TorqueGameEngines/Torque3D
1
0
Fork 0
mirror of https://github.com/TorqueGameEngines/Torque3D.git synced 2026-03-12 00:40:44 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions 3

TORQUE_NAVIGATION_ENABLED filtering

Browse source
This commit is contained in:
AzaezelX 2025-04-28 14:31:27 -05:00
parent 618ddbc9ba
commit f278150185
4 changed files with 249 additions and 202 deletions
Download patch file Download diff file Expand all files Collapse all files

92
Engine/source/T3D/AI/AIController.cpp
View file

@ -110,8 +110,6 @@ void AIController::setAim(SimObjectPtr<SceneObject> objIn, F32 rad, Point3F offs
mAimTarget->mAimOffset = offset;
}
#ifdef TORQUE_NAVIGATION_ENABLED
bool AIController::getAIMove(Move* movePtr)
{
*movePtr = NullMove;
@ -145,9 +143,9 @@ bool AIController::getAIMove(Move* movePtr)
}
}
#ifdef TORQUE_NAVIGATION_ENABLED
if (sbo->getDamageState() == ShapeBase::Enabled && getGoal())
{
#ifdef TORQUE_NAVIGATION_ENABLED
if (mMovement.mMoveState != ModeStop)
getNav()->updateNavMesh();
@ -202,8 +200,39 @@ bool AIController::getAIMove(Move* movePtr)
else getGoal()->mInFiringRange = false;
}
}
}
#else
if (getGoal()->getDist() > mControllerData->mMoveTolerance)
{
if (getGoal()->mPosSet)
getNav()->setPathDestination(getGoal()->getPosition(true));
getGoal()->mInRange = false;
}
if (getGoal()->getDist() < mControllerData->mMoveTolerance)
{
mMovement.mMoveState = ModeStop;
if (!getGoal()->mInRange)
{
getGoal()->mInRange = true;
throwCallback("onTargetInRange");
}
else getGoal()->mInRange = false;
}
else
{
if (getGoal()->getDist() < mControllerData->mAttackRadius)
{
if (!getGoal()->mInFiringRange)
{
getGoal()->mInFiringRange = true;
throwCallback("onTargetInFiringRange");
}
}
else getGoal()->mInFiringRange = false;
}
#endif // TORQUE_NAVIGATION_ENABLED
}
// Orient towards the aim point, aim object, or towards
// our destination.
if (getAim() || mMovement.mMoveState != ModeStop)
@ -486,19 +515,20 @@ void AIControllerData::resolveStuck(AIController* obj)
AIControllerData::AIControllerData()
{
mMoveTolerance = 0.25f;
mFollowTolerance = 1.0f;
mAttackRadius = 2.0f;
mMoveStuckTolerance = 0.01f;
mMoveStuckTestDelay = 30;
mLinkTypes = LinkData(AllFlags);
mNavSize = AINavigation::Regular;
mHeightTolerance = 0.001f;
#ifdef TORQUE_NAVIGATION_ENABLED
mFollowTolerance = 1.0f;
mLinkTypes = LinkData(AllFlags);
mNavSize = AINavigation::Regular;
mFlocking.mChance = 90;
mFlocking.mMin = 1.0f;
mFlocking.mMax = 3.0f;
mFlocking.mSideStep = 0.01f;
#endif
resolveYawPtr.bind(this, &AIControllerData::resolveYaw);
resolvePitchPtr.bind(this, &AIControllerData::resolvePitch);
resolveRollPtr.bind(this, &AIControllerData::resolveRoll);
@ -510,18 +540,20 @@ AIControllerData::AIControllerData()
AIControllerData::AIControllerData(const AIControllerData& other, bool temp_clone) : SimDataBlock(other, temp_clone)
{
mMoveTolerance = other.mMoveTolerance;
mFollowTolerance = other.mFollowTolerance;
mAttackRadius = other.mAttackRadius;
mMoveStuckTolerance = other.mMoveStuckTolerance;
mMoveStuckTestDelay = other.mMoveStuckTestDelay;
mLinkTypes = other.mLinkTypes;
mNavSize = other.mNavSize;
mHeightTolerance = other.mHeightTolerance;
#ifdef TORQUE_NAVIGATION_ENABLED
mFollowTolerance = other.mFollowTolerance;
mLinkTypes = other.mLinkTypes;
mNavSize = other.mNavSize;
mFlocking.mChance = other.mFlocking.mChance;
mFlocking.mMin = other.mFlocking.mMin;
mFlocking.mMax = other.mFlocking.mMax;
mFlocking.mSideStep = other.mFlocking.mSideStep;
#endif
resolveYawPtr.bind(this, &AIControllerData::resolveYaw);
resolvePitchPtr.bind(this, &AIControllerData::resolvePitch);
@ -543,12 +575,8 @@ void AIControllerData::initPersistFields()
"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 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("AttackRadius", TypeRangedF32, Offset(mAttackRadius, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance considered in firing range for callback purposes.");
addFieldV("moveStuckTolerance", TypeRangedF32, Offset(mMoveStuckTolerance, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance tolerance on stuck check.\n\n"
@ -569,10 +597,16 @@ void AIControllerData::initPersistFields()
"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");
endGroup("AI");
addFieldV("AttackRadius", TypeRangedF32, Offset(mAttackRadius, AIControllerData), &CommonValidators::PositiveFloat,
"@brief Distance considered in firing range for callback purposes.");
#ifdef TORQUE_NAVIGATION_ENABLED
addGroup("Pathfinding");
addFieldV("followTolerance", TypeRangedF32, Offset(mFollowTolerance, 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("FlockChance", TypeRangedS32, Offset(mFlocking.mChance, AIControllerData), &CommonValidators::S32Percent,
"@brief chance of flocking.");
addFieldV("FlockMin", TypeRangedF32, Offset(mFlocking.mMin, AIControllerData), &CommonValidators::PositiveFloat,
@ -581,10 +615,6 @@ void AIControllerData::initPersistFields()
"@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
addGroup("Pathfinding");
addField("allowWalk", TypeBool, Offset(mLinkTypes.walk, AIControllerData),
"Allow the character to walk on dry land.");
@ -611,19 +641,21 @@ void AIControllerData::packData(BitStream* stream)
{
Parent::packData(stream);
stream->write(mMoveTolerance);
stream->write(mFollowTolerance);
stream->write(mAttackRadius);
stream->write(mMoveStuckTolerance);
stream->write(mMoveStuckTestDelay);
stream->write(mHeightTolerance);
#ifdef TORQUE_NAVIGATION_ENABLED
stream->write(mFollowTolerance);
//enums
stream->write(mLinkTypes.getFlags());
stream->write((U32)mNavSize);
// end enums
stream->write(mHeightTolerance);
stream->write(mFlocking.mChance);
stream->write(mFlocking.mMin);
stream->write(mFlocking.mMax);
stream->write(mFlocking.mSideStep);
#endif // TORQUE_NAVIGATION_ENABLED
};
void AIControllerData::unpackData(BitStream* stream)
@ -631,10 +663,13 @@ void AIControllerData::unpackData(BitStream* stream)
Parent::unpackData(stream);
stream->read(&mMoveTolerance);
stream->read(&mFollowTolerance);
stream->read(&mAttackRadius);
stream->read(&mMoveStuckTolerance);
stream->read(&mMoveStuckTestDelay);
stream->read(&mHeightTolerance);
#ifdef TORQUE_NAVIGATION_ENABLED
stream->read(&mFollowTolerance);
//enums
U16 linkFlags;
stream->read(&linkFlags);
@ -643,11 +678,11 @@ void AIControllerData::unpackData(BitStream* stream)
stream->read(&navSize);
mNavSize = (AINavigation::NavSize)(navSize);
// end enums
stream->read(&mHeightTolerance);
stream->read(&(mFlocking.mChance));
stream->read(&(mFlocking.mMin));
stream->read(&(mFlocking.mMax));
stream->read(&(mFlocking.mSideStep));
#endif // TORQUE_NAVIGATION_ENABLED
};
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
@ -875,4 +910,3 @@ void AIFlyingVehicleControllerData::resolveSpeed(AIController* obj, Point3F loca
movePtr->x = 0;
movePtr->y = obj->mMovement.mMoveSpeed;
}
#endif //_AICONTROLLER_H_

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

@ -21,7 +21,6 @@
//-----------------------------------------------------------------------------
#ifndef _AICONTROLLER_H_
#define _AICONTROLLER_H_
#ifdef TORQUE_NAVIGATION_ENABLED
#include "navigation/coverPoint.h"
#include "AIInfo.h"
#include "AIGoal.h"
@ -154,11 +153,12 @@ public:
DECLARE_CONOBJECT(AIControllerData);
F32 mMoveTolerance; // Distance from destination point before we stop
F32 mFollowTolerance; // Distance from destination object before we stop
F32 mAttackRadius; // Distance to trigger weaponry calcs
F32 mMoveStuckTolerance; // Distance tolerance on stuck check
S32 mMoveStuckTestDelay; // The number of ticks to wait before checking if the AI is stuck
F32 mMoveStuckTolerance; // Distance tolerance on stuck check
F32 mHeightTolerance; // how high above the navmesh are we before we stop trying to repath
#ifdef TORQUE_NAVIGATION_ENABLED
F32 mFollowTolerance; // Distance from destination object before we stop
struct Flocking {
U32 mChance; // chance of flocking
F32 mMin; // min flocking separation distance
@ -169,6 +169,7 @@ public:
/// Types of link we can use.
LinkData mLinkTypes;
AINavigation::NavSize mNavSize;
#endif
Delegate<void(AIController* obj, Point3F location, Move* movePtr)> resolveYawPtr;
void resolveYaw(AIController* obj, Point3F location, Move* movePtr);
@ -243,5 +244,4 @@ public:
DECLARE_CONOBJECT(AIFlyingVehicleControllerData);
};
#endif // TORQUE_NAVIGATION_ENABLED
#endif //_AICONTROLLER_H_

332
Engine/source/T3D/AI/AINavigation.cpp
View file

@ -28,8 +28,10 @@ static U32 sAILoSMask = TerrainObjectType | StaticShapeObjectType | StaticObject
AINavigation::AINavigation(AIController* controller)
{
mControllerRef = controller;
#ifdef TORQUE_NAVIGATION_ENABLED
mJump = None;
mNavSize = Regular;
#endif
}
AINavigation::~AINavigation()
@ -40,6 +42,175 @@ AINavigation::~AINavigation()
#endif
}
void AINavigation::setMoveDestination(const Point3F& location, bool slowdown)
{
mMoveDestination = location;
getCtrl()->mMovement.mMoveState = AIController::ModeMove;
getCtrl()->mMovement.mMoveSlowdown = slowdown;
getCtrl()->mMovement.mMoveStuckTestCountdown = getCtrl()->mControllerData->mMoveStuckTestDelay;
}
bool AINavigation::setPathDestination(const Point3F& pos, bool replace)
{
#ifdef TORQUE_NAVIGATION_ENABLED
if (replace)
getCtrl()->setGoal(pos, getCtrl()->mControllerData->mMoveTolerance);
if (!mNavMesh)
updateNavMesh();
// If we can't find a mesh, just move regularly.
if (!mNavMesh)
{
//setMoveDestination(pos);
getCtrl()->throwCallback("onPathFailed");
return false;
}
// Create a new path.
NavPath* path = new NavPath();
path->mMesh = mNavMesh;
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;
path->mXray = true;
// Paths plan automatically upon being registered.
if (!path->registerObject())
{
delete path;
return false;
}
if (path->success())
{
// Clear any current path we might have.
clearPath();
getCtrl()->clearCover();
// Store new path.
mPathData.path = path;
mPathData.owned = true;
// Skip node 0, which we are currently standing on.
moveToNode(1);
getCtrl()->throwCallback("onPathSuccess");
return true;
}
else
{
// Just move normally if we can't path.
//setMoveDestination(pos, true);
//return;
getCtrl()->throwCallback("onPathFailed");
path->deleteObject();
return false;
}
#else
setMoveDestination(pos, false);
return true;
#endif
}
Point3F AINavigation::getPathDestination() const
{
#ifdef TORQUE_NAVIGATION_ENABLED
if (!mPathData.path.isNull())
return mPathData.path->mTo;
return Point3F(0, 0, 0);
#else
return getMoveDestination();
#endif
}
void AINavigation::onReachDestination()
{
#ifdef TORQUE_NAVIGATION_ENABLED
if (!getPath().isNull())
{
if (mPathData.index == getPath()->size() - 1)
{
// Handle looping paths.
if (getPath()->mIsLooping)
moveToNode(0);
// Otherwise end path.
else
{
clearPath();
getCtrl()->throwCallback("onReachDestination");
}
}
else
{
moveToNode(mPathData.index + 1);
// Throw callback every time if we're on a looping path.
//if(mPathData.path->mIsLooping)
//throwCallback("onReachDestination");
}
}
else
#endif
{
getCtrl()->throwCallback("onReachDestination");
getCtrl()->mMovement.mMoveState = AIController::ModeStop;
}
}
DefineEngineMethod(AIController, setMoveDestination, void, (Point3F goal, bool slowDown), (true),
"@brief Tells the AI to move to the location provided\n\n"
"@param goal Coordinates in world space representing location to move to.\n"
"@param slowDown A boolean value. If set to true, the bot will slow down "
"when it gets within 5-meters of its move destination. If false, the bot "
"will stop abruptly when it reaches the move destination. By default, this is true.\n\n"
"@note Upon reaching a move destination, the bot will clear its move destination and "
"calls to getMoveDestination will return \"0 0 0\"."
"@see getMoveDestination()\n")
{
object->getNav()->setMoveDestination(goal, slowDown);
}
DefineEngineMethod(AIController, getMoveDestination, Point3F, (), ,
"@brief Get the AIPlayer's current destination.\n\n"
"@return Returns a point containing the \"x y z\" position "
"of the AIPlayer's current move destination. If no move destination "
"has yet been set, this returns \"0 0 0\"."
"@see setMoveDestination()\n")
{
return object->getNav()->getMoveDestination();
}
DefineEngineMethod(AIController, setPathDestination, bool, (Point3F goal), ,
"@brief Tells the AI to find a path to the location provided\n\n"
"@param goal Coordinates in world space representing location to move to.\n"
"@return True if a path was found.\n\n"
"@see getPathDestination()\n"
"@see setMoveDestination()\n")
{
return object->getNav()->setPathDestination(goal, true);
}
DefineEngineMethod(AIController, getPathDestination, Point3F, (), ,
"@brief Get the AIPlayer's current pathfinding destination.\n\n"
"@return Returns a point containing the \"x y z\" position "
"of the AIPlayer's current path destination. If no path destination "
"has yet been set, this returns \"0 0 0\"."
"@see setPathDestination()\n")
{
return object->getNav()->getPathDestination();
}
#ifdef TORQUE_NAVIGATION_ENABLED
NavMesh* AINavigation::findNavMesh() const
{
GameBase* gbo = dynamic_cast<GameBase*>(mControllerRef->getAIInfo()->mObj.getPointer());
@ -144,113 +315,6 @@ void AINavigation::repath()
moveToNode(1);
}
Point3F AINavigation::getPathDestination() const
{
if (!mPathData.path.isNull())
return mPathData.path->mTo;
return Point3F(0, 0, 0);
}
void AINavigation::setMoveDestination(const Point3F& location, bool slowdown)
{
mMoveDestination = location;
getCtrl()->mMovement.mMoveState = AIController::ModeMove;
getCtrl()->mMovement.mMoveSlowdown = slowdown;
getCtrl()->mMovement.mMoveStuckTestCountdown = getCtrl()->mControllerData->mMoveStuckTestDelay;
}
void AINavigation::onReachDestination()
{
#ifdef TORQUE_NAVIGATION_ENABLED
if (!getPath().isNull())
{
if (mPathData.index == getPath()->size() - 1)
{
// Handle looping paths.
if (getPath()->mIsLooping)
moveToNode(0);
// Otherwise end path.
else
{
clearPath();
getCtrl()->throwCallback("onReachDestination");
}
}
else
{
moveToNode(mPathData.index + 1);
// Throw callback every time if we're on a looping path.
//if(mPathData.path->mIsLooping)
//throwCallback("onReachDestination");
}
}
else
#endif
{
getCtrl()->throwCallback("onReachDestination");
getCtrl()->mMovement.mMoveState = AIController::ModeStop;
}
}
bool AINavigation::setPathDestination(const Point3F& pos, bool replace)
{
if (replace)
getCtrl()->setGoal(pos, getCtrl()->mControllerData->mMoveTolerance);
if (!mNavMesh)
updateNavMesh();
// If we can't find a mesh, just move regularly.
if (!mNavMesh)
{
//setMoveDestination(pos);
getCtrl()->throwCallback("onPathFailed");
return false;
}
// Create a new path.
NavPath* path = new NavPath();
path->mMesh = mNavMesh;
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;
path->mXray = true;
// Paths plan automatically upon being registered.
if (!path->registerObject())
{
delete path;
return false;
}
if (path->success())
{
// Clear any current path we might have.
clearPath();
getCtrl()->clearCover();
// Store new path.
mPathData.path = path;
mPathData.owned = true;
// Skip node 0, which we are currently standing on.
moveToNode(1);
getCtrl()->throwCallback("onPathSuccess");
return true;
}
else
{
// Just move normally if we can't path.
//setMoveDestination(pos, true);
//return;
getCtrl()->throwCallback("onPathFailed");
path->deleteObject();
return false;
}
}
void AINavigation::followObject()
{
if (getCtrl()->getGoal()->getDist() < getCtrl()->mControllerData->mMoveTolerance)
@ -422,59 +486,6 @@ bool AINavigation::flock()
return flocking;
}
DefineEngineMethod(AIController, setMoveDestination, void, (Point3F goal, bool slowDown), (true),
"@brief Tells the AI to move to the location provided\n\n"
"@param goal Coordinates in world space representing location to move to.\n"
"@param slowDown A boolean value. If set to true, the bot will slow down "
"when it gets within 5-meters of its move destination. If false, the bot "
"will stop abruptly when it reaches the move destination. By default, this is true.\n\n"
"@note Upon reaching a move destination, the bot will clear its move destination and "
"calls to getMoveDestination will return \"0 0 0\"."
"@see getMoveDestination()\n")
{
object->getNav()->setMoveDestination(goal, slowDown);
}
DefineEngineMethod(AIController, getMoveDestination, Point3F, (), ,
"@brief Get the AIPlayer's current destination.\n\n"
"@return Returns a point containing the \"x y z\" position "
"of the AIPlayer's current move destination. If no move destination "
"has yet been set, this returns \"0 0 0\"."
"@see setMoveDestination()\n")
{
return object->getNav()->getMoveDestination();
}
DefineEngineMethod(AIController, setPathDestination, bool, (Point3F goal), ,
"@brief Tells the AI to find a path to the location provided\n\n"
"@param goal Coordinates in world space representing location to move to.\n"
"@return True if a path was found.\n\n"
"@see getPathDestination()\n"
"@see setMoveDestination()\n")
{
return object->getNav()->setPathDestination(goal,true);
}
DefineEngineMethod(AIController, getPathDestination, Point3F, (), ,
"@brief Get the AIPlayer's current pathfinding destination.\n\n"
"@return Returns a point containing the \"x y z\" position "
"of the AIPlayer's current path destination. If no path destination "
"has yet been set, this returns \"0 0 0\"."
"@see setPathDestination()\n")
{
return object->getNav()->getPathDestination();
}
DefineEngineMethod(AIController, followNavPath, void, (SimObjectId obj), ,
"@brief Tell the AIPlayer to follow a path.\n\n"
@ -555,3 +566,4 @@ DefineEngineMethod(AIController, getNavSize, const char*, (), ,
}
return "";
}
#endif

19
Engine/source/T3D/AI/AINavigation.h
View file

@ -36,6 +36,15 @@ struct AINavigation
AINavigation() = delete;
AINavigation(AIController* controller);
~AINavigation();
Point3F mMoveDestination;
void setMoveDestination(const Point3F& location, bool slowdown);
Point3F getMoveDestination() const { return mMoveDestination; };
bool setPathDestination(const Point3F& pos, bool replace = false);
Point3F getPathDestination() const;
void onReachDestination();
#ifdef TORQUE_NAVIGATION_ENABLED
/// Stores information about a path.
struct PathData {
/// Pointer to path object.
@ -67,12 +76,6 @@ struct AINavigation
void setNavSize(NavSize size) { mNavSize = size; updateNavMesh(); }
NavSize getNavSize() const { return mNavSize; }
Point3F mMoveDestination;
void setMoveDestination(const Point3F& location, bool slowdown);
Point3F getMoveDestination() { return mMoveDestination; };
void onReachDestination();
/// NavMesh we pathfind on.
SimObjectPtr<NavMesh> mNavMesh;
NavMesh* findNavMesh() const;
@ -83,8 +86,6 @@ struct AINavigation
/// Clear out the current path.
void clearPath();
bool setPathDestination(const Point3F& pos, bool replace = false);
Point3F getPathDestination() const;
void repath();
/// Get the current path we're following.
@ -96,8 +97,8 @@ struct AINavigation
void clearFollow();
/// Move to the specified node in the current path.
void moveToNode(S32 node);
bool flock();
#endif
};
#endif