Improvements to smooth NPC steering

apps/openmw/CMakeLists.txt

@@ -74,7 +74,7 @@ add_openmw_dir (mwmechanics
     mechanicsmanagerimp stat character creaturestats magiceffects movement actors objects
     drawstate spells activespells npcstats aipackage aisequence alchemy aiwander aitravel aifollow
     aiescort aiactivate aicombat repair enchanting pathfinding security spellsuccess spellcasting
-    disease pickpocket levelledlist combat
+    disease pickpocket levelledlist combat steering
     )
 
 add_openmw_dir (mwbase

apps/openmw/mwinput/inputmanagerimp.cpp

@@ -574,8 +574,6 @@ namespace MWInput
 
             double x = arg.xrel * mCameraSensitivity * (1.0f/256.f);
             double y = arg.yrel * mCameraSensitivity * (1.0f/256.f) * (mInvertY ? -1 : 1) * mCameraYMultiplier;
-            float scale = MWBase::Environment::get().getFrameDuration();
-            if(scale <= 0.0f) scale = 1.0f;
 
             float rot[3];
             rot[0] = -y;
@@ -585,8 +583,8 @@ namespace MWInput
             // Only actually turn player when we're not in vanity mode
             if(!MWBase::Environment::get().getWorld()->vanityRotateCamera(rot))
             {
-                mPlayer->yaw(x/scale);
+                mPlayer->yaw(x);
-                mPlayer->pitch(-y/scale);
+                mPlayer->pitch(-y);
             }
 
             if (arg.zrel && mControlSwitch["playerviewswitch"]) //Check to make sure you are allowed to zoomout and there is a change

apps/openmw/mwmechanics/aicombat.cpp

@@ -1,23 +1,22 @@
 #include "aicombat.hpp"
-#include "aifollow.hpp"
 
-#include "movement.hpp"
+#include <OgreMath.h>
+#include <OgreVector3.h>
+
 
 #include "../mwworld/class.hpp"
 #include "../mwworld/timestamp.hpp"
+#include "../mwworld/inventorystore.hpp"
 
 #include "../mwbase/environment.hpp"
 #include "../mwbase/mechanicsmanager.hpp"
 #include "../mwbase/dialoguemanager.hpp"
 
-#include "character.hpp"
-#include "../mwworld/inventorystore.hpp"
 
-#include "creaturestats.hpp"
 #include "npcstats.hpp"
-
+#include "steering.hpp"
-#include <OgreMath.h>
+#include "movement.hpp"
-#include <OgreVector3.h>
+#include "character.hpp" // fixme: for getActiveWeapon
 
 namespace
 {
@@ -43,7 +42,9 @@ namespace MWMechanics
         mReadyToAttack(false),
         mStrike(false),
         mCombatMove(false),
-        mMovement()
+        mRotate(false),
+        mMovement(),
+        mTargetAngle(0)
     {
     }
 
@@ -68,10 +69,16 @@ namespace MWMechanics
                 mCombatMove = false;
             }
         }
+
         actor.getClass().getMovementSettings(actor) = mMovement;
+
+        if (mRotate)
+        {
+            if (zTurn(actor, Ogre::Degree(mTargetAngle)))
+                mRotate = false;
+        }
         
 
-        //actor.getClass().getCreatureStats(actor).setAttackingOrSpell(mReadyToAttack);
         mTimerAttack -= duration;
         actor.getClass().getCreatureStats(actor).setAttackingOrSpell(mStrike);
 
@@ -156,12 +163,7 @@ namespace MWMechanics
             weapRange = 150; //TODO: use true attack range (the same problem in Creature::hit)
         }
 
-        //MWWorld::Class::get(actor).getCreatureStats(actor).setAttackingOrSpell(false);
-
         ESM::Position pos = actor.getRefData().getPosition();
-        
-        float zAngle;
-
 
         float rangeMelee;
         float rangeCloseUp;
@@ -189,12 +191,8 @@ namespace MWMechanics
             //Melee and Close-up combat
             vDir.z = 0;
             float dirLen = vDir.length();
-            zAngle = Ogre::Radian( Ogre::Math::ACos(vDir.y / dirLen) * sgn(Ogre::Math::ASin(vDir.x / dirLen)) ).valueDegrees();
+            mTargetAngle = Ogre::Radian( Ogre::Math::ACos(vDir.y / dirLen) * sgn(Ogre::Math::ASin(vDir.x / dirLen)) ).valueDegrees();
-
+            mRotate = true;
-            // TODO: use movement settings instead of rotating directly
-            MWBase::Environment::get().getWorld()->rotateObject(actor, 0, 0, zAngle, false);
-
-            //MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
 
             //bool LOS = MWBase::Environment::get().getWorld()->getLOS(actor, mTarget);
             if (mFollowTarget && distBetween > rangeMelee)
@@ -237,12 +235,6 @@ namespace MWMechanics
         else
         {
             //target is at far distance: build path to target OR follow target (if previously actor had reached it once)
-
-            /*
-            //apply when AIFOLLOW package implementation will be existent
-            if(mFollowTarget)
-                actor.getClass().getCreatureStats(actor).getAiSequence().stack(AiFollow(mTarget));*/
-
             mFollowTarget = false;
 
             buildNewPath(actor);
@@ -252,13 +244,10 @@ namespace MWMechanics
 
             //try shortcut
             if(vDir.length() < mPathFinder.getDistToNext(pos.pos[0],pos.pos[1],pos.pos[2]) && MWBase::Environment::get().getWorld()->getLOS(actor, mTarget)) 
-                zAngle = Ogre::Radian( Ogre::Math::ACos(vDir.y / vDir.length()) * sgn(Ogre::Math::ASin(vDir.x / vDir.length())) ).valueDegrees();
+                mTargetAngle = Ogre::Radian( Ogre::Math::ACos(vDir.y / vDir.length()) * sgn(Ogre::Math::ASin(vDir.x / vDir.length())) ).valueDegrees();
             else
-                zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
+                mTargetAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
-
+            mRotate = true;
-            // TODO: use movement settings instead of rotating directly
-            MWBase::Environment::get().getWorld()->rotateObject(actor, 0, 0, zAngle, false);
-            //mMovement.mRotation[2] = 10*(Ogre::Degree(zAngle).valueRadians()-pos.rot[2]);
             
             mMovement.mPosition[1] = 1;
             mReadyToAttack = false;
@@ -294,6 +283,8 @@ namespace MWMechanics
             }
         }
 
+        actor.getClass().getMovementSettings(actor) = mMovement;
+
         return false;
     }
 

apps/openmw/mwmechanics/aicombat.hpp

@@ -29,16 +29,21 @@ namespace MWMechanics
 
         private:
             PathFinder mPathFinder;
-            //controls duration of the actual strike
+            // controls duration of the actual strike
             float mTimerAttack;
             float mTimerReact;
-            //controls duration of the sideway & forward moves
+            // controls duration of the sideway & forward moves
-            //when mCombatMove is true
+            // when mCombatMove is true
             float mTimerCombatMove;
 
+            // the z rotation angle (degrees) we want to reach
+            // used every frame when mRotate is true
+            float mTargetAngle;
+
             bool mReadyToAttack, mStrike;
             bool mFollowTarget;
             bool mCombatMove;
+            bool mRotate;
 
             MWMechanics::Movement mMovement;
             MWWorld::Ptr mTarget;

apps/openmw/mwmechanics/aiescort.cpp

@@ -8,6 +8,8 @@
 #include "../mwbase/environment.hpp"
 #include "../mwbase/mechanicsmanager.hpp"
 
+#include "steering.hpp"
+
 namespace
 {
     float sgn(float a)
@@ -33,7 +35,7 @@ namespace MWMechanics
     {
         mMaxDist = 470;
 
-        // The CS Help File states that if a duration is givin, the AI package will run for that long
+        // The CS Help File states that if a duration is given, the AI package will run for that long
         // BUT if a location is givin, it "trumps" the duration so it will simply escort to that location.
         if(mX != 0 || mY != 0 || mZ != 0)
             mDuration = 0;
@@ -52,7 +54,7 @@ namespace MWMechanics
     {
         mMaxDist = 470;
 
-        // The CS Help File states that if a duration is givin, the AI package will run for that long
+        // The CS Help File states that if a duration is given, the AI package will run for that long
         // BUT if a location is givin, it "trumps" the duration so it will simply escort to that location.
         if(mX != 0 || mY != 0 || mZ != 0)
             mDuration = 0;
@@ -89,25 +91,23 @@ namespace MWMechanics
         if(actor.getCell()->mCell->mData.mX != player.getCell()->mCell->mData.mX)
         {
             int sideX = sgn(actor.getCell()->mCell->mData.mX - player.getCell()->mCell->mData.mX);
-            // Check if actor is near the border of an inactive cell. If so, disable AiEscort.
+            // Check if actor is near the border of an inactive cell. If so, pause walking.
-            // FIXME: This *should* pause the AiEscort package instead of terminating it.
             if(sideX * (pos.pos[0] - actor.getCell()->mCell->mData.mX * ESM::Land::REAL_SIZE) > sideX * (ESM::Land::REAL_SIZE /
                 2.0 - 200)) 
             {
                 MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
-                return true;
+                return false;
             }
         }
         if(actor.getCell()->mCell->mData.mY != player.getCell()->mCell->mData.mY)
         {
             int sideY = sgn(actor.getCell()->mCell->mData.mY - player.getCell()->mCell->mData.mY);
-            // Check if actor is near the border of an inactive cell. If so, disable AiEscort.
+            // Check if actor is near the border of an inactive cell. If so, pause walking.
-            // FIXME: This *should* pause the AiEscort package instead of terminating it.
             if(sideY*(pos.pos[1] - actor.getCell()->mCell->mData.mY * ESM::Land::REAL_SIZE) > sideY * (ESM::Land::REAL_SIZE /
                 2.0 - 200)) 
             {
                 MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
-                return true;
+                return false;
             }
         }
 
@@ -151,8 +151,7 @@ namespace MWMechanics
         if(distanceBetweenResult <= mMaxDist * mMaxDist)
         {
             float zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
-            // TODO: use movement settings instead of rotating directly
+            zTurn(actor, Ogre::Degree(zAngle));
-            MWBase::Environment::get().getWorld()->rotateObject(actor, 0, 0, zAngle, false);
             MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
             mMaxDist = 470;
         }

apps/openmw/mwmechanics/aifollow.cpp

@@ -6,15 +6,17 @@
 #include "movement.hpp"
 
 #include <OgreMath.h>
-
+
+#include "steering.hpp"
+
 MWMechanics::AiFollow::AiFollow(const std::string &actorId,float duration, float x, float y, float z)
 : mDuration(duration), mX(x), mY(y), mZ(z), mActorId(actorId), mCellId(""), mTimer(0), mStuckTimer(0)
-{
+{
-}
+}
-MWMechanics::AiFollow::AiFollow(const std::string &actorId,const std::string &cellId,float duration, float x, float y, float z)
+MWMechanics::AiFollow::AiFollow(const std::string &actorId,const std::string &cellId,float duration, float x, float y, float z)
-: mDuration(duration), mX(x), mY(y), mZ(z), mActorId(actorId), mCellId(cellId), mTimer(0), mStuckTimer(0)
+: mDuration(duration), mX(x), mY(y), mZ(z), mActorId(actorId), mCellId(cellId), mTimer(0), mStuckTimer(0)
-{
+{
-}
+}
 
 bool MWMechanics::AiFollow::execute (const MWWorld::Ptr& actor,float duration)
 {
@@ -45,14 +47,14 @@ bool MWMechanics::AiFollow::execute (const MWWorld::Ptr& actor,float duration)
         }
     }
 
-    ESM::Pathgrid::Point dest;
+    ESM::Pathgrid::Point dest;
-    dest.mX = target.getRefData().getPosition().pos[0];
+    dest.mX = target.getRefData().getPosition().pos[0];
-    dest.mY = target.getRefData().getPosition().pos[1];
+    dest.mY = target.getRefData().getPosition().pos[1];
     dest.mZ = target.getRefData().getPosition().pos[2];
 
-    ESM::Pathgrid::Point start;
+    ESM::Pathgrid::Point start;
-    start.mX = pos.pos[0];
+    start.mX = pos.pos[0];
-    start.mY = pos.pos[1];
+    start.mY = pos.pos[1];
     start.mZ = pos.pos[2];
 
     if(mPathFinder.getPath().empty())
@@ -88,18 +90,14 @@ bool MWMechanics::AiFollow::execute (const MWWorld::Ptr& actor,float duration)
 
     if(!mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1],pos.pos[2]))
     {
-        float zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
+        zTurn(actor, Ogre::Degree(mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])));
-        //MWBase::Environment::get().getWorld()->rotateObject(actor, 0, 0, zAngle, false);
+    }
-        MWWorld::Class::get(actor).getMovementSettings(actor).mRotation[2] = 10*(Ogre::Degree(zAngle).valueRadians()-pos.rot[2]);
+
-        //std::cout << Ogre::Degree(zAngle).valueDegrees()-Ogre::Radian(actor.getRefData().getPosition().rot[2]).valueDegrees() << " "<< pos.rot[2] << " " << zAngle << "\n";
+    if((dest.mX - pos.pos[0])*(dest.mX - pos.pos[0])+(dest.mY - pos.pos[1])*(dest.mY - pos.pos[1])+(dest.mZ - pos.pos[2])*(dest.mZ - pos.pos[2])
-        //MWWorld::Class::get(actor).get
+        < 100*100)
-    }
+        actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
-
-    if((dest.mX - pos.pos[0])*(dest.mX - pos.pos[0])+(dest.mY - pos.pos[1])*(dest.mY - pos.pos[1])+(dest.mZ - pos.pos[2])*(dest.mZ - pos.pos[2])
-        < 100*100)
-        MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
     else
-        MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
+        actor.getClass().getMovementSettings(actor).mPosition[1] = 1;
 
     return false;
 }
@@ -109,12 +107,12 @@ std::string MWMechanics::AiFollow::getFollowedActor()
     return mActorId;
 }
 
-MWMechanics::AiFollow *MWMechanics::AiFollow::clone() const
+MWMechanics::AiFollow *MWMechanics::AiFollow::clone() const
-{
+{
-    return new AiFollow(*this);
+    return new AiFollow(*this);
-}
+}
-
+
- int MWMechanics::AiFollow::getTypeId() const
+ int MWMechanics::AiFollow::getTypeId() const
-{
+{
-    return TypeIdFollow;
+    return TypeIdFollow;
 }

apps/openmw/mwmechanics/aitravel.cpp

@@ -1,11 +1,12 @@
 #include "aitravel.hpp"
 
-#include "movement.hpp"
-
 #include "../mwbase/world.hpp"
 #include "../mwbase/environment.hpp"
 #include "../mwworld/class.hpp"
 
+#include "steering.hpp"
+#include "movement.hpp"
+
 namespace
 {
     float sgn(float a)
@@ -86,9 +87,7 @@ namespace MWMechanics
             return true;
         }
 
-        float zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
+        zTurn(actor, Ogre::Degree(mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])));
-        // TODO: use movement settings instead of rotating directly
-        world->rotateObject(actor, 0, 0, zAngle, false);
         movement.mPosition[1] = 1;
 
         return false;

apps/openmw/mwmechanics/aiwander.cpp

@@ -11,6 +11,8 @@
 #include "creaturestats.hpp"
 #include <OgreVector3.h>
 
+#include "steering.hpp"
+
 namespace
 {
     float sgn(float a)
@@ -282,11 +284,6 @@ namespace MWMechanics
 
         if(mWalking)
         {
-            float zAngle = mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]);
-            // TODO: use movement settings instead of rotating directly
-            world->rotateObject(actor, 0, 0, zAngle, false);
-            MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 1;
-
             if(mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1], pos.pos[2]))
             {
                 stopWalking(actor);
@@ -294,6 +291,12 @@ namespace MWMechanics
                 mWalking = false;
                 mChooseAction = true;
             }
+            else
+            {
+                zTurn(actor, Ogre::Degree(mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1])));
+
+                actor.getClass().getMovementSettings(actor).mPosition[1] = 1;
+            }
         }
 
         return false;

apps/openmw/mwmechanics/character.cpp

@@ -1111,9 +1111,9 @@ void CharacterController::update(float duration)
 
         if (!mSkipAnim)
         {
+            rot *= Ogre::Math::RadiansToDegrees(1.0f);
             if(mHitState != CharState_KnockDown)
             {
-                rot *= duration * Ogre::Math::RadiansToDegrees(1.0f);
                 world->rotateObject(mPtr, rot.x, rot.y, rot.z, true);
             }
             else //avoid z-rotating for knockdown

apps/openmw/mwmechanics/pathfinding.hpp

@@ -3,7 +3,6 @@
 
 #include <components/esm/loadpgrd.hpp>
 #include <list>
-#include <boost/graph/adjacency_list.hpp>
 
 namespace MWWorld
 {
@@ -26,8 +25,10 @@ namespace MWMechanics
 
             bool checkPathCompleted(float x, float y, float z);
             ///< \Returns true if the last point of the path has been reached.
+
             bool checkWaypoint(float x, float y, float z);
             ///< \Returns true if a way point was reached
+
             float getZAngleToNext(float x, float y) const;
 
             float getDistToNext(float x, float y, float z);

apps/openmw/mwmechanics/steering.cpp

@@ -0,0 +1,43 @@
+#include "steering.hpp"
+
+#include "../mwworld/class.hpp"
+#include "../mwworld/ptr.hpp"
+
+#include "../mwbase/environment.hpp"
+
+#include "movement.hpp"
+
+namespace MWMechanics
+{
+
+bool zTurn(const MWWorld::Ptr& actor, Ogre::Radian targetAngle)
+{
+    Ogre::Radian currentAngle (actor.getRefData().getPosition().rot[2]);
+    Ogre::Radian diff (targetAngle - currentAngle);
+    if (diff >= Ogre::Degree(180))
+    {
+        // Turning the other way would be a better idea
+        diff = diff-Ogre::Degree(360);
+    }
+    else if (diff <= Ogre::Degree(-180))
+    {
+        diff = Ogre::Degree(360)-diff;
+    }
+    Ogre::Radian absDiff = Ogre::Math::Abs(diff);
+
+    // The turning animation actually moves you slightly, so the angle will be wrong again.
+    // Use epsilon to prevent jerkiness.
+    const Ogre::Degree epsilon (0.5);
+    if (absDiff < epsilon)
+        return true;
+
+    // Max. speed of 10 radian per sec
+    Ogre::Radian limit = Ogre::Radian(10) * MWBase::Environment::get().getFrameDuration();
+    if (absDiff > limit)
+        diff = Ogre::Math::Sign(diff) * limit;
+
+    actor.getClass().getMovementSettings(actor).mRotation[2] = diff.valueRadians();
+    return false;
+}
+
+}

apps/openmw/mwmechanics/steering.hpp

@@ -0,0 +1,19 @@
+#ifndef OPENMW_MECHANICS_STEERING_H
+
+#include <OgreMath.h>
+
+namespace MWWorld
+{
+class Ptr;
+}
+
+namespace MWMechanics
+{
+
+/// configure rotation settings for an actor to reach this target angle (eventually)
+/// @return have we reached the target angle?
+bool zTurn(const MWWorld::Ptr& actor, Ogre::Radian targetAngle);
+
+}
+
+#endif