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Build path by navigator

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This commit is contained in:
elsid 2018-08-23 00:20:25 +03:00
parent d02beae5a8
commit 661da42bd2
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GPG key ID: B845CB9FEE18AB40
5 changed files with 72 additions and 62 deletions
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4
apps/openmw/mwmechanics/aipackage.cpp
View file

@ -148,7 +148,9 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
{
if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell())) // if need to rebuild path
{
mPathFinder.buildSyncedPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell()));
const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr());
mPathFinder.buildPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell()),
playerHalfExtents, getNavigatorFlags(actor));
mRotateOnTheRunChecks = 3;
// give priority to go directly on target if there is minimal opportunity

27
apps/openmw/mwmechanics/aiwander.cpp
View file

@ -50,7 +50,8 @@ 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), mInitialActorPosition(osg::Vec3f(0, 0, 0)), mHasDestination(false), mDestination(osg::Vec3f(0, 0, 0))
mRepeat(repeat), mStoredInitialActorPosition(false), mInitialActorPosition(osg::Vec3f(0, 0, 0)),
mHasDestination(false), mDestination(osg::Vec3f(0, 0, 0)), mUsePathgrid(false)
{
mIdle.resize(8, 0);
init();
@ -151,8 +152,18 @@ namespace MWMechanics
// rebuild a path to it
if (!mPathFinder.isPathConstructed() && mHasDestination)
{
mPathFinder.buildSyncedPath(pos.asVec3(), mDestination, actor.getCell(),
getPathGridGraph(actor.getCell()));
if (mUsePathgrid)
{
mPathFinder.buildPathByPathgrid(pos.asVec3(), mDestination, actor.getCell(),
getPathGridGraph(actor.getCell()));
}
else
{
const auto world = MWBase::Environment::get().getWorld();
const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr());
mPathFinder.buildPath(pos.asVec3(), mDestination, actor.getCell(), getPathGridGraph(actor.getCell()),
playerHalfExtents, getNavigatorFlags(actor));
}
if (mPathFinder.isPathConstructed())
storage.setState(AiWanderStorage::Wander_Walking);
@ -310,14 +321,17 @@ namespace MWMechanics
if ((!isWaterCreature && !destinationIsAtWater(actor, mDestination)) ||
(isWaterCreature && !destinationThroughGround(currentPosition, mDestination)))
{
mPathFinder.buildSyncedPath(currentPosition, destinationPosition, actor.getCell(),
getPathGridGraph(actor.getCell()));
const auto world = MWBase::Environment::get().getWorld();;
const auto playerHalfExtents = world->getHalfExtents(world->getPlayerPtr());
mPathFinder.buildPath(currentPosition, destinationPosition, actor.getCell(),
getPathGridGraph(actor.getCell()), playerHalfExtents, getNavigatorFlags(actor));
mPathFinder.addPointToPath(destinationPosition);
if (mPathFinder.isPathConstructed())
{
storage.setState(AiWanderStorage::Wander_Walking, true);
mHasDestination = true;
mUsePathgrid = false;
}
return;
}
@ -595,12 +609,13 @@ namespace MWMechanics
// don't take shortcuts for wandering
const auto destVec3f = PathFinder::makeOsgVec3(dest);
mPathFinder.buildSyncedPath(start, destVec3f, actor.getCell(), getPathGridGraph(actor.getCell()));
mPathFinder.buildPathByPathgrid(start, destVec3f, actor.getCell(), getPathGridGraph(actor.getCell()));
if (mPathFinder.isPathConstructed())
{
mDestination = destVec3f;
mHasDestination = true;
mUsePathgrid = 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);

1
apps/openmw/mwmechanics/aiwander.hpp
View file

@ -164,6 +164,7 @@ namespace MWMechanics
bool mHasDestination;
osg::Vec3f mDestination;
bool mUsePathgrid;
void getNeighbouringNodes(ESM::Pathgrid::Point dest, const MWWorld::CellStore* currentCell, ESM::Pathgrid::PointList& points);

75
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -124,13 +124,9 @@ namespace MWMechanics
* j = @.x in local coordinates (i.e. within the cell)
* k = @.x in world coordinates
*/
void PathFinder::buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph)
void PathFinder::buildPathByPathgridImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const PathgridGraph& pathgridGraph, std::back_insert_iterator<std::deque<osg::Vec3f>> out)
{
mConstructed = true;
mPath.clear();
mCell = cell;
const auto pathgrid = pathgridGraph.getPathgrid();
// Refer to AiWander reseach topic on openmw forums for some background.
@ -138,7 +134,7 @@ namespace MWMechanics
// physics take care of any blockages.
if(!pathgrid || pathgrid->mPoints.empty())
{
mPath.push_back(endPoint);
*out++ = endPoint;
return;
}
@ -165,7 +161,7 @@ namespace MWMechanics
float startTo1stNodeLength2 = distanceSquared(pathgrid->mPoints[startNode], startPointInLocalCoords);
if ((startToEndLength2 < startTo1stNodeLength2) || (startToEndLength2 < endTolastNodeLength2))
{
mPath.push_back(endPoint);
*out++ = endPoint;
return;
}
@ -178,7 +174,7 @@ namespace MWMechanics
{
ESM::Pathgrid::Point temp(pathgrid->mPoints[startNode]);
converter.toWorld(temp);
mPath.push_back(makeOsgVec3(temp));
*out++ = makeOsgVec3(temp);
}
else
{
@ -207,7 +203,7 @@ namespace MWMechanics
}
// convert supplied path to world coordinates
std::transform(path.begin(), path.end(), std::back_inserter(mPath),
std::transform(path.begin(), path.end(), out,
[&] (ESM::Pathgrid::Point& point)
{
converter.toWorld(point);
@ -228,7 +224,7 @@ namespace MWMechanics
//
// The AI routines will have to deal with such situations.
if(endNode.second)
mPath.push_back(endPoint);
*out++ = endPoint;
}
float PathFinder::getZAngleToNext(float x, float y) const
@ -263,43 +259,40 @@ namespace MWMechanics
mPath.pop_front();
}
// see header for the rationale
void PathFinder::buildSyncedPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const MWWorld::CellStore* cell, const MWMechanics::PathgridGraph& pathgridGraph)
void PathFinder::buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph)
{
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, pathgridGraph);
}
else
{
const auto oldStart = getPath().front();
buildPath(startPoint, endPoint, cell, pathgridGraph);
if (mPath.size() >= 2)
{
// if 2nd waypoint of new path == 1st waypoint of old,
// delete 1st waypoint of new path.
if (mPath[1] == oldStart)
{
mPath.pop_front();
}
}
}
mPath.clear();
mCell = cell;
buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath));
mConstructed = true;
}
void PathFinder::buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags)
void PathFinder::buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags)
{
mPath.clear();
mCell = cell;
buildPathByNavigatorImpl(startPoint, endPoint, halfExtents, flags, std::back_inserter(mPath));
if (mPath.empty())
buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath));
mConstructed = true;
}
void PathFinder::buildPathByNavigatorImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
std::back_insert_iterator<std::deque<osg::Vec3f>> out)
{
try
{
mPath.clear();
const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
navigator->findPath(halfExtents, startPoint, endPoint, flags, std::back_inserter(mPath));
mConstructed = true;
navigator->findPath(halfExtents, startPoint, endPoint, flags, out);
}
catch (const DetourNavigator::NavigatorException& exception)
{

27
apps/openmw/mwmechanics/pathfinding.hpp
View file

@ -3,6 +3,7 @@
#include <deque>
#include <cassert>
#include <iterator>
#include <components/detournavigator/flags.hpp>
#include <components/esm/defs.hpp>
@ -70,8 +71,12 @@ namespace MWMechanics
mCell = nullptr;
}
void buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph);
void buildPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph);
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags);
/// Remove front point if exist and within tolerance
void update(const osg::Vec3f& position, const float tolerance = DEFAULT_TOLERANCE);
@ -106,16 +111,6 @@ namespace MWMechanics
return mCell;
}
/** Synchronize new path with old one to avoid visiting 1 waypoint 2 times
@note
BuildPath() takes closest PathGrid point to NPC as first point of path.
This is undesirable if NPC has just passed a Pathgrid point, as this
makes the 2nd point of the new path == the 1st point of old path.
Which results in NPC "running in a circle" back to the just passed waypoint.
*/
void buildSyncedPath(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph);
void addPointToPath(const osg::Vec3f& point)
{
mConstructed = true;
@ -176,14 +171,18 @@ namespace MWMechanics
return closestIndex;
}
void buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags);
private:
bool mConstructed;
std::deque<osg::Vec3f> mPath;
const MWWorld::CellStore* mCell;
void buildPathByPathgridImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const PathgridGraph& pathgridGraph, std::back_insert_iterator<std::deque<osg::Vec3f>> out);
void buildPathByNavigatorImpl(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
std::back_insert_iterator<std::deque<osg::Vec3f>> out);
};
}