From 067779983986e91b226e9a3c8932094b2330d377 Mon Sep 17 00:00:00 2001
From: dteviot <dteviot@gmail.com>
Date: Sat, 29 Aug 2015 17:21:18 +1200
Subject: [PATCH 1/6] movement logic in AiPackage uses ObstacleCheck.

---
 apps/openmw/mwmechanics/aipackage.cpp | 27 ++++++++++-----------------
 apps/openmw/mwmechanics/aipackage.hpp |  2 --
 2 files changed, 10 insertions(+), 19 deletions(-)

diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp
index 2c8c57c56..c18ee5ceb 100644
--- a/apps/openmw/mwmechanics/aipackage.cpp
+++ b/apps/openmw/mwmechanics/aipackage.cpp
@@ -19,7 +19,7 @@
 
 MWMechanics::AiPackage::~AiPackage() {}
 
-MWMechanics::AiPackage::AiPackage() : mTimer(0.26f), mStuckTimer(0) { //mTimer starts at .26 to force initial pathbuild
+MWMechanics::AiPackage::AiPackage() : mTimer(0.26f) { //mTimer starts at .26 to force initial pathbuild
 
 }
 
@@ -28,7 +28,6 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
 {
     //Update various Timers
     mTimer += duration; //Update timer
-    mStuckTimer += duration;   //Update stuck timer
 
     ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
 
@@ -91,11 +90,13 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
     //************************
     if(mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1])) //Path finished?
         return true;
-    else if(mStuckTimer>0.5) //Every half second see if we need to take action to avoid something
+    else
     {
-/// TODO (tluppi#1#): Use ObstacleCheck here. Not working for some reason
-        //if(mObstacleCheck.check(actor, duration)) {
-        if(distance(start, mStuckPos.pos[0], mStuckPos.pos[1], mStuckPos.pos[2]) < actor.getClass().getSpeed(actor)*0.05 && distance(dest, start) > 20) { //Actually stuck, and far enough away from destination to care
+        zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
+
+        MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
+        if(mObstacleCheck.check(actor, duration))
+        {
             // first check if we're walking into a door
             MWWorld::Ptr door = getNearbyDoor(actor);
             if(door != MWWorld::Ptr()) // NOTE: checks interior cells only
@@ -106,24 +107,16 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
             }
             else // probably walking into another NPC
             {
-                actor.getClass().getMovementSettings(actor).mPosition[0] = 1;
-                actor.getClass().getMovementSettings(actor).mPosition[1] = 1;
+                movement.mPosition[0] = 1;
+                movement.mPosition[1] = 1;
                 // change the angle a bit, too
                 zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0] + 1, pos.pos[1]));
             }
         }
         else { //Not stuck, so reset things
-            mStuckTimer = 0;
-            mStuckPos = pos;
-            actor.getClass().getMovementSettings(actor).mPosition[1] = 1; //Just run forward
+            movement.mPosition[1] = 1; //Just run forward
         }
     }
-    else {
-        actor.getClass().getMovementSettings(actor).mPosition[1] = 1; //Just run forward the rest of the time
-    }
-
-    zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
-
     return false;
 }
 
diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp
index d73833b94..00cab2d08 100644
--- a/apps/openmw/mwmechanics/aipackage.hpp
+++ b/apps/openmw/mwmechanics/aipackage.hpp
@@ -83,9 +83,7 @@ namespace MWMechanics
             ObstacleCheck mObstacleCheck;
 
             float mTimer;
-            float mStuckTimer;
 
-            ESM::Position mStuckPos;
             ESM::Pathgrid::Point mPrevDest;
     };
 }

From f59e918a3b697e119a224b86c7ac2edd591e978f Mon Sep 17 00:00:00 2001
From: dteviot <dteviot@gmail.com>
Date: Sat, 29 Aug 2015 17:34:33 +1200
Subject: [PATCH 2/6] removed useless code.

zTurn ignores turns < 0.0087 radians.
---
 apps/openmw/mwmechanics/aipackage.cpp | 2 --
 apps/openmw/mwmechanics/aiwander.cpp  | 3 ---
 2 files changed, 5 deletions(-)

diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp
index c18ee5ceb..36843663e 100644
--- a/apps/openmw/mwmechanics/aipackage.cpp
+++ b/apps/openmw/mwmechanics/aipackage.cpp
@@ -109,8 +109,6 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
             {
                 movement.mPosition[0] = 1;
                 movement.mPosition[1] = 1;
-                // change the angle a bit, too
-                zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0] + 1, pos.pos[1]));
             }
         }
         else { //Not stuck, so reset things
diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp
index 8f27a2048..01d8125b3 100644
--- a/apps/openmw/mwmechanics/aiwander.cpp
+++ b/apps/openmw/mwmechanics/aiwander.cpp
@@ -437,9 +437,6 @@ namespace MWMechanics
                 //       but doesn't seem to do that?
                 actor.getClass().getMovementSettings(actor).mPosition[0] = 1;
                 actor.getClass().getMovementSettings(actor).mPosition[1] = 0.1f;
-                // change the angle a bit, too
-                const ESM::Position& pos = actor.getRefData().getPosition();
-                zTurn(actor, storage.mPathFinder.getZAngleToNext(pos.pos[0] + 1, pos.pos[1]));
             }
             mStuckCount++;  // TODO: maybe no longer needed
         }

From 31d82b6b0c09a9e1cf2296fc46a2c40bdaf10627 Mon Sep 17 00:00:00 2001
From: dteviot <dteviot@gmail.com>
Date: Sun, 30 Aug 2015 08:32:47 +1200
Subject: [PATCH 3/6] Unifiy evadeObstacles() logic between AiWander and
 AiPackage

Can't use same code, but logic is now same.
---
 apps/openmw/mwmechanics/aipackage.cpp | 41 +++++++++++++++------------
 apps/openmw/mwmechanics/aipackage.hpp |  4 +++
 apps/openmw/mwmechanics/aiwander.cpp  | 20 +++++++------
 apps/openmw/mwmechanics/aiwander.hpp  |  2 +-
 4 files changed, 40 insertions(+), 27 deletions(-)

diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp
index 36843663e..097cc4042 100644
--- a/apps/openmw/mwmechanics/aipackage.cpp
+++ b/apps/openmw/mwmechanics/aipackage.cpp
@@ -92,30 +92,35 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
         return true;
     else
     {
-        zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
+        evadeObstacles(actor, duration, pos);
+    }
+    return false;
+}
 
-        MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
-        if(mObstacleCheck.check(actor, duration))
+void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, float duration, ESM::Position& pos)
+{
+    zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
+
+    MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
+    if (mObstacleCheck.check(actor, duration))
+    {
+        // first check if we're walking into a door
+        MWWorld::Ptr door = getNearbyDoor(actor);
+        if (door != MWWorld::Ptr()) // NOTE: checks interior cells only
         {
-            // first check if we're walking into a door
-            MWWorld::Ptr door = getNearbyDoor(actor);
-            if(door != MWWorld::Ptr()) // NOTE: checks interior cells only
-            {
-                if(!door.getCellRef().getTeleport() && door.getCellRef().getTrap().empty() && door.getClass().getDoorState(door) == 0) { //Open the door if untrapped
-                    MWBase::Environment::get().getWorld()->activateDoor(door, 1);
-                }
-            }
-            else // probably walking into another NPC
-            {
-                movement.mPosition[0] = 1;
-                movement.mPosition[1] = 1;
+            if (!door.getCellRef().getTeleport() && door.getCellRef().getTrap().empty() && door.getClass().getDoorState(door) == 0) { //Open the door if untrapped
+                MWBase::Environment::get().getWorld()->activateDoor(door, 1);
             }
         }
-        else { //Not stuck, so reset things
-            movement.mPosition[1] = 1; //Just run forward
+        else // probably walking into another NPC
+        {
+            movement.mPosition[0] = 1;
+            movement.mPosition[1] = 1;
         }
     }
-    return false;
+    else { //Not stuck, so reset things
+        movement.mPosition[1] = 1; //Just run forward
+    }
 }
 
 bool MWMechanics::AiPackage::doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell)
diff --git a/apps/openmw/mwmechanics/aipackage.hpp b/apps/openmw/mwmechanics/aipackage.hpp
index 00cab2d08..4f919edbc 100644
--- a/apps/openmw/mwmechanics/aipackage.hpp
+++ b/apps/openmw/mwmechanics/aipackage.hpp
@@ -85,6 +85,10 @@ namespace MWMechanics
             float mTimer;
 
             ESM::Pathgrid::Point mPrevDest;
+
+        private:
+            void evadeObstacles(const MWWorld::Ptr& actor, float duration, ESM::Position& pos);
+
     };
 }
 
diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp
index 01d8125b3..ce70fee77 100644
--- a/apps/openmw/mwmechanics/aiwander.cpp
+++ b/apps/openmw/mwmechanics/aiwander.cpp
@@ -381,11 +381,7 @@ namespace MWMechanics
         else
         {
             // have not yet reached the destination
-            //... turn towards the next point in mPath
-            zTurn(actor, storage.mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
-            actor.getClass().getMovementSettings(actor).mPosition[1] = 1;
-
-            evadeObstacles(actor, storage, duration);
+            evadeObstacles(actor, storage, duration, pos);
         }
     }
 
@@ -417,8 +413,12 @@ namespace MWMechanics
         storage.mState = Wander_IdleNow;
     }
 
-    void AiWander::evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage, float duration)
+    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 (mObstacleCheck.check(actor, duration))
         {
             // first check if we're walking into a door
@@ -435,11 +435,15 @@ namespace MWMechanics
             {
                 // TODO: diagonal should have same animation as walk forward
                 //       but doesn't seem to do that?
-                actor.getClass().getMovementSettings(actor).mPosition[0] = 1;
-                actor.getClass().getMovementSettings(actor).mPosition[1] = 0.1f;
+                movement.mPosition[0] = 1;
+                movement.mPosition[1] = 0.1f;
             }
             mStuckCount++;  // TODO: maybe no longer needed
         }
+        else
+        {
+            movement.mPosition[1] = 1;
+        }
 //#if 0
         // TODO: maybe no longer needed
         if (mStuckCount >= COUNT_BEFORE_RESET) // something has gone wrong, reset
diff --git a/apps/openmw/mwmechanics/aiwander.hpp b/apps/openmw/mwmechanics/aiwander.hpp
index 27e6fe9fb..b0fabfce3 100644
--- a/apps/openmw/mwmechanics/aiwander.hpp
+++ b/apps/openmw/mwmechanics/aiwander.hpp
@@ -83,7 +83,7 @@ namespace MWMechanics
             short unsigned getRandomIdle();
             void setPathToAnAllowedNode(const MWWorld::Ptr& actor, AiWanderStorage& storage, const ESM::Position& actorPos);
             void playGreetingIfPlayerGetsTooClose(const MWWorld::Ptr& actor, AiWanderStorage& storage);
-            void evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage, float duration);
+            void evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage, float duration, ESM::Position& pos);
             void playIdleDialogueRandomly(const MWWorld::Ptr& actor);
             void turnActorToFacePlayer(const osg::Vec3f& actorPosition, const osg::Vec3f& playerPosition, AiWanderStorage& storage);
             void doPerFrameActionsForState(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage, ESM::Position& pos);

From f2c9b9351f702d18e8ca3e2fcb97d640780fa8bf Mon Sep 17 00:00:00 2001
From: dteviot <dteviot@gmail.com>
Date: Sun, 30 Aug 2015 10:06:09 +1200
Subject: [PATCH 4/6] Try going right and left to "unstick" actor.

---
 apps/openmw/mwmechanics/aipackage.cpp |  3 +--
 apps/openmw/mwmechanics/aiwander.cpp  |  3 +--
 apps/openmw/mwmechanics/obstacle.cpp  | 20 ++++++++++++++++++++
 apps/openmw/mwmechanics/obstacle.hpp  |  8 ++++++++
 4 files changed, 30 insertions(+), 4 deletions(-)

diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp
index 097cc4042..b6b240833 100644
--- a/apps/openmw/mwmechanics/aipackage.cpp
+++ b/apps/openmw/mwmechanics/aipackage.cpp
@@ -114,8 +114,7 @@ void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, float dur
         }
         else // probably walking into another NPC
         {
-            movement.mPosition[0] = 1;
-            movement.mPosition[1] = 1;
+            mObstacleCheck.takeEvasiveAction(movement);
         }
     }
     else { //Not stuck, so reset things
diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp
index ce70fee77..67a9f766c 100644
--- a/apps/openmw/mwmechanics/aiwander.cpp
+++ b/apps/openmw/mwmechanics/aiwander.cpp
@@ -435,8 +435,7 @@ namespace MWMechanics
             {
                 // TODO: diagonal should have same animation as walk forward
                 //       but doesn't seem to do that?
-                movement.mPosition[0] = 1;
-                movement.mPosition[1] = 0.1f;
+                mObstacleCheck.takeEvasiveAction(movement);
             }
             mStuckCount++;  // TODO: maybe no longer needed
         }
diff --git a/apps/openmw/mwmechanics/obstacle.cpp b/apps/openmw/mwmechanics/obstacle.cpp
index 25bd06301..fe3d68a58 100644
--- a/apps/openmw/mwmechanics/obstacle.cpp
+++ b/apps/openmw/mwmechanics/obstacle.cpp
@@ -6,6 +6,8 @@
 #include "../mwworld/class.hpp"
 #include "../mwworld/cellstore.hpp"
 
+#include "movement.hpp"
+
 namespace MWMechanics
 {
     // NOTE: determined empirically but probably need further tweaking
@@ -67,6 +69,7 @@ namespace MWMechanics
       , mStuckDuration(0)
       , mEvadeDuration(0)
       , mDistSameSpot(-1) // avoid calculating it each time
+      , mEvadeDirection(1.0f)
     {
     }
 
@@ -155,6 +158,7 @@ namespace MWMechanics
                 /* FALL THROUGH */
             case State_Evade:
             {
+                chooseEvasionDirection(samePosition);
                 mEvadeDuration += duration;
                 if(mEvadeDuration < DURATION_TO_EVADE)
                     return true;
@@ -169,4 +173,20 @@ namespace MWMechanics
         }
         return false; // no obstacles to evade (yet)
     }
+
+    void ObstacleCheck::takeEvasiveAction(MWMechanics::Movement& actorMovement)
+    {
+        actorMovement.mPosition[0] = mEvadeDirection;
+        actorMovement.mPosition[1] = 0;
+    }
+
+    void ObstacleCheck::chooseEvasionDirection(bool samePosition)
+    {
+        // change direction if attempt didn't work
+        if (samePosition && (0 < mEvadeDuration))
+        {
+            mEvadeDirection = mEvadeDirection == 1.0f ? -1.0f : 1.0f;
+        }
+    }
+
 }
diff --git a/apps/openmw/mwmechanics/obstacle.hpp b/apps/openmw/mwmechanics/obstacle.hpp
index e0ae9203d..ef3e29e8b 100644
--- a/apps/openmw/mwmechanics/obstacle.hpp
+++ b/apps/openmw/mwmechanics/obstacle.hpp
@@ -8,6 +8,8 @@ namespace MWWorld
 
 namespace MWMechanics
 {
+    struct Movement;
+
     /// NOTE: determined empirically based on in-game behaviour
     static const float MIN_DIST_TO_DOOR_SQUARED = 128*128;
 
@@ -36,6 +38,9 @@ namespace MWMechanics
             // should be taken
             bool check(const MWWorld::Ptr& actor, float duration);
 
+            // change direction to try to fix "stuck" actor
+            void takeEvasiveAction(MWMechanics::Movement& actorMovement);
+
         private:
 
             // for checking if we're stuck (ignoring Z axis)
@@ -53,6 +58,9 @@ namespace MWMechanics
             float mStuckDuration; // accumulate time here while in same spot
             float mEvadeDuration;
             float mDistSameSpot; // take account of actor's speed
+            float mEvadeDirection;
+
+            void chooseEvasionDirection(bool samePosition);
     };
 }
 

From 39c2ba8efe98aa4d9f29f06450a62f2081d372c9 Mon Sep 17 00:00:00 2001
From: dteviot <dteviot@gmail.com>
Date: Sun, 30 Aug 2015 16:12:51 +1200
Subject: [PATCH 5/6] Pathfinding bugfix.

Observed at Ebonheart (coe 1, -13).  Especially at the western tower. Guards try to walk though tower door.
Cause: buildPath() adds destination (even when unreachable) when only using single node from pathgrid.
---
 apps/openmw/mwmechanics/pathfinding.cpp | 21 ++++++++-------------
 1 file changed, 8 insertions(+), 13 deletions(-)

diff --git a/apps/openmw/mwmechanics/pathfinding.cpp b/apps/openmw/mwmechanics/pathfinding.cpp
index f53badbf4..daab32136 100644
--- a/apps/openmw/mwmechanics/pathfinding.cpp
+++ b/apps/openmw/mwmechanics/pathfinding.cpp
@@ -225,19 +225,16 @@ namespace MWMechanics
             ESM::Pathgrid::Point temp(mPathgrid->mPoints[startNode]);
             converter.ToWorld(temp);
             mPath.push_back(temp);
-
-            mPath.push_back(endPoint);
-            return;
         }
-
-        mPath = mCell->aStarSearch(startNode, endNode.first);
-        if (mPath.empty())
-            return;
-
-        // convert supplied path to world co-ordinates
-        for (std::list<ESM::Pathgrid::Point>::iterator iter(mPath.begin()); iter != mPath.end(); ++iter)
+        else
         {
-            converter.ToWorld(*iter);
+            mPath = mCell->aStarSearch(startNode, endNode.first);
+
+            // convert supplied path to world co-ordinates
+            for (std::list<ESM::Pathgrid::Point>::iterator iter(mPath.begin()); iter != mPath.end(); ++iter)
+            {
+                converter.ToWorld(*iter);
+            }
         }
 
         // If endNode found is NOT the closest PathGrid point to the endPoint,
@@ -254,8 +251,6 @@ namespace MWMechanics
         // The AI routines will have to deal with such situations.
         if(endNode.second)
             mPath.push_back(endPoint);
-
-        return;
     }
 
     float PathFinder::getZAngleToNext(float x, float y) const

From 1dfe438a5d37401b75bd2de491a2524cc92ffd21 Mon Sep 17 00:00:00 2001
From: dteviot <dteviot@gmail.com>
Date: Sun, 30 Aug 2015 16:43:35 +1200
Subject: [PATCH 6/6] reduce "reset if stuck" AiWander timeout.

Now is about 14 seconds, instead of 300.
---
 apps/openmw/mwmechanics/aiwander.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/apps/openmw/mwmechanics/aiwander.cpp b/apps/openmw/mwmechanics/aiwander.cpp
index 67a9f766c..b789c4428 100644
--- a/apps/openmw/mwmechanics/aiwander.cpp
+++ b/apps/openmw/mwmechanics/aiwander.cpp
@@ -27,7 +27,7 @@
 
 namespace MWMechanics
 {
-    static const int COUNT_BEFORE_RESET = 200; // TODO: maybe no longer needed
+    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
@@ -443,8 +443,8 @@ namespace MWMechanics
         {
             movement.mPosition[1] = 1;
         }
-//#if 0
-        // TODO: maybe no longer needed
+
+        // if stuck for sufficiently long, act like current location was the destination
         if (mStuckCount >= COUNT_BEFORE_RESET) // something has gone wrong, reset
         {
             //std::cout << "Reset \""<< cls.getName(actor) << "\"" << std::endl;
@@ -454,7 +454,6 @@ namespace MWMechanics
             storage.mState = Wander_ChooseAction;
             mStuckCount = 0;
         }
-//#endif
     }
 
     void AiWander::playIdleDialogueRandomly(const MWWorld::Ptr& actor)