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aiInfo getPosition now optionally takes a doCastray bool (off by default)

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AIFlyingVehicleControllerData add flightfloor and cieling
resolvepitch from (portions of) the old aiflyingvehicle resource
no reversing for flyingvehicles, so bottom out resolvespeed at 0
This commit is contained in:
AzaezelX 2025-04-21 19:13:31 -05:00
parent 6200a6f1fb
commit 584093f48d
5 changed files with 96 additions and 21 deletions
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74
Engine/source/T3D/AI/AIController.cpp
View file

@ -158,7 +158,7 @@ bool AIController::getAIMove(Move* movePtr)
if (getGoal()->mObj.isValid())
getNav()->followObject(getGoal()->mObj, mControllerData->mFollowTolerance);
else if (getGoal()->mPosSet)
getNav()->setPathDestination(getGoal()->getPosition());
getNav()->setPathDestination(getGoal()->getPosition(true));
}
}
else
@ -271,7 +271,7 @@ DefineEngineMethod(AIController, setMoveSpeed, void, (F32 speed), ,
"@brief Sets the move speed for an AI object.\n\n"
"@param speed A speed multiplier between 0.0 and 1.0. "
"This is multiplied by the AIPlayer's base movement rates (as defined in "
"This is multiplied by the AIController controlled object's base movement rates (as defined in "
"its PlayerData datablock)\n\n"
"@see getMoveDestination()\n")
@ -290,7 +290,7 @@ DefineEngineMethod(AIController, getMoveSpeed, F32, (), ,
}
DefineEngineMethod(AIController, stop, void, (), ,
"@brief Tells the AIPlayer to stop moving.\n\n")
"@brief Tells the AIController controlled object to stop moving.\n\n")
{
object->mMovement.stopMove();
}
@ -514,28 +514,35 @@ void AIControllerData::initPersistFields()
addFieldV("moveTolerance", TypeRangedF32, Offset(mMoveTolerance, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance from destination before stopping.\n\n"
"When the AIPlayer is moving to a given destination it will move to within "
"When the AIController controlled object is moving to a given destination it will move to within "
"this distance of the destination and then stop. By providing this tolerance "
"it helps the AIPlayer from never reaching its destination due to minor obstacles, "
"it helps the AIController controlled object from never reaching its destination due to minor obstacles, "
"rounding errors on its position calculation, etc. By default it is set to 0.25.\n");
addFieldV("followTolerance", TypeRangedF32, Offset(mFollowTolerance, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance from destination before stopping.\n\n"
"When the AIPlayer is moving to a given destination it will move to within "
"When the AIController controlled object is moving to a given destination it will move to within "
"this distance of the destination and then stop. By providing this tolerance "
"it helps the AIPlayer from never reaching its destination due to minor obstacles, "
"it helps the AIController controlled object from never reaching its destination due to minor obstacles, "
"rounding errors on its position calculation, etc. By default it is set to 0.25.\n");
addFieldV("moveStuckTolerance", TypeRangedF32, Offset(mMoveStuckTolerance, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance tolerance on stuck check.\n\n"
"When the AIPlayer is moving to a given destination, if it ever moves less than "
"this tolerance during a single tick, the AIPlayer is considered stuck. At this point "
"When the AIController controlled object controlled object is moving to a given destination, if it ever moves less than "
"this tolerance during a single tick, the AIController controlled object is considered stuck. At this point "
"the onMoveStuck() callback is called on the datablock.\n");
addFieldV("HeightTolerance", TypeRangedF32, Offset(mHeightTolerance, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance from destination before stopping.\n\n"
"When the AIController controlled object is moving to a given destination it will move to within "
"this distance of the destination and then stop. By providing this tolerance "
"it helps the AIController controlled object from never reaching its destination due to minor obstacles, "
"rounding errors on its position calculation, etc. By default it is set to 0.25.\n");
addFieldV("moveStuckTestDelay", TypeRangedS32, Offset(mMoveStuckTestDelay, AIControllerData), &CommonValidators::PositiveInt,
"@brief The number of ticks to wait before testing if the AIPlayer is stuck.\n\n"
"When the AIPlayer is asked to move, this property is the number of ticks to wait "
"before the AIPlayer starts to check if it is stuck. This delay allows the AIPlayer "
"@brief The number of ticks to wait before testing if the AIController controlled object is stuck.\n\n"
"When the AIController controlled object is asked to move, this property is the number of ticks to wait "
"before the AIController controlled object starts to check if it is stuck. This delay allows the AIController controlled object "
"to accelerate to full speed without its initial slow start being considered as stuck.\n"
"@note Set to zero to have the stuck test start immediately.\n");
@ -796,6 +803,22 @@ void AIWheeledVehicleControllerData::resolveSpeed(AIController* obj, Point3F loc
//-----------------------------------------------------------------------------
IMPLEMENT_CO_DATABLOCK_V1(AIFlyingVehicleControllerData);
void AIFlyingVehicleControllerData::initPersistFields()
{
docsURL;
addGroup("AI");
addFieldV("FlightFloor", TypeRangedF32, Offset(mFlightFloor, AIFlyingVehicleControllerData), &CommonValidators::PositiveFloat,
"@brief Max height we can target.");
addFieldV("FlightCeiling", TypeRangedF32, Offset(mFlightCeiling, AIFlyingVehicleControllerData), &CommonValidators::PositiveFloat,
"@brief Max height we can target.");
endGroup("AI");
Parent::initPersistFields();
}
// Build a Triangle .. calculate angle of rotation required to meet target..
// man there has to be a better way! >:)
F32 AIFlyingVehicleControllerData::getSteeringAngle(AIController* obj, Point3F location)
@ -927,6 +950,31 @@ void AIFlyingVehicleControllerData::resolveYaw(AIController* obj, Point3F locati
}
};
void AIFlyingVehicleControllerData::resolvePitch(AIController* obj, Point3F location, Move* movePtr)
{
FlyingVehicle* wvo = dynamic_cast<FlyingVehicle*>(obj->getAIInfo()->mObj.getPointer());
if (!wvo)
{
//cover the case of a connection controling an object in turn controlling another
if (obj->getAIInfo()->mObj->getObjectMount())
wvo = dynamic_cast<FlyingVehicle*>(obj->getAIInfo()->mObj->getObjectMount());
}
if (!wvo) return;//not a FlyingVehicle
Point3F up = wvo->getTransform().getUpVector();
up.normalize();
Point3F aimLoc = obj->mMovement.mAimLocation;
aimLoc.z = mClampF(aimLoc.z, mFlightFloor, mFlightCeiling);
// Get the Target to AI vector and normalize it.
Point3F toTarg = aimLoc - location;
toTarg.normalize();
F32 dotPitch = mDot(up, toTarg);
if (mFabs(dotPitch) > 0.05f)
movePtr->pitch = -dotPitch;
}
void AIFlyingVehicleControllerData::resolveSpeed(AIController* obj, Point3F location, Move* movePtr)
{
FlyingVehicle* wvo = dynamic_cast<FlyingVehicle*>(obj->getAIInfo()->mObj.getPointer());
@ -942,6 +990,6 @@ void AIFlyingVehicleControllerData::resolveSpeed(AIController* obj, Point3F loca
VehicleData* db = static_cast<VehicleData*>(wvo->getDataBlock());
movePtr->x = 0;// 1.1 - wvo->getSteering().x / db->maxSteeringAngle;
movePtr->y *= 1.1 - wvo->getSteering().y / db->maxSteeringAngle;
movePtr->y = mMax(movePtr->y*1.1 - wvo->getSteering().y / db->maxSteeringAngle, 0.0f);
}
#endif //_AICONTROLLER_H_

9
Engine/source/T3D/AI/AIController.h
View file

@ -236,17 +236,24 @@ class AIFlyingVehicleControllerData : public AIControllerData
Right,
Straight
};
F32 mFlightFloor;
F32 mFlightCeiling;
public:
AIFlyingVehicleControllerData()
{
resolveYawPtr.bind(this, &AIFlyingVehicleControllerData::resolveYaw);
resolvePitchPtr.bind(this, &AIFlyingVehicleControllerData::resolvePitch);
resolveSpeedPtr.bind(this, &AIFlyingVehicleControllerData::resolveSpeed);
mHeightTolerance = 200.0f;
mFlightCeiling = 200.0f;
mFlightFloor = 1.0;
}
static void initPersistFields();
F32 getSteeringAngle(AIController* obj, Point3F location);
void resolveYaw(AIController* obj, Point3F location, Move* movePtr);
void resolveSpeed(AIController* obj, Point3F location, Move* movePtr);
void resolvePitch(AIController* obj, Point3F location, Move* movePtr);
DECLARE_CONOBJECT(AIFlyingVehicleControllerData);
};
#endif // TORQUE_NAVIGATION_ENABLED

22
Engine/source/T3D/AI/AIInfo.cpp
View file

@ -52,10 +52,30 @@ AIInfo::AIInfo(AIController* controller, Point3F pointIn, F32 radIn)
mPosSet = true;
};
Point3F AIInfo::getPosition(bool doCastray)
{
Point3F pos = (mObj.isValid()) ? mObj->getPosition() : mPosition;
if (doCastray)
{
RayInfo info;
if (gServerContainer.castRay(pos, pos - Point3F(0, 0, getCtrl()->mControllerData->mHeightTolerance), StaticShapeObjectType, &info))
{
pos = info.point;
}
}
return pos;
}
F32 AIInfo::getDist()
{
AIInfo* controlObj = getCtrl()->getAIInfo();
F32 ret = VectorF(controlObj->getPosition() - getPosition()).len();
Point3F targPos = getPosition();
if (mFabs(targPos.z - controlObj->getPosition().z) < getCtrl()->mControllerData->mHeightTolerance)
targPos.z = controlObj->getPosition().z;
F32 ret = VectorF(controlObj->getPosition() - targPos).len();
ret -= controlObj->mRadius + mRadius;
return ret;
}

2
Engine/source/T3D/AI/AIInfo.h
View file

@ -36,7 +36,7 @@ struct AIInfo
Point3F mPosition, mLastPos;
bool mPosSet;
F32 mRadius;
Point3F getPosition() { return (mObj.isValid()) ? mObj->getPosition() : mPosition; }
Point3F getPosition(bool doCastray = false);
F32 getDist();
AIInfo() = delete;
AIInfo(AIController* controller);

10
Engine/source/T3D/AI/AINavigation.cpp
View file

@ -134,11 +134,11 @@ void AINavigation::repath()
else
{
// If we're following, get their position.
mPathData.path->mTo = getCtrl()->getGoal()->getPosition();
mPathData.path->mTo = getCtrl()->getGoal()->getPosition(true);
}
// Update from position and replan.
mPathData.path->mFrom = getCtrl()->getAIInfo()->getPosition();
mPathData.path->mFrom = getCtrl()->getAIInfo()->getPosition(true);
mPathData.path->plan();
// Move to first node (skip start pos).
@ -215,8 +215,8 @@ bool AINavigation::setPathDestination(const Point3F& pos, bool replace)
NavPath* path = new NavPath();
path->mMesh = mNavMesh;
path->mFrom = getCtrl()->getAIInfo()->getPosition();
path->mTo = getCtrl()->getGoal()->getPosition();
path->mFrom = getCtrl()->getAIInfo()->getPosition(true);
path->mTo = getCtrl()->getGoal()->getPosition(true);
path->mFromSet = path->mToSet = true;
path->mAlwaysRender = true;
path->mLinkTypes = getCtrl()->mControllerData->mLinkTypes;
@ -257,7 +257,7 @@ void AINavigation::followObject()
if (getCtrl()->getGoal()->getDist() < getCtrl()->mControllerData->mMoveTolerance)
return;
if (setPathDestination(getCtrl()->getGoal()->getPosition()))
if (setPathDestination(getCtrl()->getGoal()->getPosition(true)))
{
getCtrl()->clearCover();
}