 @@ namespace MWMechanics
float duration, AiWanderStorage& storage, ESM::Position& pos)
{
// Are we there yet?
if (storage.mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1], DESTINATION_TOLERANCE))
if (mIsWanderDestReady && pathTo(actor, mPathFinder.getPath().back(), duration, DESTINATION_TOLERANCE))
{
stopWalking(actor, storage);
storage.setState(Wander_ChooseAction);
@ -517,40 +518,27 @@ namespace MWMechanics
void AiWander::evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage, float duration, ESM::Position& pos)
{
// turn towards the next point in mPath
zTurn(actor, storage.mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
if (storage.mObstacleCheck.check(actor, duration))
if (mObstacleCheck.isEvading())
{
// first check if we're walking into a door
if (proximityToDoor(actor)) // NOTE: checks interior cells only
{
// remove allowed points then select another random destination
storage.mTrimCurrentNode = true;
trimAllowedNodes(storage.mAllowedNodes, storage.mPathFinder);
storage.mObstacleCheck.clear();
storage.mPathFinder.clearPath();
trimAllowedNodes(storage.mAllowedNodes, mPathFinder);
mObstacleCheck.clear();
mPathFinder.clearPath();
storage.setState(Wander_MoveNow);
}
else // probably walking into another NPC
{
// TODO: diagonal should have same animation as walk forward
// but doesn't seem to do that?
storage.mObstacleCheck.takeEvasiveAction(movement);
}
storage.mStuckCount++; // TODO: maybe no longer needed
}
else
{
movement.mPosition[1] = 1;
}
// if stuck for sufficiently long, act like current location was the destination
if (storage.mStuckCount >= COUNT_BEFORE_RESET) // something has gone wrong, reset
{
//std::cout << "Reset \""<< cls.getName(actor) << "\"" << std::endl;
storage.mObstacleCheck.clear();
mObstacleCheck.clear();
stopWalking(actor, storage);
storage.setState(Wander_ChooseAction);
@ -627,7 +615,7 @@ namespace MWMechanics
if (storage.mState == Wander_Walking)
{
stopWalking(actor, storage);
storage.mObstacleCheck.clear();
mObstacleCheck.clear();
storage.setState(Wander_IdleNow);
}
@ -667,10 +655,12 @@ namespace MWMechanics
ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(actorPos));
// don't take shortcuts for wandering
storage.mPathFinder.buildSyncedPath(start, dest, actor.getCell(), false);
mPathFinder.buildSyncedPath(start, dest, actor.getCell());
if (storage.mPathFinder.isPathConstructed())
if (mPathFinder.isPathConstructed())
{
mIsWanderDestReady = true;
// Remove this node as an option and add back the previously used node (stops NPC from picking the same node):
ESM::Pathgrid::Point temp = storage.mAllowedNodes[randNode];
storage.mAllowedNodes.erase(storage.mAllowedNodes.begin() + randNode);
@ -726,7 +716,8 @@ namespace MWMechanics
void AiWander::stopWalking(const MWWorld::Ptr& actor, AiWanderStorage& storage)
{
storage.mPathFinder.clearPath();
mPathFinder.clearPath();
mIsWanderDestReady = false;
actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
}
@ -962,6 +953,7 @@ namespace MWMechanics
, mTimeOfDay(wander->mData.mTimeOfDay)
, mRepeat(wander->mData.mShouldRepeat != 0)
, mStoredInitialActorPosition(wander->mStoredInitialActorPosition)
, mIsWanderDestReady(false)
{
if (mStoredInitialActorPosition)
mInitialActorPosition = wander->mInitialActorPosition;

2
apps/openmw/mwmechanics/aiwander.hpp
Unescape Escape View File

@ -108,6 +108,8 @@ namespace MWMechanics
osg::Vec3f mInitialActorPosition;
bool mStoredInitialActorPosition;
bool mIsWanderDestReady;
void getAllowedNodes(const MWWorld::Ptr& actor, const ESM::Cell* cell, AiWanderStorage& storage);
void trimAllowedNodes(std::vector<ESM::Pathgrid::Point>& nodes, const PathFinder& pathfinder);

5
apps/openmw/mwmechanics/obstacle.cpp
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@ -93,6 +93,11 @@ namespace MWMechanics
return mWalkState == State_Norm;
}
bool ObstacleCheck::isEvading() const
{
return mWalkState == State_Evade;
}
/*
* input - actor, duration (time since last check)
* output - true if evasive action needs to be taken

1
apps/openmw/mwmechanics/obstacle.hpp
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@ -33,6 +33,7 @@ namespace MWMechanics
void clear();
bool isNormalState() const;
bool isEvading() const;
// Returns true if there is an obstacle and an evasive action
// should be taken

71
apps/openmw/mwmechanics/pathfinding.cpp
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@ -82,6 +82,42 @@ namespace MWMechanics
return sqrt(x * x + y * y + z * z);
}
float getZAngleToDir(const osg::Vec3f& dir)
{
return std::atan2(dir.x(), dir.y());
}
float getXAngleToDir(const osg::Vec3f& dir)
{
return -std::asin(dir.z() / dir.length());
}
float getZAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest)
{
osg::Vec3f dir = PathFinder::MakeOsgVec3(dest) - PathFinder::MakeOsgVec3(origin);
return getZAngleToDir(dir);
}
float getXAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest)
{
osg::Vec3f dir = PathFinder::MakeOsgVec3(dest) - PathFinder::MakeOsgVec3(origin);
return getXAngleToDir(dir);
}
bool checkWayIsClear(const osg::Vec3f& from, const osg::Vec3f& to, float offsetXY)
{
osg::Vec3f dir = to - from;
dir.z() = 0;
dir.normalize();
float verticalOffset = 200; // instead of '200' here we want the height of the actor
osg::Vec3f _from = from + dir*offsetXY + osg::Z_AXIS * verticalOffset;
// cast up-down ray and find height of hit in world space
float h = _from.z() - MWBase::Environment::get().getWorld()->getDistToNearestRayHit(_from, -osg::Z_AXIS, verticalOffset + PATHFIND_Z_REACH + 1);
return (std::abs(from.z() - h) <= PATHFIND_Z_REACH);
}
PathFinder::PathFinder()
: mPathgrid(NULL),
mCell(NULL)
@ -132,23 +168,10 @@ namespace MWMechanics
*/
void PathFinder::buildPath(const ESM::Pathgrid::Point &startPoint,
const ESM::Pathgrid::Point &endPoint,
const MWWorld::CellStore* cell,
bool allowShortcuts)
const MWWorld::CellStore* cell)
{
mPath.clear();
if(allowShortcuts)
{
// if there's a ray cast hit, can't take a direct path
if (!MWBase::Environment::get().getWorld()->castRay(
static_cast<float>(startPoint.mX), static_cast<float>(startPoint.mY), static_cast<float>(startPoint.mZ),
static_cast<float>(endPoint.mX), static_cast<float>(endPoint.mY), static_cast<float>(endPoint.mZ)))
{
mPath.push_back(endPoint);
return;
}
}
if(mCell != cell || !mPathgrid)
{
mCell = cell;
@ -243,6 +266,19 @@ namespace MWMechanics
return std::atan2(directionX, directionY);
}
float PathFinder::getXAngleToNext(float x, float y, float z) const
{
// This should never happen (programmers should have an if statement checking
// isPathConstructed that prevents this call if otherwise).
if(mPath.empty())
return 0.;
const ESM::Pathgrid::Point &nextPoint = *mPath.begin();
osg::Vec3f dir = MakeOsgVec3(nextPoint) - osg::Vec3f(x,y,z);
return -std::asin(dir.z() / dir.length());
}
bool PathFinder::checkPathCompleted(float x, float y, float tolerance)
{
if(mPath.empty())
@ -264,19 +300,18 @@ namespace MWMechanics
// see header for the rationale
void PathFinder::buildSyncedPath(const ESM::Pathgrid::Point &startPoint,
const ESM::Pathgrid::Point &endPoint,
const MWWorld::CellStore* cell,
bool allowShortcuts)
const MWWorld::CellStore* cell)
{
if (mPath.size() < 2)
{
// if path has one point, then it's the destination.
// don't need to worry about bad path for this case
buildPath(startPoint, endPoint, cell, allowShortcuts);
buildPath(startPoint, endPoint, cell);
}
else
{
const ESM::Pathgrid::Point oldStart(*getPath().begin());
buildPath(startPoint, endPoint, cell, allowShortcuts);
buildPath(startPoint, endPoint, cell);
if (mPath.size() >= 2)
{
// if 2nd waypoint of new path == 1st waypoint of old,

26
apps/openmw/mwmechanics/pathfinding.hpp
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@ -16,6 +16,20 @@ namespace MWMechanics
{
float distance(const ESM::Pathgrid::Point& point, float x, float y, float);
float distance(const ESM::Pathgrid::Point& a, const ESM::Pathgrid::Point& b);
float getZAngleToDir(const osg::Vec3f& dir);
float getXAngleToDir(const osg::Vec3f& dir);
float getZAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest);
float getXAngleToPoint(const ESM::Pathgrid::Point &origin, const ESM::Pathgrid::Point &dest);
const float PATHFIND_Z_REACH = 50.0f;
//static const float sMaxSlope = 49.0f; // duplicate as in physicssystem
// 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 osg::Vec3f& from, const osg::Vec3f& to, float offsetXY);
class PathFinder
{
public:
@ -39,12 +53,17 @@ namespace MWMechanics
void clearPath();
void buildPath(const ESM::Pathgrid::Point &startPoint, const ESM::Pathgrid::Point &endPoint,
const MWWorld::CellStore* cell);
bool checkPathCompleted(float x, float y, float tolerance = PathTolerance);
///< \Returns true if we are within \a tolerance units of the last path point.
/// In radians
float getZAngleToNext(float x, float y) const;
float getXAngleToNext(float x, float y, float z) const;
bool isPathConstructed() const
{
return !mPath.empty();
@ -68,9 +87,9 @@ namespace MWMechanics
Which results in NPC "running in a circle" back to the just passed waypoint.
*/
void buildSyncedPath(const ESM::Pathgrid::Point &startPoint, const ESM::Pathgrid::Point &endPoint,
const MWWorld::CellStore* cell, bool allowShortcuts = true);
const MWWorld::CellStore* cell);
void addPointToPath(ESM::Pathgrid::Point &point)
void addPointToPath(const ESM::Pathgrid::Point &point)
{
mPath.push_back(point);
}
@ -130,9 +149,6 @@ namespace MWMechanics
}
private:
void buildPath(const ESM::Pathgrid::Point &startPoint, const ESM::Pathgrid::Point &endPoint,
const MWWorld::CellStore* cell, bool allowShortcuts = true);
std::list<ESM::Pathgrid::Point> mPath;
const ESM::Pathgrid *mPathgrid;

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