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Merge remote-tracking branch 'torben/pathfindingoverhaul'

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Marc Zinnschlag 2013-06-01 10:44:23 +02:00
commit f586eef604
6 changed files with 658 additions and 631 deletions
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288
apps/openmw/mwmechanics/aiescort.cpp
View file

@ -13,8 +13,9 @@ namespace
{ {
float sgn(float a) float sgn(float a)
{ {
if(a > 0) return 1.0; if(a > 0)
else return -1.0; return 1.0;
return -1.0;
} }
} }
@ -24,151 +25,156 @@ namespace
TODO: Take account for actors being in different cells. TODO: Take account for actors being in different cells.
*/ */
MWMechanics::AiEscort::AiEscort(const std::string &actorId,int duration, float x, float y, float z) namespace MWMechanics
: mActorId(actorId), mX(x), mY(y), mZ(z), mDuration(duration)
{ {
mMaxDist = 470; AiEscort::AiEscort(const std::string &actorId, int duration, float x, float y, float z)
: mActorId(actorId), mX(x), mY(y), mZ(z), mDuration(duration)
// The CS Help File states that if a duration is givin, the AI package will run for that long
// BUT if a location is givin, it "trumps" the duration so it will simply escort to that location.
if(mX != 0 || mY != 0 || mZ != 0)
mDuration = 0;
else
{ {
MWWorld::TimeStamp startTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mStartingSecond = ((startTime.getHour() - int(startTime.getHour())) * 100);
}
}
MWMechanics::AiEscort::AiEscort(const std::string &actorId,const std::string &cellId,int duration, float x, float y, float z)
: mActorId(actorId), mCellId(cellId), mX(x), mY(y), mZ(z), mDuration(duration)
{
mMaxDist = 470;
// The CS Help File states that if a duration is givin, the AI package will run for that long
// BUT if a location is givin, it "trumps" the duration so it will simply escort to that location.
if(mX != 0 || mY != 0 || mZ != 0)
mDuration = 0;
else
{
MWWorld::TimeStamp startTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mStartingSecond = ((startTime.getHour() - int(startTime.getHour())) * 100);
}
}
MWMechanics::AiEscort *MWMechanics::AiEscort::clone() const
{
return new AiEscort(*this);
}
bool MWMechanics::AiEscort::execute (const MWWorld::Ptr& actor)
{
// If AiEscort has ran for as long or longer then the duration specified
// and the duration is not infinite, the package is complete.
if(mDuration != 0)
{
MWWorld::TimeStamp current = MWBase::Environment::get().getWorld()->getTimeStamp();
unsigned int currentSecond = ((current.getHour() - int(current.getHour())) * 100);
if(currentSecond - mStartingSecond >= mDuration)
return true;
}
ESM::Position pos = actor.getRefData().getPosition();
bool cellChange = actor.getCell()->mCell->mData.mX != cellX || actor.getCell()->mCell->mData.mY != cellY;
MWWorld::Ptr player = MWBase::Environment::get().getWorld()->getPlayer().getPlayer();
const ESM::Pathgrid *pathgrid =
MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*actor.getCell()->mCell);
if(actor.getCell()->mCell->mData.mX != player.getCell()->mCell->mData.mX)
{
int sideX = sgn(actor.getCell()->mCell->mData.mX - player.getCell()->mCell->mData.mX);
// Check if actor is near the border of an inactive cell. If so, disable AiEscort.
// FIXME: This *should* pause the AiEscort package instead of terminating it.
if(sideX*(pos.pos[0] - actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE) > sideX * (ESM::Land::REAL_SIZE / 2. - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
if(actor.getCell()->mCell->mData.mY != player.getCell()->mCell->mData.mY)
{
int sideY = sgn(actor.getCell()->mCell->mData.mY - player.getCell()->mCell->mData.mY);
// Check if actor is near the border of an inactive cell. If so, disable AiEscort.
// FIXME: This *should* pause the AiEscort package instead of terminating it.
if(sideY*(pos.pos[1] - actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE) > sideY * (ESM::Land::REAL_SIZE / 2. - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
if(!mPathFinder.isPathConstructed() || cellChange)
{
cellX = actor.getCell()->mCell->mData.mX;
cellY = actor.getCell()->mCell->mData.mY;
float xCell = 0;
float yCell = 0;
if (actor.getCell()->mCell->isExterior())
{
xCell = actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE;
yCell = actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE;
}
ESM::Pathgrid::Point dest;
dest.mX = mX;
dest.mY = mY;
dest.mZ = mZ;
ESM::Pathgrid::Point start;
start.mX = pos.pos[0];
start.mY = pos.pos[1];
start.mZ = pos.pos[2];
mPathFinder.buildPath(start,dest,pathgrid,xCell,yCell);
}
if(mPathFinder.checkIfNextPointReached(pos.pos[0],pos.pos[1],pos.pos[2]))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
const MWWorld::Ptr follower = MWBase::Environment::get().getWorld()->getPtr(mActorId, false);
const float* const leaderPos = actor.getRefData().getPosition().pos;
const float* const followerPos = follower.getRefData().getPosition().pos;
double differenceBetween[3];
for (short i = 0; i < 3; ++i)
differenceBetween[i] = (leaderPos[i] - followerPos[i]);
float distanceBetweenResult =
(differenceBetween[0] * differenceBetween[0]) + (differenceBetween[1] * differenceBetween[1]) + (differenceBetween[2] * differenceBetween[2]);
if(distanceBetweenResult <= mMaxDist * mMaxDist)
{
float zAngle = mPathFinder.getZAngleToNext(pos.pos[0],pos.pos[1],pos.pos[2]);
MWBase::Environment::get().getWorld()->rotateObject(actor,0,0,zAngle,false);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
mMaxDist = 470; mMaxDist = 470;
// The CS Help File states that if a duration is givin, the AI package will run for that long
// BUT if a location is givin, it "trumps" the duration so it will simply escort to that location.
if(mX != 0 || mY != 0 || mZ != 0)
mDuration = 0;
else
{
MWWorld::TimeStamp startTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mStartingSecond = ((startTime.getHour() - int(startTime.getHour())) * 100);
}
} }
else
AiEscort::AiEscort(const std::string &actorId, const std::string &cellId,int duration, float x, float y, float z)
: mActorId(actorId), mCellId(cellId), mX(x), mY(y), mZ(z), mDuration(duration)
{ {
// Stop moving if the player is to far away mMaxDist = 470;
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle3", 0, 1);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0; // The CS Help File states that if a duration is givin, the AI package will run for that long
mMaxDist = 330; // BUT if a location is givin, it "trumps" the duration so it will simply escort to that location.
if(mX != 0 || mY != 0 || mZ != 0)
mDuration = 0;
else
{
MWWorld::TimeStamp startTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mStartingSecond = ((startTime.getHour() - int(startTime.getHour())) * 100);
}
} }
return false;
} AiEscort *MWMechanics::AiEscort::clone() const
{
int MWMechanics::AiEscort::getTypeId() const return new AiEscort(*this);
{ }
return 2;
bool AiEscort::execute (const MWWorld::Ptr& actor)
{
// If AiEscort has ran for as long or longer then the duration specified
// and the duration is not infinite, the package is complete.
if(mDuration != 0)
{
MWWorld::TimeStamp current = MWBase::Environment::get().getWorld()->getTimeStamp();
unsigned int currentSecond = ((current.getHour() - int(current.getHour())) * 100);
if(currentSecond - mStartingSecond >= mDuration)
return true;
}
MWWorld::Ptr player = MWBase::Environment::get().getWorld()->getPlayer().getPlayer();
ESM::Position pos = actor.getRefData().getPosition();
bool cellChange = actor.getCell()->mCell->mData.mX != cellX || actor.getCell()->mCell->mData.mY != cellY;
const ESM::Pathgrid *pathgrid =
MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*actor.getCell()->mCell);
if(actor.getCell()->mCell->mData.mX != player.getCell()->mCell->mData.mX)
{
int sideX = sgn(actor.getCell()->mCell->mData.mX - player.getCell()->mCell->mData.mX);
// Check if actor is near the border of an inactive cell. If so, disable AiEscort.
// FIXME: This *should* pause the AiEscort package instead of terminating it.
if(sideX * (pos.pos[0] - actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE) > sideX * (ESM::Land::REAL_SIZE /
2.0 - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
if(actor.getCell()->mCell->mData.mY != player.getCell()->mCell->mData.mY)
{
int sideY = sgn(actor.getCell()->mCell->mData.mY - player.getCell()->mCell->mData.mY);
// Check if actor is near the border of an inactive cell. If so, disable AiEscort.
// FIXME: This *should* pause the AiEscort package instead of terminating it.
if(sideY*(pos.pos[1] - actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE) > sideY * (ESM::Land::REAL_SIZE /
2.0 - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
if(!mPathFinder.isPathConstructed() || cellChange)
{
cellX = actor.getCell()->mCell->mData.mX;
cellY = actor.getCell()->mCell->mData.mY;
float xCell = 0;
float yCell = 0;
if (actor.getCell()->mCell->isExterior())
{
xCell = actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE;
yCell = actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE;
}
ESM::Pathgrid::Point dest;
dest.mX = mX;
dest.mY = mY;
dest.mZ = mZ;
ESM::Pathgrid::Point start;
start.mX = pos.pos[0];
start.mY = pos.pos[1];
start.mZ = pos.pos[2];
mPathFinder.buildPath(start, dest, pathgrid, xCell, yCell, true);
}
if(mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1],pos.pos[2]))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
const MWWorld::Ptr follower = MWBase::Environment::get().getWorld()->getPtr(mActorId, false);
const float* const leaderPos = actor.getRefData().getPosition().pos;
const float* const followerPos = follower.getRefData().getPosition().pos;
double differenceBetween[3];
for (short counter = 0; counter < 3; counter++)
differenceBetween[counter] = (leaderPos[counter] - followerPos[counter]);
float distanceBetweenResult =
(differenceBetween[0] * differenceBetween[0]) + (differenceBetween[1] * differenceBetween[1]) + (differenceBetween[2] *
differenceBetween[2]);
if(distanceBetweenResult <= mMaxDist * mMaxDist)
{
float zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
MWBase::Environment::get().getWorld()->rotateObject(actor, 0, 0, zAngle, false);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
mMaxDist = 470;
}
else
{
// Stop moving if the player is to far away
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle3", 0, 1);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
mMaxDist = 330;
}
return false;
}
int AiEscort::getTypeId() const
{
return 2;
}
} }

149
apps/openmw/mwmechanics/aitravel.cpp
View file

@ -2,99 +2,106 @@
#include "movement.hpp" #include "movement.hpp"
#include "../mwworld/class.hpp"
#include "../mwbase/world.hpp" #include "../mwbase/world.hpp"
#include "../mwbase/environment.hpp" #include "../mwbase/environment.hpp"
#include "../mwworld/class.hpp"
#include "../mwworld/player.hpp" #include "../mwworld/player.hpp"
namespace namespace
{ {
float sgn(float a) float sgn(float a)
{ {
if(a > 0) return 1.; if(a > 0)
else return -1.; return 1.0;
return -1.0;
} }
} }
MWMechanics::AiTravel::AiTravel(float x, float y, float z) namespace MWMechanics
: mX(x),mY(y),mZ(z),mPathFinder()
{ {
} AiTravel::AiTravel(float x, float y, float z)
: mX(x),mY(y),mZ(z),mPathFinder()
{
}
MWMechanics::AiTravel *MWMechanics::AiTravel::clone() const AiTravel *MWMechanics::AiTravel::clone() const
{ {
return new AiTravel(*this); return new AiTravel(*this);
} }
bool MWMechanics::AiTravel::execute (const MWWorld::Ptr& actor) bool AiTravel::execute (const MWWorld::Ptr& actor)
{ {
const ESM::Pathgrid *pathgrid = MWWorld::Ptr player = MWBase::Environment::get().getWorld()->getPlayer().getPlayer();
MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*actor.getCell()->mCell); ESM::Position pos = actor.getRefData().getPosition();
ESM::Position pos = actor.getRefData().getPosition();
bool cellChange = actor.getCell()->mCell->mData.mX != cellX || actor.getCell()->mCell->mData.mY != cellY; bool cellChange = actor.getCell()->mCell->mData.mX != cellX || actor.getCell()->mCell->mData.mY != cellY;
const ESM::Pathgrid *pathgrid =
MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*actor.getCell()->mCell);
MWWorld::Ptr player = MWBase::Environment::get().getWorld()->getPlayer().getPlayer(); if(actor.getCell()->mCell->mData.mX != player.getCell()->mCell->mData.mX)
if(actor.getCell()->mCell->mData.mX != player.getCell()->mCell->mData.mX) {
{ int sideX = sgn(actor.getCell()->mCell->mData.mX - player.getCell()->mCell->mData.mX);
int sideX = sgn(actor.getCell()->mCell->mData.mX - player.getCell()->mCell->mData.mX); //check if actor is near the border of an inactive cell. If so, disable aitravel.
//check if actor is near the border of an inactive cell. If so, disable aitravel. if(sideX * (pos.pos[0] - actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE) > sideX * (ESM::Land::REAL_SIZE /
if(sideX*(pos.pos[0] - actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE) > sideX*(ESM::Land::REAL_SIZE/2. - 200)) 2.0 - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
if(actor.getCell()->mCell->mData.mY != player.getCell()->mCell->mData.mY)
{
int sideY = sgn(actor.getCell()->mCell->mData.mY - player.getCell()->mCell->mData.mY);
//check if actor is near the border of an inactive cell. If so, disable aitravel.
if(sideY * (pos.pos[1] - actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE) > sideY * (ESM::Land::REAL_SIZE /
2.0 - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
if(!mPathFinder.isPathConstructed() || cellChange)
{
cellX = actor.getCell()->mCell->mData.mX;
cellY = actor.getCell()->mCell->mData.mY;
float xCell = 0;
float yCell = 0;
if (actor.getCell()->mCell->isExterior())
{
xCell = actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE;
yCell = actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE;
}
ESM::Pathgrid::Point dest;
dest.mX = mX;
dest.mY = mY;
dest.mZ = mZ;
ESM::Pathgrid::Point start;
start.mX = pos.pos[0];
start.mY = pos.pos[1];
start.mZ = pos.pos[2];
mPathFinder.buildPath(start, dest, pathgrid, xCell, yCell, true);
}
if(mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1], pos.pos[2]))
{ {
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0; MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true; return true;
} }
float zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
MWBase::Environment::get().getWorld()->rotateObject(actor, 0, 0, zAngle, false);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
return false;
} }
if(actor.getCell()->mCell->mData.mY != player.getCell()->mCell->mData.mY)
int AiTravel::getTypeId() const
{ {
int sideY = sgn(actor.getCell()->mCell->mData.mY - player.getCell()->mCell->mData.mY); return 1;
//check if actor is near the border of an inactive cell. If so, disable aitravel.
if(sideY*(pos.pos[1] - actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE) > sideY*(ESM::Land::REAL_SIZE/2. - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
} }
if(!mPathFinder.isPathConstructed() ||cellChange)
{
cellX = actor.getCell()->mCell->mData.mX;
cellY = actor.getCell()->mCell->mData.mY;
float xCell = 0;
float yCell = 0;
if (actor.getCell()->mCell->isExterior())
{
xCell = actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE;
yCell = actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE;
}
ESM::Pathgrid::Point dest;
dest.mX = mX;
dest.mY = mY;
dest.mZ = mZ;
ESM::Pathgrid::Point start;
start.mX = pos.pos[0];
start.mY = pos.pos[1];
start.mZ = pos.pos[2];
mPathFinder.buildPath(start,dest,pathgrid,xCell,yCell);
}
if(mPathFinder.checkIfNextPointReached(pos.pos[0],pos.pos[1],pos.pos[2]))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
float zAngle = mPathFinder.getZAngleToNext(pos.pos[0],pos.pos[1],pos.pos[2]);
MWBase::Environment::get().getWorld()->rotateObject(actor,0,0,zAngle,false);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
return false;
} }
int MWMechanics::AiTravel::getTypeId() const
{
return 1;
}

562
apps/openmw/mwmechanics/aiwander.cpp
View file

@ -14,310 +14,324 @@ namespace
{ {
float sgn(float a) float sgn(float a)
{ {
if(a > 0) return 1.0; if(a > 0)
else return -1.0; return 1.0;
return -1.0;
} }
} }
MWMechanics::AiWander::AiWander(int distance, int duration, int timeOfDay, const std::vector<int>& idle, bool repeat): namespace MWMechanics
mDistance(distance), mDuration(duration), mTimeOfDay(timeOfDay), mIdle(idle), mRepeat(repeat)
{ {
for(unsigned short counter = 0; counter < mIdle.size(); counter++) AiWander::AiWander(int distance, int duration, int timeOfDay, const std::vector<int>& idle, bool repeat):
mDistance(distance), mDuration(duration), mTimeOfDay(timeOfDay), mIdle(idle), mRepeat(repeat)
{ {
if(mIdle[counter] >= 127 || mIdle[counter] < 0) for(unsigned short counter = 0; counter < mIdle.size(); counter++)
mIdle[counter] = 0;
}
if(mDistance < 0)
mDistance = 0;
if(mDuration < 0)
mDuration = 0;
if(mDuration == 0)
mTimeOfDay = 0;
srand(time(NULL));
mStartTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mPlayedIdle = 0;
mPathgrid = NULL;
mIdleChanceMultiplier =
MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fIdleChanceMultiplier")->getFloat();
mStoredAvailableNodes = false;
mChooseAction = true;
mIdleNow = false;
mMoveNow = false;
mWalking = false;
}
MWMechanics::AiPackage * MWMechanics::AiWander::clone() const
{
return new AiWander(*this);
}
bool MWMechanics::AiWander::execute (const MWWorld::Ptr& actor)
{
if(mDuration)
{
// End package if duration is complete or mid-night hits:
MWWorld::TimeStamp currentTime = MWBase::Environment::get().getWorld()->getTimeStamp();
if(currentTime.getHour() >= mStartTime.getHour() + mDuration)
{ {
if(!mRepeat) if(mIdle[counter] >= 127 || mIdle[counter] < 0)
{ mIdle[counter] = 0;
stopWalking(actor, mPathFinder);
return true;
}
else
mStartTime = currentTime;
} }
else if(int(currentTime.getHour()) == 0 && currentTime.getDay() != mStartTime.getDay())
{
if(!mRepeat)
{
stopWalking(actor, mPathFinder);
return true;
}
else
mStartTime = currentTime;
}
}
ESM::Position pos = actor.getRefData().getPosition(); if(mDistance < 0)
if(!mStoredAvailableNodes)
{
mStoredAvailableNodes = true;
mPathgrid =
MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*actor.getCell()->mCell);
mCellX = actor.getCell()->mCell->mData.mX;
mCellY = actor.getCell()->mCell->mData.mY;
if(!mPathgrid)
mDistance = 0;
else if(mPathgrid->mPoints.empty())
mDistance = 0; mDistance = 0;
if(mDuration < 0)
mDuration = 0;
if(mDuration == 0)
mTimeOfDay = 0;
if(mDistance) srand(time(NULL));
{ mStartTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mXCell = 0;
mYCell = 0;
if(actor.getCell()->mCell->isExterior())
{
mXCell = mCellX * ESM::Land::REAL_SIZE;
mYCell = mCellY * ESM::Land::REAL_SIZE;
}
Ogre::Vector3 npcPos(actor.getRefData().getPosition().pos);
npcPos[0] = npcPos[0] - mXCell;
npcPos[1] = npcPos[1] - mYCell;
for(unsigned int counter = 0; counter < mPathgrid->mPoints.size(); counter++)
{
Ogre::Vector3 nodePos(mPathgrid->mPoints[counter].mX, mPathgrid->mPoints[counter].mY, mPathgrid->mPoints[counter].mZ);
if(npcPos.squaredDistance(nodePos) <= mDistance * mDistance)
mAllowedNodes.push_back(mPathgrid->mPoints[counter]);
}
if(!mAllowedNodes.empty())
{
Ogre::Vector3 firstNodePos(mAllowedNodes[0].mX, mAllowedNodes[0].mY, mAllowedNodes[0].mZ);
float closestNode = npcPos.squaredDistance(firstNodePos);
unsigned int index = 0;
for(unsigned int counterThree = 1; counterThree < mAllowedNodes.size(); counterThree++)
{
Ogre::Vector3 nodePos(mAllowedNodes[counterThree].mX, mAllowedNodes[counterThree].mY, mAllowedNodes[counterThree].mZ);
float tempDist = npcPos.squaredDistance(nodePos);
if(tempDist < closestNode)
index = counterThree;
}
mCurrentNode = mAllowedNodes[index];
mAllowedNodes.erase(mAllowedNodes.begin() + index);
}
if(mAllowedNodes.empty())
mDistance = 0;
}
}
MWWorld::Ptr player = MWBase::Environment::get().getWorld()->getPlayer().getPlayer();
bool cellChange = actor.getCell()->mCell->mData.mX != mCellX || actor.getCell()->mCell->mData.mY != mCellY;
if(actor.getCell()->mCell->mData.mX != player.getCell()->mCell->mData.mX)
{
int sideX = sgn(actor.getCell()->mCell->mData.mX - player.getCell()->mCell->mData.mX);
// Check if actor is near the border of an inactive cell. If so, disable AiWander.
// FIXME: This *should* pause the AiWander package instead of terminating it.
if(sideX*(pos.pos[0] - actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE) > sideX * (ESM::Land::REAL_SIZE / 2.0 - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
if(actor.getCell()->mCell->mData.mY != player.getCell()->mCell->mData.mY)
{
int sideY = sgn(actor.getCell()->mCell->mData.mY - player.getCell()->mCell->mData.mY);
// Check if actor is near the border of an inactive cell. If so, disable AiWander.
// FIXME: This *should* pause the AiWander package instead of terminating it.
if(sideY*(pos.pos[1] - actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE) > sideY * (ESM::Land::REAL_SIZE / 2.0 - 200))
{
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true;
}
}
// Don't try to move if you are in a new cell (ie: positioncell command called) but still play idles.
if(mDistance && (cellChange || (mCellX != actor.getCell()->mCell->mData.mX || mCellY != actor.getCell()->mCell->mData.mY)))
mDistance = 0;
if(mChooseAction)
{
mPlayedIdle = 0; mPlayedIdle = 0;
unsigned short idleRoll = 0; mPathgrid = NULL;
mIdleChanceMultiplier =
MWBase::Environment::get().getWorld()->getStore().get<ESM::GameSetting>().find("fIdleChanceMultiplier")->getFloat();
for(unsigned int counter = 1; counter < mIdle.size(); counter++) mStoredAvailableNodes = false;
mChooseAction = true;
mIdleNow = false;
mMoveNow = false;
mWalking = false;
}
AiPackage * MWMechanics::AiWander::clone() const
{
return new AiWander(*this);
}
bool AiWander::execute (const MWWorld::Ptr& actor)
{
if(mDuration)
{ {
unsigned short idleChance = mIdleChanceMultiplier * mIdle[counter]; // End package if duration is complete or mid-night hits:
unsigned short randSelect = (int)(rand() / ((double)RAND_MAX + 1) * int(100 / mIdleChanceMultiplier)); MWWorld::TimeStamp currentTime = MWBase::Environment::get().getWorld()->getTimeStamp();
if(randSelect < idleChance && randSelect > idleRoll) if(currentTime.getHour() >= mStartTime.getHour() + mDuration)
{ {
mPlayedIdle = counter; if(!mRepeat)
idleRoll = randSelect; {
stopWalking(actor);
return true;
}
else
mStartTime = currentTime;
}
else if(int(currentTime.getHour()) == 0 && currentTime.getDay() != mStartTime.getDay())
{
if(!mRepeat)
{
stopWalking(actor);
return true;
}
else
mStartTime = currentTime;
} }
} }
if(!mPlayedIdle && mDistance) ESM::Position pos = actor.getRefData().getPosition();
{
mChooseAction = false;
mMoveNow = true;
}
else
{
// Play idle animation and recreate vanilla (broken?) behavior of resetting start time of AIWander:
MWWorld::TimeStamp currentTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mStartTime = currentTime;
playIdle(actor, mPlayedIdle + 1);
mChooseAction = false;
mIdleNow = true;
}
}
if(mIdleNow) if(!mStoredAvailableNodes)
{ {
if(!checkIdle(actor, mPlayedIdle + 1)) mStoredAvailableNodes = true;
mPathgrid =
MWBase::Environment::get().getWorld()->getStore().get<ESM::Pathgrid>().search(*actor.getCell()->mCell);
mCellX = actor.getCell()->mCell->mData.mX;
mCellY = actor.getCell()->mCell->mData.mY;
if(!mPathgrid)
mDistance = 0;
else if(mPathgrid->mPoints.empty())
mDistance = 0;
if(mDistance)
{
mXCell = 0;
mYCell = 0;
if(actor.getCell()->mCell->isExterior())
{
mXCell = mCellX * ESM::Land::REAL_SIZE;
mYCell = mCellY * ESM::Land::REAL_SIZE;
}
Ogre::Vector3 npcPos(actor.getRefData().getPosition().pos);
npcPos[0] = npcPos[0] - mXCell;
npcPos[1] = npcPos[1] - mYCell;
for(unsigned int counter = 0; counter < mPathgrid->mPoints.size(); counter++)
{
Ogre::Vector3 nodePos(mPathgrid->mPoints[counter].mX, mPathgrid->mPoints[counter].mY,
mPathgrid->mPoints[counter].mZ);
if(npcPos.squaredDistance(nodePos) <= mDistance * mDistance)
mAllowedNodes.push_back(mPathgrid->mPoints[counter]);
}
if(!mAllowedNodes.empty())
{
Ogre::Vector3 firstNodePos(mAllowedNodes[0].mX, mAllowedNodes[0].mY, mAllowedNodes[0].mZ);
float closestNode = npcPos.squaredDistance(firstNodePos);
unsigned int index = 0;
for(unsigned int counterThree = 1; counterThree < mAllowedNodes.size(); counterThree++)
{
Ogre::Vector3 nodePos(mAllowedNodes[counterThree].mX, mAllowedNodes[counterThree].mY,
mAllowedNodes[counterThree].mZ);
float tempDist = npcPos.squaredDistance(nodePos);
if(tempDist < closestNode)
index = counterThree;
}
mCurrentNode = mAllowedNodes[index];
mAllowedNodes.erase(mAllowedNodes.begin() + index);
}
if(mAllowedNodes.empty())
mDistance = 0;
}
}
MWWorld::Ptr player = MWBase::Environment::get().getWorld()->getPlayer().getPlayer();
bool cellChange = actor.getCell()->mCell->mData.mX != mCellX || actor.getCell()->mCell->mData.mY != mCellY;
if(actor.getCell()->mCell->mData.mX != player.getCell()->mCell->mData.mX)
{
int sideX = sgn(actor.getCell()->mCell->mData.mX - player.getCell()->mCell->mData.mX);
// Check if actor is near the border of an inactive cell. If so, disable AiWander.
// FIXME: This *should* pause the AiWander package instead of terminating it.
if(sideX * (pos.pos[0] - actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE) > sideX * (ESM::Land::REAL_SIZE /
2.0 - 200))
{
stopWalking(actor);
return true;
}
}
if(actor.getCell()->mCell->mData.mY != player.getCell()->mCell->mData.mY)
{
int sideY = sgn(actor.getCell()->mCell->mData.mY - player.getCell()->mCell->mData.mY);
// Check if actor is near the border of an inactive cell. If so, disable AiWander.
// FIXME: This *should* pause the AiWander package instead of terminating it.
if(sideY * (pos.pos[1] - actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE) > sideY * (ESM::Land::REAL_SIZE /
2.0 - 200))
{
stopWalking(actor);
return true;
}
}
// Don't try to move if you are in a new cell (ie: positioncell command called) but still play idles.
if(mDistance && (cellChange || (mCellX != actor.getCell()->mCell->mData.mX || mCellY != actor.getCell()->mCell->mData.mY)))
mDistance = 0;
if(mChooseAction)
{ {
mPlayedIdle = 0; mPlayedIdle = 0;
mIdleNow = false; unsigned short idleRoll = 0;
mChooseAction = true;
}
}
if(mMoveNow && mDistance) for(unsigned int counter = 1; counter < mIdle.size(); counter++)
{ {
if(!mPathFinder.isPathConstructed()) unsigned short idleChance = mIdleChanceMultiplier * mIdle[counter];
unsigned short randSelect = (int)(rand() / ((double)RAND_MAX + 1) * int(100 / mIdleChanceMultiplier));
if(randSelect < idleChance && randSelect > idleRoll)
{
mPlayedIdle = counter;
idleRoll = randSelect;
}
}
if(!mPlayedIdle && mDistance)
{
mChooseAction = false;
mMoveNow = true;
}
else
{
// Play idle animation and recreate vanilla (broken?) behavior of resetting start time of AIWander:
MWWorld::TimeStamp currentTime = MWBase::Environment::get().getWorld()->getTimeStamp();
mStartTime = currentTime;
playIdle(actor, mPlayedIdle + 1);
mChooseAction = false;
mIdleNow = true;
}
}
if(mIdleNow)
{ {
unsigned int randNode = (int)(rand() / ((double)RAND_MAX + 1) * mAllowedNodes.size()); if(!checkIdle(actor, mPlayedIdle + 1))
Ogre::Vector3 destNodePos(mAllowedNodes[randNode].mX, mAllowedNodes[randNode].mY, mAllowedNodes[randNode].mZ); {
mPlayedIdle = 0;
// Remove this node as an option and add back the previously used node (stops NPC from picking the same node): mIdleNow = false;
ESM::Pathgrid::Point temp = mAllowedNodes[randNode]; mChooseAction = true;
mAllowedNodes.erase(mAllowedNodes.begin() + randNode); }
mAllowedNodes.push_back(mCurrentNode);
mCurrentNode = temp;
ESM::Pathgrid::Point dest;
dest.mX = destNodePos[0] + mXCell;
dest.mY = destNodePos[1] + mYCell;
dest.mZ = destNodePos[2];
ESM::Pathgrid::Point start;
start.mX = pos.pos[0];
start.mY = pos.pos[1];
start.mZ = pos.pos[2];
mPathFinder.buildPath(start,dest,mPathgrid,mXCell,mYCell);
mWalking = true;
} }
}
if(mWalking) if(mMoveNow && mDistance)
{
float zAngle = mPathFinder.getZAngleToNext(pos.pos[0],pos.pos[1],pos.pos[2]);
MWBase::Environment::get().getWorld()->rotateObject(actor,0,0,zAngle,false);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
// Unclog path nodes by allowing the NPC to be a small distance away from the center. This way two NPCs can be
// at the same path node at the same time and both will complete instead of endlessly walking into eachother:
Ogre::Vector3 destNodePos(mCurrentNode.mX, mCurrentNode.mY, mCurrentNode.mZ);
Ogre::Vector3 actorPos(actor.getRefData().getPosition().pos);
actorPos[0] = actorPos[0] - mXCell;
actorPos[1] = actorPos[1] - mYCell;
float distance = actorPos.squaredDistance(destNodePos);
if(distance < 1200 || mPathFinder.checkIfNextPointReached(pos.pos[0],pos.pos[1],pos.pos[2]))
{ {
stopWalking(actor, mPathFinder); if(!mPathFinder.isPathConstructed())
mMoveNow = false; {
mWalking = false; unsigned int randNode = (int)(rand() / ((double)RAND_MAX + 1) * mAllowedNodes.size());
mChooseAction = true; Ogre::Vector3 destNodePos(mAllowedNodes[randNode].mX, mAllowedNodes[randNode].mY, mAllowedNodes[randNode].mZ);
ESM::Pathgrid::Point dest;
dest.mX = destNodePos[0] + mXCell;
dest.mY = destNodePos[1] + mYCell;
dest.mZ = destNodePos[2];
ESM::Pathgrid::Point start;
start.mX = pos.pos[0];
start.mY = pos.pos[1];
start.mZ = pos.pos[2];
mPathFinder.buildPath(start, dest, mPathgrid, mXCell, mYCell, false);
if(mPathFinder.isPathConstructed())
{
// Remove this node as an option and add back the previously used node (stops NPC from picking the same node):
ESM::Pathgrid::Point temp = mAllowedNodes[randNode];
mAllowedNodes.erase(mAllowedNodes.begin() + randNode);
mAllowedNodes.push_back(mCurrentNode);
mCurrentNode = temp;
mMoveNow = false;
mWalking = true;
}
// Choose a different node and delete this one from possible nodes because it is uncreachable:
else
mAllowedNodes.erase(mAllowedNodes.begin() + randNode);
}
} }
}
return false; if(mWalking)
} {
float zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
MWBase::Environment::get().getWorld()->rotateObject(actor, 0, 0, zAngle,false);
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
int MWMechanics::AiWander::getTypeId() const // Unclog path nodes by allowing the NPC to be a small distance away from the center. This way two NPCs can be
{ // at the same path node at the same time and both will complete instead of endlessly walking into eachother:
return 0; Ogre::Vector3 destNodePos(mCurrentNode.mX, mCurrentNode.mY, mCurrentNode.mZ);
} Ogre::Vector3 actorPos(actor.getRefData().getPosition().pos);
actorPos[0] = actorPos[0] - mXCell;
actorPos[1] = actorPos[1] - mYCell;
float distance = actorPos.squaredDistance(destNodePos);
void MWMechanics::AiWander::stopWalking(const MWWorld::Ptr& actor, PathFinder& path) if(distance < 1200 || mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1], pos.pos[2]))
{ {
PathFinder pathClearer; stopWalking(actor);
path = pathClearer; mMoveNow = false;
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0; mWalking = false;
} mChooseAction = true;
}
}
void MWMechanics::AiWander::playIdle(const MWWorld::Ptr& actor, unsigned short idleSelect)
{
if(idleSelect == 2)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle2", 0, 1);
else if(idleSelect == 3)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle3", 0, 1);
else if(idleSelect == 4)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle4", 0, 1);
else if(idleSelect == 5)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle5", 0, 1);
else if(idleSelect == 6)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle6", 0, 1);
else if(idleSelect == 7)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle7", 0, 1);
else if(idleSelect == 8)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle8", 0, 1);
else if(idleSelect == 9)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle9", 0, 1);
}
bool MWMechanics::AiWander::checkIdle(const MWWorld::Ptr& actor, unsigned short idleSelect)
{
if(idleSelect == 2)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle2");
else if(idleSelect == 3)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle3");
else if(idleSelect == 4)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle4");
else if(idleSelect == 5)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle5");
else if(idleSelect == 6)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle6");
else if(idleSelect == 7)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle7");
else if(idleSelect == 8)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle8");
else if(idleSelect == 9)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle9");
else
return false; return false;
}
int AiWander::getTypeId() const
{
return 0;
}
void AiWander::stopWalking(const MWWorld::Ptr& actor)
{
mPathFinder.clearPath();
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
}
void AiWander::playIdle(const MWWorld::Ptr& actor, unsigned short idleSelect)
{
if(idleSelect == 2)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle2", 0, 1);
else if(idleSelect == 3)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle3", 0, 1);
else if(idleSelect == 4)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle4", 0, 1);
else if(idleSelect == 5)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle5", 0, 1);
else if(idleSelect == 6)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle6", 0, 1);
else if(idleSelect == 7)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle7", 0, 1);
else if(idleSelect == 8)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle8", 0, 1);
else if(idleSelect == 9)
MWBase::Environment::get().getMechanicsManager()->playAnimationGroup(actor, "idle9", 0, 1);
}
bool AiWander::checkIdle(const MWWorld::Ptr& actor, unsigned short idleSelect)
{
if(idleSelect == 2)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle2");
else if(idleSelect == 3)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle3");
else if(idleSelect == 4)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle4");
else if(idleSelect == 5)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle5");
else if(idleSelect == 6)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle6");
else if(idleSelect == 7)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle7");
else if(idleSelect == 8)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle8");
else if(idleSelect == 9)
return MWBase::Environment::get().getMechanicsManager()->checkAnimationPlaying(actor, "idle9");
else
return false;
}
} }

2
apps/openmw/mwmechanics/aiwander.hpp
View file

@ -22,7 +22,7 @@ namespace MWMechanics
///< 0: Wander ///< 0: Wander
private: private:
void stopWalking(const MWWorld::Ptr& actor, PathFinder& path); void stopWalking(const MWWorld::Ptr& actor);
void playIdle(const MWWorld::Ptr& actor, unsigned short idleSelect); void playIdle(const MWWorld::Ptr& actor, unsigned short idleSelect);
bool checkIdle(const MWWorld::Ptr& actor, unsigned short idleSelect); bool checkIdle(const MWWorld::Ptr& actor, unsigned short idleSelect);

262
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -3,164 +3,134 @@
#include "../mwbase/world.hpp" #include "../mwbase/world.hpp"
#include "../mwbase/environment.hpp" #include "../mwbase/environment.hpp"
#include "OgreMath.h"
#include <boost/graph/dijkstra_shortest_paths.hpp> #include <boost/graph/dijkstra_shortest_paths.hpp>
#include <boost/graph/adjacency_list.hpp> #include <boost/graph/adjacency_list.hpp>
#include "boost/tuple/tuple.hpp"
#include "OgreMath.h"
namespace namespace
{ {
//helpers functions struct found_path {};
float distanceZCorrected(ESM::Pathgrid::Point point,float x,float y,float z)
typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS,
boost::property<boost::vertex_index_t, int, ESM::Pathgrid::Point>, boost::property<boost::edge_weight_t, float> >
PathGridGraph;
typedef boost::property_map<PathGridGraph, boost::edge_weight_t>::type WeightMap;
typedef PathGridGraph::vertex_descriptor PointID;
typedef PathGridGraph::edge_descriptor PointConnectionID;
class goalVisited : public boost::default_dijkstra_visitor
{ {
return sqrt((point.mX - x)*(point.mX - x)+(point.mY - y)*(point.mY - y)+0.1*(point.mZ - z)*(point.mZ - z)); public:
goalVisited(PointID goal) {mGoal = goal;};
void examine_vertex(PointID u, const PathGridGraph g) {if(u == mGoal) throw found_path();};
private:
PointID mGoal;
};
float distanceZCorrected(ESM::Pathgrid::Point point, float x, float y, float z)
{
x -= point.mX;
y -= point.mY;
z -= point.mZ;
return sqrt(x * x + y * y + 0.1 * z * z);
} }
float distance(ESM::Pathgrid::Point point,float x,float y,float z) float distance(ESM::Pathgrid::Point point, float x, float y, float z)
{ {
return sqrt((point.mX - x)*(point.mX - x)+(point.mY - y)*(point.mY - y)+(point.mZ - z)*(point.mZ - z)); x -= point.mX;
y -= point.mY;
z -= point.mZ;
return sqrt(x * x + y * y + z * z);
} }
float distance(ESM::Pathgrid::Point a,ESM::Pathgrid::Point b) float distance(ESM::Pathgrid::Point a, ESM::Pathgrid::Point b)
{ {
return sqrt(float(a.mX - b.mX)*(a.mX - b.mX)+(a.mY - b.mY)*(a.mY - b.mY)+(a.mZ - b.mZ)*(a.mZ - b.mZ)); float x = a.mX - b.mX;
float y = a.mY - b.mY;
float z = a.mZ - b.mZ;
return sqrt(x * x + y * y + z * z);
} }
static float sgn(float a) static float sgn(float a)
{ {
if(a>0) return 1.; if(a > 0)
else return -1.; return 1.0;
return -1.0;
} }
int getClosestPoint(const ESM::Pathgrid* grid,float x,float y,float z) int getClosestPoint(const ESM::Pathgrid* grid, float x, float y, float z)
{ {
if(!grid) return -1; if(!grid || grid->mPoints.empty())
if(grid->mPoints.empty()) return -1; return -1;
float m = distance(grid->mPoints[0],x,y,z); float distanceBetween = distance(grid->mPoints[0], x, y, z);
int i0 = 0; int closestIndex = 0;
for(unsigned int i=1; i<grid->mPoints.size();++i) for(unsigned int counter = 1; counter < grid->mPoints.size(); counter++)
{ {
if(distance(grid->mPoints[i],x,y,z)<m) if(distance(grid->mPoints[counter], x, y, z) < distanceBetween)
{ {
m = distance(grid->mPoints[i],x,y,z); distanceBetween = distance(grid->mPoints[counter], x, y, z);
i0 = i; closestIndex = counter;
} }
} }
return i0;
return closestIndex;
} }
typedef boost::adjacency_list<boost::vecS,boost::vecS,boost::undirectedS, PathGridGraph buildGraph(const ESM::Pathgrid* pathgrid, float xCell = 0, float yCell = 0)
boost::property<boost::vertex_index_t,int,ESM::Pathgrid::Point>,boost::property<boost::edge_weight_t,float> > PathGridGraph;
typedef boost::property_map<PathGridGraph, boost::edge_weight_t>::type WeightMap;
typedef PathGridGraph::vertex_descriptor PointID;
typedef PathGridGraph::edge_descriptor PointConnectionID;
struct found_path {};
/*class goalVisited : public boost::default_astar_visitor
{
public:
goalVisited(PointID goal) : mGoal(goal) {}
void examine_vertex(PointID u, const PathGridGraph g)
{
if(u == mGoal)
throw found_path();
}
private:
PointID mGoal;
};
class DistanceHeuristic : public boost::atasr_heuristic <PathGridGraph, float>
{
public:
DistanceHeuristic(const PathGridGraph & l, PointID goal)
: mGraph(l), mGoal(goal) {}
float operator()(PointID u)
{
const ESM::Pathgrid::Point & U = mGraph[u];
const ESM::Pathgrid::Point & V = mGraph[mGoal];
float dx = U.mX - V.mX;
float dy = U.mY - V.mY;
float dz = U.mZ - V.mZ;
return sqrt(dx * dx + dy * dy + dz * dz);
}
private:
const PathGridGraph & mGraph;
PointID mGoal;
};*/
class goalVisited : public boost::default_dijkstra_visitor
{
public:
goalVisited(PointID goal) : mGoal(goal) {}
void examine_vertex(PointID u, const PathGridGraph g)
{
if(u == mGoal)
throw found_path();
}
private:
PointID mGoal;
};
PathGridGraph buildGraph(const ESM::Pathgrid* pathgrid,float xCell = 0,float yCell = 0)
{ {
PathGridGraph graph; PathGridGraph graph;
for(unsigned int i = 0;i<pathgrid->mPoints.size();++i) for(unsigned int counter = 0; counter < pathgrid->mPoints.size(); counter++)
{ {
PointID pID = boost::add_vertex(graph); PointID pID = boost::add_vertex(graph);
graph[pID].mX = pathgrid->mPoints[i].mX + xCell; graph[pID].mX = pathgrid->mPoints[counter].mX + xCell;
graph[pID].mY = pathgrid->mPoints[i].mY + yCell; graph[pID].mY = pathgrid->mPoints[counter].mY + yCell;
graph[pID].mZ = pathgrid->mPoints[i].mZ; graph[pID].mZ = pathgrid->mPoints[counter].mZ;
} }
for(unsigned int i = 0;i<pathgrid->mEdges.size();++i) for(unsigned int counterTwo = 0; counterTwo < pathgrid->mEdges.size(); counterTwo++)
{ {
PointID u = pathgrid->mEdges[i].mV0; PointID u = pathgrid->mEdges[counterTwo].mV0;
PointID v = pathgrid->mEdges[i].mV1; PointID v = pathgrid->mEdges[counterTwo].mV1;
PointConnectionID edge; PointConnectionID edge;
bool done; bool done;
boost::tie(edge,done) = boost::add_edge(u,v,graph); boost::tie(edge, done) = boost::add_edge(u, v, graph);
WeightMap weightmap = boost::get(boost::edge_weight, graph); WeightMap weightmap = boost::get(boost::edge_weight, graph);
weightmap[edge] = distance(graph[u],graph[v]); weightmap[edge] = distance(graph[u], graph[v]);
} }
return graph; return graph;
} }
std::list<ESM::Pathgrid::Point> findPath(PointID start,PointID end,PathGridGraph graph){ std::list<ESM::Pathgrid::Point> findPath(PointID start, PointID end, PathGridGraph graph)
{
std::vector<PointID> p(boost::num_vertices(graph)); std::vector<PointID> p(boost::num_vertices(graph));
std::vector<float> d(boost::num_vertices(graph)); std::vector<float> d(boost::num_vertices(graph));
std::list<ESM::Pathgrid::Point> shortest_path; std::list<ESM::Pathgrid::Point> shortest_path;
try { try
boost::dijkstra_shortest_paths {
( boost::dijkstra_shortest_paths(graph, start,
graph, boost::predecessor_map(&p[0]).distance_map(&d[0]).visitor(goalVisited(end)));
start, }
boost::predecessor_map(&p[0]).distance_map(&d[0]).visitor(goalVisited(end))//.weight_map(boost::get(&Edge::distance, graph))
);
} catch(found_path fg) { catch(found_path fg)
for(PointID v = end;; v = p[v]) { {
for(PointID v = end; ; v = p[v])
{
shortest_path.push_front(graph[v]); shortest_path.push_front(graph[v]);
if(p[v] == v) if(p[v] == v)
break; break;
} }
} }
return shortest_path; return shortest_path;
} }
//end of helpers functions
} }
namespace MWMechanics namespace MWMechanics
@ -170,55 +140,81 @@ namespace MWMechanics
mIsPathConstructed = false; mIsPathConstructed = false;
} }
void PathFinder::buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint, void PathFinder::clearPath()
const ESM::Pathgrid* pathGrid,float xCell,float yCell)
{ {
//first check if there is an obstacle if(!mPath.empty())
if(MWBase::Environment::get().getWorld()->castRay(startPoint.mX,startPoint.mY,startPoint.mZ, mPath.clear();
endPoint.mX,endPoint.mY,endPoint.mZ) ) mIsPathConstructed = false;
{ }
int start = getClosestPoint(pathGrid,startPoint.mX - xCell,startPoint.mY - yCell,startPoint.mZ);
int end = getClosestPoint(pathGrid,endPoint.mX - xCell,endPoint.mY - yCell,endPoint.mZ);
if(start != -1 && end != -1) void PathFinder::buildPath(ESM::Pathgrid::Point startPoint, ESM::Pathgrid::Point endPoint,
const ESM::Pathgrid* pathGrid, float xCell, float yCell, bool allowShortcuts)
{
if(allowShortcuts)
{
if(MWBase::Environment::get().getWorld()->castRay(startPoint.mX, startPoint.mY, startPoint.mZ, endPoint.mX, endPoint.mY,
endPoint.mZ))
allowShortcuts = false;
}
if(!allowShortcuts)
{
int startNode = getClosestPoint(pathGrid, startPoint.mX - xCell, startPoint.mY - yCell,startPoint.mZ);
int endNode = getClosestPoint(pathGrid, endPoint.mX - xCell, endPoint.mY - yCell, endPoint.mZ);
if(startNode != -1 && endNode != -1)
{ {
PathGridGraph graph = buildGraph(pathGrid,xCell,yCell); PathGridGraph graph = buildGraph(pathGrid, xCell, yCell);
mPath = findPath(start,end,graph); mPath = findPath(startNode, endNode, graph);
if(!mPath.empty())
{
mPath.push_back(endPoint);
mIsPathConstructed = true;
}
} }
} }
mPath.push_back(endPoint); else
mIsPathConstructed = true;
}
float PathFinder::getZAngleToNext(float x,float y,float z)
{
if(mPath.empty())
{ {
return 0;/// shouldn't happen! mPath.push_back(endPoint);
mIsPathConstructed = true;
} }
ESM::Pathgrid::Point nextPoint = *mPath.begin();
float dX = nextPoint.mX - x; if(mPath.empty())
float dY = nextPoint.mY - y; mIsPathConstructed = false;
float h = sqrt(dX*dX+dY*dY);
return Ogre::Radian(acos(dY/h)*sgn(asin(dX/h))).valueDegrees();
} }
bool PathFinder::checkIfNextPointReached(float x,float y,float z) float PathFinder::getZAngleToNext(float x, float y)
{
// This should never happen (programmers should have an if statement checking mIsPathConstructed that prevents this call
// if otherwise).
if(mPath.empty())
return 0;
ESM::Pathgrid::Point nextPoint = *mPath.begin();
float directionX = nextPoint.mX - x;
float directionY = nextPoint.mY - y;
float directionResult = sqrt(directionX * directionX + directionY * directionY);
return Ogre::Radian(acos(directionY / directionResult) * sgn(asin(directionX / directionResult))).valueDegrees();
}
bool PathFinder::checkPathCompleted(float x, float y, float z)
{ {
if(mPath.empty()) if(mPath.empty())
{
return true; return true;
}
ESM::Pathgrid::Point nextPoint = *mPath.begin(); ESM::Pathgrid::Point nextPoint = *mPath.begin();
if(distanceZCorrected(nextPoint,x,y,z) < 20) if(distanceZCorrected(nextPoint, x, y, z) < 40)
{ {
mPath.pop_front(); mPath.pop_front();
if(mPath.empty()) if(mPath.empty())
{ {
mIsPathConstructed = false;
return true; return true;
} }
nextPoint = *mPath.begin();
} }
return false; return false;
} }
@ -226,8 +222,10 @@ namespace MWMechanics
{ {
return mPath; return mPath;
} }
bool PathFinder::isPathConstructed() bool PathFinder::isPathConstructed()
{ {
return mIsPathConstructed; return mIsPathConstructed;
} }
} }

26
apps/openmw/mwmechanics/pathfinding.hpp
View file

@ -8,22 +8,24 @@ namespace MWMechanics
{ {
class PathFinder class PathFinder
{ {
public: public:
PathFinder(); PathFinder();
void buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint, void clearPath();
const ESM::Pathgrid* pathGrid,float xCell = 0,float yCell = 0); void buildPath(ESM::Pathgrid::Point startPoint, ESM::Pathgrid::Point endPoint,
const ESM::Pathgrid* pathGrid, float xCell = 0, float yCell = 0, bool allowShortcuts = 1);
bool checkIfNextPointReached(float x,float y,float z);//returns true if the last point of the path has been reached. bool checkPathCompleted(float x, float y, float z);
float getZAngleToNext(float x,float y,float z); ///< \Returns true if the last point of the path has been reached.
float getZAngleToNext(float x, float y);
std::list<ESM::Pathgrid::Point> getPath(); std::list<ESM::Pathgrid::Point> getPath();
bool isPathConstructed(); bool isPathConstructed();
private: private:
std::list<ESM::Pathgrid::Point> mPath; std::list<ESM::Pathgrid::Point> mPath;
bool mIsPathConstructed; bool mIsPathConstructed;
}; };
} }
#endif #endif