Merge branch 'master' into 'rotation'

# Conflicts:
#   CHANGELOG.md

CHANGELOG.md

@@ -49,6 +49,7 @@
     Bug #5557: Diagonal movement is noticeably slower with analogue stick
     Feature #390: 3rd person look "over the shoulder"
     Feature #2386: Distant Statics in the form of Object Paging
+    Feature #4894: Consider actors as obstacles for pathfinding
     Feature #5297: Add a search function to the "Datafiles" tab of the OpenMW launcher
     Feature #5362: Show the soul gems' trapped soul in count dialog
     Feature #5445: Handle NiLines
@@ -59,6 +60,7 @@
     Feature #5525: Search fields tweaks (utf-8)
     Feature #5545: Option to allow stealing from an unconscious NPC during combat
     Feature #5579: MCP SetAngle enhancement
+    Feature #5610: Actors movement should be smoother
     Task #5480: Drop Qt4 support
     Task #5520: Improve cell name autocompleter implementation
 

apps/launcher/advancedpage.cpp

@@ -88,6 +88,7 @@ bool Launcher::AdvancedPage::loadSettings()
         loadSettingBool(uncappedDamageFatigueCheckBox, "uncapped damage fatigue", "Game");
         loadSettingBool(normaliseRaceSpeedCheckBox, "normalise race speed", "Game");
         loadSettingBool(swimUpwardCorrectionCheckBox, "swim upward correction", "Game");
+        loadSettingBool(avoidCollisionsCheckBox, "NPCs avoid collisions", "Game");
         int unarmedFactorsStrengthIndex = mEngineSettings.getInt("strength influences hand to hand", "Game");
         if (unarmedFactorsStrengthIndex >= 0 && unarmedFactorsStrengthIndex <= 2)
             unarmedFactorsStrengthComboBox->setCurrentIndex(unarmedFactorsStrengthIndex);
@@ -112,6 +113,7 @@ bool Launcher::AdvancedPage::loadSettings()
             loadSettingBool(shieldSheathingCheckBox, "shield sheathing", "Game");
         }
         loadSettingBool(turnToMovementDirectionCheckBox, "turn to movement direction", "Game");
+        loadSettingBool(smoothMovementCheckBox, "smooth movement", "Game");
 
         const bool distantTerrain = mEngineSettings.getBool("distant terrain", "Terrain");
         const bool objectPaging = mEngineSettings.getBool("object paging", "Terrain");
@@ -200,6 +202,7 @@ void Launcher::AdvancedPage::saveSettings()
         saveSettingBool(uncappedDamageFatigueCheckBox, "uncapped damage fatigue", "Game");
         saveSettingBool(normaliseRaceSpeedCheckBox, "normalise race speed", "Game");
         saveSettingBool(swimUpwardCorrectionCheckBox, "swim upward correction", "Game");
+        saveSettingBool(avoidCollisionsCheckBox, "NPCs avoid collisions", "Game");
         int unarmedFactorsStrengthIndex = unarmedFactorsStrengthComboBox->currentIndex();
         if (unarmedFactorsStrengthIndex != mEngineSettings.getInt("strength influences hand to hand", "Game"))
             mEngineSettings.setInt("strength influences hand to hand", "Game", unarmedFactorsStrengthIndex);
@@ -220,6 +223,7 @@ void Launcher::AdvancedPage::saveSettings()
         saveSettingBool(weaponSheathingCheckBox, "weapon sheathing", "Game");
         saveSettingBool(shieldSheathingCheckBox, "shield sheathing", "Game");
         saveSettingBool(turnToMovementDirectionCheckBox, "turn to movement direction", "Game");
+        saveSettingBool(smoothMovementCheckBox, "smooth movement", "Game");
 
         const bool distantTerrain = mEngineSettings.getBool("distant terrain", "Terrain");
         const bool objectPaging = mEngineSettings.getBool("object paging", "Terrain");

apps/openmw/mwmechanics/actors.cpp

@@ -6,6 +6,7 @@
 #include <components/sceneutil/positionattitudetransform.hpp>
 #include <components/debug/debuglog.hpp>
 #include <components/misc/rng.hpp>
+#include <components/misc/mathutil.hpp>
 #include <components/settings/settings.hpp>
 
 #include "../mwworld/esmstore.hpp"
@@ -36,6 +37,7 @@
 #include "aicombataction.hpp"
 #include "aifollow.hpp"
 #include "aipursue.hpp"
+#include "aiwander.hpp"
 #include "actor.hpp"
 #include "summoning.hpp"
 #include "combat.hpp"
@@ -424,7 +426,7 @@ namespace MWMechanics
         const osg::Vec3f actor2Pos(targetActor.getRefData().getPosition().asVec3());
         float sqrDist = (actor1Pos - actor2Pos).length2();
 
-        if (sqrDist > maxDistance*maxDistance)
+        if (sqrDist > std::min(maxDistance * maxDistance, sqrHeadTrackDistance))
             return;
 
         // stop tracking when target is behind the actor
@@ -432,10 +434,7 @@ namespace MWMechanics
         osg::Vec3f targetDirection(actor2Pos - actor1Pos);
         actorDirection.z() = 0;
         targetDirection.z() = 0;
-        actorDirection.normalize();
+        if (actorDirection * targetDirection > 0
-        targetDirection.normalize();
-        if (std::acos(actorDirection * targetDirection) < osg::DegreesToRadians(90.f)
-            && sqrDist <= sqrHeadTrackDistance
             && MWBase::Environment::get().getWorld()->getLOS(actor, targetActor) // check LOS and awareness last as it's the most expensive function
             && MWBase::Environment::get().getMechanicsManager()->awarenessCheck(targetActor, actor))
         {
@@ -473,6 +472,9 @@ namespace MWMechanics
 
     void Actors::updateMovementSpeed(const MWWorld::Ptr& actor)
     {
+        if (mSmoothMovement)
+            return;
+
         CreatureStats &stats = actor.getClass().getCreatureStats(actor);
         MWMechanics::AiSequence& seq = stats.getAiSequence();
 
@@ -481,9 +483,10 @@ namespace MWMechanics
             osg::Vec3f targetPos = seq.getActivePackage().getDestination();
             osg::Vec3f actorPos = actor.getRefData().getPosition().asVec3();
             float distance = (targetPos - actorPos).length();
+
             if (distance < DECELERATE_DISTANCE)
             {
-                float speedCoef = std::max(0.7f, 0.1f * (distance/64.f + 2.f));
+                float speedCoef = std::max(0.7f, 0.2f + 0.8f * distance / DECELERATE_DISTANCE);
                 auto& movement = actor.getClass().getMovementSettings(actor);
                 movement.mPosition[0] *= speedCoef;
                 movement.mPosition[1] *= speedCoef;
@@ -587,7 +590,10 @@ namespace MWMechanics
 
         if (!actorState.isTurningToPlayer())
         {
-            actorState.setAngleToPlayer(std::atan2(dir.x(), dir.y()));
+            float angle = std::atan2(dir.x(), dir.y());
+            actorState.setAngleToPlayer(angle);
+            float deltaAngle = Misc::normalizeAngle(angle - actor.getRefData().getPosition().rot[2]);
+            if (!mSmoothMovement || std::abs(deltaAngle) > osg::DegreesToRadians(60.f))
                 actorState.setTurningToPlayer(true);
         }
     }
@@ -1460,7 +1466,7 @@ namespace MWMechanics
         }
     }
 
-    Actors::Actors()
+    Actors::Actors() : mSmoothMovement(Settings::Manager::getBool("smooth movement", "Game"))
     {
         mTimerDisposeSummonsCorpses = 0.2f; // We should add a delay between summoned creature death and its corpse despawning
 
@@ -1659,6 +1665,131 @@ namespace MWMechanics
 
     }
 
+    void Actors::predictAndAvoidCollisions()
+    {
+        const float minGap = 10.f;
+        const float maxDistToCheck = 100.f;
+        const float maxTimeToCheck = 1.f;
+        static const bool giveWayWhenIdle = Settings::Manager::getBool("NPCs give way", "Game");
+
+        MWWorld::Ptr player = getPlayer();
+        MWBase::World* world = MWBase::Environment::get().getWorld();
+        for(PtrActorMap::iterator iter(mActors.begin()); iter != mActors.end(); ++iter)
+        {
+            const MWWorld::Ptr& ptr = iter->first;
+            if (ptr == player)
+                continue; // Don't interfere with player controls.
+
+            Movement& movement = ptr.getClass().getMovementSettings(ptr);
+            osg::Vec2f origMovement(movement.mPosition[0], movement.mPosition[1]);
+            bool isMoving = origMovement.length2() > 0.01;
+
+            // Moving NPCs always should avoid collisions.
+            // Standing NPCs give way to moving ones if they are not in combat (or pursue) mode and either
+            // follow player or have a AIWander package with non-empty wander area.
+            bool shouldAvoidCollision = isMoving;
+            bool shouldTurnToApproachingActor = !isMoving;
+            MWWorld::Ptr currentTarget; // Combat or pursue target (NPCs should not avoid collision with their targets).
+            for (const auto& package : ptr.getClass().getCreatureStats(ptr).getAiSequence())
+            {
+                if (package->getTypeId() == AiPackageTypeId::Follow)
+                    shouldAvoidCollision = true;
+                else if (package->getTypeId() == AiPackageTypeId::Wander && giveWayWhenIdle)
+                {
+                    if (!dynamic_cast<const AiWander*>(package.get())->isStationary())
+                        shouldAvoidCollision = true;
+                }
+                else if (package->getTypeId() == AiPackageTypeId::Combat || package->getTypeId() == AiPackageTypeId::Pursue)
+                {
+                    currentTarget = package->getTarget();
+                    shouldAvoidCollision = isMoving;
+                    shouldTurnToApproachingActor = false;
+                    break;
+                }
+            }
+            if (!shouldAvoidCollision)
+                continue;
+
+            float maxSpeed = ptr.getClass().getMaxSpeed(ptr);
+            osg::Vec2f baseSpeed = origMovement * maxSpeed;
+            osg::Vec3f basePos = ptr.getRefData().getPosition().asVec3();
+            float baseRotZ = ptr.getRefData().getPosition().rot[2];
+            osg::Vec3f halfExtents = world->getHalfExtents(ptr);
+
+            float timeToCollision = maxTimeToCheck;
+            osg::Vec2f movementCorrection(0, 0);
+            float angleToApproachingActor = 0;
+
+            // Iterate through all other actors and predict collisions.
+            for(PtrActorMap::iterator otherIter(mActors.begin()); otherIter != mActors.end(); ++otherIter)
+            {
+                const MWWorld::Ptr& otherPtr = otherIter->first;
+                if (otherPtr == ptr || otherPtr == currentTarget)
+                    continue;
+
+                osg::Vec3f otherHalfExtents = world->getHalfExtents(otherPtr);
+                osg::Vec3f deltaPos = otherPtr.getRefData().getPosition().asVec3() - basePos;
+                osg::Vec2f relPos = Misc::rotateVec2f(osg::Vec2f(deltaPos.x(), deltaPos.y()), baseRotZ);
+
+                // Ignore actors which are not close enough or come from behind.
+                if (deltaPos.length2() > maxDistToCheck * maxDistToCheck || relPos.y() < 0)
+                    continue;
+
+                // Don't check for a collision if vertical distance is greater then the actor's height.
+                if (deltaPos.z() > halfExtents.z() * 2 || deltaPos.z() < -otherHalfExtents.z() * 2)
+                    continue;
+
+                osg::Vec3f speed = otherPtr.getClass().getMovementSettings(otherPtr).asVec3() *
+                                   otherPtr.getClass().getMaxSpeed(otherPtr);
+                float rotZ = otherPtr.getRefData().getPosition().rot[2];
+                osg::Vec2f relSpeed = Misc::rotateVec2f(osg::Vec2f(speed.x(), speed.y()), baseRotZ - rotZ) - baseSpeed;
+
+                float collisionDist = minGap + world->getHalfExtents(ptr).x() + world->getHalfExtents(otherPtr).x();
+                collisionDist = std::min(collisionDist, relPos.length());
+
+                // Find the earliest `t` when |relPos + relSpeed * t| == collisionDist.
+                float vr = relPos.x() * relSpeed.x() + relPos.y() * relSpeed.y();
+                float v2 = relSpeed.length2();
+                float Dh = vr * vr - v2 * (relPos.length2() - collisionDist * collisionDist);
+                if (Dh <= 0 || v2 == 0)
+                    continue; // No solution; distance is always >= collisionDist.
+                float t = (-vr - std::sqrt(Dh)) / v2;
+
+                if (t < 0 || t > timeToCollision)
+                    continue;
+
+                // Check visibility and awareness last as it's expensive.
+                if (!MWBase::Environment::get().getWorld()->getLOS(otherPtr, ptr))
+                    continue;
+                if (!MWBase::Environment::get().getMechanicsManager()->awarenessCheck(otherPtr, ptr))
+                    continue;
+
+                timeToCollision = t;
+                angleToApproachingActor = std::atan2(deltaPos.x(), deltaPos.y());
+                osg::Vec2f posAtT = relPos + relSpeed * t;
+                float coef = (posAtT.x() * relSpeed.x() + posAtT.y() * relSpeed.y()) / (collisionDist * maxSpeed);
+                movementCorrection = posAtT * coef;
+                // Step to the side rather than backward. Otherwise player will be able to push the NPC far away from it's original location.
+                movementCorrection.y() = std::max(0.f, movementCorrection.y());
+            }
+
+            if (timeToCollision < maxTimeToCheck)
+            {
+                // Try to evade the nearest collision.
+                osg::Vec2f newMovement = origMovement + movementCorrection;
+                if (isMoving)
+                { // Keep the original speed.
+                    newMovement.normalize();
+                    newMovement *= origMovement.length();
+                }
+                movement.mPosition[0] = newMovement.x();
+                movement.mPosition[1] = newMovement.y();
+                if (shouldTurnToApproachingActor)
+                    zTurn(ptr, angleToApproachingActor);
+            }
+        }
+    }
+
     void Actors::update (float duration, bool paused)
     {
         if(!paused)
@@ -1769,14 +1900,12 @@ namespace MWMechanics
 
                             MWMechanics::CreatureStats& stats = iter->first.getClass().getCreatureStats(iter->first);
                             bool firstPersonPlayer = isPlayer && world->isFirstPerson();
+                            bool inCombatOrPursue = stats.getAiSequence().isInCombat() || stats.getAiSequence().hasPackage(AiPackageTypeId::Pursue);
 
                             // 1. Unconsious actor can not track target
                             // 2. Actors in combat and pursue mode do not bother to headtrack
                             // 3. Player character does not use headtracking in the 1st-person view
-                            if (!stats.getKnockedDown() &&
+                            if (!stats.getKnockedDown() && !firstPersonPlayer && !inCombatOrPursue)
-                                !stats.getAiSequence().isInCombat() &&
-                                !stats.getAiSequence().hasPackage(AiPackageTypeId::Pursue) &&
-                                !firstPersonPlayer)
                             {
                                 for(PtrActorMap::iterator it(mActors.begin()); it != mActors.end(); ++it)
                                 {
@@ -1786,6 +1915,17 @@ namespace MWMechanics
                                 }
                             }
 
+                            if (!stats.getKnockedDown() && !isPlayer && inCombatOrPursue)
+                            {
+                                // Actors in combat and pursue mode always look at their target.
+                                for (const auto& package : stats.getAiSequence())
+                                {
+                                    headTrackTarget = package->getTarget();
+                                    if (!headTrackTarget.isEmpty())
+                                        break;
+                                }
+                            }
+
                             ctrl->setHeadTrackTarget(headTrackTarget);
                         }
 
@@ -1824,6 +1964,10 @@ namespace MWMechanics
                 }
             }
 
+            static const bool avoidCollisions = Settings::Manager::getBool("NPCs avoid collisions", "Game");
+            if (avoidCollisions)
+                predictAndAvoidCollisions();
+
             timerUpdateAITargets += duration;
             timerUpdateHeadTrack += duration;
             timerUpdateEquippedLight += duration;

apps/openmw/mwmechanics/actors.hpp

@@ -63,6 +63,8 @@ namespace MWMechanics
 
             void purgeSpellEffects (int casterActorId);
 
+            void predictAndAvoidCollisions();
+
         public:
 
             Actors();
@@ -209,6 +211,7 @@ namespace MWMechanics
         float mTimerDisposeSummonsCorpses;
         float mActorsProcessingRange;
 
+        bool mSmoothMovement;
     };
 }
 

apps/openmw/mwmechanics/aibreathe.cpp

@@ -23,7 +23,7 @@ bool MWMechanics::AiBreathe::execute (const MWWorld::Ptr& actor, CharacterContro
             actorClass.getCreatureStats(actor).setMovementFlag(CreatureStats::Flag_Run, true);
 
             actorClass.getMovementSettings(actor).mPosition[1] = 1;
-            smoothTurn(actor, -180, 0);
+            smoothTurn(actor, -osg::PI / 2, 0);
 
             return false;
         }

apps/openmw/mwmechanics/aicombat.cpp

@@ -5,6 +5,8 @@
 
 #include <components/esm/aisequence.hpp>
 
+#include <components/misc/mathutil.hpp>
+
 #include <components/sceneutil/positionattitudetransform.hpp>
 
 #include "../mwphysics/collisiontype.hpp"
@@ -240,10 +242,6 @@ namespace MWMechanics
 
         if (storage.mReadyToAttack)
         {
-            storage.startCombatMove(isRangedCombat, distToTarget, rangeAttack, actor, target);
-            // start new attack
-            storage.startAttackIfReady(actor, characterController, weapon, isRangedCombat);
-
             if (isRangedCombat)
             {
                 // rotate actor taking into account target movement direction and projectile speed
@@ -259,6 +257,10 @@ namespace MWMechanics
                 storage.mMovement.mRotation[0] = getXAngleToDir(vAimDir);
                 storage.mMovement.mRotation[2] = getZAngleToDir((vTargetPos-vActorPos)); // using vAimDir results in spastic movements since the head is animated
             }
+
+            storage.startCombatMove(isRangedCombat, distToTarget, rangeAttack, actor, target);
+            // start new attack
+            storage.startAttackIfReady(actor, characterController, weapon, isRangedCombat);
         }
         return false;
     }
@@ -372,9 +374,13 @@ namespace MWMechanics
     void AiCombat::updateActorsMovement(const MWWorld::Ptr& actor, float duration, AiCombatStorage& storage)
     {
         // apply combat movement
+        float deltaAngle = storage.mMovement.mRotation[2] - actor.getRefData().getPosition().rot[2];
+        osg::Vec2f movement = Misc::rotateVec2f(
+            osg::Vec2f(storage.mMovement.mPosition[0], storage.mMovement.mPosition[1]), -deltaAngle);
+
         MWMechanics::Movement& actorMovementSettings = actor.getClass().getMovementSettings(actor);
-        actorMovementSettings.mPosition[0] = storage.mMovement.mPosition[0];
+        actorMovementSettings.mPosition[0] = movement.x();
-        actorMovementSettings.mPosition[1] = storage.mMovement.mPosition[1];
+        actorMovementSettings.mPosition[1] = movement.y();
         actorMovementSettings.mPosition[2] = storage.mMovement.mPosition[2];
 
         rotateActorOnAxis(actor, 2, actorMovementSettings, storage);
@@ -385,26 +391,11 @@ namespace MWMechanics
         MWMechanics::Movement& actorMovementSettings, AiCombatStorage& storage)
     {
         actorMovementSettings.mRotation[axis] = 0;
-        float& targetAngleRadians = storage.mMovement.mRotation[axis];
-        if (targetAngleRadians != 0)
-        {
-            // Some attack animations contain small amount of movement.
-            // Since we use cone shapes for melee, we can use a threshold to avoid jittering
-            std::shared_ptr<Action>& currentAction = storage.mCurrentAction;
         bool isRangedCombat = false;
-            currentAction->getCombatRange(isRangedCombat);
+        storage.mCurrentAction->getCombatRange(isRangedCombat);
-            // Check if the actor now facing desired direction, no need to turn any more
+        float eps = isRangedCombat ? osg::DegreesToRadians(0.5) : osg::DegreesToRadians(3.f);
-            if (isRangedCombat)
+        float targetAngleRadians = storage.mMovement.mRotation[axis];
-            {
+        smoothTurn(actor, targetAngleRadians, axis, eps);
-                if (smoothTurn(actor, targetAngleRadians, axis))
-                    targetAngleRadians = 0;
-            }
-            else
-            {
-                if (smoothTurn(actor, targetAngleRadians, axis, osg::DegreesToRadians(3.f)))
-                    targetAngleRadians = 0;
-            }
-        }
     }
 
     MWWorld::Ptr AiCombat::getTarget() const
@@ -489,12 +480,19 @@ namespace MWMechanics
         // Note: do not use for ranged combat yet since in couple with back up behaviour can move actor out of cliff
         else if (actor.getClass().isBipedal(actor))
         {
-            // apply sideway movement (kind of dodging) with some probability
+            float moveDuration = 0;
-            // if actor is within range of target's weapon
+            float angleToTarget = Misc::normalizeAngle(mMovement.mRotation[2] - actor.getRefData().getPosition().rot[2]);
-            if (distToTarget <= rangeAttackOfTarget && Misc::Rng::rollClosedProbability() < 0.25)
+            // Apply a big side step if enemy tries to get around and come from behind.
+            // Otherwise apply a random side step (kind of dodging) with some probability
+            // if actor is within range of target's weapon.
+            if (std::abs(angleToTarget) > osg::PI / 4)
+                moveDuration = 0.2;
+            else if (distToTarget <= rangeAttackOfTarget && Misc::Rng::rollClosedProbability() < 0.25)
+                moveDuration = 0.1f + 0.1f * Misc::Rng::rollClosedProbability();
+            if (moveDuration > 0)
             {
                 mMovement.mPosition[0] = Misc::Rng::rollProbability() < 0.5 ? 1.0f : -1.0f; // to the left/right
-                mTimerCombatMove = 0.1f + 0.1f * Misc::Rng::rollClosedProbability();
+                mTimerCombatMove = moveDuration;
                 mCombatMove = true;
             }
         }

apps/openmw/mwmechanics/aipackage.cpp

@@ -5,6 +5,7 @@
 #include <components/esm/loadmgef.hpp>
 #include <components/detournavigator/navigator.hpp>
 #include <components/misc/coordinateconverter.hpp>
+#include <components/settings/settings.hpp>
 
 #include "../mwbase/world.hpp"
 #include "../mwbase/environment.hpp"
@@ -87,6 +88,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
     //... But AI processing distance may increase in the future.
     if (isNearInactiveCell(position))
     {
+        actor.getClass().getMovementSettings(actor).mPosition[0] = 0;
         actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
         world->updateActorPath(actor, mPathFinder.getPath(), halfExtents, position, dest);
         return false;
@@ -169,12 +171,34 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
     }
 
     // turn to next path point by X,Z axes
-    zTurn(actor, mPathFinder.getZAngleToNext(position.x(), position.y()));
+    float zAngleToNext = mPathFinder.getZAngleToNext(position.x(), position.y());
+    zTurn(actor, zAngleToNext);
     smoothTurn(actor, mPathFinder.getXAngleToNext(position.x(), position.y(), position.z()), 0);
 
     const auto destination = mPathFinder.getPath().empty() ? dest : mPathFinder.getPath().front();
     mObstacleCheck.update(actor, destination, duration);
 
+    static const bool smoothMovement = Settings::Manager::getBool("smooth movement", "Game");
+    if (smoothMovement)
+    {
+        const float smoothTurnReservedDist = 150;
+        auto& movement = actor.getClass().getMovementSettings(actor);
+        float distToNextSqr = osg::Vec2f(destination.x() - position.x(), destination.y() - position.y()).length2();
+        float diffAngle = zAngleToNext - actor.getRefData().getPosition().rot[2];
+        if (std::cos(diffAngle) < -0.1)
+            movement.mPosition[0] = movement.mPosition[1] = 0;
+        else if (distToNextSqr > smoothTurnReservedDist * smoothTurnReservedDist)
+        { // Go forward (and slowly turn towards the next path point)
+            movement.mPosition[0] = 0;
+            movement.mPosition[1] = 1;
+        }
+        else
+        { // Next path point is near, so use diagonal movement to follow the path precisely.
+            movement.mPosition[0] = std::sin(diffAngle);
+            movement.mPosition[1] = std::max(std::cos(diffAngle), 0.f);
+        }
+    }
+
     // handle obstacles on the way
     evadeObstacles(actor);
 

apps/openmw/mwmechanics/aiwander.cpp

@@ -27,7 +27,7 @@
 namespace MWMechanics
 {
     static const int COUNT_BEFORE_RESET = 10;
-    static const float DOOR_CHECK_INTERVAL = 1.5f;
+    static const float IDLE_POSITION_CHECK_INTERVAL = 1.5f;
 
     // to prevent overcrowding
     static const int DESTINATION_TOLERANCE = 64;
@@ -96,6 +96,7 @@ namespace MWMechanics
 
         void stopMovement(const MWWorld::Ptr& actor)
         {
+            actor.getClass().getMovementSettings(actor).mPosition[0] = 0;
             actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
         }
 
@@ -424,15 +425,14 @@ namespace MWMechanics
 
     void AiWander::onIdleStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage)
     {
-        // Check if an idle actor is  too close to a door - if so start walking
+        // Check if an idle actor is too far from all allowed nodes or too close to a door - if so start walking.
-        storage.mDoorCheckDuration += duration;
+        storage.mCheckIdlePositionTimer += duration;
 
-        if (storage.mDoorCheckDuration >= DOOR_CHECK_INTERVAL)
+        if (storage.mCheckIdlePositionTimer >= IDLE_POSITION_CHECK_INTERVAL && !isStationary())
         {
-            storage.mDoorCheckDuration = 0;    // restart timer
+            storage.mCheckIdlePositionTimer = 0;    // restart timer
-            static float distance = MWBase::Environment::get().getWorld()->getMaxActivationDistance();
+            static float distance = MWBase::Environment::get().getWorld()->getMaxActivationDistance() * 1.6f;
-            if (mDistance &&            // actor is not intended to be stationary
+            if (proximityToDoor(actor, distance) || !isNearAllowedNode(actor, storage, distance))
-                proximityToDoor(actor, distance*1.6f))
             {
                 storage.setState(AiWanderStorage::Wander_MoveNow);
                 storage.mTrimCurrentNode = false; // just in case
@@ -451,6 +451,20 @@ namespace MWMechanics
         }
     }
 
+    bool AiWander::isNearAllowedNode(const MWWorld::Ptr& actor, const AiWanderStorage& storage, float distance) const
+    {
+        const osg::Vec3f actorPos = actor.getRefData().getPosition().asVec3();
+        auto cell = actor.getCell()->getCell();
+        for (const ESM::Pathgrid::Point& node : storage.mAllowedNodes)
+        {
+            osg::Vec3f point(node.mX, node.mY, node.mZ);
+            Misc::CoordinateConverter(cell).toWorld(point);
+            if ((actorPos - point).length2() < distance * distance)
+                return true;
+        }
+        return false;
+    }
+
     void AiWander::onWalkingStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage)
     {
         // Is there no destination or are we there yet?
@@ -468,6 +482,9 @@ namespace MWMechanics
 
     void AiWander::onChooseActionStatePerFrameActions(const MWWorld::Ptr& actor, AiWanderStorage& storage)
     {
+        // Wait while fully stop before starting idle animation (important if "smooth movement" is enabled).
+        if (actor.getClass().getCurrentSpeed(actor) > 0)
+            return;
 
         unsigned short idleAnimation = getRandomIdle();
         storage.mIdleAnimation = idleAnimation;

apps/openmw/mwmechanics/aiwander.hpp

@@ -53,7 +53,7 @@ namespace MWMechanics
         ESM::Pathgrid::Point mCurrentNode;
         bool mTrimCurrentNode;
 
-        float mDoorCheckDuration;
+        float mCheckIdlePositionTimer;
         int mStuckCount;
 
         AiWanderStorage():
@@ -66,7 +66,7 @@ namespace MWMechanics
             mPopulateAvailableNodes(true),
             mAllowedNodes(),
             mTrimCurrentNode(false),
-            mDoorCheckDuration(0), // TODO: maybe no longer needed
+            mCheckIdlePositionTimer(0),
             mStuckCount(0)
             {};
 
@@ -117,6 +117,8 @@ namespace MWMechanics
                 return mDestination;
             }
 
+            bool isStationary() const { return mDistance == 0; }
+
         private:
             void stopWalking(const MWWorld::Ptr& actor);
 
@@ -137,6 +139,7 @@ namespace MWMechanics
             void wanderNearStart(const MWWorld::Ptr &actor, AiWanderStorage &storage, int wanderDistance);
             bool destinationIsAtWater(const MWWorld::Ptr &actor, const osg::Vec3f& destination);
             void completeManualWalking(const MWWorld::Ptr &actor, AiWanderStorage &storage);
+            bool isNearAllowedNode(const MWWorld::Ptr &actor, const AiWanderStorage& storage, float distance) const;
 
             const int mDistance; // how far the actor can wander from the spawn point
             const int mDuration;

apps/openmw/mwmechanics/character.cpp

@@ -1963,6 +1963,50 @@ void CharacterController::update(float duration, bool animationOnly)
         if (isPlayer && !isrunning && !sneak && !flying && movementSettings.mSpeedFactor <= 0.5f)
             movementSettings.mSpeedFactor *= 2.f;
 
+        static const bool smoothMovement = Settings::Manager::getBool("smooth movement", "Game");
+        if (smoothMovement && !isFirstPersonPlayer)
+        {
+            float angle = mPtr.getRefData().getPosition().rot[2];
+            osg::Vec2f targetSpeed = Misc::rotateVec2f(osg::Vec2f(vec.x(), vec.y()), -angle) * movementSettings.mSpeedFactor;
+            osg::Vec2f delta = targetSpeed - mSmoothedSpeed;
+            float speedDelta = movementSettings.mSpeedFactor - mSmoothedSpeed.length();
+            float deltaLen = delta.length();
+
+            float maxDelta;
+            if (std::abs(speedDelta) < deltaLen / 2)
+                // Turning is smooth for player and less smooth for NPCs (otherwise NPC can miss a path point).
+                maxDelta = duration * (isPlayer ? 3.f : 6.f);
+            else if (isPlayer && speedDelta < -deltaLen / 2)
+                // As soon as controls are released, mwinput switches player from running to walking.
+                // So stopping should be instant for player, otherwise it causes a small twitch.
+                maxDelta = 1;
+            else // In all other cases speeding up and stopping are smooth.
+                maxDelta = duration * 3.f;
+
+            if (deltaLen > maxDelta)
+                delta *= maxDelta / deltaLen;
+            mSmoothedSpeed += delta;
+
+            osg::Vec2f newSpeed = Misc::rotateVec2f(mSmoothedSpeed, angle);
+            movementSettings.mSpeedFactor = newSpeed.normalize();
+            vec.x() = newSpeed.x();
+            vec.y() = newSpeed.y();
+
+            const float eps = 0.001f;
+            if (movementSettings.mSpeedFactor < eps)
+            {
+                movementSettings.mSpeedFactor = 0;
+                vec.x() = 0;
+                vec.y() = 1;
+            }
+            else if ((vec.y() < 0) != mIsMovingBackward)
+            {
+                if (targetSpeed.length() < eps || (movementSettings.mPosition[1] < 0) == mIsMovingBackward)
+                    vec.y() = mIsMovingBackward ? -eps : eps;
+            }
+            vec.normalize();
+        }
+
         float effectiveRotation = rot.z();
         bool canMove = cls.getMaxSpeed(mPtr) > 0;
         static const bool turnToMovementDirection = Settings::Manager::getBool("turn to movement direction", "Game");
@@ -1994,6 +2038,8 @@ void CharacterController::update(float duration, bool animationOnly)
             mAnimation->setUpperBodyYawRadians(stats.getSideMovementAngle() / 2);
         else
             mAnimation->setUpperBodyYawRadians(stats.getSideMovementAngle() / 4);
+        if (smoothMovement && !isPlayer && !inwater)
+            mAnimation->setUpperBodyYawRadians(mAnimation->getUpperBodyYawRadians() + mAnimation->getHeadYaw() / 2);
 
         speed = cls.getCurrentSpeed(mPtr);
         vec.x() *= speed;
@@ -2185,13 +2231,11 @@ void CharacterController::update(float duration, bool animationOnly)
                                          : (sneak ? CharState_SneakBack
                                                   : (isrunning ? CharState_RunBack : CharState_WalkBack)));
             }
-            else if (effectiveRotation != 0.0f)
+            else
             {
                 // Do not play turning animation for player if rotation speed is very slow.
                 // Actual threshold should take framerate in account.
-                float rotationThreshold = 0.f;
+                float rotationThreshold = (isPlayer ? 0.015f : 0.001f) * 60 * duration;
-                if (isPlayer)
-                    rotationThreshold = 0.015 * 60 * duration;
 
                 // It seems only bipedal actors use turning animations.
                 // Also do not use turning animations in the first-person view and when sneaking.
@@ -2695,10 +2739,9 @@ void CharacterController::setVisibility(float visibility)
 void CharacterController::setAttackTypeBasedOnMovement()
 {
     float *move = mPtr.getClass().getMovementSettings(mPtr).mPosition;
-
+    if (std::abs(move[1]) > std::abs(move[0]) + 0.2f) // forward-backward
-    if (move[1] && !move[0]) // forward-backward
         mAttackType = "thrust";
-    else if (move[0] && !move[1]) //sideway
+    else if (std::abs(move[0]) > std::abs(move[1]) + 0.2f) // sideway
         mAttackType = "slash";
     else
         mAttackType = "chop";
@@ -2893,19 +2936,21 @@ void CharacterController::updateHeadTracking(float duration)
             return;
         const osg::Vec3f actorDirection = mPtr.getRefData().getBaseNode()->getAttitude() * osg::Vec3f(0,1,0);
 
-        zAngleRadians = std::atan2(direction.x(), direction.y()) - std::atan2(actorDirection.x(), actorDirection.y());
+        zAngleRadians = std::atan2(actorDirection.x(), actorDirection.y()) - std::atan2(direction.x(), direction.y());
-        xAngleRadians = -std::asin(direction.z());
+        xAngleRadians = std::asin(direction.z());
+    }
 
     const double xLimit = osg::DegreesToRadians(40.0);
     const double zLimit = osg::DegreesToRadians(30.0);
-        zAngleRadians = osg::clampBetween(Misc::normalizeAngle(zAngleRadians), -xLimit, xLimit);
+    double zLimitOffset = mAnimation->getUpperBodyYawRadians();
-        xAngleRadians = osg::clampBetween(Misc::normalizeAngle(xAngleRadians), -zLimit, zLimit);
+    xAngleRadians = osg::clampBetween(Misc::normalizeAngle(xAngleRadians), -xLimit, xLimit);
-    }
+    zAngleRadians = osg::clampBetween(Misc::normalizeAngle(zAngleRadians),
+                                      -zLimit + zLimitOffset, zLimit + zLimitOffset);
 
     float factor = duration*5;
     factor = std::min(factor, 1.f);
-    xAngleRadians = (1.f-factor) * mAnimation->getHeadPitch() + factor * (-xAngleRadians);
+    xAngleRadians = (1.f-factor) * mAnimation->getHeadPitch() + factor * xAngleRadians;
-    zAngleRadians = (1.f-factor) * mAnimation->getHeadYaw() + factor * (-zAngleRadians);
+    zAngleRadians = (1.f-factor) * mAnimation->getHeadYaw() + factor * zAngleRadians;
 
     mAnimation->setHeadPitch(xAngleRadians);
     mAnimation->setHeadYaw(zAngleRadians);

apps/openmw/mwmechanics/character.hpp

@@ -196,6 +196,7 @@ class CharacterController : public MWRender::Animation::TextKeyListener
     float mTimeUntilWake;
 
     bool mIsMovingBackward;
+    osg::Vec2f mSmoothedSpeed;
 
     void setAttackTypeBasedOnMovement();
 

apps/openmw/mwmechanics/pathfinding.cpp

@@ -88,6 +88,24 @@ namespace
         const auto halfExtents = world->getHalfExtents(actor);
         return 2.0 * halfExtents.z();
     }
+
+    // Returns true if turn in `p2` is less than 10 degrees and all the 3 points are almost on one line.
+    bool isAlmostStraight(const osg::Vec3f& p1, const osg::Vec3f& p2, const osg::Vec3f& p3, float pointTolerance) {
+        osg::Vec3f v1 = p1 - p2;
+        osg::Vec3f v3 = p3 - p2;
+        v1.z() = v3.z() = 0;
+        float dotProduct = v1.x() * v3.x() + v1.y() * v3.y();
+        float crossProduct = v1.x() * v3.y() - v1.y() * v3.x();
+
+        // Check that the angle between v1 and v3 is less or equal than 10 degrees.
+        static const float cos170 = std::cos(osg::PI / 180 * 170);
+        bool checkAngle = dotProduct <= cos170 * v1.length() * v3.length();
+
+        // Check that distance from p2 to the line (p1, p3) is less or equal than `pointTolerance`.
+        bool checkDist = std::abs(crossProduct) <= pointTolerance * (p3 - p1).length() * 2;
+
+        return checkAngle && checkDist;
+    }
 }
 
 namespace MWMechanics
@@ -286,6 +304,11 @@ namespace MWMechanics
         while (mPath.size() > 1 && sqrDistanceIgnoreZ(mPath.front(), position) < pointTolerance * pointTolerance)
             mPath.pop_front();
 
+        while (mPath.size() > 2 && isAlmostStraight(mPath[0], mPath[1], mPath[2], pointTolerance))
+            mPath.erase(mPath.begin() + 1);
+        if (mPath.size() > 1 && isAlmostStraight(position, mPath[0], mPath[1], pointTolerance))
+            mPath.pop_front();
+
         if (mPath.size() == 1 && sqrDistanceIgnoreZ(mPath.front(), position) < destinationTolerance * destinationTolerance)
             mPath.pop_front();
     }

apps/openmw/mwmechanics/steering.cpp

@@ -1,5 +1,8 @@
 #include "steering.hpp"
 
+#include <components/misc/mathutil.hpp>
+#include <components/settings/settings.hpp>
+
 #include "../mwworld/class.hpp"
 #include "../mwworld/ptr.hpp"
 
@@ -12,19 +15,8 @@ namespace MWMechanics
 
 bool smoothTurn(const MWWorld::Ptr& actor, float targetAngleRadians, int axis, float epsilonRadians)
 {
-    float currentAngle (actor.getRefData().getPosition().rot[axis]);
+    MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
-    float diff (targetAngleRadians - currentAngle);
+    float diff = Misc::normalizeAngle(targetAngleRadians - actor.getRefData().getPosition().rot[axis]);
-    if (std::abs(diff) >= osg::DegreesToRadians(180.f))
-    {
-        if (diff >= 0)
-        {
-            diff = diff - osg::DegreesToRadians(360.f);
-        }
-        else
-        {
-            diff = osg::DegreesToRadians(360.f) + diff;
-        }
-    }
     float absDiff = std::abs(diff);
 
     // The turning animation actually moves you slightly, so the angle will be wrong again.
@@ -33,10 +25,14 @@ bool smoothTurn(const MWWorld::Ptr& actor, float targetAngleRadians, int axis, f
         return true;
 
     float limit = getAngularVelocity(actor.getClass().getMaxSpeed(actor)) * MWBase::Environment::get().getFrameDuration();
+    static const bool smoothMovement = Settings::Manager::getBool("smooth movement", "Game");
+    if (smoothMovement)
+        limit *= std::min(absDiff / osg::PI + 0.1, 0.5);
+
     if (absDiff > limit)
         diff = osg::sign(diff) * limit;
 
-    actor.getClass().getMovementSettings(actor).mRotation[axis] = diff;
+    movement.mRotation[axis] = diff;
     return false;
 }
 

components/nifosg/nifloader.cpp

@@ -1507,6 +1507,8 @@ namespace NifOsg
 
                         texture2d->setWrap(osg::Texture::WRAP_S, wrapS ? osg::Texture::REPEAT : osg::Texture::CLAMP_TO_EDGE);
                         texture2d->setWrap(osg::Texture::WRAP_T, wrapT ? osg::Texture::REPEAT : osg::Texture::CLAMP_TO_EDGE);
+
+                        uvSet = tex.uvSet;
                     }
                     else
                     {

docs/source/reference/modding/settings/game.rst

@@ -331,8 +331,43 @@ If enabled then the character turns lower body to the direction of movement. Upp
 
 This setting can be controlled in Advanced tab of the launcher.
 
+smooth movement
+---------------
+
+:Type:		boolean
+:Range:		True/False
+:Default:	False
+
+Makes NPCs and player movement more smooth.
+
+Recommended to use with "turn to movement direction" enabled.
+
+This setting can be controlled in Advanced tab of the launcher.
+
+NPCs avoid collisions
+---------------------
+
+:Type:		boolean
+:Range:		True/False
+:Default:	False
+
+If enabled NPCs apply evasion maneuver to avoid collisions with others.
+
+This setting can be controlled in Advanced tab of the launcher.
+
+NPCs give way
+-------------
+
+:Type:		boolean
+:Range:		True/False
+:Default:	True
+
+Standing NPCs give way to moving ones. Works only if 'NPCs avoid collisions' is enabled.
+
+This setting can only be configured by editing the settings configuration file.
+
 swim upward correction
-----------------
+----------------------
 
 :Type:		boolean
 :Range:		True/False

files/settings-default.cfg

@@ -325,6 +325,15 @@ uncapped damage fatigue = false
 # Turn lower body to movement direction. 'true' makes diagonal movement more realistic.
 turn to movement direction = false
 
+# Makes all movements of NPCs and player more smooth.
+smooth movement = false
+
+# All actors avoid collisions with other actors.
+NPCs avoid collisions = false
+
+# Give way to moving actors when idle. Requires 'NPCs avoid collisions' to be enabled.
+NPCs give way = true
+
 # Makes player swim a bit upward from the line of sight.
 swim upward correction = false
 

files/ui/advancedpage.ui

@@ -43,6 +43,16 @@
            </property>
           </widget>
          </item>
+         <item row="6" column="0">
+          <widget class="QCheckBox" name="avoidCollisionsCheckBox">
+           <property name="toolTip">
+            <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;If enabled NPCs apply evasion maneuver to avoid collisions with others.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+           <property name="text">
+            <string>NPCs avoid collisions</string>
+           </property>
+          </widget>
+         </item>
          <item row="4" column="0">
           <widget class="QCheckBox" name="enableNavigatorCheckBox">
            <property name="toolTip">
@@ -233,6 +243,16 @@
            </property>
           </widget>
          </item>
+         <item row="5" column="0">
+          <widget class="QCheckBox" name="smoothMovementCheckBox">
+           <property name="toolTip">
+            <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Makes NPCs and player movement more smooth. Recommended to use with "turn to movement direction" enabled.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+           <property name="text">
+            <string>Smooth movement</string>
+           </property>
+          </widget>
+         </item>
          <item row="0" column="1">
           <widget class="QCheckBox" name="distantLandCheckBox">
            <property name="toolTip">
@@ -283,7 +303,7 @@
            </property>
           </widget>
          </item>
-         <item row="5" column="0">
+         <item row="6" column="0">
           <widget class="QCheckBox" name="animSourcesCheckBox">
            <property name="toolTip">
             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Load per-group KF-files and skeleton files from Animations folder&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>