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elevated mAicontroller to shapebase

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aiwheeleedveiclecontrollerdata resolvespeed now only touches throttle
objects assigned aicontrollers now reflect that by thier objecttype
basic flocking
This commit is contained in:
AzaezelX 2025-04-19 04:25:36 -05:00
parent d36cf31707
commit 3210325f3f
15 changed files with 352 additions and 185 deletions
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191
Engine/source/T3D/AI/AIController.cpp
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@ -122,6 +122,27 @@ bool AIController::getAIMove(Move* movePtr)
Point3F location = eye.getPosition();
Point3F rotation = sbo->getTransform().toEuler();
// Test for target location in sight if it's an object. The LOS is
// run from the eye position to the center of the object's bounding,
// which is not very accurate.
if (getAim() && getAim()->mObj)
{
GameBase* gbo = dynamic_cast<GameBase*>(getAIInfo()->mObj.getPointer());
if (getAim()->checkInLos(gbo))
{
if (!getAim()->mTargetInLOS)
{
throwCallback("onTargetEnterLOS");
getAim()->mTargetInLOS = true;
}
}
else if (getAim()->mTargetInLOS)
{
throwCallback("onTargetExitLOS");
getAim()->mTargetInLOS = false;
}
}
#ifdef TORQUE_NAVIGATION_ENABLED
if (sbo->getDamageState() == ShapeBase::Enabled && getGoal())
{
@ -181,6 +202,7 @@ bool AIController::getAIMove(Move* movePtr)
}
#endif // TORQUE_NAVIGATION_ENABLED
getNav()->flock();
// Orient towards the aim point, aim object, or towards
// our destination.
if (getAim() || mMovement.mMoveState != ModeStop)
@ -189,7 +211,7 @@ bool AIController::getAIMove(Move* movePtr)
if (getAim())
mMovement.mAimLocation = getAim()->getPosition();
else
mMovement.mAimLocation = getNav()->mMoveDestination;
mMovement.mAimLocation = getNav()->getMoveDestination();
mControllerData->resolveYawPtr(this, location, movePtr);
mControllerData->resolvePitchPtr(this, location, movePtr);
@ -197,11 +219,10 @@ bool AIController::getAIMove(Move* movePtr)
if (mMovement.mMoveState != AIController::ModeStop)
{
F32 xDiff = getNav()->mMoveDestination.x - location.x;
F32 yDiff = getNav()->mMoveDestination.y - location.y;
F32 xDiff = getNav()->getMoveDestination().x - location.x;
F32 yDiff = getNav()->getMoveDestination().y - location.y;
if (mFabs(xDiff) < mControllerData->mMoveTolerance && mFabs(yDiff) < mControllerData->mMoveTolerance)
{
mMovement.mMoveState = AIController::ModeStop;
getNav()->onReachDestination();
}
else
@ -214,27 +235,7 @@ bool AIController::getAIMove(Move* movePtr)
mControllerData->resolveTriggerStatePtr(this, movePtr);
// Test for target location in sight if it's an object. The LOS is
// run from the eye position to the center of the object's bounding,
// which is not very accurate.
if (getAim() && getAim()->mObj)
{
GameBase* gbo = dynamic_cast<GameBase*>(getAIInfo()->mObj.getPointer());
if (getAim()->checkInLos(gbo))
{
if (!getAim()->mTargetInLOS)
{
throwCallback("onTargetEnterLOS");
getAim()->mTargetInLOS = true;
}
}
else if (getAim()->mTargetInLOS)
{
throwCallback("onTargetExitLOS");
getAim()->mTargetInLOS = false;
}
}
getAIInfo()->mLastPos = getAIInfo()->getPosition();
return true;
}
@ -250,17 +251,18 @@ void AIController::Movement::stopMove()
{
mMoveState = ModeStop;
#ifdef TORQUE_NAVIGATION_ENABLED
mControllerRef->getNav()->clearPath();
mControllerRef->clearCover();
mControllerRef->getNav()->clearFollow();
getCtrl()->getNav()->clearPath();
getCtrl()->clearCover();
getCtrl()->getNav()->clearFollow();
#endif
}
void AIController::Movement::onStuck()
{
mControllerRef->throwCallback("onMoveStuck");
mMoveState = AIController::ModeStuck;
getCtrl()->throwCallback("onMoveStuck");
#ifdef TORQUE_NAVIGATION_ENABLED
if (!mControllerRef->getNav()->getPath().isNull())
mControllerRef->getNav()->repath();
if (!getCtrl()->getNav()->getPath().isNull())
getCtrl()->getNav()->repath();
#endif
}
@ -386,28 +388,28 @@ void AIControllerData::resolveRoll(AIController* obj, Point3F location, Move* mo
void AIControllerData::resolveSpeed(AIController* obj, Point3F location, Move* movePtr)
{
F32 xDiff = obj->getNav()->mMoveDestination.x - location.x;
F32 yDiff = obj->getNav()->mMoveDestination.y - location.y;
F32 xDiff = obj->getNav()->getMoveDestination().x - location.x;
F32 yDiff = obj->getNav()->getMoveDestination().y - location.y;
Point3F rotation = obj->getAIInfo()->mObj->getTransform().toEuler();
// Build move direction in world space
if (mIsZero(xDiff))
movePtr->y = (location.y > obj->getNav()->mMoveDestination.y) ? -1.0f : 1.0f;
movePtr->y = (location.y > obj->getNav()->getMoveDestination().y) ? -1.0f : 1.0f;
else
if (mIsZero(yDiff))
movePtr->x = (location.x > obj->getNav()->mMoveDestination.x) ? -1.0f : 1.0f;
movePtr->x = (location.x > obj->getNav()->getMoveDestination().x) ? -1.0f : 1.0f;
else
if (mFabs(xDiff) > mFabs(yDiff))
{
F32 value = mFabs(yDiff / xDiff);
movePtr->y = (location.y > obj->getNav()->mMoveDestination.y) ? -value : value;
movePtr->x = (location.x > obj->getNav()->mMoveDestination.x) ? -1.0f : 1.0f;
movePtr->y = (location.y > obj->getNav()->getMoveDestination().y) ? -value : value;
movePtr->x = (location.x > obj->getNav()->getMoveDestination().x) ? -1.0f : 1.0f;
}
else
{
F32 value = mFabs(xDiff / yDiff);
movePtr->x = (location.x > obj->getNav()->mMoveDestination.x) ? -value : value;
movePtr->y = (location.y > obj->getNav()->mMoveDestination.y) ? -1.0f : 1.0f;
movePtr->x = (location.x > obj->getNav()->getMoveDestination().x) ? -value : value;
movePtr->y = (location.y > obj->getNav()->getMoveDestination().y) ? -1.0f : 1.0f;
}
// Rotate the move into object space (this really only needs
@ -430,15 +432,11 @@ void AIControllerData::resolveSpeed(AIController* obj, Point3F location, Move* m
speed *= dist / maxDist;
movePtr->x *= speed;
movePtr->y *= speed;
obj->mMovement.mMoveState = AIController::ModeSlowing;
}
else
{
movePtr->x *= obj->mMovement.mMoveSpeed;
movePtr->y *= obj->mMovement.mMoveSpeed;
obj->mMovement.mMoveState = AIController::ModeMove;
}
}
@ -453,36 +451,57 @@ void AIControllerData::resolveTriggerState(AIController* obj, Move* movePtr)
void AIControllerData::resolveStuck(AIController* obj)
{
if (obj->mMovement.mMoveState == AIController::ModeStop) return;
if (obj->mMovement.mMoveState == AIController::ModeStuck) return;
if (!obj->getGoal()) return;
ShapeBase* sbo = dynamic_cast<ShapeBase*>(obj->getAIInfo()->mObj.getPointer());
// Don't check for ai stuckness if animation during
// an anim-clip effect override.
if (sbo->getDamageState() == ShapeBase::Enabled && !(sbo->anim_clip_flags & ShapeBase::ANIM_OVERRIDDEN) && !sbo->isAnimationLocked())
{
if (obj->mMovement.mMoveStuckTestCountdown > 0)
--obj->mMovement.mMoveStuckTestCountdown;
else
// We should check to see if we are stuck...
F32 locationDelta = (obj->getAIInfo()->getPosition() - obj->getAIInfo()->mLastPos).len();
if (locationDelta < mMoveStuckTolerance)
{
// We should check to see if we are stuck...
F32 locationDelta = (obj->getAIInfo()->getPosition() - obj->getAIInfo()->mLastPos).len();
if (locationDelta < mMoveStuckTolerance)
if (obj->mMovement.mMoveStuckTestCountdown > 0)
--obj->mMovement.mMoveStuckTestCountdown;
else
{
// If we are slowing down, then it's likely that our location delta will be less than
// our move stuck tolerance. Because we can be both slowing and stuck
// we should TRY to check if we've moved. This could use better detection.
if (obj->mMovement.mMoveState != AIController::ModeSlowing || locationDelta == 0)
{
obj->mMovement.mMoveState = AIController::ModeStuck;
obj->mMovement.onStuck();
obj->throwCallback("onStuck");
}
obj->mMovement.mMoveStuckTestCountdown = obj->mControllerData->mMoveStuckTestDelay;
}
}
obj->getAIInfo()->mLastPos = obj->getAIInfo()->getPosition();
}
}
AIControllerData::AIControllerData()
{
mMoveTolerance = 0.25;
mFollowTolerance = 1.0;
mAttackRadius = 2.0;
mMoveStuckTolerance = 0.01f;
mMoveStuckTestDelay = 30;
mLinkTypes = LinkData(AllFlags);
mNavSize = AINavigation::Regular;
mFlocking.mChance = 100;
mFlocking.mMin = 1.0f;
mFlocking.mMax = 3.0f;
mFlocking.mSideStep = 0.125f;
resolveYawPtr.bind(this, &AIControllerData::resolveYaw);
resolvePitchPtr.bind(this, &AIControllerData::resolvePitch);
resolveRollPtr.bind(this, &AIControllerData::resolveRoll);
resolveSpeedPtr.bind(this, &AIControllerData::resolveSpeed);
resolveTriggerStatePtr.bind(this, &AIControllerData::resolveTriggerState);
resolveStuckPtr.bind(this, &AIControllerData::resolveStuck);
}
void AIControllerData::initPersistFields()
{
docsURL;
@ -518,6 +537,14 @@ void AIControllerData::initPersistFields()
addFieldV("AttackRadius", TypeRangedF32, Offset(mAttackRadius, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance considered in firing range for callback purposes.");
addFieldV("FlockChance", TypeRangedS32, Offset(mFlocking.mChance, AIControllerData), &CommonValidators::S32Percent,
"@brief chance of flocking.");
addFieldV("FlockMin", TypeRangedF32, Offset(mFlocking.mMin, AIControllerData), &CommonValidators::PositiveFloat,
"@brief min flocking separation distance.");
addFieldV("FlockMax", TypeRangedF32, Offset(mFlocking.mMax, AIControllerData), &CommonValidators::PositiveFloat,
"@brief max flocking clustering distance.");
addFieldV("FlockSideStep", TypeRangedF32, Offset(mFlocking.mSideStep, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance from destination before we stop moving out of the way.");
endGroup("AI");
#ifdef TORQUE_NAVIGATION_ENABLED
@ -626,7 +653,7 @@ F32 AIWheeledVehicleControllerData::getSteeringAngle(AIController* obj, Point3F
// What is our target
Point3F desired;
desired = obj->getNav()->mMoveDestination;
desired = obj->getNav()->getMoveDestination();
MatrixF mat = wvo->getTransform();
Point3F center, front;
@ -739,4 +766,60 @@ void AIWheeledVehicleControllerData::resolveYaw(AIController* obj, Point3F locat
movePtr->yaw = getSteeringAngle(obj, location);
}
};
void AIWheeledVehicleControllerData::resolveSpeed(AIController* obj, Point3F location, Move* movePtr)
{
F32 xDiff = obj->getNav()->getMoveDestination().x - location.x;
F32 yDiff = obj->getNav()->getMoveDestination().y - location.y;
Point3F rotation = obj->getAIInfo()->mObj->getTransform().toEuler();
Point2F movTarg;
// Build move direction in world space
if (mIsZero(xDiff))
movTarg.y = (location.y > obj->getNav()->getMoveDestination().y) ? -1.0f : 1.0f;
else
{
if (mIsZero(yDiff))
movTarg.x = (location.x > obj->getNav()->getMoveDestination().x) ? -1.0f : 1.0f;
else
{
if (mFabs(xDiff) > mFabs(yDiff))
{
F32 value = mFabs(yDiff / xDiff);
movTarg.y = (location.y > obj->getNav()->getMoveDestination().y) ? -value : value;
movTarg.x = (location.x > obj->getNav()->getMoveDestination().x) ? -1.0f : 1.0f;
}
else
{
F32 value = mFabs(xDiff / yDiff);
movTarg.x = (location.x > obj->getNav()->getMoveDestination().x) ? -value : value;
movTarg.y = (location.y > obj->getNav()->getMoveDestination().y) ? -1.0f : 1.0f;
}
}
}
// Rotate the move into object space (this really only needs
// a 2D matrix)
Point3F newMove;
MatrixF moveMatrix;
moveMatrix.set(EulerF(0.0f, 0.0f, -(rotation.z + movePtr->yaw)));
moveMatrix.mulV(Point3F(movTarg.x, movTarg.y, 0.0f), &newMove);
movTarg.y = newMove.y;
// Set Throttle. We'll slow down once we get close
// to try and stop on the spot...
if (obj->mMovement.mMoveSlowdown)
{
F32 throttle = obj->mMovement.mMoveSpeed;
F32 dist = mSqrt(xDiff * xDiff + yDiff * yDiff);
F32 maxDist = mMoveTolerance * 2;
if (dist < maxDist)
throttle *= dist / maxDist;
movePtr->y *= throttle;
}
else
{
movePtr->y *= obj->mMovement.mMoveSpeed;
}
}
#endif //_AICONTROLLER_H_