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Merge pull request #2324 from elsid/aiwander_navmesh

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Use navmesh for AiWander
This commit is contained in:
Alexei Dobrohotov 2019-08-03 23:11:18 +03:00 committed by GitHub
commit b3fe85fb6d
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 69 additions and 9 deletions
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4
apps/openmw/mwmechanics/aipackage.cpp
View file

@ -301,7 +301,7 @@ bool MWMechanics::AiPackage::checkWayIsClearForActor(const osg::Vec3f& startPoin
return true;
const float actorSpeed = actor.getClass().getSpeed(actor);
const float maxAvoidDist = AI_REACTION_TIME * actorSpeed + actorSpeed / MAX_VEL_ANGULAR_RADIANS * 2; // *2 - for reliability
const float maxAvoidDist = AI_REACTION_TIME * actorSpeed + actorSpeed / getAngularVelocity(actorSpeed) * 2; // *2 - for reliability
const float distToTarget = osg::Vec2f(endPoint.x(), endPoint.y()).length();
const float offsetXY = distToTarget > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2;
@ -363,7 +363,7 @@ bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& act
// get actor's shortest radius for moving in circle
float speed = actor.getClass().getSpeed(actor);
speed += speed * 0.1f; // 10% real speed inaccuracy
float radius = speed / MAX_VEL_ANGULAR_RADIANS;
float radius = speed / getAngularVelocity(speed);
// get radius direction to the center
const float* rot = actor.getRefData().getPosition().rot;

13
apps/openmw/mwmechanics/aiwander.cpp
View file

@ -448,7 +448,7 @@ namespace MWMechanics
else
{
// have not yet reached the destination
evadeObstacles(actor, storage);
evadeObstacles(actor, duration, storage);
}
}
@ -479,8 +479,17 @@ namespace MWMechanics
storage.setState(AiWanderStorage::Wander_IdleNow);
}
void AiWander::evadeObstacles(const MWWorld::Ptr& actor, AiWanderStorage& storage)
void AiWander::evadeObstacles(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage)
{
if (mUsePathgrid)
{
const auto halfExtents = MWBase::Environment::get().getWorld()->getHalfExtents(actor);
const float actorTolerance = 2 * actor.getClass().getSpeed(actor) * duration
+ 1.2 * std::max(halfExtents.x(), halfExtents.y());
const float pointTolerance = std::max(MIN_TOLERANCE, actorTolerance);
mPathFinder.buildPathByNavMeshToNextPoint(actor, halfExtents, getNavigatorFlags(actor), pointTolerance);
}
if (mObstacleCheck.isEvading())
{
// first check if we're walking into a door

2
apps/openmw/mwmechanics/aiwander.hpp
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@ -137,7 +137,7 @@ 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);
void evadeObstacles(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage);
void turnActorToFacePlayer(const osg::Vec3f& actorPosition, const osg::Vec3f& playerPosition, AiWanderStorage& storage);
void doPerFrameActionsForState(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage);
void onIdleStatePerFrameActions(const MWWorld::Ptr& actor, float duration, AiWanderStorage& storage);

45
apps/openmw/mwmechanics/pathfinding.cpp
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@ -73,6 +73,13 @@ namespace
{
return sqrDistance(osg::Vec2f(lhs.x(), lhs.y()), osg::Vec2f(rhs.x(), rhs.y()));
}
float getPathStepSize(const MWWorld::ConstPtr& actor)
{
const auto world = MWBase::Environment::get().getWorld();
const auto realHalfExtents = world->getHalfExtents(actor);
return 2 * std::max(realHalfExtents.x(), realHalfExtents.y());
}
}
namespace MWMechanics
@ -320,8 +327,7 @@ namespace MWMechanics
try
{
const auto world = MWBase::Environment::get().getWorld();
const auto realHalfExtents = world->getHalfExtents(actor); // This may differ from halfExtents argument
const auto stepSize = 2 * std::max(realHalfExtents.x(), realHalfExtents.y());
const auto stepSize = getPathStepSize(actor);
const auto navigator = world->getNavigator();
navigator->findPath(halfExtents, stepSize, startPoint, endPoint, flags, out);
}
@ -333,4 +339,39 @@ namespace MWMechanics
<< DetourNavigator::WriteFlags {flags} << ")";
}
}
void PathFinder::buildPathByNavMeshToNextPoint(const MWWorld::ConstPtr& actor, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags, const float pointTolerance)
{
if (mPath.empty())
return;
const auto stepSize = getPathStepSize(actor);
const auto startPoint = actor.getRefData().getPosition().asVec3();
if (sqrDistanceIgnoreZ(mPath.front(), startPoint) <= 4 * stepSize * stepSize)
return;
try
{
const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
std::deque<osg::Vec3f> prePath;
navigator->findPath(halfExtents, stepSize, startPoint, mPath.front(), flags, std::back_inserter(prePath));
while (!prePath.empty() && sqrDistanceIgnoreZ(prePath.front(), startPoint) < stepSize * stepSize)
prePath.pop_front();
while (!prePath.empty() && sqrDistanceIgnoreZ(prePath.back(), mPath.front()) < stepSize * stepSize)
prePath.pop_back();
std::copy(prePath.rbegin(), prePath.rend(), std::front_inserter(mPath));
}
catch (const DetourNavigator::NavigatorException& exception)
{
Log(Debug::Debug) << "Build path by navigator exception: \"" << exception.what()
<< "\" for \"" << actor.getClass().getName(actor) << "\" (" << actor.getBase()
<< ") from " << startPoint << " to " << mPath.front() << " with flags ("
<< DetourNavigator::WriteFlags {flags} << ")";
}
}
}

3
apps/openmw/mwmechanics/pathfinding.hpp
View file

@ -84,6 +84,9 @@ namespace MWMechanics
const MWWorld::CellStore* cell, const PathgridGraph& pathgridGraph, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags);
void buildPathByNavMeshToNextPoint(const MWWorld::ConstPtr& actor, const osg::Vec3f& halfExtents,
const DetourNavigator::Flags flags, const float pointTolerance);
/// Remove front point if exist and within tolerance
void update(const osg::Vec3f& position, const float pointTolerance, const float destinationTolerance);

2
apps/openmw/mwmechanics/steering.cpp
View file

@ -32,7 +32,7 @@ bool smoothTurn(const MWWorld::Ptr& actor, float targetAngleRadians, int axis, f
if (absDiff < epsilonRadians)
return true;
float limit = MAX_VEL_ANGULAR_RADIANS * MWBase::Environment::get().getFrameDuration();
float limit = getAngularVelocity(actor.getClass().getSpeed(actor)) * MWBase::Environment::get().getFrameDuration();
if (absDiff > limit)
diff = osg::sign(diff) * limit;

9
apps/openmw/mwmechanics/steering.hpp
View file

@ -3,6 +3,8 @@
#include <osg/Math>
#include <algorithm>
namespace MWWorld
{
class Ptr;
@ -12,7 +14,12 @@ namespace MWMechanics
{
// Max rotating speed, radian/sec
const float MAX_VEL_ANGULAR_RADIANS(10);
inline float getAngularVelocity(const float actorSpeed)
{
const float baseAngluarVelocity = 10;
const float baseSpeed = 200;
return baseAngluarVelocity * std::max(actorSpeed / baseSpeed, 1.0f);
}
/// configure rotation settings for an actor to reach this target angle (eventually)
/// @return have we reached the target angle?