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refactor AiCombat: remove all pathfinding code, adopt new version of

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AiPackage::pathTo;
fix couple of warnings;
coverity_scan^2
mrcheko 9 years ago
parent b960b0af93
commit bcb1f4ed05
6 changed files with 51 additions and 228 deletions
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1
apps/openmw/mwmechanics/aiactivate.cpp
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@ -22,7 +22,6 @@ MWMechanics::AiActivate *MWMechanics::AiActivate::clone() const
}
bool MWMechanics::AiActivate::execute (const MWWorld::Ptr& actor, CharacterController& characterController, AiState& state, float duration)
{
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
const MWWorld::Ptr target = MWBase::Environment::get().getWorld()->searchPtr(mObjectId, false); //The target to follow
actor.getClass().getCreatureStats(actor).setDrawState(DrawState_Nothing);

255
apps/openmw/mwmechanics/aicombat.cpp
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@ -41,7 +41,7 @@ namespace MWMechanics
float mTimerCombatMove;
bool mReadyToAttack;
bool mAttack;
bool mFollowTarget;
float mAttackRange;
bool mCombatMove;
osg::Vec3f mLastTargetPos;
const MWWorld::CellStore* mCell;
@ -50,8 +50,8 @@ namespace MWMechanics
float mStrength;
bool mForceNoShortcut;
ESM::Position mShortcutFailPos;
osg::Vec3f mLastActorPos;
MWMechanics::Movement mMovement;
bool mAdjustAiming;
AiCombatStorage():
mAttackCooldown(0),
@ -59,7 +59,7 @@ namespace MWMechanics
mTimerCombatMove(0),
mReadyToAttack(false),
mAttack(false),
mFollowTarget(false),
mAttackRange(200), // default attack range (same as in Creature::Hit)
mCombatMove(false),
mLastTargetPos(0,0,0),
mCell(NULL),
@ -67,8 +67,9 @@ namespace MWMechanics
mActionCooldown(0),
mStrength(),
mForceNoShortcut(false),
mLastActorPos(0,0,0),
mMovement(){}
mMovement(),
mAdjustAiming(false)
{}
void startCombatMove(bool isNpc, bool isDistantCombat, float distToTarget, float rangeAttack);
void updateCombatMove(float duration);
@ -139,6 +140,7 @@ namespace MWMechanics
* Use the Observer Pattern to co-ordinate attacks, provide intelligence on
* whether the target was hit, etc.
*/
bool AiCombat::execute (const MWWorld::Ptr& actor, CharacterController& characterController, AiState& state, float duration)
{
// get or create temporary storage
@ -158,33 +160,33 @@ namespace MWMechanics
return true;
//Update every frame
storage.mReadyToAttack = pathTo(actor, target.getRefData().getPosition().pos, duration, storage.mAttackRange);
storage.updateCombatMove(duration);
updateActorsMovement(actor, duration, storage.mMovement);
if (storage.mReadyToAttack) updateActorsMovement(actor, duration, storage);
storage.updateAttack(characterController);
storage.mActionCooldown -= duration;
float& timerReact = storage.mTimerReact;
if(timerReact < AI_REACTION_TIME)
if (timerReact < AI_REACTION_TIME)
{
timerReact += duration;
return false;
}
else
{
timerReact = 0;
return reactionTimeActions(actor, characterController, storage, target);
attack(actor, target, storage, characterController);
}
return false;
}
bool AiCombat::reactionTimeActions(const MWWorld::Ptr& actor, CharacterController& characterController,
AiCombatStorage& storage, MWWorld::Ptr target)
void AiCombat::attack(const MWWorld::Ptr& actor, const MWWorld::Ptr& target, AiCombatStorage& storage, CharacterController& characterController)
{
MWMechanics::Movement& movement = storage.mMovement;
if (isTargetMagicallyHidden(target))
{
storage.stopAttack();
return false; // TODO: run away instead of doing nothing
return; // TODO: run away instead of doing nothing
}
const MWWorld::CellStore*& currentCell = storage.mCell;
@ -199,10 +201,9 @@ namespace MWMechanics
float& actionCooldown = storage.mActionCooldown;
if (actionCooldown > 0)
return false;
return;
float rangeAttack = 0;
float rangeFollow = 0;
float &rangeAttack = storage.mAttackRange;
boost::shared_ptr<Action>& currentAction = storage.mCurrentAction;
if (characterController.readyToPrepareAttack())
{
@ -210,6 +211,7 @@ namespace MWMechanics
actionCooldown = currentAction->getActionCooldown();
}
float rangeFollow;
if (currentAction.get())
currentAction->getCombatRange(rangeAttack, rangeFollow);
@ -243,7 +245,7 @@ namespace MWMechanics
else //is creature
{
weaptype = actorClass.getCreatureStats(actor).getDrawState() == DrawState_Spell ? WeapType_Spell : WeapType_HandToHand;
weapRange = 150.0f; //TODO: use true attack range (the same problem in Creature::hit)
weapRange = 200; //TODO: use true attack range (the same problem in Creature::hit)
}
bool distantCombat = false;
@ -253,55 +255,19 @@ namespace MWMechanics
if (weaptype == WeapType_BowAndArrow || weaptype == WeapType_Crossbow || weaptype == WeapType_Thrown)
{
rangeAttack = 1000;
rangeFollow = 0; // not needed in ranged combat
distantCombat = true;
}
else
{
rangeAttack = weapRange;
rangeFollow = 300;
}
}
else
{
distantCombat = (rangeAttack > 500);
weapRange = 150.f;
weapRange = 200;
}
bool& readyToAttack = storage.mReadyToAttack;
// start new attack
storage.startAttackIfReady(actor, characterController, weapon, distantCombat);
/*
* Some notes on meanings of variables:
*
* rangeAttack:
*
* - Distance where attack using the actor's weapon is possible:
* longer for ranged weapons (obviously?) vs. melee weapons
* - Determined by weapon's reach parameter; hardcoded value
* for ranged weapon and for creatures
* - Once within this distance mFollowTarget is triggered
*
* rangeFollow:
*
* - Applies to melee weapons or hand to hand only (or creatures without
* weapons)
* - Distance a little further away than the actor's weapon reach
* i.e. rangeFollow > rangeAttack for melee weapons
* - Hardcoded value (0 for ranged weapons)
* - Once the target gets beyond this distance mFollowTarget is cleared
* and a path to the target needs to be found
*
* mFollowTarget:
*
* - Once triggered, the actor follows the target with LOS shortcut
* (the shortcut really only applies to cells where pathgrids are
* available, since the default path without pathgrids is direct to
* target even if LOS is not achieved)
*/
ESM::Position pos = actor.getRefData().getPosition();
osg::Vec3f vActorPos(pos.asVec3());
osg::Vec3f vTargetPos(target.getRefData().getPosition().asVec3());
@ -309,153 +275,49 @@ namespace MWMechanics
osg::Vec3f vAimDir = MWBase::Environment::get().getWorld()->aimToTarget(actor, target);
float distToTarget = MWBase::Environment::get().getWorld()->getHitDistance(actor, target);
osg::Vec3f& lastActorPos = storage.mLastActorPos;
bool& followTarget = storage.mFollowTarget;
bool isStuck = false;
float speed = 0.0f;
if(movement.mPosition[1] && (lastActorPos - vActorPos).length() < (speed = actorClass.getSpeed(actor)) * AI_REACTION_TIME / 2)
isStuck = true;
lastActorPos = vActorPos;
// check if actor can move along z-axis
bool canMoveByZ = (actorClass.canSwim(actor) && world->isSwimming(actor))
|| world->isFlying(actor);
// can't fight if attacker can't go where target is. E.g. A fish can't attack person on land.
if (distToTarget >= rangeAttack
&& !actorClass.isNpc() && !MWMechanics::isEnvironmentCompatible(actor, target))
{
// TODO: start fleeing?
storage.stopAttack();
return false;
return;
}
// for distant combat we should know if target is in LOS even if distToTarget < rangeAttack
bool inLOS = distantCombat ? world->getLOS(actor, target) : true;
// (within attack dist) || (not quite attack dist while following)
if(inLOS && (distToTarget < rangeAttack || (distToTarget <= rangeFollow && followTarget && !isStuck)))
if (storage.mReadyToAttack)
{
mPathFinder.clearPath();
//Melee and Close-up combat
// getXAngleToDir determines vertical angle to target:
// if actor can move along z-axis it will control movement dir
// if can't - it will control correct aiming.
// note: in getZAngleToDir if we preserve dir.z then horizontal angle can be inaccurate
storage.startCombatMove(actorClass.isNpc(), distantCombat, distToTarget, rangeAttack);
// start new attack
storage.startAttackIfReady(actor, characterController, weapon, distantCombat);
if (distantCombat)
{
// rotate actor taking into account target movement direction and projectile speed
osg::Vec3f& lastTargetPos = storage.mLastTargetPos;
vAimDir = AimDirToMovingTarget(actor, target, lastTargetPos, AI_REACTION_TIME, weaptype,
storage.mStrength);
vAimDir = AimDirToMovingTarget(actor, target, lastTargetPos, AI_REACTION_TIME, weaptype, storage.mStrength);
lastTargetPos = vTargetPos;
movement.mRotation[0] = getXAngleToDir(vAimDir);
movement.mRotation[2] = getZAngleToDir(vAimDir);
}
else
{
movement.mRotation[0] = getXAngleToDir(vAimDir);
movement.mRotation[2] = getZAngleToDir((vTargetPos-vActorPos)); // using vAimDir results in spastic movements since the head is animated
}
// (not quite attack dist while following)
if (followTarget && distToTarget > rangeAttack)
{
//Close-up combat: just run up on target
storage.stopCombatMove();
movement.mPosition[1] = 1;
}
else // (within attack dist)
{
storage.startCombatMove(actorClass.isNpc(), distantCombat, distToTarget, rangeAttack);
readyToAttack = true;
//only once got in melee combat, actor is allowed to use close-up shortcutting
followTarget = true;
}
}
else // remote pathfinding
{
bool preferShortcut = false;
if (!distantCombat) inLOS = world->getLOS(actor, target);
// check if shortcut is available
bool& forceNoShortcut = storage.mForceNoShortcut;
ESM::Position& shortcutFailPos = storage.mShortcutFailPos;
if(inLOS && (!isStuck || readyToAttack)
&& (!forceNoShortcut || (shortcutFailPos.asVec3() - vActorPos).length() >= PATHFIND_SHORTCUT_RETRY_DIST))
{
if(speed == 0.0f) speed = actorClass.getSpeed(actor);
// maximum dist before pit/obstacle for actor to avoid them depending on his speed
float maxAvoidDist = AI_REACTION_TIME * speed + speed / MAX_VEL_ANGULAR_RADIANS * 2; // *2 - for reliability
preferShortcut = checkWayIsClear(vActorPos, vTargetPos, osg::Vec3f(vAimDir.x(), vAimDir.y(), 0).length() > maxAvoidDist*1.5? maxAvoidDist : maxAvoidDist/2);
}
// don't use pathgrid when actor can move in 3 dimensions
if (canMoveByZ)
{
preferShortcut = true;
MWMechanics::Movement& movement = storage.mMovement;
movement.mRotation[0] = getXAngleToDir(vAimDir);
movement.mRotation[2] = getZAngleToDir(vAimDir);
}
if(preferShortcut)
{
movement.mRotation[2] = getZAngleToDir((vTargetPos-vActorPos));
forceNoShortcut = false;
shortcutFailPos.pos[0] = shortcutFailPos.pos[1] = shortcutFailPos.pos[2] = 0;
mPathFinder.clearPath();
}
else // if shortcut failed stick to path grid
{
if(!isStuck && shortcutFailPos.pos[0] == 0.0f && shortcutFailPos.pos[1] == 0.0f && shortcutFailPos.pos[2] == 0.0f)
{
forceNoShortcut = true;
shortcutFailPos = pos;
}
followTarget = false;
buildNewPath(actor, target);
// should always return a path (even if it's just go straight on target.)
assert(mPathFinder.isPathConstructed());
}
if (readyToAttack)
{
// to stop possible sideway moving after target moved out of attack range
storage.stopCombatMove();
readyToAttack = false;
}
movement.mPosition[1] = 1;
storage.mAdjustAiming = distantCombat;
}
return false;
}
void AiCombat::updateActorsMovement(const MWWorld::Ptr& actor, float duration, MWMechanics::Movement& desiredMovement)
void AiCombat::updateActorsMovement(const MWWorld::Ptr& actor, float duration, AiCombatStorage& storage)
{
// apply combat movement
MWMechanics::Movement& actorMovementSettings = actor.getClass().getMovementSettings(actor);
if (mPathFinder.isPathConstructed())
{
const ESM::Position& pos = actor.getRefData().getPosition();
if (mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1]))
{
actorMovementSettings.mPosition[1] = 0;
}
else
{
evadeObstacles(actor, duration, pos);
}
}
else
actorMovementSettings.mPosition[0] = storage.mMovement.mPosition[0];
actorMovementSettings.mPosition[1] = storage.mMovement.mPosition[1];
actorMovementSettings.mPosition[2] = storage.mMovement.mPosition[2];
if (storage.mAdjustAiming)
{
actorMovementSettings = desiredMovement;
rotateActorOnAxis(actor, 2, actorMovementSettings, desiredMovement);
rotateActorOnAxis(actor, 0, actorMovementSettings, desiredMovement);
rotateActorOnAxis(actor, 2, actorMovementSettings, storage.mMovement);
rotateActorOnAxis(actor, 0, actorMovementSettings, storage.mMovement);
}
}
@ -474,35 +336,6 @@ namespace MWMechanics
}
}
bool AiCombat::doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell)
{
if (!mPathFinder.getPath().empty())
{
osg::Vec3f currPathTarget(PathFinder::MakeOsgVec3(mPathFinder.getPath().back()));
osg::Vec3f newPathTarget = PathFinder::MakeOsgVec3(dest);
float dist = (newPathTarget - currPathTarget).length();
float targetPosThreshold = (cell->isExterior()) ? 300.0f : 100.0f;
return dist > targetPosThreshold;
}
else
{
// necessarily construct a new path
return true;
}
}
void AiCombat::buildNewPath(const MWWorld::Ptr& actor, const MWWorld::Ptr& target)
{
ESM::Pathgrid::Point newPathTarget = PathFinder::MakePathgridPoint(target.getRefData().getPosition());
//construct new path only if target has moved away more than on [targetPosThreshold]
if (doesPathNeedRecalc(newPathTarget, actor.getCell()->getCell()))
{
ESM::Pathgrid::Point start(PathFinder::MakePathgridPoint(actor.getRefData().getPosition()));
mPathFinder.buildSyncedPath(start, newPathTarget, actor.getCell());
}
}
int AiCombat::getTypeId() const
{
return TypeIdCombat;
@ -542,13 +375,13 @@ namespace MWMechanics
mTimerCombatMove = 0.1f + 0.1f * Misc::Rng::rollClosedProbability();
mCombatMove = true;
}
// only NPCs are smart enough to use dodge movements
// dodge movements (for NPCs only)
else if (isNpc && (!isDistantCombat || (distToTarget < rangeAttack / 2)))
{
//apply sideway movement (kind of dodging) with some probability
if (Misc::Rng::rollClosedProbability() < 0.25)
{
mMovement.mPosition[0] = Misc::Rng::rollProbability() < 0.5 ? 1.0f : -1.0f;
mMovement.mPosition[0] = Misc::Rng::rollProbability() < 0.5 ? 1.0f : -1.0f; // to the left/right
mTimerCombatMove = 0.05f + 0.15f * Misc::Rng::rollClosedProbability();
mCombatMove = true;
}

9
apps/openmw/mwmechanics/aicombat.hpp
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@ -53,19 +53,14 @@ namespace MWMechanics
virtual void writeState(ESM::AiSequence::AiSequence &sequence) const;
protected:
virtual bool doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell);
private:
int mTargetActorId;
void buildNewPath(const MWWorld::Ptr& actor, const MWWorld::Ptr& target);
bool reactionTimeActions(const MWWorld::Ptr& actor, CharacterController& characterController,
AiCombatStorage& storage, MWWorld::Ptr target);
void attack(const MWWorld::Ptr& actor, const MWWorld::Ptr& target, AiCombatStorage& storage, CharacterController& characterController);
/// Transfer desired movement (from AiCombatStorage) to Actor
void updateActorsMovement(const MWWorld::Ptr& actor, float duration, MWMechanics::Movement& movement);
void updateActorsMovement(const MWWorld::Ptr& actor, float duration, AiCombatStorage& storage);
void rotateActorOnAxis(const MWWorld::Ptr& actor, int axis,
MWMechanics::Movement& actorMovementSettings, MWMechanics::Movement& desiredMovement);
};

10
apps/openmw/mwmechanics/aipackage.cpp
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@ -72,7 +72,7 @@ bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgr
if (!mIsShortcutting)
{
if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell()->getCell())) // only rebuild path if the target has moved
if (wasShortcutting || doesPathNeedRecalc(dest)) // only rebuild path if the target has moved
{
mPathFinder.buildSyncedPath(start, dest, actor.getCell());
@ -226,13 +226,11 @@ bool MWMechanics::AiPackage::checkWayIsClearForActor(const ESM::Pathgrid::Point&
return isClear;
}
bool MWMechanics::AiPackage::doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell)
bool MWMechanics::AiPackage::doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest)
{
bool needRecalc = distance(mPrevDest, dest) > 10;
if (needRecalc)
mPrevDest = dest;
if (mPathFinder.getPath().empty()) return true;
return needRecalc;
return (distance(mPathFinder.getPath().back(), newDest) > 10);
}
bool MWMechanics::AiPackage::isTargetMagicallyHidden(const MWWorld::Ptr& target)

3
apps/openmw/mwmechanics/aipackage.hpp
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@ -95,7 +95,7 @@ namespace MWMechanics
/// Check if the way to the destination is clear, taking into account actor speed
bool checkWayIsClearForActor(const ESM::Pathgrid::Point& startPoint, const ESM::Pathgrid::Point& endPoint, const MWWorld::Ptr& actor);
virtual bool doesPathNeedRecalc(ESM::Pathgrid::Point dest, const ESM::Cell *cell);
virtual bool doesPathNeedRecalc(const ESM::Pathgrid::Point& newDest);
void evadeObstacles(const MWWorld::Ptr& actor, float duration, const ESM::Position& pos);
@ -105,7 +105,6 @@ namespace MWMechanics
float mTimer;
ESM::Pathgrid::Point mPrevDest;
osg::Vec3f mLastActorPos;
bool mIsShortcutting; // if shortcutting at the moment

1
apps/openmw/mwmechanics/aipursue.cpp
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@ -35,7 +35,6 @@ bool AiPursue::execute (const MWWorld::Ptr& actor, CharacterController& characte
if(actor.getClass().getCreatureStats(actor).isDead())
return true;
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
const MWWorld::Ptr target = MWBase::Environment::get().getWorld()->searchPtrViaActorId(mTargetActorId); //The target to follow
if(target == MWWorld::Ptr() || !target.getRefData().getCount() || !target.getRefData().isEnabled() // Really we should be checking whether the target is currently registered

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