First try to improve AI. Does not work yet due to strange bug in physicsystem

apps/openmw/mwbase/world.hpp

@@ -245,6 +245,9 @@ namespace MWBase
             virtual void doPhysics (const MWWorld::PtrMovementList &actors, float duration) = 0;
             ///< Run physics simulation and modify \a world accordingly.
 
+            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2) = 0;
+            ///< cast a Ray and return true if there is an object in the ray path.
+
             virtual bool toggleCollisionMode() = 0;
             ///< Toggle collision mode for player. If disabled player object should ignore
             /// collisions and gravity.

apps/openmw/mwmechanics/pathfinding.cpp

@@ -1,4 +1,8 @@
 #include "pathfinding.hpp"
+
+#include "../mwbase/world.hpp"
+#include "../mwbase/environment.hpp"
+
 #include <boost/graph/dijkstra_shortest_paths.hpp>
 #include <boost/graph/adjacency_list.hpp>
 #include "boost/tuple/tuple.hpp"
@@ -169,15 +173,20 @@ namespace MWMechanics
     void PathFinder::buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint,
         const ESM::Pathgrid* pathGrid,float xCell,float yCell)
     {
-        int start = getClosestPoint(pathGrid,startPoint.mX - xCell,startPoint.mY - yCell,startPoint.mZ);
+        //first check if there is an obstacle
-        int end = getClosestPoint(pathGrid,endPoint.mX - xCell,endPoint.mY - yCell,endPoint.mZ);
+        if(MWBase::Environment::get().getWorld()->castRay(startPoint.mX,startPoint.mY,startPoint.mZ,
-
+            endPoint.mX,endPoint.mY,endPoint.mZ) )
-        if(start != -1 && end != -1)
         {
-            PathGridGraph graph = buildGraph(pathGrid,xCell,yCell);
+            std::cout << "hit";
-            mPath = findPath(start,end,graph);
+            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)
+            {
+                PathGridGraph graph = buildGraph(pathGrid,xCell,yCell);
+                mPath = findPath(start,end,graph);
+            }
+        }
         mPath.push_back(endPoint);
         mIsPathConstructed = true;
     }

apps/openmw/mwworld/physicssystem.cpp

@@ -333,14 +333,14 @@ namespace MWWorld
         return result;
     }
 
-    bool PhysicsSystem::castRay(const Vector3& from, const Vector3& to)
+    bool PhysicsSystem::castRay(const Vector3& from, const Vector3& to, bool raycastingObjectOnly)
     {
         btVector3 _from, _to;
         _from = btVector3(from.x, from.y, from.z);
         _to = btVector3(to.x, to.y, to.z);
 
-        std::pair<std::string, float> result = mEngine->rayTest(_from, _to);
+        std::pair<std::string, float> result = mEngine->rayTest(_from, _to, false);//raycastingObjectOnly);
-
+        std::cout << result.first << " " << result.second;
         return !(result.first == "");
     }
 
@@ -419,6 +419,7 @@ namespace MWWorld
         OEngine::Physic::RigidBody* raycastingBody = mEngine->createAndAdjustRigidBody(
             mesh, node->getName(), node->getScale().x, node->getPosition(), node->getOrientation(), 0, 0, true, placeable);
         mEngine->addRigidBody(body, true, raycastingBody);
+        std::cout << "Object:" << mesh;
     }
 
     void PhysicsSystem::addActor (const Ptr& ptr)
@@ -427,6 +428,7 @@ namespace MWWorld
         Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
         //TODO:optimize this. Searching the std::map isn't very efficient i think.
         mEngine->addCharacter(node->getName(), mesh, node->getPosition(), node->getScale().x, node->getOrientation());
+        std::cout << "Actor:" << mesh;
     }
 
     void PhysicsSystem::removeObject (const std::string& handle)

apps/openmw/mwworld/physicssystem.hpp

@@ -62,8 +62,8 @@ namespace MWWorld
             btVector3 getRayPoint(float extent, float mouseX, float mouseY);
 
 
-            // cast ray, return true if it hit something
+            // cast ray, return true if it hit something. if raycasringObjectOnlt is set to false, it ignores NPCs and objects with no collisions.
-            bool castRay(const Ogre::Vector3& from, const Ogre::Vector3& to);
+            bool castRay(const Ogre::Vector3& from, const Ogre::Vector3& to, bool raycastingObjectOnly = true);
 
             std::pair<bool, Ogre::Vector3>
             castRay(const Ogre::Vector3 &orig, const Ogre::Vector3 &dir, float len);

apps/openmw/mwworld/worldimp.cpp

@@ -1042,6 +1042,13 @@ namespace MWWorld
         mPhysEngine->stepSimulation (duration);
     }
 
+    bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2)
+    {
+        Ogre::Vector3 a(x1,y1,z1);std::cout << x1 << " " << x2;
+        Ogre::Vector3 b(x2,y2,z2);
+        return mPhysics->castRay(a,b,false);
+    }
+
     void World::processDoors(float duration)
     {
         std::map<MWWorld::Ptr, int>::iterator it = mDoorStates.begin();

apps/openmw/mwworld/worldimp.hpp

@@ -279,6 +279,9 @@ namespace MWWorld
             virtual void doPhysics(const PtrMovementList &actors, float duration);
             ///< Run physics simulation and modify \a world accordingly.
 
+            virtual bool castRay (float x1, float y1, float z1, float x2, float y2, float z2);
+            ///< cast a Ray and return true if there is an object in the ray path.
+
             virtual bool toggleCollisionMode();
             ///< Toggle collision mode for player. If disabled player object should ignore
             /// collisions and gravity.

libs/openengine/bullet/physic.cpp

@@ -28,7 +28,7 @@ namespace Physic
         mRaycastingBody = mEngine->createAndAdjustRigidBody(mMesh, mName, scale, position, rotation, &mBoxScaledTranslation, &mBoxRotation, true);
         Ogre::Quaternion inverse = mBoxRotation.Inverse();
         mBoxRotationInverse = btQuaternion(inverse.x, inverse.y, inverse.z,inverse.w);
-        mEngine->addRigidBody(mBody, false, mRaycastingBody);  //Add rigid body to dynamics world, but do not add to object map
+        //mEngine->addRigidBody(mBody, false, mRaycastingBody,true);  //Add rigid body to dynamics world, but do not add to object map
     }
 
     PhysicActor::~PhysicActor()
@@ -422,15 +422,17 @@ namespace Physic
 
     }
 
-    void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody)
+    void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody,bool actor)
     {
         if(!body && !raycastingBody)
             return; // nothing to do
 
         const std::string& name = (body ? body->mName : raycastingBody->mName);
 
-        if (body)
+        if (body){
-            dynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_ActorInternal|CollisionType_ActorExternal);
+            if(actor) {dynamicsWorld->addRigidBody(body,CollisionType_ActorInternal,CollisionType_World|CollisionType_ActorInternal);std::cout << "actor";}
+            else dynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_ActorInternal|CollisionType_ActorExternal);
+        }
 
         if (raycastingBody)
             dynamicsWorld->addRigidBody(raycastingBody,CollisionType_Raycasting,CollisionType_Raycasting|CollisionType_World);
@@ -603,14 +605,15 @@ namespace Physic
     {
     }
 
-    std::pair<std::string,float> PhysicEngine::rayTest(btVector3& from,btVector3& to)
+    std::pair<std::string,float> PhysicEngine::rayTest(btVector3& from,btVector3& to,bool raycastingObjectOnly)
     {
         std::string name = "";
         float d = -1;
 
         float d1 = 10000.;
         btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
-        resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
+        if(raycastingObjectOnly) resultCallback1.m_collisionFilterMask = CollisionType_Raycasting;
+        else resultCallback1.m_collisionFilterMask = CollisionType_ActorExternal;
         dynamicsWorld->rayTest(from, to, resultCallback1);
         if (resultCallback1.hasHit())
         {

libs/openengine/bullet/physic.hpp

@@ -226,7 +226,7 @@ namespace Physic
         /**
          * Add a RigidBody to the simulation
          */
-        void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL);
+        void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL,bool actor = false);
 
         /**
          * Remove a RigidBody from the simulation. It does not delete it, and does not remove it from the RigidBodyMap.
@@ -293,7 +293,7 @@ namespace Physic
         /**
          * Return the closest object hit by a ray. If there are no objects, it will return ("",-1).
          */
-        std::pair<std::string,float> rayTest(btVector3& from,btVector3& to);
+        std::pair<std::string,float> rayTest(btVector3& from,btVector3& to,bool raycastingObjectOnly = true);
 
         /**
          * Return all objects hit by a ray.