Ykkrosh
b8925fbbc9
Pass terrain passability data to AI scripts. Expand pathfinder passability data to 16 bits per tile, to allow more classes. Support 16-bit ints in serializer. Partially support JS typed arrays. Allow foundations to be placed on top of units (fixes #499). Stop farms and fishes blocking movement (fixes #534). Add obstruction flags to allow finer control over what they block. Associate entity IDs with obstruction shapes, to allow finding colliding entities. Support moving to the edge of a target entity with inactive obstruction. Support foundation entities in AI. Support playing as non-hele civs. This was SVN commit r8899.
1540 lines
46 KiB
C++
1540 lines
46 KiB
C++
/* Copyright (C) 2011 Wildfire Games.
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* This file is part of 0 A.D.
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*
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* 0 A.D. is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* 0 A.D. is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "precompiled.h"
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#include "simulation2/system/Component.h"
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#include "ICmpUnitMotion.h"
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#include "ICmpObstruction.h"
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#include "ICmpObstructionManager.h"
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#include "ICmpPosition.h"
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#include "ICmpPathfinder.h"
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#include "simulation2/MessageTypes.h"
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#include "simulation2/helpers/Geometry.h"
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#include "simulation2/helpers/Render.h"
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#include "simulation2/serialization/SerializeTemplates.h"
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#include "graphics/Overlay.h"
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#include "graphics/Terrain.h"
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#include "maths/FixedVector2D.h"
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#include "ps/CLogger.h"
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#include "ps/Profile.h"
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#include "renderer/Scene.h"
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/**
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* When advancing along the long path, and picking a new waypoint to move
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* towards, we'll pick one that's up to this far from the unit's current
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* position (to minimise the effects of grid-constrained movement)
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*/
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static const entity_pos_t WAYPOINT_ADVANCE_MAX = entity_pos_t::FromInt(CELL_SIZE*8);
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/**
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* When advancing along the long path, we'll pick a new waypoint to move
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* towards if we expect to reach the end of our current short path within
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* this many turns (assuming constant speed and turn length).
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* (This could typically be 1, but we need some tolerance in case speeds
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* or turn lengths change.)
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*/
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static const int WAYPOINT_ADVANCE_LOOKAHEAD_TURNS = 4;
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/**
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* Maximum range to restrict short path queries to. (Larger ranges are slower,
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* smaller ranges might miss some legitimate routes around large obstacles.)
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*/
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static const entity_pos_t SHORT_PATH_SEARCH_RANGE = entity_pos_t::FromInt(CELL_SIZE*10);
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/**
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* When short-pathing to an intermediate waypoint, we aim for a circle of this radius
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* around the waypoint rather than expecting to reach precisely the waypoint itself
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* (since it might be inside an obstacle).
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*/
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static const entity_pos_t SHORT_PATH_GOAL_RADIUS = entity_pos_t::FromInt(CELL_SIZE*3/2);
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/**
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* If we are this close to our target entity/point, then think about heading
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* for it in a straight line instead of pathfinding.
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*/
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static const entity_pos_t DIRECT_PATH_RANGE = entity_pos_t::FromInt(CELL_SIZE*4);
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/**
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* If we're following a target entity,
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* we will recompute our path if the target has moved
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* more than this distance from where we last pathed to.
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*/
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static const entity_pos_t CHECK_TARGET_MOVEMENT_MIN_DELTA = entity_pos_t::FromInt(CELL_SIZE*4);
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/**
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* If we're following as part of a formation,
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* but can't move to our assigned target point in a straight line,
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* we will recompute our path if the target has moved
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* more than this distance from where we last pathed to.
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*/
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static const entity_pos_t CHECK_TARGET_MOVEMENT_MIN_DELTA_FORMATION = entity_pos_t::FromInt(CELL_SIZE*1);
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/**
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* If we're following something but it's more than this distance away along
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* our path, then don't bother trying to repath regardless of how much it has
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* moved, until we get this close to the end of our old path.
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*/
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static const entity_pos_t CHECK_TARGET_MOVEMENT_AT_MAX_DIST = entity_pos_t::FromInt(CELL_SIZE*16);
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static const CColor OVERLAY_COLOUR_LONG_PATH(1, 1, 1, 1);
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static const CColor OVERLAY_COLOUR_SHORT_PATH(1, 0, 0, 1);
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static const entity_pos_t g_GoalDelta = entity_pos_t::FromInt(CELL_SIZE)/4; // for extending the goal outwards/inwards a little bit
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class CCmpUnitMotion : public ICmpUnitMotion
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{
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public:
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static void ClassInit(CComponentManager& componentManager)
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{
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componentManager.SubscribeToMessageType(MT_Update_MotionFormation);
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componentManager.SubscribeToMessageType(MT_Update_MotionUnit);
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componentManager.SubscribeToMessageType(MT_RenderSubmit); // for debug overlays
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componentManager.SubscribeToMessageType(MT_PathResult);
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}
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DEFAULT_COMPONENT_ALLOCATOR(UnitMotion)
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bool m_DebugOverlayEnabled;
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std::vector<SOverlayLine> m_DebugOverlayLongPathLines;
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std::vector<SOverlayLine> m_DebugOverlayShortPathLines;
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// Template state:
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bool m_FormationController;
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fixed m_WalkSpeed; // in metres per second
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fixed m_RunSpeed;
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u8 m_PassClass;
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u8 m_CostClass;
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// Dynamic state:
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entity_pos_t m_Radius;
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enum State
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{
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/*
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* Not moving at all.
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*/
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STATE_IDLE,
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/*
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* Not moving at all. Will go to IDLE next turn.
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* (This one-turn delay is a hack to fix animation timings.)
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*/
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STATE_STOPPING,
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/*
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* Member of a formation.
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* Pathing to the target (depending on m_PathState).
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* Target is m_TargetEntity plus m_TargetOffset.
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*/
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STATE_FORMATIONMEMBER_PATH,
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/*
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* Individual unit or formation controller.
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* Pathing to the target (depending on m_PathState).
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* Target is m_TargetPos, m_TargetMinRange, m_TargetMaxRange;
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* if m_TargetEntity is not INVALID_ENTITY then m_TargetPos is tracking it.
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*/
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STATE_INDIVIDUAL_PATH,
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STATE_MAX
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};
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u8 m_State;
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enum PathState
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{
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/*
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* There is no path.
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* (This should only happen in IDLE and STOPPING.)
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*/
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PATHSTATE_NONE,
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/*
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* We have an outstanding long path request.
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* No paths are usable yet, so we can't move anywhere.
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*/
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PATHSTATE_WAITING_REQUESTING_LONG,
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/*
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* We have an outstanding short path request.
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* m_LongPath is valid.
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* m_ShortPath is not yet valid, so we can't move anywhere.
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*/
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PATHSTATE_WAITING_REQUESTING_SHORT,
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/*
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* We are following our path, and have no path requests.
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* m_LongPath and m_ShortPath are valid.
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*/
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PATHSTATE_FOLLOWING,
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/*
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* We are following our path, and have an outstanding long path request.
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* (This is because our target moved a long way and we need to recompute
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* the whole path).
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* m_LongPath and m_ShortPath are valid.
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*/
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PATHSTATE_FOLLOWING_REQUESTING_LONG,
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/*
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* We are following our path, and have an outstanding short path request.
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* (This is because our target moved and we've got a new long path
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* which we need to follow).
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* m_LongPath is valid; m_ShortPath is valid but obsolete.
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*/
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PATHSTATE_FOLLOWING_REQUESTING_SHORT,
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/*
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* We are following our path, and have an outstanding short path request
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* to append to our current path.
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* (This is because we got near the end of our short path and need
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* to extend it to continue along the long path).
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* m_LongPath and m_ShortPath are valid.
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*/
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PATHSTATE_FOLLOWING_REQUESTING_SHORT_APPEND,
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PATHSTATE_MAX
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};
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u8 m_PathState;
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u32 m_ExpectedPathTicket; // asynchronous request ID we're waiting for, or 0 if none
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entity_id_t m_TargetEntity;
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CFixedVector2D m_TargetPos;
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CFixedVector2D m_TargetOffset;
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entity_pos_t m_TargetMinRange;
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entity_pos_t m_TargetMaxRange;
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fixed m_Speed;
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// Currently active paths (storing waypoints in reverse order).
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// The last item in each path is the point we're currently heading towards.
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ICmpPathfinder::Path m_LongPath;
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ICmpPathfinder::Path m_ShortPath;
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ICmpPathfinder::Goal m_FinalGoal;
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static std::string GetSchema()
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{
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return
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"<a:help>Provides the unit with the ability to move around the world by itself.</a:help>"
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"<a:example>"
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"<WalkSpeed>7.0</WalkSpeed>"
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"<PassabilityClass>default</PassabilityClass>"
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"<CostClass>infantry</CostClass>"
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"</a:example>"
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"<element name='FormationController'>"
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"<data type='boolean'/>"
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"</element>"
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"<element name='WalkSpeed' a:help='Basic movement speed (in metres per second)'>"
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"<ref name='positiveDecimal'/>"
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"</element>"
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"<optional>"
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"<element name='Run'>"
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"<interleave>"
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"<element name='Speed'><ref name='positiveDecimal'/></element>"
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"<element name='Range'><ref name='positiveDecimal'/></element>"
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"<element name='RangeMin'><ref name='nonNegativeDecimal'/></element>"
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"<element name='RegenTime'><ref name='positiveDecimal'/></element>"
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"<element name='DecayTime'><ref name='positiveDecimal'/></element>"
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"</interleave>"
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"</element>"
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"</optional>"
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"<element name='PassabilityClass' a:help='Identifies the terrain passability class (values are defined in special/pathfinder.xml)'>"
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"<text/>"
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"</element>"
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"<element name='CostClass' a:help='Identifies the movement speed/cost class (values are defined in special/pathfinder.xml)'>"
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"<text/>"
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"</element>";
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}
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/*
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* TODO: the running/charging thing needs to be designed and implemented
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*/
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virtual void Init(const CParamNode& paramNode)
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{
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m_FormationController = paramNode.GetChild("FormationController").ToBool();
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m_WalkSpeed = paramNode.GetChild("WalkSpeed").ToFixed();
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m_Speed = m_WalkSpeed;
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if (paramNode.GetChild("Run").IsOk())
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{
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m_RunSpeed = paramNode.GetChild("Run").GetChild("Speed").ToFixed();
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}
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else
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{
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m_RunSpeed = m_WalkSpeed;
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}
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CmpPtr<ICmpPathfinder> cmpPathfinder(GetSimContext(), SYSTEM_ENTITY);
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if (!cmpPathfinder.null())
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{
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m_PassClass = cmpPathfinder->GetPassabilityClass(paramNode.GetChild("PassabilityClass").ToASCIIString());
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m_CostClass = cmpPathfinder->GetCostClass(paramNode.GetChild("CostClass").ToASCIIString());
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}
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CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), GetEntityId());
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if (!cmpObstruction.null())
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m_Radius = cmpObstruction->GetUnitRadius();
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m_State = STATE_IDLE;
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m_PathState = PATHSTATE_NONE;
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m_ExpectedPathTicket = 0;
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m_TargetEntity = INVALID_ENTITY;
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m_FinalGoal.type = ICmpPathfinder::Goal::POINT;
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m_DebugOverlayEnabled = false;
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}
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virtual void Deinit()
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{
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}
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template<typename S>
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void SerializeCommon(S& serialize)
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{
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serialize.NumberFixed_Unbounded("radius", m_Radius);
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serialize.NumberU8("state", m_State, 0, STATE_MAX-1);
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serialize.NumberU8("path state", m_PathState, 0, PATHSTATE_MAX-1);
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serialize.NumberU32_Unbounded("ticket", m_ExpectedPathTicket);
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serialize.NumberU32_Unbounded("target entity", m_TargetEntity);
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serialize.NumberFixed_Unbounded("target pos x", m_TargetPos.X);
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serialize.NumberFixed_Unbounded("target pos y", m_TargetPos.Y);
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serialize.NumberFixed_Unbounded("target offset x", m_TargetOffset.X);
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serialize.NumberFixed_Unbounded("target offset y", m_TargetOffset.Y);
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serialize.NumberFixed_Unbounded("target min range", m_TargetMinRange);
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serialize.NumberFixed_Unbounded("target max range", m_TargetMaxRange);
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serialize.NumberFixed_Unbounded("speed", m_Speed);
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SerializeVector<SerializeWaypoint>()(serialize, "long path", m_LongPath.m_Waypoints);
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SerializeVector<SerializeWaypoint>()(serialize, "short path", m_ShortPath.m_Waypoints);
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SerializeGoal()(serialize, "goal", m_FinalGoal);
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}
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virtual void Serialize(ISerializer& serialize)
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{
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SerializeCommon(serialize);
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}
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virtual void Deserialize(const CParamNode& paramNode, IDeserializer& deserialize)
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{
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Init(paramNode);
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SerializeCommon(deserialize);
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}
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virtual void HandleMessage(const CMessage& msg, bool UNUSED(global))
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{
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switch (msg.GetType())
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{
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case MT_Update_MotionFormation:
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{
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if (m_FormationController)
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{
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fixed dt = static_cast<const CMessageUpdate_MotionFormation&> (msg).turnLength;
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Move(dt);
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}
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break;
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}
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case MT_Update_MotionUnit:
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{
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if (!m_FormationController)
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{
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fixed dt = static_cast<const CMessageUpdate_MotionUnit&> (msg).turnLength;
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Move(dt);
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}
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break;
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}
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case MT_RenderSubmit:
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{
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const CMessageRenderSubmit& msgData = static_cast<const CMessageRenderSubmit&> (msg);
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RenderSubmit(msgData.collector);
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break;
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}
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case MT_PathResult:
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{
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const CMessagePathResult& msgData = static_cast<const CMessagePathResult&> (msg);
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PathResult(msgData.ticket, msgData.path);
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break;
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}
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}
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}
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virtual fixed GetWalkSpeed()
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{
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return m_WalkSpeed;
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}
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virtual fixed GetRunSpeed()
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{
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return m_RunSpeed;
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}
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virtual void SetSpeed(fixed speed)
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{
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m_Speed = speed;
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}
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virtual void SetDebugOverlay(bool enabled)
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{
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m_DebugOverlayEnabled = enabled;
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}
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virtual bool MoveToPointRange(entity_pos_t x, entity_pos_t z, entity_pos_t minRange, entity_pos_t maxRange);
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virtual bool MoveToTargetRange(entity_id_t target, entity_pos_t minRange, entity_pos_t maxRange);
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virtual bool IsInTargetRange(entity_id_t target, entity_pos_t minRange, entity_pos_t maxRange);
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virtual void MoveToFormationOffset(entity_id_t target, entity_pos_t x, entity_pos_t z);
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virtual void StopMoving()
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{
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m_ExpectedPathTicket = 0;
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m_State = STATE_STOPPING;
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m_PathState = PATHSTATE_NONE;
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m_LongPath.m_Waypoints.clear();
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m_ShortPath.m_Waypoints.clear();
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}
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virtual void SetUnitRadius(fixed radius)
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{
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m_Radius = radius;
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}
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private:
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bool ShouldAvoidMovingUnits()
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{
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return !m_FormationController;
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}
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bool IsFormationMember()
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{
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return m_State == STATE_FORMATIONMEMBER_PATH;
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}
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void StartFailed()
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{
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StopMoving();
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m_State = STATE_IDLE; // don't go through the STOPPING state since we never even started
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CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), GetEntityId());
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if (!cmpObstruction.null())
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cmpObstruction->SetMovingFlag(false);
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CMessageMotionChanged msg(true, true);
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GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
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}
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void MoveFailed()
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{
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StopMoving();
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CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), GetEntityId());
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if (!cmpObstruction.null())
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cmpObstruction->SetMovingFlag(false);
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CMessageMotionChanged msg(false, true);
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GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
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}
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void StartSucceeded()
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{
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CMessageMotionChanged msg(true, false);
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GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
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}
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void MoveSucceeded()
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{
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CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), GetEntityId());
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if (!cmpObstruction.null())
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cmpObstruction->SetMovingFlag(false);
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CMessageMotionChanged msg(false, false);
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GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
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}
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/**
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* Handle the result of an asynchronous path query.
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*/
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void PathResult(u32 ticket, const ICmpPathfinder::Path& path);
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/**
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* Do the per-turn movement and other updates.
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*/
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void Move(fixed dt);
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/**
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* Decide whether to approximate the given range from a square target as a circle,
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* rather than as a square.
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*/
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bool ShouldTreatTargetAsCircle(entity_pos_t range, entity_pos_t hw, entity_pos_t hh, entity_pos_t circleRadius);
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/**
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* Computes the current location of our target entity (plus offset).
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* Returns false if no target entity or no valid position.
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*/
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bool ComputeTargetPosition(CFixedVector2D& out);
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/**
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* Attempts to replace the current path with a straight line to the target
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* entity, if it's close enough and the route is not obstructed.
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*/
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bool TryGoingStraightToTargetEntity(CFixedVector2D from);
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/**
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* Returns whether the target entity has moved more than minDelta since our
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* last path computations, and we're close enough to it to care.
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*/
|
|
bool CheckTargetMovement(CFixedVector2D from, entity_pos_t minDelta);
|
|
|
|
/**
|
|
* Returns whether the length of the given path, plus the distance from
|
|
* 'from' to the first waypoints, it shorter than minDistance.
|
|
*/
|
|
bool PathIsShort(const ICmpPathfinder::Path& path, CFixedVector2D from, entity_pos_t minDistance);
|
|
|
|
/**
|
|
* Rotate to face towards the target point, given the current pos
|
|
*/
|
|
void FaceTowardsPoint(CFixedVector2D pos, entity_pos_t x, entity_pos_t z);
|
|
|
|
/**
|
|
* Returns an appropriate obstruction filter for use with path requests.
|
|
*/
|
|
ControlGroupMovementObstructionFilter GetObstructionFilter(bool forceAvoidMovingUnits = false);
|
|
|
|
/**
|
|
* Start moving to the given goal, from our current position 'from'.
|
|
* Might go in a straight line immediately, or might start an asynchronous
|
|
* path request.
|
|
*/
|
|
void BeginPathing(CFixedVector2D from, const ICmpPathfinder::Goal& goal);
|
|
|
|
/**
|
|
* Start an asynchronous long path query.
|
|
*/
|
|
void RequestLongPath(CFixedVector2D from, const ICmpPathfinder::Goal& goal);
|
|
|
|
/**
|
|
* Start an asynchronous short path query.
|
|
*/
|
|
void RequestShortPath(CFixedVector2D from, const ICmpPathfinder::Goal& goal, bool avoidMovingUnits);
|
|
|
|
/**
|
|
* Select a next long waypoint, given the current unit position.
|
|
* Also recomputes the short path to use that waypoint.
|
|
* Returns false on error, or if there is no waypoint to pick.
|
|
*/
|
|
bool PickNextLongWaypoint(const CFixedVector2D& pos, bool avoidMovingUnits);
|
|
|
|
/**
|
|
* Convert a path into a renderable list of lines
|
|
*/
|
|
void RenderPath(const ICmpPathfinder::Path& path, std::vector<SOverlayLine>& lines, CColor color);
|
|
|
|
void RenderSubmit(SceneCollector& collector);
|
|
};
|
|
|
|
REGISTER_COMPONENT_TYPE(UnitMotion)
|
|
|
|
void CCmpUnitMotion::PathResult(u32 ticket, const ICmpPathfinder::Path& path)
|
|
{
|
|
// Ignore obsolete path requests
|
|
if (ticket != m_ExpectedPathTicket)
|
|
return;
|
|
|
|
m_ExpectedPathTicket = 0; // we don't expect to get this result again
|
|
|
|
if (m_PathState == PATHSTATE_WAITING_REQUESTING_LONG)
|
|
{
|
|
m_LongPath = path;
|
|
m_ShortPath.m_Waypoints.clear();
|
|
|
|
// If there's no waypoints then we couldn't get near the target
|
|
if (m_LongPath.m_Waypoints.empty())
|
|
{
|
|
StartFailed();
|
|
return;
|
|
}
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
{
|
|
StartFailed();
|
|
return;
|
|
}
|
|
|
|
CFixedVector2D pos = cmpPosition->GetPosition2D();
|
|
|
|
if (!PickNextLongWaypoint(pos, ShouldAvoidMovingUnits()))
|
|
{
|
|
StartFailed();
|
|
return;
|
|
}
|
|
|
|
// We started a short path request to the next long path waypoint
|
|
m_PathState = PATHSTATE_WAITING_REQUESTING_SHORT;
|
|
}
|
|
else if (m_PathState == PATHSTATE_WAITING_REQUESTING_SHORT)
|
|
{
|
|
m_ShortPath = path;
|
|
|
|
// If there's no waypoints then we couldn't get near the target
|
|
if (m_ShortPath.m_Waypoints.empty())
|
|
{
|
|
StartFailed();
|
|
return;
|
|
}
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
{
|
|
StartFailed();
|
|
return;
|
|
}
|
|
|
|
// Now we've got a short path that we can follow
|
|
m_PathState = PATHSTATE_FOLLOWING;
|
|
|
|
StartSucceeded();
|
|
}
|
|
else if (m_PathState == PATHSTATE_FOLLOWING_REQUESTING_LONG)
|
|
{
|
|
m_LongPath = path;
|
|
// Leave the old m_ShortPath - we'll carry on following it until the
|
|
// new short path has been computed
|
|
|
|
// If there's no waypoints then we couldn't get near the target
|
|
if (m_LongPath.m_Waypoints.empty())
|
|
{
|
|
StopMoving();
|
|
return;
|
|
}
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
{
|
|
StopMoving();
|
|
return;
|
|
}
|
|
|
|
CFixedVector2D pos = cmpPosition->GetPosition2D();
|
|
|
|
if (!PickNextLongWaypoint(pos, ShouldAvoidMovingUnits()))
|
|
{
|
|
StopMoving();
|
|
return;
|
|
}
|
|
|
|
// We started a short path request to the next long path waypoint
|
|
m_PathState = PATHSTATE_FOLLOWING_REQUESTING_SHORT;
|
|
|
|
// (TODO: is this entirely safe? We might continue moving along our
|
|
// old path while this request is active, so it'll be slightly incorrect
|
|
// by the time the request has completed)
|
|
}
|
|
else if (m_PathState == PATHSTATE_FOLLOWING_REQUESTING_SHORT)
|
|
{
|
|
// Replace the current path with the new one
|
|
m_ShortPath = path;
|
|
|
|
// If there's no waypoints then we couldn't get near the target
|
|
if (m_ShortPath.m_Waypoints.empty())
|
|
{
|
|
// We should stop moving (unless we're in a formation, in which
|
|
// case we should continue following it)
|
|
if (!IsFormationMember())
|
|
{
|
|
MoveFailed();
|
|
return;
|
|
}
|
|
}
|
|
|
|
m_PathState = PATHSTATE_FOLLOWING;
|
|
}
|
|
else if (m_PathState == PATHSTATE_FOLLOWING_REQUESTING_SHORT_APPEND)
|
|
{
|
|
// Append the new path onto our current one
|
|
m_ShortPath.m_Waypoints.insert(m_ShortPath.m_Waypoints.begin(), path.m_Waypoints.begin(), path.m_Waypoints.end());
|
|
|
|
// If there's no waypoints then we couldn't get near the target
|
|
// from the last intermediate long-path waypoint. But we can still
|
|
// continue using the remainder of our current short path. So just
|
|
// discard the now-useless long path.
|
|
if (path.m_Waypoints.empty())
|
|
m_LongPath.m_Waypoints.clear();
|
|
|
|
m_PathState = PATHSTATE_FOLLOWING;
|
|
}
|
|
else
|
|
{
|
|
LOGWARNING(L"unexpected PathResult (%d %d %d)", GetEntityId(), m_State, m_PathState);
|
|
}
|
|
}
|
|
|
|
void CCmpUnitMotion::Move(fixed dt)
|
|
{
|
|
PROFILE("Move");
|
|
|
|
if (m_State == STATE_STOPPING)
|
|
{
|
|
m_State = STATE_IDLE;
|
|
MoveSucceeded();
|
|
return;
|
|
}
|
|
|
|
if (m_State == STATE_IDLE)
|
|
{
|
|
return;
|
|
}
|
|
|
|
switch (m_PathState)
|
|
{
|
|
case PATHSTATE_NONE:
|
|
{
|
|
// If we're not pathing, do nothing
|
|
return;
|
|
}
|
|
|
|
case PATHSTATE_WAITING_REQUESTING_LONG:
|
|
case PATHSTATE_WAITING_REQUESTING_SHORT:
|
|
{
|
|
// If we're waiting for a path and don't have one yet, do nothing
|
|
return;
|
|
}
|
|
|
|
case PATHSTATE_FOLLOWING:
|
|
case PATHSTATE_FOLLOWING_REQUESTING_SHORT:
|
|
case PATHSTATE_FOLLOWING_REQUESTING_SHORT_APPEND:
|
|
case PATHSTATE_FOLLOWING_REQUESTING_LONG:
|
|
{
|
|
// TODO: there's some asymmetry here when units look at other
|
|
// units' positions - the result will depend on the order of execution.
|
|
// Maybe we should split the updates into multiple phases to minimise
|
|
// that problem.
|
|
|
|
CmpPtr<ICmpPathfinder> cmpPathfinder (GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpPathfinder.null())
|
|
return;
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
return;
|
|
|
|
CFixedVector2D initialPos = cmpPosition->GetPosition2D();
|
|
|
|
// If we're chasing a potentially-moving unit and are currently close
|
|
// enough to its current position, and we can head in a straight line
|
|
// to it, then throw away our current path and go straight to it
|
|
if (m_PathState == PATHSTATE_FOLLOWING)
|
|
TryGoingStraightToTargetEntity(initialPos);
|
|
|
|
// Keep track of the current unit's position during the update
|
|
CFixedVector2D pos = initialPos;
|
|
|
|
// If in formation, run to keep up; otherwise just walk
|
|
// (TODO: support stamina, charging, etc)
|
|
fixed basicSpeed;
|
|
if (IsFormationMember())
|
|
basicSpeed = GetRunSpeed();
|
|
else
|
|
basicSpeed = m_Speed; // (typically but not always WalkSpeed)
|
|
|
|
// Find the speed factor of the underlying terrain
|
|
// (We only care about the tile we start on - it doesn't matter if we're moving
|
|
// partially onto a much slower/faster tile)
|
|
fixed terrainSpeed = cmpPathfinder->GetMovementSpeed(pos.X, pos.Y, m_CostClass);
|
|
|
|
fixed maxSpeed = basicSpeed.Multiply(terrainSpeed);
|
|
|
|
bool wasObstructed = false;
|
|
|
|
// We want to move (at most) maxSpeed*dt units from pos towards the next waypoint
|
|
|
|
fixed timeLeft = dt;
|
|
|
|
while (timeLeft > fixed::Zero())
|
|
{
|
|
// If we ran out of short path, we have to stop
|
|
if (m_ShortPath.m_Waypoints.empty())
|
|
break;
|
|
|
|
CFixedVector2D target(m_ShortPath.m_Waypoints.back().x, m_ShortPath.m_Waypoints.back().z);
|
|
CFixedVector2D offset = target - pos;
|
|
|
|
// Face towards the target
|
|
if (!offset.IsZero())
|
|
{
|
|
entity_angle_t angle = atan2_approx(offset.X, offset.Y);
|
|
cmpPosition->TurnTo(angle);
|
|
}
|
|
|
|
// Work out how far we can travel in timeLeft
|
|
fixed maxdist = maxSpeed.Multiply(timeLeft);
|
|
|
|
// If the target is close, we can move there directly
|
|
fixed offsetLength = offset.Length();
|
|
if (offsetLength <= maxdist)
|
|
{
|
|
if (cmpPathfinder->CheckMovement(GetObstructionFilter(), pos.X, pos.Y, target.X, target.Y, m_Radius, m_PassClass))
|
|
{
|
|
pos = target;
|
|
|
|
// Spend the rest of the time heading towards the next waypoint
|
|
timeLeft = timeLeft - (offsetLength / maxSpeed);
|
|
|
|
m_ShortPath.m_Waypoints.pop_back();
|
|
continue;
|
|
}
|
|
else
|
|
{
|
|
// Error - path was obstructed
|
|
wasObstructed = true;
|
|
break;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// Not close enough, so just move in the right direction
|
|
offset.Normalize(maxdist);
|
|
target = pos + offset;
|
|
|
|
if (cmpPathfinder->CheckMovement(GetObstructionFilter(), pos.X, pos.Y, target.X, target.Y, m_Radius, m_PassClass))
|
|
{
|
|
pos = target;
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
// Error - path was obstructed
|
|
wasObstructed = true;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Update the Position component after our movement (if we actually moved anywhere)
|
|
if (pos != initialPos)
|
|
cmpPosition->MoveTo(pos.X, pos.Y);
|
|
|
|
if (wasObstructed)
|
|
{
|
|
// Oops, we hit something (very likely another unit).
|
|
// Stop, and recompute the whole path.
|
|
// TODO: if the target has UnitMotion and is higher priority,
|
|
// we should wait a little bit.
|
|
|
|
RequestLongPath(pos, m_FinalGoal);
|
|
m_PathState = PATHSTATE_WAITING_REQUESTING_LONG;
|
|
|
|
return;
|
|
}
|
|
|
|
// We successfully moved along our path, until running out of
|
|
// waypoints or time.
|
|
|
|
if (m_PathState == PATHSTATE_FOLLOWING)
|
|
{
|
|
// If we're not currently computing any new paths:
|
|
|
|
// If we are close to reaching the end of the short path
|
|
// (or have reached it already), try to extend it
|
|
|
|
entity_pos_t minDistance = basicSpeed.Multiply(dt) * WAYPOINT_ADVANCE_LOOKAHEAD_TURNS;
|
|
if (PathIsShort(m_ShortPath, pos, minDistance))
|
|
{
|
|
// Start the path extension from the end of this short path
|
|
// (or our current position if no short path)
|
|
CFixedVector2D from = pos;
|
|
if (!m_ShortPath.m_Waypoints.empty())
|
|
from = CFixedVector2D(m_ShortPath.m_Waypoints[0].x, m_ShortPath.m_Waypoints[0].z);
|
|
|
|
if (PickNextLongWaypoint(from, ShouldAvoidMovingUnits()))
|
|
{
|
|
m_PathState = PATHSTATE_FOLLOWING_REQUESTING_SHORT_APPEND;
|
|
}
|
|
else
|
|
{
|
|
// Failed (there were no long waypoints left).
|
|
// If there's still some short path then continue following
|
|
// it, else we've finished moving.
|
|
if (m_ShortPath.m_Waypoints.empty())
|
|
{
|
|
if (IsFormationMember())
|
|
{
|
|
// If we're in formation, we've reached our assigned position.
|
|
// so wait here.
|
|
// (We'll try to continue following the formation next turn.)
|
|
}
|
|
else
|
|
{
|
|
// Not in formation, so just finish moving
|
|
|
|
StopMoving();
|
|
|
|
FaceTowardsPoint(pos, m_FinalGoal.x, m_FinalGoal.z);
|
|
// TODO: if the goal was a square building, we ought to point towards the
|
|
// nearest point on the square, not towards its center
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// If we have a target entity, and we're not miles away from the end of
|
|
// our current path, and the target moved enough, then recompute our
|
|
// whole path
|
|
if (m_PathState == PATHSTATE_FOLLOWING)
|
|
{
|
|
if (IsFormationMember())
|
|
CheckTargetMovement(pos, CHECK_TARGET_MOVEMENT_MIN_DELTA_FORMATION);
|
|
else
|
|
CheckTargetMovement(pos, CHECK_TARGET_MOVEMENT_MIN_DELTA);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
bool CCmpUnitMotion::ComputeTargetPosition(CFixedVector2D& out)
|
|
{
|
|
if (m_TargetEntity == INVALID_ENTITY)
|
|
return false;
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), m_TargetEntity);
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
return false;
|
|
|
|
if (m_TargetOffset.IsZero())
|
|
{
|
|
// No offset, just return the position directly
|
|
out = cmpPosition->GetPosition2D();
|
|
}
|
|
else
|
|
{
|
|
// There is an offset, so compute it relative to orientation
|
|
entity_angle_t angle = cmpPosition->GetRotation().Y;
|
|
CFixedVector2D offset = m_TargetOffset.Rotate(angle);
|
|
out = cmpPosition->GetPosition2D() + offset;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool CCmpUnitMotion::TryGoingStraightToTargetEntity(CFixedVector2D from)
|
|
{
|
|
CFixedVector2D targetPos;
|
|
if (!ComputeTargetPosition(targetPos))
|
|
return false;
|
|
|
|
// Fail if the target is too far away
|
|
if ((targetPos - from).CompareLength(DIRECT_PATH_RANGE) > 0)
|
|
return false;
|
|
|
|
CmpPtr<ICmpPathfinder> cmpPathfinder (GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpPathfinder.null())
|
|
return false;
|
|
|
|
// Move the goal to match the target entity's new position
|
|
ICmpPathfinder::Goal goal = m_FinalGoal;
|
|
goal.x = targetPos.X;
|
|
goal.z = targetPos.Y;
|
|
// (we ignore changes to the target's rotation, since only buildings are
|
|
// square and buildings don't move)
|
|
|
|
// Find the point on the goal shape that we should head towards
|
|
CFixedVector2D goalPos = cmpPathfinder->GetNearestPointOnGoal(from, goal);
|
|
|
|
// Check if there's any collisions on that route
|
|
if (!cmpPathfinder->CheckMovement(GetObstructionFilter(), from.X, from.Y, goalPos.X, goalPos.Y, m_Radius, m_PassClass))
|
|
return false;
|
|
|
|
// That route is okay, so update our path
|
|
m_FinalGoal = goal;
|
|
m_LongPath.m_Waypoints.clear();
|
|
m_ShortPath.m_Waypoints.clear();
|
|
ICmpPathfinder::Waypoint wp = { goalPos.X, goalPos.Y };
|
|
m_ShortPath.m_Waypoints.push_back(wp);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool CCmpUnitMotion::CheckTargetMovement(CFixedVector2D from, entity_pos_t minDelta)
|
|
{
|
|
CFixedVector2D targetPos;
|
|
if (!ComputeTargetPosition(targetPos))
|
|
return false;
|
|
|
|
// Fail unless the target has moved enough
|
|
CFixedVector2D oldTargetPos(m_FinalGoal.x, m_FinalGoal.z);
|
|
if ((targetPos - oldTargetPos).CompareLength(minDelta) < 0)
|
|
return false;
|
|
|
|
// Fail unless we're close enough to the target to care about its movement
|
|
if (!PathIsShort(m_LongPath, from, CHECK_TARGET_MOVEMENT_AT_MAX_DIST))
|
|
return false;
|
|
|
|
// The target moved and we need to update our current path;
|
|
// change the goal here and expect our caller to start the path request
|
|
m_FinalGoal.x = targetPos.X;
|
|
m_FinalGoal.z = targetPos.Y;
|
|
RequestLongPath(from, m_FinalGoal);
|
|
m_PathState = PATHSTATE_FOLLOWING_REQUESTING_LONG;
|
|
|
|
return true;
|
|
}
|
|
|
|
bool CCmpUnitMotion::PathIsShort(const ICmpPathfinder::Path& path, CFixedVector2D from, entity_pos_t minDistance)
|
|
{
|
|
CFixedVector2D pos = from;
|
|
entity_pos_t distLeft = minDistance;
|
|
|
|
for (ssize_t i = path.m_Waypoints.size()-1; i >= 0; --i)
|
|
{
|
|
// Check if the next path segment is longer than the requested minimum
|
|
CFixedVector2D waypoint(path.m_Waypoints[i].x, path.m_Waypoints[i].z);
|
|
CFixedVector2D delta = waypoint - pos;
|
|
if (delta.CompareLength(distLeft) > 0)
|
|
return false;
|
|
|
|
// Still short enough - prepare to check the next segment
|
|
distLeft -= delta.Length();
|
|
pos = waypoint;
|
|
}
|
|
|
|
// Reached the end of the path before exceeding minDistance
|
|
return true;
|
|
}
|
|
|
|
void CCmpUnitMotion::FaceTowardsPoint(CFixedVector2D pos, entity_pos_t x, entity_pos_t z)
|
|
{
|
|
CFixedVector2D target(x, z);
|
|
CFixedVector2D offset = target - pos;
|
|
if (!offset.IsZero())
|
|
{
|
|
entity_angle_t angle = atan2_approx(offset.X, offset.Y);
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null())
|
|
return;
|
|
cmpPosition->TurnTo(angle);
|
|
}
|
|
}
|
|
|
|
ControlGroupMovementObstructionFilter CCmpUnitMotion::GetObstructionFilter(bool forceAvoidMovingUnits)
|
|
{
|
|
entity_id_t group;
|
|
if (IsFormationMember())
|
|
group = m_TargetEntity;
|
|
else
|
|
group = GetEntityId();
|
|
|
|
return ControlGroupMovementObstructionFilter(forceAvoidMovingUnits || ShouldAvoidMovingUnits(), group);
|
|
}
|
|
|
|
|
|
|
|
void CCmpUnitMotion::BeginPathing(CFixedVector2D from, const ICmpPathfinder::Goal& goal)
|
|
{
|
|
// Cancel any pending path requests
|
|
m_ExpectedPathTicket = 0;
|
|
|
|
// Set our 'moving' flag, so other units pathfinding now will ignore us
|
|
CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), GetEntityId());
|
|
if (!cmpObstruction.null())
|
|
cmpObstruction->SetMovingFlag(true);
|
|
|
|
// If we're aiming at a target entity and it's close and we can reach
|
|
// it in a straight line, then we'll just go along the straight line
|
|
// instead of computing a path.
|
|
if (TryGoingStraightToTargetEntity(from))
|
|
{
|
|
m_PathState = PATHSTATE_FOLLOWING;
|
|
return;
|
|
}
|
|
|
|
// TODO: should go straight to non-entity points too
|
|
|
|
// Otherwise we need to compute a path.
|
|
|
|
// TODO: if it's close then just do a short path, not a long path
|
|
// (But if it's close on the opposite side of a river then we really
|
|
// need a long path, so we can't simply check linear distance)
|
|
|
|
m_PathState = PATHSTATE_WAITING_REQUESTING_LONG;
|
|
RequestLongPath(from, goal);
|
|
}
|
|
|
|
void CCmpUnitMotion::RequestLongPath(CFixedVector2D from, const ICmpPathfinder::Goal& goal)
|
|
{
|
|
CmpPtr<ICmpPathfinder> cmpPathfinder(GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpPathfinder.null())
|
|
return;
|
|
|
|
cmpPathfinder->SetDebugPath(from.X, from.Y, goal, m_PassClass, m_CostClass);
|
|
|
|
m_ExpectedPathTicket = cmpPathfinder->ComputePathAsync(from.X, from.Y, goal, m_PassClass, m_CostClass, GetEntityId());
|
|
}
|
|
|
|
void CCmpUnitMotion::RequestShortPath(CFixedVector2D from, const ICmpPathfinder::Goal& goal, bool avoidMovingUnits)
|
|
{
|
|
CmpPtr<ICmpPathfinder> cmpPathfinder(GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpPathfinder.null())
|
|
return;
|
|
|
|
m_ExpectedPathTicket = cmpPathfinder->ComputeShortPathAsync(from.X, from.Y, m_Radius, SHORT_PATH_SEARCH_RANGE, goal, m_PassClass, avoidMovingUnits, m_TargetEntity, GetEntityId());
|
|
}
|
|
|
|
bool CCmpUnitMotion::PickNextLongWaypoint(const CFixedVector2D& pos, bool avoidMovingUnits)
|
|
{
|
|
// If there's no long path, we can't pick the next waypoint from it
|
|
if (m_LongPath.m_Waypoints.empty())
|
|
return false;
|
|
|
|
// First try to get the immediate next waypoint
|
|
entity_pos_t targetX = m_LongPath.m_Waypoints.back().x;
|
|
entity_pos_t targetZ = m_LongPath.m_Waypoints.back().z;
|
|
m_LongPath.m_Waypoints.pop_back();
|
|
|
|
// To smooth the motion and avoid grid-constrained movement and allow dynamic obstacle avoidance,
|
|
// try skipping some more waypoints if they're close enough
|
|
|
|
while (!m_LongPath.m_Waypoints.empty())
|
|
{
|
|
CFixedVector2D w(m_LongPath.m_Waypoints.back().x, m_LongPath.m_Waypoints.back().z);
|
|
if ((w - pos).CompareLength(WAYPOINT_ADVANCE_MAX) > 0)
|
|
break;
|
|
targetX = m_LongPath.m_Waypoints.back().x;
|
|
targetZ = m_LongPath.m_Waypoints.back().z;
|
|
m_LongPath.m_Waypoints.pop_back();
|
|
}
|
|
|
|
// Now we need to recompute a short path to the waypoint
|
|
|
|
ICmpPathfinder::Goal goal;
|
|
if (m_LongPath.m_Waypoints.empty())
|
|
{
|
|
// This was the last waypoint - head for the exact goal
|
|
goal = m_FinalGoal;
|
|
}
|
|
else
|
|
{
|
|
// Head for somewhere near the waypoint (but allow some leeway in case it's obstructed)
|
|
goal.type = ICmpPathfinder::Goal::CIRCLE;
|
|
goal.hw = SHORT_PATH_GOAL_RADIUS;
|
|
goal.x = targetX;
|
|
goal.z = targetZ;
|
|
}
|
|
|
|
CmpPtr<ICmpPathfinder> cmpPathfinder(GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpPathfinder.null())
|
|
return false;
|
|
|
|
m_ExpectedPathTicket = cmpPathfinder->ComputeShortPathAsync(pos.X, pos.Y, m_Radius, SHORT_PATH_SEARCH_RANGE, goal, m_PassClass, avoidMovingUnits, GetEntityId(), GetEntityId());
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool CCmpUnitMotion::MoveToPointRange(entity_pos_t x, entity_pos_t z, entity_pos_t minRange, entity_pos_t maxRange)
|
|
{
|
|
PROFILE("MoveToPointRange");
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
return false;
|
|
|
|
CFixedVector2D pos = cmpPosition->GetPosition2D();
|
|
|
|
ICmpPathfinder::Goal goal;
|
|
|
|
if (minRange.IsZero() && maxRange.IsZero())
|
|
{
|
|
// Handle the non-ranged mode:
|
|
|
|
// Check whether this point is in an obstruction
|
|
|
|
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpObstructionManager.null())
|
|
return false;
|
|
|
|
ICmpObstructionManager::ObstructionSquare obstruction;
|
|
if (cmpObstructionManager->FindMostImportantObstruction(GetObstructionFilter(true), x, z, m_Radius, obstruction))
|
|
{
|
|
// If we're aiming inside a building, then aim for the outline of the building instead
|
|
// TODO: if we're aiming at a unit then maybe a circle would look nicer?
|
|
|
|
goal.type = ICmpPathfinder::Goal::SQUARE;
|
|
goal.x = obstruction.x;
|
|
goal.z = obstruction.z;
|
|
goal.u = obstruction.u;
|
|
goal.v = obstruction.v;
|
|
goal.hw = obstruction.hw + m_Radius + g_GoalDelta; // nudge the goal outwards so it doesn't intersect the building itself
|
|
goal.hh = obstruction.hh + m_Radius + g_GoalDelta;
|
|
}
|
|
else
|
|
{
|
|
// Unobstructed - head directly for the goal
|
|
goal.type = ICmpPathfinder::Goal::POINT;
|
|
goal.x = x;
|
|
goal.z = z;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
entity_pos_t distance = (pos - CFixedVector2D(x, z)).Length();
|
|
|
|
entity_pos_t goalDistance;
|
|
if (distance < minRange)
|
|
{
|
|
goalDistance = minRange + g_GoalDelta;
|
|
}
|
|
else if (distance > maxRange)
|
|
{
|
|
goalDistance = maxRange - g_GoalDelta;
|
|
}
|
|
else
|
|
{
|
|
// We're already in range - no need to move anywhere
|
|
FaceTowardsPoint(pos, x, z);
|
|
return false;
|
|
}
|
|
|
|
// TODO: what happens if goalDistance < 0? (i.e. we probably can never get close enough to the target)
|
|
|
|
goal.type = ICmpPathfinder::Goal::CIRCLE;
|
|
goal.x = x;
|
|
goal.z = z;
|
|
goal.hw = m_Radius + goalDistance;
|
|
}
|
|
|
|
m_State = STATE_INDIVIDUAL_PATH;
|
|
m_TargetEntity = INVALID_ENTITY;
|
|
m_TargetOffset = CFixedVector2D();
|
|
m_TargetMinRange = minRange;
|
|
m_TargetMaxRange = maxRange;
|
|
m_FinalGoal = goal;
|
|
|
|
BeginPathing(pos, goal);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool CCmpUnitMotion::ShouldTreatTargetAsCircle(entity_pos_t range, entity_pos_t hw, entity_pos_t hh, entity_pos_t circleRadius)
|
|
{
|
|
// Given a square, plus a target range we should reach, the shape at that distance
|
|
// is a round-cornered square which we can approximate as either a circle or as a square.
|
|
// Choose the shape that will minimise the worst-case error:
|
|
|
|
// For a square, error is (sqrt(2)-1) * range at the corners
|
|
entity_pos_t errSquare = (entity_pos_t::FromInt(4142)/10000).Multiply(range);
|
|
|
|
// For a circle, error is radius-hw at the sides and radius-hh at the top/bottom
|
|
entity_pos_t errCircle = circleRadius - std::min(hw, hh);
|
|
|
|
return (errCircle < errSquare);
|
|
}
|
|
|
|
bool CCmpUnitMotion::MoveToTargetRange(entity_id_t target, entity_pos_t minRange, entity_pos_t maxRange)
|
|
{
|
|
PROFILE("MoveToTargetRange");
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
return false;
|
|
|
|
CFixedVector2D pos = cmpPosition->GetPosition2D();
|
|
|
|
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpObstructionManager.null())
|
|
return false;
|
|
|
|
bool hasObstruction = false;
|
|
ICmpObstructionManager::ObstructionSquare obstruction;
|
|
CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), target);
|
|
if (!cmpObstruction.null())
|
|
hasObstruction = cmpObstruction->GetObstructionSquare(obstruction);
|
|
|
|
/*
|
|
* If we're starting outside the maxRange, we need to move closer in.
|
|
* If we're starting inside the minRange, we need to move further out.
|
|
* These ranges are measured from the center of this entity to the edge of the target;
|
|
* we add the goal range onto the size of the target shape to get the goal shape.
|
|
* (Then we extend it outwards/inwards by a little bit to be sure we'll end up
|
|
* within the right range, in case of minor numerical inaccuracies.)
|
|
*
|
|
* There's a bit of a problem with large square targets:
|
|
* the pathfinder only lets us move to goals that are squares, but the points an equal
|
|
* distance from the target make a rounded square shape instead.
|
|
*
|
|
* When moving closer, we could shrink the goal radius to 1/sqrt(2) so the goal shape fits entirely
|
|
* within the desired rounded square, but that gives an unfair advantage to attackers who approach
|
|
* the target diagonally.
|
|
*
|
|
* If the target is small relative to the range (e.g. archers attacking anything),
|
|
* then we cheat and pretend the target is actually a circle.
|
|
* (TODO: that probably looks rubbish for things like walls?)
|
|
*
|
|
* If the target is large relative to the range (e.g. melee units attacking buildings),
|
|
* then we multiply maxRange by approx 1/sqrt(2) to guarantee they'll always aim close enough.
|
|
* (Those units should set minRange to 0 so they'll never be considered *too* close.)
|
|
*/
|
|
|
|
if (hasObstruction)
|
|
{
|
|
CFixedVector2D halfSize(obstruction.hw, obstruction.hh);
|
|
ICmpPathfinder::Goal goal;
|
|
goal.x = obstruction.x;
|
|
goal.z = obstruction.z;
|
|
|
|
entity_pos_t distance = Geometry::DistanceToSquare(pos - CFixedVector2D(obstruction.x, obstruction.z), obstruction.u, obstruction.v, halfSize);
|
|
|
|
if (distance < minRange)
|
|
{
|
|
// Too close to the square - need to move away
|
|
|
|
// TODO: maybe we should do the ShouldTreatTargetAsCircle thing here?
|
|
|
|
entity_pos_t goalDistance = minRange + g_GoalDelta;
|
|
|
|
goal.type = ICmpPathfinder::Goal::SQUARE;
|
|
goal.u = obstruction.u;
|
|
goal.v = obstruction.v;
|
|
entity_pos_t delta = std::max(goalDistance, m_Radius + entity_pos_t::FromInt(CELL_SIZE)/16); // ensure it's far enough to not intersect the building itself
|
|
goal.hw = obstruction.hw + delta;
|
|
goal.hh = obstruction.hh + delta;
|
|
}
|
|
else if (distance < maxRange)
|
|
{
|
|
// We're already in range - no need to move anywhere
|
|
FaceTowardsPoint(pos, goal.x, goal.z);
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
// We might need to move closer:
|
|
|
|
// Circumscribe the square
|
|
entity_pos_t circleRadius = halfSize.Length();
|
|
|
|
if (ShouldTreatTargetAsCircle(maxRange, obstruction.hw, obstruction.hh, circleRadius))
|
|
{
|
|
// The target is small relative to our range, so pretend it's a circle
|
|
|
|
// Note that the distance to the circle will always be less than
|
|
// the distance to the square, so the previous "distance < maxRange"
|
|
// check is still valid (though not sufficient)
|
|
entity_pos_t circleDistance = (pos - CFixedVector2D(obstruction.x, obstruction.z)).Length() - circleRadius;
|
|
|
|
if (circleDistance < maxRange)
|
|
{
|
|
// We're already in range - no need to move anywhere
|
|
FaceTowardsPoint(pos, goal.x, goal.z);
|
|
return false;
|
|
}
|
|
|
|
entity_pos_t goalDistance = maxRange - g_GoalDelta;
|
|
|
|
goal.type = ICmpPathfinder::Goal::CIRCLE;
|
|
goal.hw = circleRadius + goalDistance;
|
|
}
|
|
else
|
|
{
|
|
// The target is large relative to our range, so treat it as a square and
|
|
// get close enough that the diagonals come within range
|
|
|
|
entity_pos_t goalDistance = (maxRange - g_GoalDelta)*2 / 3; // multiply by slightly less than 1/sqrt(2)
|
|
|
|
goal.type = ICmpPathfinder::Goal::SQUARE;
|
|
goal.u = obstruction.u;
|
|
goal.v = obstruction.v;
|
|
entity_pos_t delta = std::max(goalDistance, m_Radius + entity_pos_t::FromInt(CELL_SIZE)/16); // ensure it's far enough to not intersect the building itself
|
|
goal.hw = obstruction.hw + delta;
|
|
goal.hh = obstruction.hh + delta;
|
|
}
|
|
}
|
|
|
|
m_State = STATE_INDIVIDUAL_PATH;
|
|
m_TargetEntity = target;
|
|
m_TargetOffset = CFixedVector2D();
|
|
m_TargetMinRange = minRange;
|
|
m_TargetMaxRange = maxRange;
|
|
m_FinalGoal = goal;
|
|
|
|
BeginPathing(pos, goal);
|
|
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
// The target didn't have an obstruction or obstruction shape, so treat it as a point instead
|
|
|
|
CmpPtr<ICmpPosition> cmpTargetPosition(GetSimContext(), target);
|
|
if (cmpTargetPosition.null() || !cmpTargetPosition->IsInWorld())
|
|
return false;
|
|
|
|
CFixedVector2D targetPos = cmpTargetPosition->GetPosition2D();
|
|
|
|
return MoveToPointRange(targetPos.X, targetPos.Y, minRange, maxRange);
|
|
}
|
|
}
|
|
|
|
bool CCmpUnitMotion::IsInTargetRange(entity_id_t target, entity_pos_t minRange, entity_pos_t maxRange)
|
|
{
|
|
// This function closely mirrors MoveToTargetRange - it needs to return true
|
|
// after that Move has completed
|
|
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
return false;
|
|
|
|
CFixedVector2D pos = cmpPosition->GetPosition2D();
|
|
|
|
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY);
|
|
if (cmpObstructionManager.null())
|
|
return false;
|
|
|
|
bool hasObstruction = false;
|
|
ICmpObstructionManager::ObstructionSquare obstruction;
|
|
CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), target);
|
|
if (!cmpObstruction.null())
|
|
hasObstruction = cmpObstruction->GetObstructionSquare(obstruction);
|
|
|
|
entity_pos_t distance;
|
|
|
|
if (hasObstruction)
|
|
{
|
|
CFixedVector2D halfSize(obstruction.hw, obstruction.hh);
|
|
entity_pos_t distance = Geometry::DistanceToSquare(pos - CFixedVector2D(obstruction.x, obstruction.z), obstruction.u, obstruction.v, halfSize);
|
|
|
|
// See if we're too close to the target square
|
|
if (distance < minRange)
|
|
return false;
|
|
|
|
// See if we're close enough to the target square
|
|
if (distance <= maxRange)
|
|
return true;
|
|
|
|
entity_pos_t circleRadius = halfSize.Length();
|
|
|
|
if (ShouldTreatTargetAsCircle(maxRange, obstruction.hw, obstruction.hh, circleRadius))
|
|
{
|
|
// The target is small relative to our range, so pretend it's a circle
|
|
// and see if we're close enough to that
|
|
|
|
entity_pos_t circleDistance = (pos - CFixedVector2D(obstruction.x, obstruction.z)).Length() - circleRadius;
|
|
|
|
if (circleDistance <= maxRange)
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
CmpPtr<ICmpPosition> cmpTargetPosition(GetSimContext(), target);
|
|
if (cmpTargetPosition.null() || !cmpTargetPosition->IsInWorld())
|
|
return false;
|
|
|
|
CFixedVector2D targetPos = cmpTargetPosition->GetPosition2D();
|
|
|
|
entity_pos_t distance = (pos - targetPos).Length();
|
|
|
|
if (minRange <= distance && distance <= maxRange)
|
|
return true;
|
|
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void CCmpUnitMotion::MoveToFormationOffset(entity_id_t target, entity_pos_t x, entity_pos_t z)
|
|
{
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (cmpPosition.null() || !cmpPosition->IsInWorld())
|
|
return;
|
|
|
|
CFixedVector2D pos = cmpPosition->GetPosition2D();
|
|
|
|
ICmpPathfinder::Goal goal;
|
|
goal.type = ICmpPathfinder::Goal::POINT;
|
|
goal.x = pos.X;
|
|
goal.z = pos.Y;
|
|
|
|
m_State = STATE_FORMATIONMEMBER_PATH;
|
|
m_TargetEntity = target;
|
|
m_TargetOffset = CFixedVector2D(x, z);
|
|
m_TargetMinRange = entity_pos_t::Zero();
|
|
m_TargetMaxRange = entity_pos_t::Zero();
|
|
m_FinalGoal = goal;
|
|
|
|
BeginPathing(pos, goal);
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void CCmpUnitMotion::RenderPath(const ICmpPathfinder::Path& path, std::vector<SOverlayLine>& lines, CColor color)
|
|
{
|
|
bool floating = false;
|
|
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
|
|
if (!cmpPosition.null())
|
|
floating = cmpPosition->IsFloating();
|
|
|
|
lines.clear();
|
|
std::vector<float> waypointCoords;
|
|
for (size_t i = 0; i < path.m_Waypoints.size(); ++i)
|
|
{
|
|
float x = path.m_Waypoints[i].x.ToFloat();
|
|
float z = path.m_Waypoints[i].z.ToFloat();
|
|
waypointCoords.push_back(x);
|
|
waypointCoords.push_back(z);
|
|
lines.push_back(SOverlayLine());
|
|
lines.back().m_Color = color;
|
|
SimRender::ConstructSquareOnGround(GetSimContext(), x, z, 1.0f, 1.0f, 0.0f, lines.back(), floating);
|
|
}
|
|
lines.push_back(SOverlayLine());
|
|
lines.back().m_Color = color;
|
|
SimRender::ConstructLineOnGround(GetSimContext(), waypointCoords, lines.back(), floating);
|
|
|
|
}
|
|
|
|
void CCmpUnitMotion::RenderSubmit(SceneCollector& collector)
|
|
{
|
|
if (!m_DebugOverlayEnabled)
|
|
return;
|
|
|
|
RenderPath(m_LongPath, m_DebugOverlayLongPathLines, OVERLAY_COLOUR_LONG_PATH);
|
|
RenderPath(m_ShortPath, m_DebugOverlayShortPathLines, OVERLAY_COLOUR_SHORT_PATH);
|
|
|
|
for (size_t i = 0; i < m_DebugOverlayLongPathLines.size(); ++i)
|
|
collector.Submit(&m_DebugOverlayLongPathLines[i]);
|
|
|
|
for (size_t i = 0; i < m_DebugOverlayShortPathLines.size(); ++i)
|
|
collector.Submit(&m_DebugOverlayShortPathLines[i]);
|
|
}
|