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rewrite pathTo for clearer logic; reapply Scrawl's aifollow threshold

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coverity_scan^2
mrcheko 9 years ago
parent d7d5cc6689
commit b960b0af93
3 changed files with 45 additions and 70 deletions
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24
apps/openmw/mwmechanics/aifollow.cpp
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@ -127,21 +127,21 @@ bool AiFollow::execute (const MWWorld::Ptr& actor, CharacterController& characte
//Set the target destination from the actor
ESM::Pathgrid::Point dest = target.getRefData().getPosition().pos;
float dist = distance(dest, pos.pos[0], pos.pos[1], pos.pos[2]);
//const float threshold = 10;
//if (storage.mMoving) //Stop when you get close
// storage.mMoving = (dist > followDistance);
//else
// storage.mMoving = (dist > followDistance + threshold);
const float threshold = 10; // to avoid constant switching between moving/stopping
if (!storage.mMoving) followDistance += threshold;
storage.mMoving = !pathTo(actor, dest, duration, followDistance); // Go to the destination
//Check if you're far away
if(dist > 450)
actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, true); //Make NPC run
else if(dist < 325) //Have a bit of a dead zone, otherwise npc will constantly flip between running and not when right on the edge of the running threshhold
actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, false); //make NPC walk
if (storage.mMoving)
{
//Check if you're far away
float dist = distance(dest, pos.pos[0], pos.pos[1], pos.pos[2]);
if (dist > 450)
actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, true); //Make NPC run
else if (dist < 325) //Have a bit of a dead zone, otherwise npc will constantly flip between running and not when right on the edge of the running threshhold
actor.getClass().getCreatureStats(actor).setMovementFlag(MWMechanics::CreatureStats::Flag_Run, false); //make NPC walk
}
return false;
}

88
apps/openmw/mwmechanics/aipackage.cpp
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@ -22,6 +22,7 @@ MWMechanics::AiPackage::~AiPackage() {}
MWMechanics::AiPackage::AiPackage() :
mTimer(AI_REACTION_TIME + 1.0f), // to force initial pathbuild
mIsShortcutting(false),
mShortcutProhibited(false), mShortcutFailPos()
{
}
@ -41,10 +42,8 @@ bool MWMechanics::AiPackage::followTargetThroughDoors() const
return false;
}
bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance)
{
//Update various Timers
mTimer += duration; //Update timer
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
@ -59,39 +58,21 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr
return false;
}
//***********************
/// Checks if you can't get to the end position at all, adds end position to end of path
/// Rebuilds path every [AI_REACTION_TIME] seconds, in case the target has moved
//***********************
// handle path building and shortcutting
ESM::Pathgrid::Point start = pos.pos;
float distToNextWaypoint = distance(start, dest);
bool isDestReached = (distToNextWaypoint <= destTolerance);
float distToTarget = distance(start, dest);
bool isDestReached = (distToTarget <= destTolerance);
if (!isDestReached && mTimer > AI_REACTION_TIME)
{
osg::Vec3f& lastActorPos = mLastActorPos;
bool isStuck = distance(start, lastActorPos.x(), lastActorPos.y(), lastActorPos.z()) < actor.getClass().getSpeed(actor)*mTimer
&& distance(dest, start) > 20;
lastActorPos = pos.asVec3();
bool wasShortcutting = mIsShortcutting;
bool destInLOS = false;
mIsShortcutting = shortcutPath(start, dest, actor, &destInLOS); // try to shortcut first
const ESM::Cell *cell = actor.getCell()->getCell();
bool needPathRecalc = doesPathNeedRecalc(dest, cell); //Only rebuild path if dest point has changed
bool isWayClear = true;
if (!needPathRecalc) // TODO: add check if actor is actually shortcutting
if (!mIsShortcutting)
{
isWayClear = checkWayIsClearForActor(start, dest, actor); // check if current shortcut is safe to follow
}
if (!isWayClear || needPathRecalc) // Only rebuild path if the target has moved or can't follow current shortcut
{
bool destInLOS = false;
if (isStuck || !isWayClear || !shortcutPath(start, dest, actor, &destInLOS))
if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell()->getCell())) // only rebuild path if the target has moved
{
mPathFinder.buildSyncedPath(start, dest, actor.getCell());
@ -111,28 +92,21 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr
}
}
}
}
if(!mPathFinder.getPath().empty()) //Path has points in it
{
ESM::Pathgrid::Point lastPos = mPathFinder.getPath().back(); //Get the end of the proposed path
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
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;
}
//************************
/// Checks if you aren't moving; attempts to unstick you
//************************
if (isDestReached || mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1])) //Path finished?
{
actor.getClass().getMovementSettings(actor).mPosition[0] = 0; // stop moving
actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
actor.getClass().getMovementSettings(actor).mPosition[2] = 0;
// turn to destination point
zTurn(actor, getZAngleToPoint(start, dest));
smoothTurn(actor, getXAngleToPoint(start, dest), 0);
@ -140,6 +114,8 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr
}
else
{
actor.getClass().getMovementSettings(actor).mPosition[1] = 1; // run to target
// handle obstacles on the way
evadeObstacles(actor, duration, pos);
}
@ -155,24 +131,22 @@ void MWMechanics::AiPackage::evadeObstacles(const MWWorld::Ptr& actor, float dur
zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
MWMechanics::Movement& movement = actor.getClass().getMovementSettings(actor);
if (mObstacleCheck.check(actor, duration))
// check if stuck due to obstacles
if (!mObstacleCheck.check(actor, duration)) return;
// first check if obstacle is a door
MWWorld::Ptr door = getNearbyDoor(actor); // NOTE: checks interior cells only
if (door != MWWorld::Ptr())
{
// first check if we're walking into a door
MWWorld::Ptr door = getNearbyDoor(actor);
if (door != MWWorld::Ptr()) // NOTE: checks interior cells only
{
if (!door.getCellRef().getTeleport() && door.getCellRef().getTrap().empty()
&& door.getCellRef().getLockLevel() <= 0 && door.getClass().getDoorState(door) == 0) {
MWBase::Environment::get().getWorld()->activateDoor(door, 1);
}
}
else // probably walking into another NPC
{
mObstacleCheck.takeEvasiveAction(movement);
if (!door.getCellRef().getTeleport() && door.getCellRef().getTrap().empty()
&& door.getCellRef().getLockLevel() <= 0 && door.getClass().getDoorState(door) == 0) {
MWBase::Environment::get().getWorld()->activateDoor(door, 1);
}
}
else { //Not stuck, so reset things
movement.mPosition[1] = 1; //Just run forward
else // any other obstacle (NPC, crate, etc.)
{
mObstacleCheck.takeEvasiveAction(movement);
}
}
@ -191,7 +165,7 @@ bool MWMechanics::AiPackage::shortcutPath(const ESM::Pathgrid::Point& startPoint
if (!isPathClear
&& (!mShortcutProhibited || (PathFinder::MakeOsgVec3(mShortcutFailPos) - PathFinder::MakeOsgVec3(startPoint)).length() >= PATHFIND_SHORTCUT_RETRY_DIST))
{
// take the direct path only if there aren't any obstacles
// 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));

3
apps/openmw/mwmechanics/aipackage.hpp
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@ -82,7 +82,7 @@ namespace MWMechanics
bool isTargetMagicallyHidden(const MWWorld::Ptr& target);
protected:
/// Causes the actor to attempt to walk to the specified location
/// Handles path building and shortcutting with obstacles avoiding
/** \return If the actor has arrived at his destination **/
bool pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance = 0.0f);
@ -108,6 +108,7 @@ namespace MWMechanics
ESM::Pathgrid::Point mPrevDest;
osg::Vec3f mLastActorPos;
bool mIsShortcutting; // if shortcutting at the moment
bool mShortcutProhibited; // shortcutting may be prohibited after unsuccessful attempt
ESM::Pathgrid::Point mShortcutFailPos; // position of last shortcut fail

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