mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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generalized ai subsystem wipwork
This commit is contained in:
AzaezelX
parent
75e23e85ea
commit
8c663a19a5
16 changed files with 1320 additions and 6 deletions
430
Engine/source/T3D/AI/AIController.cpp
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430
Engine/source/T3D/AI/AIController.cpp
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//-----------------------------------------------------------------------------
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// Copyright (c) 2012 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#include "AIController.h"
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#include "T3D/player.h"
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IMPLEMENT_CONOBJECT(AIController);
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//-----------------------------------------------------------------------------
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void AIController::throwCallback(const char* name)
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{
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Con::executef(mControllerData, name, getIdString()); //controller data callbacks
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GameBase* gbo = dynamic_cast<GameBase*>(getAIInfo()->mObj.getPointer());
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if (!gbo) return;
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Con::executef(gbo->getDataBlock(), name, getAIInfo()->mObj->getIdString()); //legacy support for object db callbacks
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}
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void AIController::initPersistFields()
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{
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addProtectedField("ControllerData", TYPEID< AIControllerData >(), Offset(mControllerData, AIController),
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&setControllerDataProperty, &defaultProtectedGetFn,
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"Script datablock used for game objects.");
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addFieldV("MoveSpeed", TypeRangedF32, Offset(mMovement.mMoveSpeed, AIController), &CommonValidators::PositiveFloat,
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"@brief default move sepeed.");
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}
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bool AIController::setControllerDataProperty(void* obj, const char* index, const char* db)
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{
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if (db == NULL || !db[0])
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{
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Con::errorf("AIController::setControllerDataProperty - Can't unset ControllerData on AIController objects");
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return false;
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}
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AIController* object = static_cast<AIController*>(obj);
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AIControllerData* data;
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if (Sim::findObject(db, data))
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{
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object->mControllerData = data;
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return true;
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}
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Con::errorf("AIController::setControllerDataProperty - Could not find ControllerData \"%s\"", db);
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return false;
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}
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#ifdef TORQUE_NAVIGATION_ENABLED
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bool AIController::getAIMove(Move* movePtr)
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{
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*movePtr = NullMove;
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ShapeBase* sbo = dynamic_cast<ShapeBase*>(getAIInfo()->mObj.getPointer());
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if (!sbo) return false;
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// Use the eye as the current position.
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MatrixF eye;
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sbo->getEyeTransform(&eye);
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Point3F location = eye.getPosition();
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Point3F rotation = sbo->getTransform().getForwardVector();
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#ifdef TORQUE_NAVIGATION_ENABLED
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if (sbo->getDamageState() == ShapeBase::Enabled)
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{
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if (mMovement.mMoveState != ModeStop)
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getNav()->updateNavMesh();
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if (!getGoal()->mObj.isNull())
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{
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if (getNav()->mPathData.path.isNull())
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{
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if (getGoal()->getDist() > mControllerData->mMoveTolerance)
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getNav()->followObject(getGoal());
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}
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else
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{
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if (getGoal()->getDist() > mControllerData->mMoveTolerance)
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getNav()->repath();
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if (getAim()->getDist() < mControllerData->mMoveTolerance)
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{
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getNav()->clearPath();
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mMovement.mMoveState = ModeStop;
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throwCallback("onTargetInRange");
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}
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else if (getAim()->getDist() < mControllerData->mAttackRadius)
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{
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throwCallback("onTargetInFiringRange");
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}
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}
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}
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}
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#endif // TORQUE_NAVIGATION_ENABLED
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// Orient towards the aim point, aim object, or towards
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// our destination.
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if (getAim()->mObj || getAim()->mPosSet || mMovement.mMoveState != ModeStop)
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{
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// Update the aim position if we're aiming for an object or explicit position
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if (getAim()->mObj || getAim()->mPosSet)
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mMovement.mAimLocation = getAim()->getPosition();
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else
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mMovement.mAimLocation = mMovement.mMoveDestination;
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mControllerData->resolveYaw(this, location, movePtr);
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mControllerData->resolvePitch(this, location, movePtr);
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mControllerData->resolveRoll(this, location, movePtr);
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mControllerData->resolveSpeed(this, location, movePtr);
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mControllerData->resolveStuck(this);
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}
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// Test for target location in sight if it's an object. The LOS is
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// run from the eye position to the center of the object's bounding,
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// which is not very accurate.
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if (getAim()->mObj)
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{
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GameBase* gbo = dynamic_cast<GameBase*>(getAIInfo()->mObj.getPointer());
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if (getAim()->checkInLos(gbo))
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{
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if (!getAim()->mTargetInLOS)
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{
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throwCallback("onTargetEnterLOS");
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getAim()->mTargetInLOS = true;
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}
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}
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else if (getAim()->mTargetInLOS)
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{
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throwCallback("onTargetExitLOS");
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getAim()->mTargetInLOS = false;
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}
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}
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/*
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// Replicate the trigger state into the move so that
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// triggers can be controlled from scripts.
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for (U32 i = 0; i < MaxTriggerKeys; i++)
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movePtr->trigger[i] = getImageTriggerState(i);
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*/
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#ifdef TORQUE_NAVIGATION_ENABLED
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if (getNav()->mJump == AINavigation::Now)
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{
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movePtr->trigger[2] = true;
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getNav()->mJump = AINavigation::None;
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}
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else if (getNav()->mJump == AINavigation::Ledge)
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{
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// If we're not touching the ground, jump!
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RayInfo info;
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if (!getAIInfo()->mObj->getContainer()->castRay(getAIInfo()->getPosition(), getAIInfo()->getPosition() - Point3F(0, 0, 0.4f), StaticShapeObjectType, &info))
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{
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movePtr->trigger[2] = true;
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getNav()->mJump = AINavigation::None;
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}
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}
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#endif // TORQUE_NAVIGATION_ENABLED
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return true;
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}
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void AIController::clearCover()
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{
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// Notify cover that we are no longer on our way.
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if (!getCover()->mCoverPoint.isNull())
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getCover()->mCoverPoint->setOccupied(false);
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SAFE_DELETE(mCover);
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}
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//-----------------------------------------------------------------------------
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IMPLEMENT_CO_DATABLOCK_V1(AIControllerData);
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void AIControllerData::resolveYaw(AIController* obj, Point3F location, Move* move)
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{
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F32 xDiff = obj->mMovement.mAimLocation.x - location.x;
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F32 yDiff = obj->mMovement.mAimLocation.y - location.y;
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Point3F rotation = obj->getAIInfo()->mObj->getTransform().getForwardVector();
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if (!mIsZero(xDiff) || !mIsZero(yDiff))
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{
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// First do Yaw
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// use the cur yaw between -Pi and Pi
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F32 curYaw = rotation.z;
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while (curYaw > M_2PI_F)
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curYaw -= M_2PI_F;
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while (curYaw < -M_2PI_F)
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curYaw += M_2PI_F;
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// find the yaw offset
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F32 newYaw = mAtan2(xDiff, yDiff);
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F32 yawDiff = newYaw - curYaw;
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// make it between 0 and 2PI
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if (yawDiff < 0.0f)
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yawDiff += M_2PI_F;
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else if (yawDiff >= M_2PI_F)
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yawDiff -= M_2PI_F;
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// now make sure we take the short way around the circle
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if (yawDiff > M_PI_F)
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yawDiff -= M_2PI_F;
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else if (yawDiff < -M_PI_F)
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yawDiff += M_2PI_F;
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move->yaw = yawDiff;
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}
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}
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void AIControllerData::resolveRoll(AIController* obj, Point3F location, Move* movePtr)
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{
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}
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void AIControllerData::resolveSpeed(AIController* obj, Point3F location, Move* movePtr)
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{
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// Move towards the destination
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if (obj->mMovement.mMoveState != AIController::ModeStop)
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{
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F32 xDiff = obj->mMovement.mMoveDestination.x - location.x;
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F32 yDiff = obj->mMovement.mMoveDestination.y - location.y;
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Point3F rotation = obj->getAIInfo()->mObj->getTransform().getForwardVector();
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// Check if we should mMove, or if we are 'close enough'
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if (mFabs(xDiff) < mMoveTolerance && mFabs(yDiff) < mMoveTolerance)
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{
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obj->mMovement.mMoveState = AIController::ModeStop;
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obj->getNav()->onReachDestination();
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}
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else
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{
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// Build move direction in world space
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if (mIsZero(xDiff))
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movePtr->y = (location.y > obj->mMovement.mMoveDestination.y) ? -1.0f : 1.0f;
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else
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if (mIsZero(yDiff))
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movePtr->x = (location.x > obj->mMovement.mMoveDestination.x) ? -1.0f : 1.0f;
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else
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if (mFabs(xDiff) > mFabs(yDiff))
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{
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F32 value = mFabs(yDiff / xDiff);
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movePtr->y = (location.y > obj->mMovement.mMoveDestination.y) ? -value : value;
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movePtr->x = (location.x > obj->mMovement.mMoveDestination.x) ? -1.0f : 1.0f;
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}
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else
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{
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F32 value = mFabs(xDiff / yDiff);
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movePtr->x = (location.x > obj->mMovement.mMoveDestination.x) ? -value : value;
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movePtr->y = (location.y > obj->mMovement.mMoveDestination.y) ? -1.0f : 1.0f;
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}
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// Rotate the move into object space (this really only needs
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// a 2D matrix)
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Point3F newMove;
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MatrixF moveMatrix;
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moveMatrix.set(EulerF(0.0f, 0.0f, -(rotation.z + movePtr->yaw)));
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moveMatrix.mulV(Point3F(movePtr->x, movePtr->y, 0.0f), &newMove);
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movePtr->x = newMove.x;
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movePtr->y = newMove.y;
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// Set movement speed. We'll slow down once we get close
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// to try and stop on the spot...
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if (obj->mMovement.mMoveSlowdown)
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{
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F32 speed = obj->mMovement.mMoveSpeed;
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F32 dist = mSqrt(xDiff * xDiff + yDiff * yDiff);
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F32 maxDist = mMoveTolerance * 2;
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if (dist < maxDist)
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speed *= dist / maxDist;
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movePtr->x *= speed;
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movePtr->y *= speed;
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obj->mMovement.mMoveState = AIController::ModeSlowing;
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}
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else
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{
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movePtr->x *= obj->mMovement.mMoveSpeed;
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movePtr->y *= obj->mMovement.mMoveSpeed;
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obj->mMovement.mMoveState = AIController::ModeMove;
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}
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}
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}
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}
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void AIControllerData::resolveStuck(AIController* obj)
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{
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ShapeBase* sbo = dynamic_cast<ShapeBase*>(obj->getAIInfo()->mObj.getPointer());
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// Don't check for ai stuckness if animation during
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// an anim-clip effect override.
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if (sbo->getDamageState() == ShapeBase::Enabled && !(sbo->anim_clip_flags & ShapeBase::ANIM_OVERRIDDEN) && !sbo->isAnimationLocked()) {
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if (obj->mMovement.mMoveStuckTestCountdown > 0)
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--obj->mMovement.mMoveStuckTestCountdown;
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else
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{
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// We should check to see if we are stuck...
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F32 locationDelta = (obj->getAIInfo()->getPosition() - obj->getAIInfo()->mLastPos).len();
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if (locationDelta < mMoveStuckTolerance && (sbo->getDamageState() == ShapeBase::Enabled))
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{
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// If we are slowing down, then it's likely that our location delta will be less than
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// our move stuck tolerance. Because we can be both slowing and stuck
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// we should TRY to check if we've moved. This could use better detection.
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if (obj->mMovement.mMoveState != AIController::ModeSlowing || locationDelta == 0)
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{
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obj->mMovement.mMoveState = AIController::ModeStuck;
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obj->throwCallback("onStuck");
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}
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}
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}
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obj->getAIInfo()->mLastPos = obj->getAIInfo()->getPosition();
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}
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}
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void AIControllerData::initPersistFields()
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{
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docsURL;
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addGroup("AI");
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addFieldV("moveTolerance", TypeRangedF32, Offset(mMoveTolerance, AIControllerData), &CommonValidators::PositiveFloat,
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"@brief Distance from destination before stopping.\n\n"
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"When the AIPlayer is moving to a given destination it will move to within "
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"this distance of the destination and then stop. By providing this tolerance "
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"it helps the AIPlayer from never reaching its destination due to minor obstacles, "
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"rounding errors on its position calculation, etc. By default it is set to 0.25.\n");
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addFieldV("followTolerance", TypeRangedF32, Offset(mFollowTolerance, AIControllerData), &CommonValidators::PositiveFloat,
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"@brief Distance from destination before stopping.\n\n"
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"When the AIPlayer is moving to a given destination it will move to within "
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"this distance of the destination and then stop. By providing this tolerance "
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"it helps the AIPlayer from never reaching its destination due to minor obstacles, "
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"rounding errors on its position calculation, etc. By default it is set to 0.25.\n");
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addFieldV("moveStuckTolerance", TypeRangedF32, Offset(mMoveStuckTolerance, AIControllerData), &CommonValidators::PositiveFloat,
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"@brief Distance tolerance on stuck check.\n\n"
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"When the AIPlayer is moving to a given destination, if it ever moves less than "
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"this tolerance during a single tick, the AIPlayer is considered stuck. At this point "
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"the onMoveStuck() callback is called on the datablock.\n");
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addFieldV("moveStuckTestDelay", TypeRangedS32, Offset(mMoveStuckTestDelay, AIControllerData), &CommonValidators::PositiveInt,
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"@brief The number of ticks to wait before testing if the AIPlayer is stuck.\n\n"
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"When the AIPlayer is asked to move, this property is the number of ticks to wait "
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"before the AIPlayer starts to check if it is stuck. This delay allows the AIPlayer "
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"to accelerate to full speed without its initial slow start being considered as stuck.\n"
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"@note Set to zero to have the stuck test start immediately.\n");
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addFieldV("AttackRadius", TypeRangedF32, Offset(mAttackRadius, AIControllerData), &CommonValidators::PositiveFloat,
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"@brief Distance considered in firing range for callback purposes.");
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endGroup("AI");
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#ifdef TORQUE_NAVIGATION_ENABLED
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addGroup("Pathfinding");
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addField("allowWalk", TypeBool, Offset(mLinkTypes.walk, AIControllerData),
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"Allow the character to walk on dry land.");
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addField("allowJump", TypeBool, Offset(mLinkTypes.jump, AIControllerData),
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"Allow the character to use jump links.");
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addField("allowDrop", TypeBool, Offset(mLinkTypes.drop, AIControllerData),
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"Allow the character to use drop links.");
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addField("allowSwim", TypeBool, Offset(mLinkTypes.swim, AIControllerData),
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"Allow the character to move in water.");
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addField("allowLedge", TypeBool, Offset(mLinkTypes.ledge, AIControllerData),
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"Allow the character to jump ledges.");
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addField("allowClimb", TypeBool, Offset(mLinkTypes.climb, AIControllerData),
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"Allow the character to use climb links.");
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addField("allowTeleport", TypeBool, Offset(mLinkTypes.teleport, AIControllerData),
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"Allow the character to use teleporters.");
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endGroup("Pathfinding");
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#endif // TORQUE_NAVIGATION_ENABLED
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Parent::initPersistFields();
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}
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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void AIPlayerControllerData::resolvePitch(AIController* obj, Point3F location, Move* movePtr)
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{
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Player* po = dynamic_cast<Player*>(obj->getAIInfo()->mObj.getPointer());
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if (!po) return;//not a player
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if (obj->getAim()->mObj || obj->getAim()->mPosSet || obj->mMovement.mMoveState != AIController::ModeStop)
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{
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// Next do pitch.
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if (!obj->getAim()->mObj && !obj->getAim()->mPosSet)
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{
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// Level out if were just looking at our next way point.
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Point3F headRotation = po->getHeadRotation();
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movePtr->pitch = -headRotation.x;
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}
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else
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{
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F32 xDiff = obj->mMovement.mAimLocation.x - location.x;
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F32 yDiff = obj->mMovement.mAimLocation.y - location.y;
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// This should be adjusted to run from the
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// eye point to the object's center position. Though this
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// works well enough for now.
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F32 vertDist = obj->mMovement.mAimLocation.z - location.z;
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F32 horzDist = mSqrt(xDiff * xDiff + yDiff * yDiff);
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F32 newPitch = mAtan2(horzDist, vertDist) - (M_PI_F / 2.0f);
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if (mFabs(newPitch) > 0.01f)
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{
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Point3F headRotation = po->getHeadRotation();
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movePtr->pitch = newPitch - headRotation.x;
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||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// Level out if we're not doing anything else
|
||||
Point3F headRotation = po->getHeadRotation();
|
||||
movePtr->pitch = -headRotation.x;
|
||||
}
|
||||
}
|
||||
#endif //_AICONTROLLER_H_
|
||||
Loading…
Add table
Add a link
Reference in a new issue