0ad/source/simulation/EntityStateProcessing.cpp

745 lines
22 KiB
C++

// Entity state-machine processing code.
#include "precompiled.h"
#include "Entity.h"
#include "EntityTemplate.h"
#include "EventHandlers.h"
#include "graphics/Model.h"
#include "graphics/ObjectEntry.h"
#include "graphics/SkeletonAnim.h"
#include "graphics/SkeletonAnimDef.h" // Animation duration
#include "graphics/Unit.h"
#include "ProductionQueue.h"
#include "maths/MathUtil.h"
#include "Collision.h"
#include "PathfindEngine.h"
#include "LOSManager.h"
#include "graphics/Terrain.h"
#include "Stance.h"
#include "ps/Game.h"
#include "ps/World.h"
enum EGotoSituation
{
NORMAL = 0,
ALREADY_AT_DESTINATION,
REACHED_DESTINATION,
COLLISION_WITH_DESTINATION,
COLLISION_NEAR_DESTINATION,
COLLISION_OVERLAPPING_OBJECTS,
COLLISION_OTHER,
WOULD_LEAVE_MAP,
STANCE_DISALLOWS
};
bool CEntity::shouldRun(float distance)
{
if (!entf_get(ENTF_SHOULD_RUN))
return false;
// tired
if(m_staminaCurr <= 0)
return false;
if(distance >= m_runMaxRange)
return false;
// don't start running if less than minimum
if( distance <= m_runMinRange && !entf_get(ENTF_IS_RUNNING) )
return false;
return true;
}
float CEntity::chooseMovementSpeed( float distance )
{
bool should_run = shouldRun(distance);
float speed = should_run? m_runSpeed : m_speed;
const char* anim_name = should_run? "run" : "walk";
// Modify the speed based on the slope of the terrain in our direction (obtained from our x orientation)
float angle = m_orientation_unclamped.x;
int sector = rintf( angle / (PI/2) * m_base->m_pitchDivs );
speed -= sector * m_base->m_pitchValue;
// TODO: the animation code requires unicode for now. will be changed to
// 8bit later (for consistency; note that filenames etc. need not be
// unicode), so remove this then.
const CStrW u_anim_name(anim_name);
if ( m_actor )
{
if ( !m_actor->IsPlayingAnimation( anim_name ) )
{
m_actor->SetEntitySelection( u_anim_name );
m_actor->SetRandomAnimation( anim_name, false, speed );
// Animation desync
m_actor->GetModel()->Update( rand( 0, 1000 ) / 1000.0f );
entf_set_to(ENTF_IS_RUNNING, should_run);
}
}
return speed;
}
// Does all the shared processing for line-of-sight gotos
uint CEntity::processGotoHelper( CEntityOrder* current, size_t timestep_millis, HEntity& collide )
{
float timestep=timestep_millis/1000.0f;
CVector2D delta;
delta.x = (float)current->m_target_location.x - m_position.X;
delta.y = (float)current->m_target_location.y - m_position.Z;
float len = delta.length();
if( len < 0.01f )
return( ALREADY_AT_DESTINATION );
// Curve smoothing.
// Here there be trig.
float scale = chooseMovementSpeed( len ) * timestep;
// Note: Easy optimization: flag somewhere that this unit
// is already pointing the way, and don't do this
// trig every time.right
m_targetorientation = atan2( delta.x, delta.y );
float deltatheta = m_targetorientation - (float)m_orientation.Y;
while( deltatheta > PI ) deltatheta -= 2 * PI;
while( deltatheta < -PI ) deltatheta += 2 * PI;
if( fabs( deltatheta ) > 0.01f )
{
if ( m_turningRadius != 0 )
{
float maxTurningSpeed = ( m_speed / m_turningRadius ) * timestep;
deltatheta = clamp( deltatheta, -maxTurningSpeed, maxTurningSpeed );
}
m_orientation.Y = m_orientation.Y + deltatheta;
m_ahead.x = sin( m_orientation.Y );
m_ahead.y = cos( m_orientation.Y );
// We can only really attempt to smooth paths the pathfinder
// has flagged for us. If the turning-radius calculations are
// applied to other types of waypoint, weirdness happens.
// Things like an entity trying to walk to a point inside
// his turning radius (which he can't do directly, so he'll
// orbit the point indefinitely), or just massive deviations
// making the paths we calculate useless.
// It's also painful trying to watch two entities resolve their
// collision when they're both bound by turning constraints.
// So, as a compromise for the look of the thing, we'll just turn in
// place until we're looking the right way. At least, that's what
// seems logical. But in most cases that looks worse. So actually,
// let's not.
if( current->m_type != CEntityOrder::ORDER_GOTO_SMOOTHED )
m_orientation.Y = m_targetorientation;
}
else
{
m_ahead = delta / len;
m_orientation.Y = m_targetorientation;
}
updateXZOrientation();
if( m_bounds && m_bounds->m_type == CBoundingObject::BOUND_OABB )
((CBoundingBox*)m_bounds)->setOrientation( m_ahead );
EGotoSituation rc = NORMAL;
if( scale > len )
{
scale = len;
rc = REACHED_DESTINATION;
}
delta = m_ahead * scale;
// What would happen if we moved forward a little?
m_position.X += delta.x;
m_position.Z += delta.y;
if( m_bounds )
{
m_bounds->setPosition( m_position.X, m_position.Z );
// For now, ignore passThroughAllies for low-level movement (but leave it on for long-range
// pathfinding); ideally we will enable pass-through-allies only for the long-range pathing
// and when the unit is moving to assume its place in a formation, since it looks bad to have
// units stand on each other otherwise.
collide = getCollisionObject( this, false );
if( collide )
{
// We'd hit something. Let's not.
m_position.X -= delta.x;
m_position.Z -= delta.y;
m_bounds->m_pos -= delta;
// Is it too late to avoid the collision?
if( collide->m_bounds->intersects( m_bounds ) )
{
// Yes. Oh dear. That can't be good.
// This really shouldn't happen in the current build.
//debug_assert( false && "Overlapping objects" );
// Erm... do nothing?
return( COLLISION_OVERLAPPING_OBJECTS );
}
// No. Is our destination within the obstacle?
if( collide->m_bounds->contains( current->m_target_location ) )
return( COLLISION_WITH_DESTINATION );
// No. Are we nearing our destination, do we wish to stop there, and is it obstructed?
if( ( m_orderQueue.size() == 1 ) && ( len <= 10.0f ) )
{
CBoundingCircle destinationObs( current->m_target_location.x, current->m_target_location.y, m_bounds->m_radius, 0.0f );
if( getCollisionObject( &destinationObs ) )
{
// Yes. (Chances are a bunch of units were tasked to the same destination)
return( COLLISION_NEAR_DESTINATION );
}
}
// No?
return( COLLISION_OTHER );
}
}
// Will we step off the map?
if( !g_Game->GetWorld()->GetTerrain()->isOnMap( m_position.X, m_position.Z ) )
{
// Yes. That's not a particularly good idea, either.
m_position.X -= delta.x;
m_position.Z -= delta.y;
if( m_bounds )
m_bounds->setPosition( m_position.X, m_position.Z );
// All things being equal, we should only get here while on a collision path
// (No destination should be off the map)
return( WOULD_LEAVE_MAP );
}
// Does our stance not allow us to go there?
if( current->m_source==CEntityOrder::SOURCE_UNIT_AI && !m_stance->checkMovement( m_position ) )
{
m_position.X -= delta.x;
m_position.Z -= delta.y;
if( m_bounds )
m_bounds->setPosition( m_position.X, m_position.Z );
return( STANCE_DISALLOWS );
}
// No. I suppose it's OK to go there, then. *disappointed*
return( rc );
}
bool CEntity::processGotoNoPathing( CEntityOrder* current, size_t timestep_millis )
{
HEntity collide;
switch( processGotoHelper( current, timestep_millis, collide ) )
{
case ALREADY_AT_DESTINATION:
// If on a collision path; decide where to go next. Otherwise, proceed to the next waypoint.
if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
{
repath();
}
else
{
m_orderQueue.pop_front();
//entf_clear(ENTF_IS_RUNNING);
//entf_clear(ENTF_SHOULD_RUN);
}
return( false );
case COLLISION_OVERLAPPING_OBJECTS:
return( false );
case COLLISION_WITH_DESTINATION:
// We're as close as we can get...
m_orderQueue.pop_front();
//entf_clear(ENTF_IS_RUNNING);
//entf_clear(ENTF_SHOULD_RUN);
return( false );
case COLLISION_NEAR_DESTINATION:
{
// Here's a weird idea: (I hope it works)
// Spiral round the destination until a free point is found.
CBoundingCircle destinationObs( current->m_target_location.x, current->m_target_location.y, m_bounds->m_radius, 0.0f );
float interval = destinationObs.m_radius;
float r = interval, theta = 0.0f, delta;
float _x = current->m_target_location.x, _y = current->m_target_location.y;
while( true )
{
delta = interval / r;
theta += delta;
r += ( interval * delta ) / ( 2 * PI );
destinationObs.setPosition( _x + r * cosf( theta ), _y + r * sinf( theta ) );
if( !getCollisionObject( &destinationObs ) ) break;
}
// Reset our destination
current->m_target_location.x = _x + r * cosf( theta );
current->m_target_location.y = _y + r * sinf( theta );
return( false );
}
case COLLISION_OTHER:
{
// Path around it.
CEntityOrder avoidance;
avoidance.m_type = CEntityOrder::ORDER_GOTO_COLLISION;
CVector2D right;
right.x = m_ahead.y; right.y = -m_ahead.x;
CVector2D avoidancePosition;
// Which is the shortest diversion, going left or right?
// (Weight a little towards the right, to stop both units dodging the same way)
if( ( collide->m_bounds->m_pos - m_bounds->m_pos ).dot( right ) < 1 )
{
// Turn right.
avoidancePosition = collide->m_bounds->m_pos + right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
}
else
{
// Turn left.
avoidancePosition = collide->m_bounds->m_pos - right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
}
// Create a short path representing this detour
avoidance.m_target_location = avoidancePosition;
if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
m_orderQueue.pop_front();
m_orderQueue.push_front( avoidance );
return( false );
}
case WOULD_LEAVE_MAP:
// Just stop here, repath if necessary.
m_orderQueue.pop_front();
//entf_clear(ENTF_IS_RUNNING);
//entf_clear(ENTF_SHOULD_RUN);
return( false );
case STANCE_DISALLOWS:
return( false ); // The stance will have cleared our order queue already
default:
return( false );
}
}
// Handles processing common to (at the moment) gather and melee attack actions
bool CEntity::processContactAction( CEntityOrder* current, size_t UNUSED(timestep_millis), CEntityOrder::EOrderType transition, SEntityAction* action )
{
HEntity target = current->m_target_entity;
if( !target || !target->m_extant )
{
popOrder();
if( m_orderQueue.empty() && target.isValid() )
{
CEventTargetExhausted evt( target, action->m_Id );
DispatchEvent( &evt );
}
return false;
}
if( g_Game->GetWorld()->GetLOSManager()->GetUnitStatus( target, m_player ) == UNIT_HIDDEN )
{
popOrder();
return false;
}
current->m_target_location = target->m_position;
float Distance = distance2D(current->m_target_location);
if( Distance < action->m_MaxRange )
{
current->m_type = transition;
entf_clear(ENTF_IS_RUNNING);
return true;
}
else
{
if( current->m_source == CEntityOrder::SOURCE_UNIT_AI && !m_stance->allowsMovement() )
{
popOrder();
return false; // We're not allowed to move at all by the current stance
}
chooseMovementSpeed( Distance );
// The pathfinder will push its result back into this unit's queue and
// add back the current order at the end with the transition type.
current->m_type = transition;
g_Pathfinder.requestContactPath( me, current, action->m_MaxRange );
return true;
}
}
bool CEntity::processContactActionNoPathing( CEntityOrder* current, size_t timestep_millis, const CStr& animation, CScriptEvent* contactEvent, SEntityAction* action )
{
HEntity target = current->m_target_entity;
if( m_fsm_cyclepos != NOT_IN_CYCLE )
{
size_t nextpos = m_fsm_cyclepos + timestep_millis * 2;
if( ( m_fsm_cyclepos <= m_fsm_anipos ) &&
( nextpos > m_fsm_anipos ) )
{
// Start playing.
// Start the animation. Actual damage/gather will be done in a
// few hundred ms, at the 'action point' of the animation we're
// now setting.
entf_clear(ENTF_IS_RUNNING);
// TODO: this is set to be looping, because apparently it otherwise
// plays one frame of 'idle' after e.g. attacks. But this way means
// animations sometimes play ~1.5 times then repeat, which looks
// broken too.
//m_actor->GetModel()->SetAnimation( m_fsm_animation, true, 1000.0f * m_fsm_animation->m_AnimDef->GetDuration() / (float)action->m_Speed, m_actor->GetRandomAnimation( "idle" ) );
m_actor->GetModel()->SetAnimation( m_fsm_animation, false, 1000.0f * m_fsm_animation->m_AnimDef->GetDuration() / (float)action->m_Speed );
}
if( ( m_fsm_cyclepos <= m_fsm_anipos2 ) &&
( nextpos > m_fsm_anipos2 ) )
{
// Load the ammunition.
m_actor->ShowAmmunition();
}
if( ( m_fsm_cyclepos <= action->m_Speed ) && ( nextpos > action->m_Speed ) )
{
m_actor->HideAmmunition();
// TODO: Play a sound here. Use m_base->m_SoundGroupTable[animation] to get the
// name of the soundgroup XML file to play.
if(!DispatchEvent( contactEvent ))
{
// Cancel current order
entf_clear(ENTF_IS_RUNNING);
entf_clear(ENTF_SHOULD_RUN);
m_actor->SetEntitySelection( "idle" );
m_actor->SetRandomAnimation( "idle" );
popOrder();
if( m_orderQueue.empty() && target.isValid() )
{
CEventTargetExhausted evt( target, action->m_Id );
DispatchEvent( &evt );
}
return( false );
}
}
if( nextpos >= ( action->m_Speed * 2 ) )
{
// End of cycle.
m_fsm_cyclepos = NOT_IN_CYCLE;
return( false );
}
// Otherwise, increment position.
m_fsm_cyclepos = nextpos;
return( false );
}
// Target's dead (or exhausted), or we cancelled? Then our work here is done.
if( !target || !target->m_extant
|| g_Game->GetWorld()->GetLOSManager()->GetUnitStatus( target, m_player ) == UNIT_HIDDEN )
{
popOrder();
if( m_orderQueue.empty() && target.isValid() )
{
CEventTargetExhausted evt( target, action->m_Id );
DispatchEvent( &evt );
}
entf_clear(ENTF_IS_RUNNING);
entf_clear(ENTF_SHOULD_RUN);
return( false );
}
CVector2D delta = CVector2D(target->m_position) - CVector2D(m_position);
float deltaLength = delta.length();
float adjRange = action->m_MaxRange + m_bounds->m_radius + target->m_bounds->m_radius;
if( action->m_MinRange > 0.0f )
{
float adjMinRange = action->m_MinRange + m_bounds->m_radius + target->m_bounds->m_radius;
if( delta.within( adjMinRange ) )
{
// Too close... avoid it if allowed by the current stance.
if( current->m_source == CEntityOrder::SOURCE_UNIT_AI && !m_stance->allowsMovement() )
{
popOrder();
m_actor->SetRandomAnimation( "idle" );
return false; // We're not allowed to move at all by the current stance
}
entf_set(ENTF_SHOULD_RUN);
chooseMovementSpeed( action->m_MinRange );
// The pathfinder will push its result in front of the current order
if( !g_Pathfinder.requestAvoidPath( me, current, action->m_MinRange + 2.0f ) )
{
m_actor->SetRandomAnimation( "idle" ); // Nothing we can do.. maybe we'll find a better target
popOrder();
}
return false;
}
}
if( !delta.within( adjRange ) )
{
// Too far away at the moment, chase after the target if allowed...
if( current->m_source == CEntityOrder::SOURCE_UNIT_AI && !m_stance->allowsMovement() )
{
popOrder();
return false;
}
// We're aiming to end up at a location just inside our maximum range
// (is this good enough?)
delta = delta.normalize() * ( adjRange - m_bounds->m_radius );
chooseMovementSpeed(deltaLength);
current->m_target_location = (CVector2D)target->m_position - delta;
HEntity collide;
switch( processGotoHelper( current, timestep_millis, collide ) )
{
case ALREADY_AT_DESTINATION:
case REACHED_DESTINATION:
case COLLISION_WITH_DESTINATION:
case WOULD_LEAVE_MAP:
case STANCE_DISALLOWS:
// Not too far any more...
break;
case NORMAL:
// May or may not be close enough, check...
// (Assuming the delta above will never take us within minimum range)
delta = target->m_position - m_position;
if( delta.within( adjRange ) )
break;
// Otherwise, continue chasing
return( false );
default:
// Path around it.
CEntityOrder avoidance;
avoidance.m_type = CEntityOrder::ORDER_GOTO_COLLISION;
CVector2D right;
right.x = m_ahead.y; right.y = -m_ahead.x;
CVector2D avoidancePosition;
// Which is the shortest diversion, going left or right?
// (Weight a little towards the right, to stop both units dodging the same way)
if( ( collide->m_bounds->m_pos - m_bounds->m_pos ).dot( right ) < 1 )
{
// Turn right.
avoidancePosition = collide->m_bounds->m_pos + right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
}
else
{
// Turn left.
avoidancePosition = collide->m_bounds->m_pos - right * ( collide->m_bounds->m_radius + m_bounds->m_radius * 2.5f );
}
// Create a short path representing this detour
avoidance.m_target_location = avoidancePosition;
if( current->m_type == CEntityOrder::ORDER_GOTO_COLLISION )
m_orderQueue.pop_front();
m_orderQueue.push_front( avoidance );
return( false );
}
}
else
{
// Close enough, but turn to face them.
m_orientation.Y = atan2( delta.x, delta.y );
m_ahead = delta.normalize();
entf_clear(ENTF_IS_RUNNING);
}
// Pick our animation, calculate the time to play it, and start the timer.
m_actor->SetEntitySelection( animation );
m_fsm_animation = m_actor->GetRandomAnimation( animation );
// Here's the idea - we want to be at that animation's event point
// when the timer reaches action->m_Speed. The timer increments by 2 every millisecond.
// animation->m_actionpos is the time offset into that animation that event
// should happen. So...
m_fsm_anipos = (size_t)( action->m_Speed * ( 1.0f - 2 * m_fsm_animation->m_ActionPos ) );
// But...
if( m_fsm_anipos < 0 ) // (FIXME: m_fsm_anipos is unsigned, so this will never be true...)
{
// We ought to have started it in the past. Oh well.
// Here's what we'll do: play it now, and advance it to
// the point it should be by now.
m_actor->GetModel()->SetAnimation( m_fsm_animation, true, 1000.0f * m_fsm_animation->m_AnimDef->GetDuration() / (float)action->m_Speed, m_actor->GetRandomAnimation( "idle" ) );
m_actor->GetModel()->Update( action->m_Speed * ( m_fsm_animation->m_ActionPos / 1000.0f - 0.0005f ) );
}
else
{
// If we've just transitioned, play idle. Otherwise, let the previous animation complete, if it
// hasn't already.
if( entf_get(ENTF_TRANSITION) )
{
// (don't change actor's entity-selection)
m_actor->SetRandomAnimation( "idle" );
}
}
// Load time needs to be animation->m_ActionPos2 ms after the start of the animation.
m_fsm_anipos2 = m_fsm_anipos + (size_t)( action->m_Speed * m_fsm_animation->m_ActionPos2 * 2 );
if( m_fsm_anipos2 < 0 ) // (FIXME: m_fsm_anipos2 is unsigned, so this will never be true...)
{
// Load now.
m_actor->ShowAmmunition();
}
m_fsm_cyclepos = 0;
return( false );
}
bool CEntity::processGeneric( CEntityOrder* current, size_t timestep_millis )
{
if( m_actions.find( current->m_action ) == m_actions.end() )
{
return false; // we've been tasked as part of a group but we can't do this action
}
SEntityAction& action_obj = m_actions[current->m_action];
return( processContactAction( current, timestep_millis, CEntityOrder::ORDER_GENERIC_NOPATHING, &action_obj ) );
}
bool CEntity::processGenericNoPathing( CEntityOrder* current, size_t timestep_millis )
{
if( m_actions.find( current->m_action ) == m_actions.end() )
{
return false; // we've been tasked as part of a group but we can't do this action
}
CEventGeneric evt( current->m_target_entity, current->m_action );
if( !m_actor ) return( false );
SEntityAction& action_obj = m_actions[current->m_action];
return( processContactActionNoPathing( current, timestep_millis, action_obj.m_Animation, &evt, &action_obj ) );
}
bool CEntity::processGoto( CEntityOrder* current, size_t UNUSED(timestep_millis) )
{
// float timestep=timestep_millis/1000.0f;
// janwas: currently unused
CVector2D pos( m_position.X, m_position.Z );
CVector2D path_to = current->m_target_location;
m_orderQueue.pop_front();
float Distance = ( path_to - pos ).length();
// Let's just check we're going somewhere...
if( Distance < 0.1f )
{
//entf_clear(ENTF_IS_RUNNING);
//entf_clear(ENTF_SHOULD_RUN);
return( false );
}
chooseMovementSpeed( Distance );
// The pathfinder will push its result back into this unit's queue.
g_Pathfinder.requestPath( me, path_to, current->m_source );
return( true );
}
bool CEntity::processGotoWaypoint( CEntityOrder* current, size_t UNUSED(timestep_milli), bool contact )
{
CVector2D pos( m_position.X, m_position.Z );
CVector2D path_to = current->m_target_location;
m_orderQueue.pop_front();
float Distance = ( path_to - pos ).length();
// Let's just check we're going somewhere...
if( Distance < 0.1f )
{
entf_clear(ENTF_IS_RUNNING);
//entf_clear(ENTF_SHOULD_RUN);
return( false );
}
chooseMovementSpeed( Distance );
g_Pathfinder.requestLowLevelPath( me, path_to, contact, current->m_pathfinder_radius, current->m_source );
return( true );
}
bool CEntity::processPatrol( CEntityOrder* current, size_t UNUSED(timestep_millis) )
{
// float timestep=timestep_millis/1000.0f;
// janwas: currently unused
CEntityOrder this_segment;
CEntityOrder repeat_patrol;
// Duplicate the patrol order, push one copy onto the start of our order queue
// (that's the path we'll be taking next) and one copy onto the end of the
// queue (to keep us patrolling)
this_segment.m_type = CEntityOrder::ORDER_GOTO;
this_segment.m_pathfinder_radius = current->m_pathfinder_radius;
repeat_patrol.m_type = CEntityOrder::ORDER_PATROL;
repeat_patrol.m_pathfinder_radius = current->m_pathfinder_radius;
m_orderQueue.pop_front();
m_orderQueue.push_front( this_segment );
m_orderQueue.push_back( repeat_patrol );
return( true );
}
bool CEntity::processProduce( CEntityOrder* order )
{
CEventStartProduction evt( order->m_produce_type, order->m_produce_name );
if( DispatchEvent( &evt ) && evt.GetTime() >= 0 )
{
m_productionQueue->AddItem( order->m_produce_type, order->m_produce_name, evt.GetTime() );
}
return( false );
}