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Moved logic for building a Sync'ed path from AiCombat to PathFinding.

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Is now used by AiFollow, which should fix "running in circles" bug caused when recalc a path and closest way point is the one NPC has just passed.
This commit is contained in:
dteviot 2015-06-11 18:31:35 +12:00
parent 6d7e6cd30c
commit cb8ca2f03a
5 changed files with 56 additions and 53 deletions
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54
apps/openmw/mwmechanics/aicombat.cpp
View file

@ -677,44 +677,32 @@ namespace MWMechanics
return false;
}
bool AiCombat::doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell)
{
if (!mPathFinder.getPath().empty())
{
Ogre::Vector3 currPathTarget(PathFinder::MakeOgreVector3(mPathFinder.getPath().back()));
Ogre::Vector3 newPathTarget = PathFinder::MakeOgreVector3(dest);
float dist = (newPathTarget - currPathTarget).length();
float targetPosThreshold = (cell->isExterior()) ? 300.0f : 100.0f;
return dist > targetPosThreshold;
}
else
{
// necessarily construct a new path
return true;
}
}
void AiCombat::buildNewPath(const MWWorld::Ptr& actor, const MWWorld::Ptr& target)
{
Ogre::Vector3 newPathTarget = Ogre::Vector3(target.getRefData().getPosition().pos);
float dist;
if(!mPathFinder.getPath().empty())
{
ESM::Pathgrid::Point lastPt = mPathFinder.getPath().back();
Ogre::Vector3 currPathTarget(PathFinder::MakeOgreVector3(lastPt));
dist = (newPathTarget - currPathTarget).length();
}
else dist = 1e+38F; // necessarily construct a new path
float targetPosThreshold = (actor.getCell()->getCell()->isExterior())? 300.0f : 100.0f;
ESM::Pathgrid::Point newPathTarget = PathFinder::MakePathgridPoint(target.getRefData().getPosition());
//construct new path only if target has moved away more than on [targetPosThreshold]
if(dist > targetPosThreshold)
if (doesPathNeedRecalc(newPathTarget, actor.getCell()->getCell()))
{
ESM::Position pos = actor.getRefData().getPosition();
ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(pos));
ESM::Pathgrid::Point dest(PathFinder::MakePathgridPoint(newPathTarget));
if(!mPathFinder.isPathConstructed())
mPathFinder.buildPath(start, dest, actor.getCell(), false);
else
{
PathFinder newPathFinder;
newPathFinder.buildPath(start, dest, actor.getCell(), false);
if(!mPathFinder.getPath().empty())
{
newPathFinder.syncStart(mPathFinder.getPath());
mPathFinder = newPathFinder;
}
}
ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(actor.getRefData().getPosition()));
mPathFinder.buildSyncedPath(start, newPathTarget, actor.getCell(), false);
}
}

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

@ -53,6 +53,9 @@ namespace MWMechanics
virtual void writeState(ESM::AiSequence::AiSequence &sequence) const;
protected:
virtual bool doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell);
private:
int mTargetActorId;

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

@ -68,7 +68,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, ESM::Pathgrid::Po
if(mTimer > 0.25)
{
if (doesPathNeedRecalc(dest, cell)) { //Only rebuild path if it's moved
mPathFinder.buildPath(start, dest, actor.getCell(), true); //Rebuild path, in case the target has moved
mPathFinder.buildSyncedPath(start, dest, actor.getCell(), true); //Rebuild path, in case the target has moved
mPrevDest = dest;
}

38
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -301,23 +301,35 @@ namespace MWMechanics
return false;
}
// used by AiCombat, see header for the rationale
bool PathFinder::syncStart(const std::list<ESM::Pathgrid::Point> &path)
// see header for the rationale
void PathFinder::buildSyncedPath(const ESM::Pathgrid::Point &startPoint,
const ESM::Pathgrid::Point &endPoint,
const MWWorld::CellStore* cell,
bool allowShortcuts)
{
if (mPath.size() < 2)
return false; //nothing to pop
std::list<ESM::Pathgrid::Point>::const_iterator oldStart = path.begin();
std::list<ESM::Pathgrid::Point>::iterator iter = ++mPath.begin();
if( (*iter).mX == oldStart->mX
&& (*iter).mY == oldStart->mY
&& (*iter).mZ == oldStart->mZ)
{
mPath.pop_front();
return true;
// if path has one point, then it's the destination.
// don't need to worry about bad path for this case
buildPath(startPoint, endPoint, cell, allowShortcuts);
}
else
{
const ESM::Pathgrid::Point oldStart(*getPath().begin());
buildPath(startPoint, endPoint, cell, allowShortcuts);
if (mPath.size() >= 2)
{
// if 2nd waypoint of new path == 1st waypoint of old,
// delete 1st waypoint of new path.
std::list<ESM::Pathgrid::Point>::iterator iter = ++mPath.begin();
if (iter->mX == oldStart.mX
&& iter->mY == oldStart.mY
&& iter->mZ == oldStart.mZ)
{
mPath.pop_front();
}
}
}
return false;
}
}

12
apps/openmw/mwmechanics/pathfinding.hpp
View file

@ -63,13 +63,13 @@ namespace MWMechanics
/** Synchronize new path with old one to avoid visiting 1 waypoint 2 times
@note
If the first point is chosen as the nearest one
the situation can occur when the 1st point of the new path is undesirable
(i.e. the 2nd point of new path == the 1st point of old path).
@param path - old path
@return true if such point was found and deleted
BuildPath() takes closest PathGrid point to NPC as first point of path.
This is undesireable if NPC has just passed a Pathgrid point, as this
makes the 2nd point of the new path == the 1st point of old path.
Which results in NPC "running in a circle" back to the just passed waypoint.
*/
bool syncStart(const std::list<ESM::Pathgrid::Point> &path);
void buildSyncedPath(const ESM::Pathgrid::Point &startPoint, const ESM::Pathgrid::Point &endPoint,
const MWWorld::CellStore* cell, bool allowShortcuts = true);
void addPointToPath(ESM::Pathgrid::Point &point)
{