Find path for actors according to their abilities to swim and walk

apps/openmw/mwmechanics/aipackage.cpp

@@ -141,7 +141,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const osg::Vec3f&
             || world->isFlying(actor);
 
         // Prohibit shortcuts for AiWander, if the actor can not move in 3 dimensions.
-        if (actorCanMoveByZ || getTypeId() != TypeIdWander)
+        if (actorCanMoveByZ)
             mIsShortcutting = shortcutPath(start, dest, actor, &destInLOS, actorCanMoveByZ); // try to shortcut first
 
         if (!mIsShortcutting)
@@ -400,3 +400,17 @@ bool MWMechanics::AiPackage::isReachableRotatingOnTheRun(const MWWorld::Ptr& act
     // no points of actor's circle should be farther from the center than destination point
     return (radius <= distToDest);
 }
+
+DetourNavigator::Flags MWMechanics::AiPackage::getNavigatorFlags(const MWWorld::Ptr& actor) const
+{
+    const auto& actorClass = actor.getClass();
+    DetourNavigator::Flags result = DetourNavigator::Flag_none;
+
+    if (actorClass.isPureWaterCreature(actor) || (getTypeId() != TypeIdWander && actorClass.canSwim(actor)))
+        result |= DetourNavigator::Flag_swim;
+
+    if (actorClass.canWalk(actor))
+        result |= DetourNavigator::Flag_walk;
+
+    return result;
+}

apps/openmw/mwmechanics/aipackage.hpp

@@ -132,6 +132,8 @@ namespace MWMechanics
 
             const PathgridGraph& getPathGridGraph(const MWWorld::CellStore* cell);
 
+            DetourNavigator::Flags getNavigatorFlags(const MWWorld::Ptr& actor) const;
+
             // TODO: all this does not belong here, move into temporary storage
             PathFinder mPathFinder;
             ObstacleCheck mObstacleCheck;

apps/openmw/mwmechanics/pathfinding.cpp

@@ -290,14 +290,14 @@ namespace MWMechanics
     }
 
     void PathFinder::buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
-        const osg::Vec3f& halfExtents)
+        const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags)
     {
         try
         {
             mPath.clear();
 
             const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
-            navigator->findPath(halfExtents, startPoint, endPoint, std::back_inserter(mPath));
+            navigator->findPath(halfExtents, startPoint, endPoint, flags, std::back_inserter(mPath));
 
             mConstructed = true;
         }

apps/openmw/mwmechanics/pathfinding.hpp

@@ -4,6 +4,7 @@
 #include <deque>
 #include <cassert>
 
+#include <components/detournavigator/flags.hpp>
 #include <components/esm/defs.hpp>
 #include <components/esm/loadpgrd.hpp>
 
@@ -176,7 +177,7 @@ namespace MWMechanics
             }
 
             void buildPathByNavigator(const osg::Vec3f& startPoint, const osg::Vec3f& endPoint,
-                const osg::Vec3f& halfExtents);
+                const osg::Vec3f& halfExtents, const DetourNavigator::Flags flags);
 
         private:
             bool mConstructed;

apps/openmw_test_suite/detournavigator/navigator.cpp

@@ -64,20 +64,20 @@ namespace
 
     TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_throw_exception)
     {
-        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument);
+        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), InvalidArgument);
     }
 
     TEST_F(DetourNavigatorNavigatorTest, find_path_for_existing_agent_with_no_navmesh_should_throw_exception)
     {
         mNavigator->addAgent(mAgentHalfExtents);
-        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException);
+        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), NavigatorException);
     }
 
     TEST_F(DetourNavigatorNavigatorTest, find_path_for_removed_agent_should_throw_exception)
     {
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->removeAgent(mAgentHalfExtents);
-        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), InvalidArgument);
+        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), InvalidArgument);
     }
 
     TEST_F(DetourNavigatorNavigatorTest, add_agent_should_count_each_agent)
@@ -85,7 +85,7 @@ namespace
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->removeAgent(mAgentHalfExtents);
-        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut), NavigatorException);
+        EXPECT_THROW(mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut), NavigatorException);
     }
 
     TEST_F(DetourNavigatorNavigatorTest, update_then_find_path_should_return_path)
@@ -105,7 +105,7 @@ namespace
         mNavigator->update(mPlayerPosition);
         mNavigator->wait();
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut);
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(-215, 215, 1.85963428020477294921875),
@@ -155,7 +155,7 @@ namespace
         mNavigator->update(mPlayerPosition);
         mNavigator->wait();
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath));
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath));
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(-215, 215, 1.85963428020477294921875),
@@ -188,7 +188,7 @@ namespace
         mNavigator->wait();
 
         mPath.clear();
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath));
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath));
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(-215, 215, 1.87827122211456298828125),
@@ -239,7 +239,7 @@ namespace
         mNavigator->update(mPlayerPosition);
         mNavigator->wait();
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, std::back_inserter(mPath));
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, std::back_inserter(mPath));
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(-215, 215, 1.87827122211456298828125),
@@ -274,7 +274,7 @@ namespace
         mNavigator->wait();
 
         mPath.clear();
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut);
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(-215, 215, 1.85963428020477294921875),
@@ -331,7 +331,7 @@ namespace
         mNavigator->update(mPlayerPosition);
         mNavigator->wait();
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut);
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(-215, 215, 1.96328866481781005859375),
@@ -387,7 +387,7 @@ namespace
         mNavigator->update(mPlayerPosition);
         mNavigator->wait();
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut);
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(-215, 215, 1.9393787384033203125),
@@ -417,7 +417,7 @@ namespace
         })) << mPath;
     }
 
-    TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_ground_lower_than_water)
+    TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_ground_lower_than_water_with_only_swim_flag)
     {
         std::array<btScalar, 5 * 5> heightfieldData {{
             -50,  -50,  -50,  -50,    0,
@@ -440,7 +440,7 @@ namespace
         mEnd.x() = 0;
         mEnd.z() = 300;
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim, mOut);
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(0, 215, 185.33331298828125),
@@ -463,7 +463,7 @@ namespace
         })) << mPath;
     }
 
-    TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water)
+    TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_swim_and_walk_flags)
     {
         std::array<btScalar, 7 * 7> heightfieldData {{
             0,    0,    0,    0,    0,    0, 0,
@@ -486,7 +486,7 @@ namespace
         mStart.x() = 0;
         mEnd.x() = 0;
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim | Flag_walk, mOut);
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(0, 215, -94.75363922119140625),
@@ -509,7 +509,7 @@ namespace
         })) << mPath;
     }
 
-    TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_max_int_cells_size)
+    TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_water_when_ground_cross_water_with_max_int_cells_size_and_swim_and_walk_flags)
     {
         std::array<btScalar, 7 * 7> heightfieldData {{
             0,    0,    0,    0,    0,    0, 0,
@@ -532,7 +532,7 @@ namespace
         mStart.x() = 0;
         mEnd.x() = 0;
 
-        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, mOut);
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_swim | Flag_walk, mOut);
 
         EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
             osg::Vec3f(0, 215, -94.75363922119140625),
@@ -554,4 +554,51 @@ namespace
             osg::Vec3f(0, -215, -94.753631591796875),
         })) << mPath;
     }
+
+    TEST_F(DetourNavigatorNavigatorTest, path_should_be_over_ground_when_ground_cross_water_with_only_walk_flag)
+    {
+        std::array<btScalar, 7 * 7> heightfieldData {{
+            0,    0,    0,    0,    0,    0, 0,
+            0, -100, -100, -100, -100, -100, 0,
+            0, -100, -150, -150, -150, -100, 0,
+            0, -100, -150, -200, -150, -100, 0,
+            0, -100, -150, -150, -150, -100, 0,
+            0, -100, -100, -100, -100, -100, 0,
+            0,    0,    0,    0,    0,    0, 0,
+        }};
+        btHeightfieldTerrainShape shape(7, 7, heightfieldData.data(), 1, 0, 0, 2, PHY_FLOAT, false);
+        shape.setLocalScaling(btVector3(128, 128, 1));
+
+        mNavigator->addAgent(mAgentHalfExtents);
+        mNavigator->addWater(osg::Vec2i(0, 0), 128 * 4, -25, btTransform::getIdentity());
+        mNavigator->addObject(1, shape, btTransform::getIdentity());
+        mNavigator->update(mPlayerPosition);
+        mNavigator->wait();
+
+        mStart.x() = 0;
+        mEnd.x() = 0;
+
+        mNavigator->findPath(mAgentHalfExtents, mStart, mEnd, Flag_walk, mOut);
+
+        EXPECT_EQ(mPath, std::deque<osg::Vec3f>({
+            osg::Vec3f(0, 215, -94.75363922119140625),
+            osg::Vec3f(9.8083515167236328125, 188.4185333251953125, -105.19994354248046875),
+            osg::Vec3f(19.6167049407958984375, 161.837066650390625, -114.25496673583984375),
+            osg::Vec3f(29.42505645751953125, 135.255615234375, -123.309967041015625),
+            osg::Vec3f(39.23340606689453125, 108.674163818359375, -132.3649749755859375),
+            osg::Vec3f(49.04175567626953125, 82.09270477294921875, -137.2874755859375),
+            osg::Vec3f(58.8501129150390625, 55.5112457275390625, -139.2451171875),
+            osg::Vec3f(68.6584625244140625, 28.9297885894775390625, -141.2027740478515625),
+            osg::Vec3f(78.4668121337890625, 2.3483295440673828125, -143.1604156494140625),
+            osg::Vec3f(88.27516937255859375, -24.233127593994140625, -141.3894805908203125),
+            osg::Vec3f(83.73651885986328125, -52.2005767822265625, -142.3761444091796875),
+            osg::Vec3f(79.19786834716796875, -80.16802978515625, -143.114837646484375),
+            osg::Vec3f(64.8477935791015625, -104.598602294921875, -137.840911865234375),
+            osg::Vec3f(50.497714996337890625, -129.0291748046875, -131.45831298828125),
+            osg::Vec3f(36.147632598876953125, -153.459747314453125, -121.42321014404296875),
+            osg::Vec3f(21.7975559234619140625, -177.8903350830078125, -111.38809967041015625),
+            osg::Vec3f(7.44747829437255859375, -202.3209075927734375, -101.1938323974609375),
+            osg::Vec3f(0, -215, -94.753631591796875),
+        })) << mPath;
+    }
 }

components/detournavigator/findsmoothpath.hpp

@@ -219,13 +219,14 @@ namespace DetourNavigator
 
     template <class OutputIterator>
     OutputIterator findSmoothPath(const dtNavMesh& navMesh, const osg::Vec3f& halfExtents,
-            const osg::Vec3f& start, const osg::Vec3f& end, const Settings& settings, OutputIterator out)
+            const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags,
+            const Settings& settings, OutputIterator out)
     {
         dtNavMeshQuery navMeshQuery;
         OPENMW_CHECK_DT_STATUS(navMeshQuery.init(&navMesh, settings.mMaxNavMeshQueryNodes));
 
         dtQueryFilter queryFilter;
-        queryFilter.setIncludeFlags(Flag_swim | Flag_walk);
+        queryFilter.setIncludeFlags(includeFlags);
 
         dtPolyRef startRef = 0;
         osg::Vec3f startPolygonPosition;

components/detournavigator/navigator.hpp

@@ -2,6 +2,7 @@
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATOR_H
 
 #include "findsmoothpath.hpp"
+#include "flags.hpp"
 #include "navmeshmanager.hpp"
 #include "settings.hpp"
 #include "settingsutils.hpp"
@@ -48,11 +49,12 @@ namespace DetourNavigator
 
         template <class OutputIterator>
         OutputIterator findPath(const osg::Vec3f& agentHalfExtents, const osg::Vec3f& start,
-            const osg::Vec3f& end, OutputIterator out) const
+            const osg::Vec3f& end, const Flags includeFlags, OutputIterator out) const
         {
             const auto navMesh = mNavMeshManager.getNavMesh(agentHalfExtents);
             return findSmoothPath(*navMesh.lock(), toNavMeshCoordinates(mSettings, agentHalfExtents),
-                toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), mSettings, out);
+                toNavMeshCoordinates(mSettings, start), toNavMeshCoordinates(mSettings, end), includeFlags,
+                mSettings, out);
         }
 
         std::map<osg::Vec3f, std::shared_ptr<NavMeshCacheItem>> getNavMeshes() const;