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make steerstate for AIWheeledVehicleControllerData's self contained

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variable raylength for the rpath filter. same 0.001 for players to stop recalculating a path when jumping, but bump anything they're mounted to to a 2 unit check

bit of work towards parallel parking. or at least not ending up arcing back and forth infinitely in an arc
This commit is contained in:
AzaezelX 2025-04-17 23:31:30 -05:00
parent 1fad2c7372
commit 2d5e8c1560
2 changed files with 70 additions and 26 deletions
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88
Engine/source/T3D/AI/AIController.cpp
View file

@ -141,12 +141,16 @@ bool AIController::getAIMove(Move* movePtr)
{
if (getGoal()->getDist() > mControllerData->mFollowTolerance)
{
F32 raylength = 2.0; //for vehicles
SceneObject* obj = getAIInfo()->mObj->getObjectMount();
if (!obj)
{
obj = getAIInfo()->mObj;
raylength = 0.001f; //for jumping
}
RayInfo info;
if (obj->getContainer()->castRay(obj->getPosition(), obj->getPosition() - Point3F(0, 0, 0.001f), StaticShapeObjectType, &info))
if (obj->getContainer()->castRay(obj->getPosition(), obj->getPosition() - Point3F(0, 0, raylength), StaticShapeObjectType, &info))
{
getNav()->repath();
}
@ -607,7 +611,7 @@ IMPLEMENT_CO_DATABLOCK_V1(AIWheeledVehicleControllerData);
// Build a Triangle .. calculate angle of rotation required to meet target..
// man there has to be a better way! >:)
F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj)
F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj, Point3F location)
{
WheeledVehicle* wvo = dynamic_cast<WheeledVehicle*>(obj->getAIInfo()->mObj.getPointer());
if (!wvo)
@ -618,6 +622,8 @@ F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj)
}
if (!wvo) return 0;//not a WheeledVehicle
DrivingState steerState = SteerNull;
// What is our target
Point3F desired;
desired = obj->getNav()->mMoveDestination;
@ -661,10 +667,6 @@ F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj)
F32 fTol = mSqrt((ftol.x * ftol.x) + (ftol.y * ftol.y));
F32 myAngle = mAcos(((lToc * lToc) + (fToc * fToc) - (fTol * fTol)) / (2 * lToc * fToc));
Point3F location = obj->getAIInfo()->getPosition();
F32 xDiff = desired.x - location.x;
F32 yDiff = desired.y - location.y;
F32 finalYaw = mRadToDeg(myAngle);
@ -673,10 +675,12 @@ F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj)
VehicleData* vd = (VehicleData*)(wvo->getDataBlock());
maxSteeringAngle = vd->maxSteeringAngle;
// if(finalYaw > 150)
// steerState = TurnAround;
if (finalYaw < 5)
mSteerState = Straight;
Point2F steering = wvo->getSteering();
if (finalYaw < 5 && steering.x != 0.0f)
steerState = Straight;
else if (finalYaw < 5)
steerState = SteerNull;
else
{// Quickly Hack out left or right turn info
Point3F rotData = objFront - desired;
@ -686,32 +690,74 @@ F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj)
leftP = leftP + desired;
if (leftP.x < desired.x)
mSteerState = Right;
steerState = Right;
else
mSteerState = Left;
steerState = Left;
}
Point2F steering = wvo->getSteering();
F32 xDiff = obj->getNav()->mMoveDestination.x - location.x;
F32 yDiff = obj->getNav()->mMoveDestination.y - location.y;
Point3F rotation = wvo->getTransform().toEuler();
Point2F mov;
// Build move direction in world space
if (mIsZero(xDiff))
mov.y = (location.y > obj->getNav()->mMoveDestination.y) ? -1.0f : 1.0f;
else
{
if (mIsZero(yDiff))
mov.x = (location.x > obj->getNav()->mMoveDestination.x) ? -1.0f : 1.0f;
else
if (mFabs(xDiff) > mFabs(yDiff))
{
F32 value = mFabs(yDiff / xDiff);
mov.y = (location.y > obj->getNav()->mMoveDestination.y) ? -value : value;
mov.x = (location.x > obj->getNav()->mMoveDestination.x) ? -1.0f : 1.0f;
}
else
{
F32 value = mFabs(xDiff / yDiff);
mov.x = (location.x > obj->getNav()->mMoveDestination.x) ? -value : value;
mov.y = (location.y > obj->getNav()->mMoveDestination.y) ? -1.0f : 1.0f;
}
}
// Rotate the move into object space (this really only needs
// a 2D matrix)
Point3F throttle;
MatrixF moveMatrix;
moveMatrix.set(EulerF(0.0f, 0.0f, -(rotation.z + steering.x)));
moveMatrix.mulV(Point3F(mov.x, mov.y, 0.0f), &throttle);
F32 turnAdjust = myAngle - steering.x;
if (throttle.y < 0.0f)
{
F32 reverseReduction = 0.25f;
if (steerState == Left)
steerState = Right;
else if (steerState == Right)
steerState = Left;
turnAdjust *= reverseReduction;
myAngle *= reverseReduction;
}
F32 steer = 0;
switch (mSteerState)
switch (steerState)
{
case SteerNull:
break;
case Left:
steer = myAngle < maxSteeringAngle ? -myAngle - steering.x : -maxSteeringAngle - steering.x;
steer = myAngle < maxSteeringAngle ? -turnAdjust : -maxSteeringAngle - steering.x;
break;
case Right:
steer = myAngle < maxSteeringAngle ? myAngle - steering.x : maxSteeringAngle - steering.x;
steer = myAngle < maxSteeringAngle ? turnAdjust : maxSteeringAngle - steering.x;
break;
case Straight:
steer = -steering.x;
break;
case TurnAround:
steer = maxSteeringAngle - steering.x;
default:
break;
};
// Con::printf("AI Steering : %f", steer);
return steer;
}
@ -730,7 +776,7 @@ void AIWheeledVehicleControllerData::resolveYaw(AIController* obj, Point3F locat
// Orient towards our destination.
if (obj->mMovement.mMoveState == AIController::ModeMove || obj->mMovement.mMoveState == AIController::ModeReverse) {
movePtr->yaw = getSteeringAngle(obj);
movePtr->yaw = getSteeringAngle(obj, location);
}
};
void AIWheeledVehicleControllerData::resolveTriggerState(AIController* obj, Move* movePtr) {};

8
Engine/source/T3D/AI/AIController.h
View file

@ -208,18 +208,16 @@ class AIWheeledVehicleControllerData : public AIControllerData
SteerNull,
Left,
Right,
Straight,
TurnAround
} mSteerState;
Straight
};
public:
AIWheeledVehicleControllerData()
{
mSteerState = SteerNull;
resolveYawPtr.bind(this, &AIWheeledVehicleControllerData::resolveYaw);
resolveTriggerStatePtr.bind(this, &AIWheeledVehicleControllerData::resolveTriggerState);
}
F32 getSteeringAngle(AIController* obj);
F32 getSteeringAngle(AIController* obj, Point3F location);
void resolveYaw(AIController* obj, Point3F location, Move* movePtr);
void resolveTriggerState(AIController* obj, Move* movePtr);
DECLARE_CONOBJECT(AIWheeledVehicleControllerData);