Merge pull request #2276 from elsid/aiwander

Improve AiWander pathfinding for locations without pathgrid

apps/openmw/mwmechanics/aiwander.cpp

@@ -13,6 +13,8 @@
 #include "../mwworld/esmstore.hpp"
 #include "../mwworld/cellstore.hpp"
 
+#include "../mwphysics/collisiontype.hpp"
+
 #include "pathgrid.hpp"
 #include "creaturestats.hpp"
 #include "steering.hpp"
@@ -45,6 +47,16 @@ namespace MWMechanics
         std::string("idle9"),
     };
 
+    namespace
+    {
+        inline int getCountBeforeReset(const MWWorld::ConstPtr& actor)
+        {
+            if (actor.getClass().isPureWaterCreature(actor) || actor.getClass().isPureFlyingCreature(actor))
+                return 1;
+            return COUNT_BEFORE_RESET;
+        }
+    }
+
     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)),
@@ -298,7 +310,8 @@ namespace MWMechanics
         const auto currentPosition = actor.getRefData().getPosition().asVec3();
 
         std::size_t attempts = 10; // If a unit can't wander out of water, don't want to hang here
-        bool isWaterCreature = actor.getClass().isPureWaterCreature(actor);
+        const bool isWaterCreature = actor.getClass().isPureWaterCreature(actor);
+        const bool isFlyingCreature = actor.getClass().isPureFlyingCreature(actor);
         do {
             // Determine a random location within radius of original position
             const float wanderRadius = (0.2f + Misc::Rng::rollClosedProbability() * 0.8f) * wanderDistance;
@@ -309,13 +322,22 @@ namespace MWMechanics
             mDestination = osg::Vec3f(destinationX, destinationY, destinationZ);
 
             // Check if land creature will walk onto water or if water creature will swim onto land
-            if ((!isWaterCreature && !destinationIsAtWater(actor, mDestination)) ||
+            if (!isWaterCreature && destinationIsAtWater(actor, mDestination))
-                (isWaterCreature && !destinationThroughGround(currentPosition, mDestination)))
+                continue;
+
+            if ((isWaterCreature || isFlyingCreature) && destinationThroughGround(currentPosition, mDestination))
+                continue;
+
+            if (isWaterCreature || isFlyingCreature)
+            {
+                mPathFinder.buildStraightPath(mDestination);
+            }
+            else
             {
                 const osg::Vec3f halfExtents = MWBase::Environment::get().getWorld()->getPathfindingHalfExtents(actor);
-                mPathFinder.buildPath(actor, currentPosition, mDestination, actor.getCell(),
+                mPathFinder.buildPathByNavMesh(actor, currentPosition, mDestination, halfExtents,
-                    getPathGridGraph(actor.getCell()), halfExtents, getNavigatorFlags(actor));
+                    getNavigatorFlags(actor));
-                mPathFinder.addPointToPath(mDestination);
+            }
 
             if (mPathFinder.isPathConstructed())
             {
@@ -323,8 +345,8 @@ namespace MWMechanics
                 mHasDestination = true;
                 mUsePathgrid = false;
             }
-                return;
+
-            }
+            break;
         } while (--attempts);
     }
 
@@ -342,8 +364,10 @@ namespace MWMechanics
      * Returns true if the start to end point travels through a collision point (land).
      */
     bool AiWander::destinationThroughGround(const osg::Vec3f& startPoint, const osg::Vec3f& destination) {
+        const int mask = MWPhysics::CollisionType_World | MWPhysics::CollisionType_HeightMap | MWPhysics::CollisionType_Door;
         return MWBase::Environment::get().getWorld()->castRay(startPoint.x(), startPoint.y(), startPoint.z(),
-                                                              destination.x(), destination.y(), destination.z());
+                                                              destination.x(), destination.y(), destination.z(),
+                                                              mask);
     }
 
     void AiWander::completeManualWalking(const MWWorld::Ptr &actor, AiWanderStorage &storage) {
@@ -479,7 +503,7 @@ namespace MWMechanics
         }
 
         // if stuck for sufficiently long, act like current location was the destination
-        if (storage.mStuckCount >= COUNT_BEFORE_RESET) // something has gone wrong, reset
+        if (storage.mStuckCount >= getCountBeforeReset(actor)) // something has gone wrong, reset
         {
             mObstacleCheck.clear();
             stopWalking(actor, storage);

apps/openmw/mwmechanics/obstacle.cpp

@@ -2,6 +2,8 @@
 
 #include <components/sceneutil/positionattitudetransform.hpp>
 
+#include "../mwbase/world.hpp"
+#include "../mwbase/environment.hpp"
 #include "../mwworld/class.hpp"
 #include "../mwworld/cellstore.hpp"
 
@@ -121,17 +123,19 @@ namespace MWMechanics
      * u = how long to move sideways
      *
      */
-    void ObstacleCheck::update(const MWWorld::Ptr& actor, float duration, float scaleMinimumDistance)
+    void ObstacleCheck::update(const MWWorld::Ptr& actor, float duration)
     {
-        const MWWorld::Class& cls = actor.getClass();
+        const ESM::Position pos = actor.getRefData().getPosition();
-        ESM::Position pos = actor.getRefData().getPosition();
 
         if (mDistSameSpot == -1)
-            mDistSameSpot = DIST_SAME_SPOT * cls.getSpeed(actor) * scaleMinimumDistance;
+        {
+            const osg::Vec3f halfExtents = MWBase::Environment::get().getWorld()->getHalfExtents(actor);
+            mDistSameSpot = DIST_SAME_SPOT * actor.getClass().getSpeed(actor) + 1.2 * std::max(halfExtents.x(), halfExtents.y());
+        }
 
-        float distSameSpot = mDistSameSpot * duration;
+        const float distSameSpot = mDistSameSpot * duration;
-
+        const float squaredMovedDistance = (osg::Vec2f(pos.pos[0], pos.pos[1]) - osg::Vec2f(mPrevX, mPrevY)).length2();
-        bool samePosition =  (osg::Vec2f(pos.pos[0], pos.pos[1]) - osg::Vec2f(mPrevX, mPrevY)).length2() <  distSameSpot * distSameSpot;
+        const bool samePosition = squaredMovedDistance < distSameSpot * distSameSpot;
 
         // update position
         mPrevX = pos.pos[0];

apps/openmw/mwmechanics/obstacle.hpp

@@ -30,7 +30,7 @@ namespace MWMechanics
             bool isEvading() const;
 
             // Updates internal state, call each frame for moving actor
-            void update(const MWWorld::Ptr& actor, float duration, float scaleMinimumDistance = 1.0f);
+            void update(const MWWorld::Ptr& actor, float duration);
 
             // change direction to try to fix "stuck" actor
             void takeEvasiveAction(MWMechanics::Movement& actorMovement) const;

apps/openmw/mwmechanics/pathfinding.cpp

@@ -269,6 +269,13 @@ namespace MWMechanics
             mPath.pop_front();
     }
 
+    void PathFinder::buildStraightPath(const osg::Vec3f& endPoint)
+    {
+        mPath.clear();
+        mPath.push_back(endPoint);
+        mConstructed = true;
+    }
+
     void PathFinder::buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
         const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph)
     {
@@ -280,6 +287,16 @@ namespace MWMechanics
         mConstructed = true;
     }
 
+    void PathFinder::buildPathByNavMesh(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
+        const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags)
+    {
+        mPath.clear();
+
+        buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, std::back_inserter(mPath));
+
+        mConstructed = true;
+    }
+
     void PathFinder::buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
         const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
         const DetourNavigator::Flags flags)

apps/openmw/mwmechanics/pathfinding.hpp

@@ -72,9 +72,14 @@ namespace MWMechanics
                 mCell = nullptr;
             }
 
+            void buildStraightPath(const osg::Vec3f& endPoint);
+
             void buildPathByPathgrid(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
                 const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph);
 
+            void buildPathByNavMesh(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
+                const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags);
+
             void buildPath(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
                 const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
                 const DetourNavigator::Flags flags);