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Use actor speed to define area cost for pathfinding

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pull/578/head
elsid 5 years ago
parent 374b85a00d
commit b095ca6c86
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GPG Key ID: B845CB9FEE18AB40
9 changed files with 84 additions and 36 deletions
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26
apps/openmw/mwmechanics/aipackage.cpp
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@ -114,7 +114,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
{
const auto pathfindingHalfExtents = world->getPathfindingHalfExtents(actor);
mPathFinder.buildPath(actor, position, dest, actor.getCell(), getPathGridGraph(actor.getCell()),
pathfindingHalfExtents, getNavigatorFlags(actor));
pathfindingHalfExtents, getNavigatorFlags(actor), getAreaCosts(actor));
mRotateOnTheRunChecks = 3;
// give priority to go directly on target if there is minimal opportunity
@ -402,3 +402,27 @@ DetourNavigator::Flags MWMechanics::AiPackage::getNavigatorFlags(const MWWorld::
return result;
}
DetourNavigator::AreaCosts MWMechanics::AiPackage::getAreaCosts(const MWWorld::Ptr& actor) const
{
DetourNavigator::AreaCosts costs;
const DetourNavigator::Flags flags = getNavigatorFlags(actor);
const MWWorld::Class& actorClass = actor.getClass();
if (flags & DetourNavigator::Flag_swim)
costs.mWater = costs.mWater / actorClass.getSwimSpeed(actor);
if (flags & DetourNavigator::Flag_walk)
{
float walkCost;
if (getTypeId() == TypeIdWander)
walkCost = 1.0 / actorClass.getWalkSpeed(actor);
else
walkCost = 1.0 / actorClass.getRunSpeed(actor);
costs.mDoor = costs.mDoor * walkCost;
costs.mPathgrid = costs.mPathgrid * walkCost;
costs.mGround = costs.mGround * walkCost;
}
return costs;
}

3
apps/openmw/mwmechanics/aipackage.hpp
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@ -4,6 +4,7 @@
#include <memory>
#include <components/esm/defs.hpp>
#include <components/detournavigator/areatype.hpp>
#include "pathfinding.hpp"
#include "obstacle.hpp"
@ -167,6 +168,8 @@ namespace MWMechanics
DetourNavigator::Flags getNavigatorFlags(const MWWorld::Ptr& actor) const;
DetourNavigator::AreaCosts getAreaCosts(const MWWorld::Ptr& actor) const;
const TypeId mTypeId;
const Options mOptions;

9
apps/openmw/mwmechanics/aiwander.cpp
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@ -202,7 +202,7 @@ namespace MWMechanics
{
const osg::Vec3f halfExtents = MWBase::Environment::get().getWorld()->getPathfindingHalfExtents(actor);
mPathFinder.buildPath(actor, pos.asVec3(), mDestination, actor.getCell(),
getPathGridGraph(actor.getCell()), halfExtents, getNavigatorFlags(actor));
getPathGridGraph(actor.getCell()), halfExtents, getNavigatorFlags(actor), getAreaCosts(actor));
}
if (mPathFinder.isPathConstructed())
@ -337,6 +337,7 @@ namespace MWMechanics
const auto halfExtents = world->getPathfindingHalfExtents(actor);
const auto navigator = world->getNavigator();
const auto navigatorFlags = getNavigatorFlags(actor);
const auto areaCosts = getAreaCosts(actor);
do {
// Determine a random location within radius of original position
@ -365,7 +366,8 @@ namespace MWMechanics
if (isWaterCreature || isFlyingCreature)
mPathFinder.buildStraightPath(mDestination);
else
mPathFinder.buildPathByNavMesh(actor, currentPosition, mDestination, halfExtents, navigatorFlags);
mPathFinder.buildPathByNavMesh(actor, currentPosition, mDestination, halfExtents, navigatorFlags,
areaCosts);
if (mPathFinder.isPathConstructed())
{
@ -496,7 +498,8 @@ namespace MWMechanics
if (mUsePathgrid)
{
const auto halfExtents = MWBase::Environment::get().getWorld()->getHalfExtents(actor);
mPathFinder.buildPathByNavMeshToNextPoint(actor, halfExtents, getNavigatorFlags(actor));
mPathFinder.buildPathByNavMeshToNextPoint(actor, halfExtents, getNavigatorFlags(actor),
getAreaCosts(actor));
}
if (mObstacleCheck.isEvading())

19
apps/openmw/mwmechanics/pathfinding.cpp
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@ -309,12 +309,13 @@ namespace MWMechanics
}
void PathFinder::buildPathByNavMesh(const MWWorld::ConstPtr& actor, const osg::Vec3f& startPoint,
const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags)
const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
const DetourNavigator::AreaCosts& areaCosts)
{
mPath.clear();
// If it's not possible to build path over navmesh due to disabled navmesh generation fallback to straight path
if (!buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, std::back_inserter(mPath)))
if (!buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, areaCosts, std::back_inserter(mPath)))
mPath.push_back(endPoint);
mConstructed = true;
@ -322,7 +323,7 @@ namespace MWMechanics
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)
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts)
{
mPath.clear();
mCell = cell;
@ -330,11 +331,11 @@ namespace MWMechanics
bool hasNavMesh = false;
if (!actor.getClass().isPureWaterCreature(actor) && !actor.getClass().isPureFlyingCreature(actor))
hasNavMesh = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, std::back_inserter(mPath));
hasNavMesh = buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents, flags, areaCosts, std::back_inserter(mPath));
if (hasNavMesh && mPath.empty())
buildPathByNavigatorImpl(actor, startPoint, endPoint, halfExtents,
flags | DetourNavigator::Flag_usePathgrid, std::back_inserter(mPath));
flags | DetourNavigator::Flag_usePathgrid, areaCosts, std::back_inserter(mPath));
if (mPath.empty())
buildPathByPathgridImpl(startPoint, endPoint, pathgridGraph, std::back_inserter(mPath));
@ -347,12 +348,12 @@ namespace MWMechanics
bool PathFinder::buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, 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)
const DetourNavigator::AreaCosts& areaCosts, std::back_insert_iterator<std::deque<osg::Vec3f>> out)
{
const auto world = MWBase::Environment::get().getWorld();
const auto stepSize = getPathStepSize(actor);
const auto navigator = world->getNavigator();
const auto status = navigator->findPath(halfExtents, stepSize, startPoint, endPoint, flags, out);
const auto status = navigator->findPath(halfExtents, stepSize, startPoint, endPoint, flags, areaCosts, out);
if (status == DetourNavigator::Status::NavMeshNotFound)
return false;
@ -369,7 +370,7 @@ namespace MWMechanics
}
void PathFinder::buildPathByNavMeshToNextPoint(const MWWorld::ConstPtr& actor, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags)
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts)
{
if (mPath.empty())
return;
@ -383,7 +384,7 @@ namespace MWMechanics
const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
std::deque<osg::Vec3f> prePath;
auto prePathInserter = std::back_inserter(prePath);
const auto status = navigator->findPath(halfExtents, stepSize, startPoint, mPath.front(), flags,
const auto status = navigator->findPath(halfExtents, stepSize, startPoint, mPath.front(), flags, areaCosts,
prePathInserter);
if (status == DetourNavigator::Status::NavMeshNotFound)

10
apps/openmw/mwmechanics/pathfinding.hpp
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@ -6,6 +6,7 @@
#include <iterator>
#include <components/detournavigator/flags.hpp>
#include <components/detournavigator/areatype.hpp>
#include <components/esm/defs.hpp>
#include <components/esm/loadpgrd.hpp>
@ -90,14 +91,15 @@ namespace MWMechanics
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);
const osg::Vec3f& endPoint, const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags,
const DetourNavigator::AreaCosts& areaCosts);
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);
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts);
void buildPathByNavMeshToNextPoint(const MWWorld::ConstPtr& actor, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags);
const DetourNavigator::Flags flags, const DetourNavigator::AreaCosts& areaCosts);
/// Remove front point if exist and within tolerance
void update(const osg::Vec3f& position, const float pointTolerance, const float destinationTolerance);
@ -203,7 +205,7 @@ namespace MWMechanics
bool buildPathByNavigatorImpl(const MWWorld::ConstPtr& actor, 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);
const DetourNavigator::AreaCosts& areaCosts, std::back_insert_iterator<std::deque<osg::Vec3f>> out);
};
}

33
apps/openmw_test_suite/detournavigator/navigator.cpp
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@ -37,6 +37,7 @@ namespace
std::deque<osg::Vec3f> mPath;
std::back_insert_iterator<std::deque<osg::Vec3f>> mOut;
float mStepSize;
AreaCosts mAreaCosts;
DetourNavigatorNavigatorTest()
: mPlayerPosition(0, 0, 0)
@ -80,7 +81,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
{
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut),
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
Status::NavMeshNotFound);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>());
}
@ -88,7 +89,7 @@ namespace
TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
{
mNavigator->addAgent(mAgentHalfExtents);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut),
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
Status::StartPolygonNotFound);
}
@ -97,7 +98,7 @@ namespace
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->addAgent(mAgentHalfExtents);
mNavigator->removeAgent(mAgentHalfExtents);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut),
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
Status::StartPolygonNotFound);
}
@ -118,7 +119,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait();
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.85963428020477294921875),
@ -168,7 +169,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait();
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.85963428020477294921875),
@ -202,7 +203,7 @@ namespace
mPath.clear();
mOut = std::back_inserter(mPath);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.87826788425445556640625),
@ -253,7 +254,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait();
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.87826788425445556640625),
@ -289,7 +290,7 @@ namespace
mPath.clear();
mOut = std::back_inserter(mPath);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.85963428020477294921875),
@ -346,7 +347,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait();
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.96328866481781005859375),
@ -402,7 +403,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait();
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.9393787384033203125),
@ -455,7 +456,7 @@ namespace
mEnd.x() = 0;
mEnd.z() = 300;
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim, mAreaCosts, mOut), Status::Success);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
osg::Vec3f(0, 215, 185.33331298828125),
@ -501,7 +502,7 @@ namespace
mStart.x() = 0;
mEnd.x() = 0;
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mOut),
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mOut),
Status::Success);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
@ -548,7 +549,7 @@ namespace
mStart.x() = 0;
mEnd.x() = 0;
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mOut),
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_swim | Flag_walk, mAreaCosts, mOut),
Status::Success);
EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
@ -595,7 +596,7 @@ namespace
mStart.x() = 0;
mEnd.x() = 0;
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(0, 215, -94.75363922119140625),
@ -644,7 +645,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait();
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.85963428020477294921875),
@ -739,7 +740,7 @@ namespace
mNavigator->update(mPlayerPosition);
mNavigator->wait();
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mOut), Status::Success);
EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut), Status::Success);
EXPECT_THAT(mPath, ElementsAre(
Vec3fEq(-215, 215, 1.8782780170440673828125),

8
components/detournavigator/areatype.hpp
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@ -13,6 +13,14 @@ namespace DetourNavigator
AreaType_pathgrid,
AreaType_ground = RC_WALKABLE_AREA,
};
struct AreaCosts
{
float mWater = 1.0f;
float mDoor = 2.0f;
float mPathgrid = 1.0f;
float mGround = 1.0f;
};
}
#endif

7
components/detournavigator/findsmoothpath.hpp
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@ -8,6 +8,7 @@
#include "settingsutils.hpp"
#include "debug.hpp"
#include "status.hpp"
#include "areatype.hpp"
#include <DetourCommon.h>
#include <DetourNavMesh.h>
@ -269,7 +270,7 @@ namespace DetourNavigator
template <class OutputIterator>
Status findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents, const float stepSize,
const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags,
const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts,
const Settings& settings, OutputIterator& out)
{
dtNavMeshQuery navMeshQuery;
@ -278,6 +279,10 @@ namespace DetourNavigator
dtQueryFilter queryFilter;
queryFilter.setIncludeFlags(includeFlags);
queryFilter.setAreaCost(AreaType_water, areaCosts.mWater);
queryFilter.setAreaCost(AreaType_door, areaCosts.mDoor);
queryFilter.setAreaCost(AreaType_pathgrid, areaCosts.mPathgrid);
queryFilter.setAreaCost(AreaType_ground, areaCosts.mGround);
dtPolyRef startRef = 0;
osg::Vec3f startPolygonPosition;

5
components/detournavigator/navigator.hpp
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@ -172,7 +172,8 @@ namespace DetourNavigator
*/
template <class OutputIterator>
Status findPath(const osg::Vec3f& agentHalfExtents, const float stepSize, const osg::Vec3f& start,
const osg::Vec3f& end, const Flags includeFlags, OutputIterator& out) const
const osg::Vec3f& end, const Flags includeFlags, const DetourNavigator::AreaCosts& areaCosts,
OutputIterator& out) const
{
static_assert(
std::is_same<
@ -187,7 +188,7 @@ namespace DetourNavigator
const auto settings = getSettings();
return findSmoothPath(navMesh->lockConst()->getImpl(), toNavMeshCoordinates(settings, agentHalfExtents),
toNavMeshCoordinates(settings, stepSize), toNavMeshCoordinates(settings, start),
toNavMeshCoordinates(settings, end), includeFlags, settings, out);
toNavMeshCoordinates(settings, end), includeFlags, areaCosts, settings, out);
}
/**

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