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openmw-tes3mp/apps/openmw/mwmechanics/aipackage.cpp
scrawl c50b18b3bb
Move PathgridGraph out of CellStore
By definition this is not 'Mutable state of a cell' and does not belong in CellStore.

This change should improve startup times (graph is now loaded on demand) and edits to 'pathgrid.hpp' no longer cause the entirety of OpenMW to be rebuilt.
2017-11-27 21:20:31 +00:00

377 lines
14 KiB
C++

#include "aipackage.hpp"
#include <cmath>
#include <components/esm/loadcell.hpp>
#include <components/esm/loadland.hpp>
#include <components/esm/loadmgef.hpp>
#include "../mwbase/world.hpp"
#include "../mwbase/environment.hpp"
#include "../mwworld/action.hpp"
#include "../mwworld/class.hpp"
#include "../mwworld/cellstore.hpp"
#include "../mwworld/inventorystore.hpp"
#include "pathgrid.hpp"
#include "creaturestats.hpp"
#include "movement.hpp"
#include "steering.hpp"
#include "actorutil.hpp"
#include "coordinateconverter.hpp"
#include <osg/Quat>
MWMechanics::AiPackage::~AiPackage() {}
MWMechanics::AiPackage::AiPackage() :
mTimer(AI_REACTION_TIME + 1.0f), // to force initial pathbuild
mRotateOnTheRunChecks(0),
mIsShortcutting(false),
mShortcutProhibited(false), mShortcutFailPos()
{
}
MWWorld::Ptr MWMechanics::AiPackage::getTarget() const
{
return MWWorld::Ptr();
}
bool MWMechanics::AiPackage::sideWithTarget() const
{
return false;
}
bool MWMechanics::AiPackage::followTargetThroughDoors() const
{
return false;
}
bool MWMechanics::AiPackage::canCancel() const
{
return true;
}
bool MWMechanics::AiPackage::shouldCancelPreviousAi() const
{
return true;
}
bool MWMechanics::AiPackage::getRepeat() const
{
return false;
}
void MWMechanics::AiPackage::reset()
{
// reset all members
mTimer = AI_REACTION_TIME + 1.0f;
mIsShortcutting = false;
mShortcutProhibited = false;
mShortcutFailPos = ESM::Pathgrid::Point();
mPathFinder.clearPath();
mObstacleCheck.clear();
}
bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance)
{
mTimer += duration; //Update timer
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
/// Stops the actor when it gets too close to a unloaded cell
//... At current time, this test is unnecessary. AI shuts down when actor is more than 7168
//... units from player, and exterior cells are 8192 units long and wide.
//... But AI processing distance may increase in the future.
if (isNearInactiveCell(pos))
{
actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
return false;
}
// handle path building and shortcutting
ESM::Pathgrid::Point start = pos.pos;
float distToTarget = distance(start, dest);
bool isDestReached = (distToTarget <= destTolerance);
if (!isDestReached && mTimer > AI_REACTION_TIME)
{
bool wasShortcutting = mIsShortcutting;
bool destInLOS = false;
if (getTypeId() != TypeIdWander) // prohibit shortcuts for AiWander
mIsShortcutting = shortcutPath(start, dest, actor, &destInLOS); // try to shortcut first
if (!mIsShortcutting)
{
if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell())) // if need to rebuild path
{
mPathFinder.buildSyncedPath(start, dest, actor.getCell(), getPathGridGraph(actor.getCell()));
mRotateOnTheRunChecks = 3;
// give priority to go directly on target if there is minimal opportunity
if (destInLOS && mPathFinder.getPath().size() > 1)
{
// get point just before dest
std::list<ESM::Pathgrid::Point>::const_iterator pPointBeforeDest = mPathFinder.getPath().end();
--pPointBeforeDest;
--pPointBeforeDest;
// if start point is closer to the target then last point of path (excluding target itself) then go straight on the target
if (distance(start, dest) <= distance(dest, *pPointBeforeDest))
{
mPathFinder.clearPath();
mPathFinder.addPointToPath(dest);
}
}
}
if (!mPathFinder.getPath().empty()) //Path has points in it
{
ESM::Pathgrid::Point lastPos = mPathFinder.getPath().back(); //Get the end of the proposed path
if(distance(dest, lastPos) > 100) //End of the path is far from the destination
mPathFinder.addPointToPath(dest); //Adds the final destination to the path, to try to get to where you want to go
}
}
mTimer = 0;
}
if (isDestReached || mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1])) // if path is finished
{
// turn to destination point
zTurn(actor, getZAngleToPoint(start, dest));
smoothTurn(actor, getXAngleToPoint(start, dest), 0);
return true;
}
else
{
if (mRotateOnTheRunChecks == 0
|| isReachableRotatingOnTheRun(actor, *mPathFinder.getPath().begin())) // to prevent circling around a path point
{
actor.getClass().getMovementSettings(actor).mPosition[1] = 1; // move to the target
if (mRotateOnTheRunChecks > 0) mRotateOnTheRunChecks--;
}
// handle obstacles on the way
evadeObstacles(actor, duration, pos);
}
// turn to next path point by X,Z axes
zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
smoothTurn(actor, mPathFinder.getXAngleToNext(pos.pos[0], pos.pos[1], pos.pos[2]), 0);
return false;
}
void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, float duration, const ESM::Position& pos)
{
zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
// check if stuck due to obstacles
if (!mObstacleCheck.check(actor, duration)) return;
// first check if obstacle is a door
static float distance = MWBase::Environment::get().getWorld()->getMaxActivationDistance();
MWWorld::Ptr door = getNearbyDoor(actor, distance);
if (door != MWWorld::Ptr())
{
// note: AiWander currently does not open doors
if (getTypeId() != TypeIdWander && !door.getCellRef().getTeleport() && door.getClass().getDoorState(door) == 0)
{
if ((door.getCellRef().getTrap().empty() && door.getCellRef().getLockLevel() <= 0 ))
{
MWBase::Environment::get().getWorld()->activate(door, actor);
return;
}
std::string keyId = door.getCellRef().getKey();
if (keyId.empty())
return;
bool hasKey = false;
const MWWorld::ContainerStore &invStore = actor.getClass().getContainerStore(actor);
// make key id lowercase
Misc::StringUtils::lowerCaseInPlace(keyId);
for (MWWorld::ConstContainerStoreIterator it = invStore.cbegin(); it != invStore.cend(); ++it)
{
std::string refId = it->getCellRef().getRefId();
Misc::StringUtils::lowerCaseInPlace(refId);
if (refId == keyId)
{
hasKey = true;
break;
}
}
if (hasKey)
MWBase::Environment::get().getWorld()->activate(door, actor);
}
}
else // any other obstacle (NPC, crate, etc.)
{
mObstacleCheck.takeEvasiveAction(movement);
}
}
const MWMechanics::PathgridGraph& MWMechanics::AiPackage::getPathGridGraph(const MWWorld::CellStore *cell)
{
const ESM::CellId& id = cell->getCell()->getCellId();
// static cache is OK for now, pathgrids can never change during runtime
typedef std::map<ESM::CellId, std::unique_ptr<MWMechanics::PathgridGraph> > CacheMap;
static CacheMap cache;
CacheMap::iterator found = cache.find(id);
if (found == cache.end())
{
cache.insert(std::make_pair(id, std::unique_ptr<MWMechanics::PathgridGraph>(new MWMechanics::PathgridGraph(cell))));
}
return *cache[id].get();
}
bool MWMechanics::AiPackage::shortcutPath(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor, bool *destInLOS)
{
const MWWorld::Class& actorClass = actor.getClass();
MWBase::World* world = MWBase::Environment::get().getWorld();
// check if actor can move along z-axis
bool actorCanMoveByZ = (actorClass.canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor))
|| world->isFlying(actor);
// don't use pathgrid when actor can move in 3 dimensions
bool isPathClear = actorCanMoveByZ;
if (!isPathClear
&& (!mShortcutProhibited || (PathFinder::MakeOsgVec3(mShortcutFailPos) - PathFinder::MakeOsgVec3(startPoint)).length() >= PATHFIND_SHORTCUT_RETRY_DIST))
{
// check if target is clearly visible
isPathClear = !MWBase::Environment::get().getWorld()->castRay(
static_cast<float>(startPoint.mX), static_cast<float>(startPoint.mY), static_cast<float>(startPoint.mZ),
static_cast<float>(endPoint.mX), static_cast<float>(endPoint.mY), static_cast<float>(endPoint.mZ));
if (destInLOS != NULL) *destInLOS = isPathClear;
if (!isPathClear)
return false;
// check if an actor can move along the shortcut path
isPathClear = checkWayIsClearForActor(startPoint, endPoint, actor);
}
if (isPathClear) // can shortcut the path
{
mPathFinder.clearPath();
mPathFinder.addPointToPath(endPoint);
return true;
}
return false;
}
bool MWMechanics::AiPackage::checkWayIsClearForActor(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor)
{
bool actorCanMoveByZ = (actor.getClass().canSwim(actor) && MWBase::Environment::get().getWorld()->isSwimming(actor))
|| MWBase::Environment::get().getWorld()->isFlying(actor);
if (actorCanMoveByZ)
return true;
float actorSpeed = actor.getClass().getSpeed(actor);
float maxAvoidDist = AI_REACTION_TIME * actorSpeed + actorSpeed / MAX_VEL_ANGULAR_RADIANS * 2; // *2 - for reliability
osg::Vec3f::value_type distToTarget = osg::Vec3f(static_cast<float>(endPoint.mX), static_cast<float>(endPoint.mY), 0).length();
float offsetXY = distToTarget > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2;
bool isClear = checkWayIsClear(PathFinder::MakeOsgVec3(startPoint), PathFinder::MakeOsgVec3(endPoint), offsetXY);
// update shortcut prohibit state
if (isClear)
{
if (mShortcutProhibited)
{
mShortcutProhibited = false;
mShortcutFailPos = ESM::Pathgrid::Point();
}
}
if (!isClear)
{
if (mShortcutFailPos.mX == 0 && mShortcutFailPos.mY == 0 && mShortcutFailPos.mZ == 0)
{
mShortcutProhibited = true;
mShortcutFailPos = startPoint;
}
}
return isClear;
}
bool MWMechanics::AiPackage::doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest, const MWWorld::CellStore* currentCell)
{
return mPathFinder.getPath().empty() || (distance(mPathFinder.getPath().back(), newDest) > 10) || mPathFinder.getPathCell() != currentCell;
}
bool MWMechanics::AiPackage::isTargetMagicallyHidden(const MWWorld::Ptr& target)
{
const MagicEffects& magicEffects(target.getClass().getCreatureStats(target).getMagicEffects());
return (magicEffects.get(ESM::MagicEffect::Invisibility).getMagnitude() > 0)
|| (magicEffects.get(ESM::MagicEffect::Chameleon).getMagnitude() > 75);
}
bool MWMechanics::AiPackage::isNearInactiveCell(const ESM::Position& actorPos)
{
const ESM::Cell* playerCell(getPlayer().getCell()->getCell());
if (playerCell->isExterior())
{
// get actor's distance from origin of center cell
osg::Vec3f actorOffset(actorPos.asVec3());
CoordinateConverter(playerCell).toLocal(actorOffset);
// currently assumes 3 x 3 grid for exterior cells, with player at center cell.
// ToDo: (Maybe) use "exterior cell load distance" setting to get count of actual active cells
// While AI Process distance is 7168, AI shuts down actors before they reach edges of 3 x 3 grid.
const float distanceFromEdge = 200.0;
float minThreshold = (-1.0f * ESM::Land::REAL_SIZE) + distanceFromEdge;
float maxThreshold = (2.0f * ESM::Land::REAL_SIZE) - distanceFromEdge;
return (actorOffset[0] < minThreshold) || (maxThreshold < actorOffset[0])
|| (actorOffset[1] < minThreshold) || (maxThreshold < actorOffset[1]);
}
else
{
return false;
}
}
bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest)
{
// 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;
// get radius direction to the center
const float* rot = actor.getRefData().getPosition().rot;
osg::Quat quatRot(rot[0], -osg::X_AXIS, rot[1], -osg::Y_AXIS, rot[2], -osg::Z_AXIS);
osg::Vec3f dir = quatRot * osg::Y_AXIS; // actor's orientation direction is a tangent to circle
osg::Vec3f radiusDir = dir ^ osg::Z_AXIS; // radius is perpendicular to a tangent
radiusDir.normalize();
radiusDir *= radius;
// pick up the nearest center candidate
osg::Vec3f dest_ = PathFinder::MakeOsgVec3(dest);
osg::Vec3f pos = actor.getRefData().getPosition().asVec3();
osg::Vec3f center1 = pos - radiusDir;
osg::Vec3f center2 = pos + radiusDir;
osg::Vec3f center = (center1 - dest_).length2() < (center2 - dest_).length2() ? center1 : center2;
float distToDest = (center - dest_).length();
// if pathpoint is reachable for the actor rotating on the run:
// no points of actor's circle should be farther from the center than destination point
return (radius <= distToDest);
}