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Pathfinding Overhaul - Changed the name of checkIfNextPointReached to a more intuitive name considering what it does (checkPathCompleted) and fixed a minor bug in it, modified buildPath() to take one final parameter, a bool which dictates whether or not to always use pathfinding (like AIWander should be doing) or to allow for "shortcuts", modified all ai packages to work with these two changes.

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This commit is contained in:
Torben Carrington 2013-05-29 20:05:17 -07:00
parent c080785235
commit 73a9671742
5 changed files with 24 additions and 16 deletions
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4
apps/openmw/mwmechanics/aiescort.cpp
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@ -129,10 +129,10 @@ bool MWMechanics::AiEscort::execute (const MWWorld::Ptr& actor)
start.mY = pos.pos[1]; start.mY = pos.pos[1];
start.mZ = pos.pos[2]; start.mZ = pos.pos[2];
mPathFinder.buildPath(start,dest,pathgrid,xCell,yCell); mPathFinder.buildPath(start, dest, pathgrid, xCell, yCell, 1);
} }
if(mPathFinder.checkIfNextPointReached(pos.pos[0],pos.pos[1],pos.pos[2])) if(mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1],pos.pos[2]))
{ {
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0; MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true; return true;

4
apps/openmw/mwmechanics/aitravel.cpp
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@ -78,10 +78,10 @@ bool MWMechanics::AiTravel::execute (const MWWorld::Ptr& actor)
start.mY = pos.pos[1]; start.mY = pos.pos[1];
start.mZ = pos.pos[2]; start.mZ = pos.pos[2];
mPathFinder.buildPath(start,dest,pathgrid,xCell,yCell); mPathFinder.buildPath(start, dest, pathgrid, xCell, yCell, 1);
} }
if(mPathFinder.checkIfNextPointReached(pos.pos[0],pos.pos[1],pos.pos[2])) if(mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1],pos.pos[2]))
{ {
MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0; MWWorld::Class::get(actor).getMovementSettings(actor).mPosition[1] = 0;
return true; return true;

4
apps/openmw/mwmechanics/aiwander.cpp
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@ -235,7 +235,7 @@ bool MWMechanics::AiWander::execute (const MWWorld::Ptr& actor)
start.mY = pos.pos[1]; start.mY = pos.pos[1];
start.mZ = pos.pos[2]; start.mZ = pos.pos[2];
mPathFinder.buildPath(start,dest,mPathgrid,mXCell,mYCell); mPathFinder.buildPath(start, dest, mPathgrid, mXCell, mYCell, 0);
mWalking = true; mWalking = true;
} }
} }
@ -254,7 +254,7 @@ bool MWMechanics::AiWander::execute (const MWWorld::Ptr& actor)
actorPos[1] = actorPos[1] - mYCell; actorPos[1] = actorPos[1] - mYCell;
float distance = actorPos.squaredDistance(destNodePos); float distance = actorPos.squaredDistance(destNodePos);
if(distance < 1200 || mPathFinder.checkIfNextPointReached(pos.pos[0],pos.pos[1],pos.pos[2])) if(distance < 1200 || mPathFinder.checkPathCompleted(pos.pos[0],pos.pos[1],pos.pos[2]))
{ {
stopWalking(actor); stopWalking(actor);
mMoveNow = false; mMoveNow = false;

24
apps/openmw/mwmechanics/pathfinding.cpp
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@ -148,11 +148,16 @@ namespace MWMechanics
} }
void PathFinder::buildPath(ESM::Pathgrid::Point startPoint, ESM::Pathgrid::Point endPoint, void PathFinder::buildPath(ESM::Pathgrid::Point startPoint, ESM::Pathgrid::Point endPoint,
const ESM::Pathgrid* pathGrid, float xCell, float yCell) const ESM::Pathgrid* pathGrid, float xCell, float yCell, bool allowShortcuts)
{ {
if(allowShortcuts)
{
if(MWBase::Environment::get().getWorld()->castRay(startPoint.mX, startPoint.mY, startPoint.mZ, endPoint.mX, endPoint.mY,
endPoint.mZ))
allowShortcuts = false;
}
//first check if there is an obstacle //first check if there is an obstacle
if(MWBase::Environment::get().getWorld()->castRay(startPoint.mX, startPoint.mY, startPoint.mZ, if(!allowShortcuts)
endPoint.mX, endPoint.mY, endPoint.mZ) )
{ {
int startNode = getClosestPoint(pathGrid, startPoint.mX - xCell, startPoint.mY - yCell,startPoint.mZ); int startNode = getClosestPoint(pathGrid, startPoint.mX - xCell, startPoint.mY - yCell,startPoint.mZ);
int endNode = getClosestPoint(pathGrid, endPoint.mX - xCell, endPoint.mY - yCell, endPoint.mZ); int endNode = getClosestPoint(pathGrid, endPoint.mX - xCell, endPoint.mY - yCell, endPoint.mZ);
@ -175,14 +180,14 @@ namespace MWMechanics
return 0; return 0;
ESM::Pathgrid::Point nextPoint = *mPath.begin(); ESM::Pathgrid::Point nextPoint = *mPath.begin();
float dX = nextPoint.mX - x; float directionX = nextPoint.mX - x;
float dY = nextPoint.mY - y; float directionY = nextPoint.mY - y;
float h = sqrt(dX * dX + dY * dY); float directionResult = sqrt(directionX * directionX + directionY * directionY);
return Ogre::Radian(acos(dY / h) * sgn(asin(dX / h))).valueDegrees(); return Ogre::Radian(acos(directionY / directionResult) * sgn(asin(directionX / directionResult))).valueDegrees();
} }
bool PathFinder::checkIfNextPointReached(float x, float y, float z) bool PathFinder::checkPathCompleted(float x, float y, float z)
{ {
if(mPath.empty()) if(mPath.empty())
return true; return true;
@ -192,8 +197,11 @@ namespace MWMechanics
{ {
mPath.pop_front(); mPath.pop_front();
if(mPath.empty()) if(mPath.empty())
{
mIsPathConstructed = false;
return true; return true;
} }
}
return false; return false;
} }

4
apps/openmw/mwmechanics/pathfinding.hpp
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@ -13,9 +13,9 @@ namespace MWMechanics
void clearPath(); void clearPath();
void buildPath(ESM::Pathgrid::Point startPoint, ESM::Pathgrid::Point endPoint, void buildPath(ESM::Pathgrid::Point startPoint, ESM::Pathgrid::Point endPoint,
const ESM::Pathgrid* pathGrid, float xCell = 0, float yCell = 0); const ESM::Pathgrid* pathGrid, float xCell = 0, float yCell = 0, bool allowShortcuts = 1);
bool checkIfNextPointReached(float x, float y, float z); bool checkPathCompleted(float x, float y, float z);
///< \Returns true if the last point of the path has been reached. ///< \Returns true if the last point of the path has been reached.
float getZAngleToNext(float x, float y); float getZAngleToNext(float x, float y);