X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fai%2Fai.cpp;fp=src%2Fai%2Fai.cpp;h=11add89bb049f079fad1bc62f01c612ce03e685e;hb=4c34ddd7eeaa3cb71fc90bf76a0cd395682add66;hp=343bacf774aebe56d0828e3ab74a079149779f7a;hpb=f0a20986c573c4df1eb1212333489252c4b30efa;p=blank.git diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp index 343bacf..11add89 100644 --- a/src/ai/ai.cpp +++ b/src/ai/ai.cpp @@ -1,4 +1,6 @@ #include "AIController.hpp" +#include "ChaseState.hpp" +#include "FleeState.hpp" #include "IdleState.hpp" #include "RoamState.hpp" @@ -17,27 +19,42 @@ namespace blank { namespace { +ChaseState chase; +FleeState flee; IdleState idle; RoamState roam; } -AIController::AIController(GaloisLFSR &rand) -: random(rand) +AIController::AIController(World &world, GaloisLFSR &rand) +: world(world) +, random(rand) , state(&idle) +, sight_dist(64.0f) +, sight_angle(0.707f) +, think_timer(0.5f) , decision_timer(1.0f) , halted(false) , halt_speed(1.0f) +, fleeing(false) , flee_target(nullptr) , flee_speed(5.0f) +, seeking(false) , seek_target(nullptr) , seek_speed(5.0f) +, evading(false) +, evade_target(nullptr) +, evade_speed(5.0f) +, pursuing(false) +, pursuit_target(nullptr) +, pursuit_speed(5.0f) , wandering(false) , wander_pos(1.0f, 0.0f, 0.0f) , wander_speed(1.0f) , wander_dist(2.0f) , wander_radius(1.5f) , wander_disp(1.0f) { + think_timer.Start(); state->Enter(*this); } @@ -52,6 +69,7 @@ void AIController::SetState(const AIState &s) { } void AIController::Update(Entity &e, float dt) { + think_timer.Update(dt); decision_timer.Update(dt); state->Update(*this, e, dt); @@ -77,24 +95,31 @@ void AIController::Update(Entity &e, float dt) { glm::vec3 AIController::ControlForce(const Entity &entity, const EntityState &state) const { if (IsHalted()) { - return Halt(state, halt_speed); + return GetHaltForce(state); } glm::vec3 force(0.0f); if (IsFleeing()) { - glm::vec3 diff(GetFleeTarget().GetState().Diff(state)); - if (MaxOutForce(force, TargetVelocity(normalize(diff) * flee_speed, state, 0.5f), entity.MaxControlForce())) { + if (MaxOutForce(force, GetFleeForce(state), entity.MaxControlForce())) { return force; } } if (IsSeeking()) { - glm::vec3 diff(state.Diff(GetSeekTarget().GetState())); - if (MaxOutForce(force, TargetVelocity(normalize(diff) * seek_speed, state, 0.5f), entity.MaxControlForce())) { + if (MaxOutForce(force, GetSeekForce(state), entity.MaxControlForce())) { + return force; + } + } + if (IsEvading()) { + if (MaxOutForce(force, GetEvadeForce(state), entity.MaxControlForce())) { + return force; + } + } + if (IsPursuing()) { + if (MaxOutForce(force, GetPursuitForce(state), entity.MaxControlForce())) { return force; } } if (IsWandering()) { - glm::vec3 wander_target(normalize(Heading(state) * wander_dist + wander_pos) * wander_speed); - if (MaxOutForce(force, TargetVelocity(wander_target, state, 2.0f), entity.MaxControlForce())) { + if (MaxOutForce(force, GetWanderForce(state), entity.MaxControlForce())) { return force; } } @@ -110,6 +135,65 @@ glm::vec3 AIController::Heading(const EntityState &state) noexcept { } } +Player *AIController::ClosestVisiblePlayer(const Entity &e) noexcept { + Player *target = nullptr; + float distance = sight_dist; + const glm::ivec3 &reference(e.ChunkCoords()); + Ray aim(e.Aim(reference)); + for (Player &p : world.Players()) { + const Entity &pe = p.GetEntity(); + + // distance test + const glm::vec3 diff(pe.AbsoluteDifference(e)); + float dist = length_squared(diff); + if (dist > distance) continue; + + // FOV test, 45° in each direction + if (dot(normalize(diff), aim.dir) < sight_angle) { + continue; + } + + // LOS test, assumes all entities are see-through + WorldCollision col; + if (world.Intersection(aim, glm::mat4(1.0f), reference, col) && col.depth * col.depth < dist) { + continue; + } + + // we got a match + target = &p; + distance = dist; + } + return target; +} + +bool AIController::LineOfSight(const Entity &from, const Entity &to) const noexcept { + const glm::ivec3 &reference(from.ChunkCoords()); + Ray aim(from.Aim(reference)); + const glm::vec3 diff(to.AbsoluteDifference(from)); + float dist = length(diff); + if (dist > sight_dist || dot(diff / dist, aim.dir) < sight_angle) { + return false; + } + WorldCollision col; + if (world.Intersection(aim, glm::mat4(1.0f), reference, col) && col.depth < dist) { + return false; + } + return true; +} + +// think + +bool AIController::MayThink() const noexcept { + return think_timer.Hit(); +} + +void AIController::SetThinkInterval(float i) noexcept { + think_timer = FineTimer(i); + think_timer.Start(); +} + +// decide + void AIController::CueDecision( float minimum, float variance @@ -126,9 +210,10 @@ unsigned int AIController::Decide(unsigned int num_choices) noexcept { return random.Next() % num_choices; } -void AIController::EnterHalt(float speed) noexcept { +// halt + +void AIController::EnterHalt() noexcept { halted = true; - halt_speed = speed; } void AIController::ExitHalt() noexcept { @@ -139,81 +224,307 @@ bool AIController::IsHalted() const noexcept { return halted; } -void AIController::StartFleeing(const Entity &e, float speed) noexcept { - flee_target = &e; - flee_speed = speed; +void AIController::SetHaltSpeed(float speed) noexcept { + halt_speed = speed; +} + +glm::vec3 AIController::GetHaltForce(const EntityState &state) const noexcept { + return Halt(state, halt_speed); +} + +// flee + +void AIController::StartFleeing() noexcept { + fleeing = true; } void AIController::StopFleeing() noexcept { - flee_target = nullptr; + fleeing = false; + if (flee_target) { + flee_target->UnRef(); + flee_target = nullptr; + } } bool AIController::IsFleeing() const noexcept { - return flee_target; + return fleeing && flee_target; +} + +void AIController::SetFleeTarget(Entity &e) noexcept { + if (flee_target) { + flee_target->UnRef(); + } + flee_target = &e; + flee_target->Ref(); +} + +void AIController::SetFleeSpeed(float speed) noexcept { + flee_speed = speed; +} + +Entity &AIController::GetFleeTarget() noexcept { + return *flee_target; } const Entity &AIController::GetFleeTarget() const noexcept { return *flee_target; } -void AIController::StartSeeking(const Entity &e, float speed) noexcept { - seek_target = &e; - seek_speed = speed; +glm::vec3 AIController::GetFleeForce(const EntityState &state) const noexcept { + return Flee(state, GetFleeTarget().GetState(), flee_speed, 2.0f); +} + +// seek + +void AIController::StartSeeking() noexcept { + seeking = true; } void AIController::StopSeeking() noexcept { - seek_target = nullptr; + seeking = false; + if (seek_target) { + seek_target->UnRef(); + seek_target = nullptr; + } } bool AIController::IsSeeking() const noexcept { - return seek_target; + return seeking && seek_target; +} + +void AIController::SetSeekTarget(Entity &e) noexcept { + if (seek_target) { + seek_target->UnRef(); + } + seek_target = &e; + seek_target->Ref(); +} + +void AIController::SetSeekSpeed(float speed) noexcept { + seek_speed = speed; +} + +Entity &AIController::GetSeekTarget() noexcept { + return *seek_target; } const Entity &AIController::GetSeekTarget() const noexcept { return *seek_target; } -void AIController::StartWandering( +glm::vec3 AIController::GetSeekForce(const EntityState &state) const noexcept { + return Seek(state, GetSeekTarget().GetState(), seek_speed, 2.0f); +} + +// evade + +void AIController::StartEvading() noexcept { + evading = true; +} + +void AIController::StopEvading() noexcept { + evading = false; + if (evade_target) { + evade_target->UnRef(); + evade_target = nullptr; + } +} + +bool AIController::IsEvading() const noexcept { + return evading && evade_target; +} + +void AIController::SetEvadeTarget(Entity &e) noexcept { + if (evade_target) { + evade_target->UnRef(); + } + evade_target = &e; + evade_target->Ref(); +} + +void AIController::SetEvadeSpeed(float speed) noexcept { + evade_speed = speed; +} + +Entity &AIController::GetEvadeTarget() noexcept { + return *evade_target; +} + +const Entity &AIController::GetEvadeTarget() const noexcept { + return *evade_target; +} + +glm::vec3 AIController::GetEvadeForce(const EntityState &state) const noexcept{ + glm::vec3 cur_diff(state.Diff(GetEvadeTarget().GetState())); + float time_estimate = length(cur_diff) / evade_speed; + EntityState pred_state(GetEvadeTarget().GetState()); + pred_state.block_pos += pred_state.velocity * time_estimate; + return Flee(state, pred_state, evade_speed, 2.0f); +} + +// pursuit + +void AIController::StartPursuing() noexcept { + pursuing = true; +} + +void AIController::StopPursuing() noexcept { + pursuing = false; + if (pursuit_target) { + pursuit_target->UnRef(); + pursuit_target = nullptr; + } +} + +bool AIController::IsPursuing() const noexcept { + return pursuing && pursuit_target; +} + +void AIController::SetPursuitTarget(Entity &e) noexcept { + if (pursuit_target) { + pursuit_target->UnRef(); + } + pursuit_target = &e; + pursuit_target->Ref(); +} + +void AIController::SetPursuitSpeed(float speed) noexcept { + pursuit_speed = speed; +} + +Entity &AIController::GetPursuitTarget() noexcept { + return *pursuit_target; +} + +const Entity &AIController::GetPursuitTarget() const noexcept { + return *pursuit_target; +} + +glm::vec3 AIController::GetPursuitForce(const EntityState &state) const noexcept { + glm::vec3 cur_diff(state.Diff(GetPursuitTarget().GetState())); + float time_estimate = length(cur_diff) / pursuit_speed; + EntityState pred_state(GetPursuitTarget().GetState()); + pred_state.block_pos += pred_state.velocity * time_estimate; + return Seek(state, pred_state, pursuit_speed, 2.0f); +} + +// wander + +void AIController::StartWandering() noexcept { + wandering = true; +} + +void AIController::StopWandering() noexcept { + wandering = false; +} + +bool AIController::IsWandering() const noexcept { + return wandering; +} + +void AIController::SetWanderParams( float speed, float distance, float radius, float displacement ) noexcept { - wandering = true; wander_speed = speed; wander_dist = distance; wander_radius = radius; wander_disp = displacement; } -void AIController::StopWandering() noexcept { - wandering = false; +glm::vec3 AIController::GetWanderForce(const EntityState &state) const noexcept { + glm::vec3 wander_target(normalize(Heading(state) * wander_dist + wander_pos) * wander_speed); + return TargetVelocity(wander_target, state, 0.5f); } -bool AIController::IsWandering() const noexcept { - return wandering; + +// chase + +void ChaseState::Enter(AIController &ctrl) const { + ctrl.SetHaltSpeed(2.0f); + ctrl.SetPursuitSpeed(4.0f); + ctrl.StartPursuing(); +} + +void ChaseState::Update(AIController &ctrl, Entity &e, float dt) const { + // check if target still alive and in sight + if (ctrl.GetPursuitTarget().Dead()) { + ctrl.SetState(idle); + return; + } + if (!ctrl.LineOfSight(e, ctrl.GetPursuitTarget())) { + ctrl.SetState(idle); + return; + } + // halt if we're close enough, flee if we're too close + float dist_sq = length_squared(e.AbsoluteDifference(ctrl.GetPursuitTarget())); + if (dist_sq < 8.0f) { + ctrl.SetFleeTarget(ctrl.GetPursuitTarget()); + ctrl.SetState(flee); + } else if (dist_sq < 25.0f) { + ctrl.EnterHalt(); + } else { + ctrl.ExitHalt(); + } +} + +void ChaseState::Exit(AIController &ctrl) const { + ctrl.StopPursuing(); + ctrl.ExitHalt(); +} + +// flee + +void FleeState::Enter(AIController &ctrl) const { + ctrl.CueDecision(6.0f, 3.0f); + ctrl.SetFleeSpeed(4.0f); + ctrl.StartFleeing(); +} + +void FleeState::Update(AIController &ctrl, Entity &e, float dt) const { + if (!ctrl.DecisionDue()) return; + ctrl.SetState(idle); +} + +void FleeState::Exit(AIController &ctrl) const { + ctrl.StopFleeing(); } +// idle void IdleState::Enter(AIController &ctrl) const { - ctrl.EnterHalt(2.0f); - ctrl.StartWandering(0.001f, 1.1f); + ctrl.SetHaltSpeed(0.5f); + ctrl.EnterHalt(); + ctrl.SetWanderParams(0.001f, 1.1f); ctrl.CueDecision(10.0f, 5.0f); } void IdleState::Update(AIController &ctrl, Entity &e, float dt) const { - // TODO: check for players + if (ctrl.MayThink()) { + const Player *player = ctrl.ClosestVisiblePlayer(e); + if (player) { + ctrl.SetPursuitTarget(player->GetEntity()); + ctrl.SetState(chase); + return; + } + } + if (!ctrl.DecisionDue()) return; unsigned int d = ctrl.Decide(10); - if (d == 0) { - // .1 chance to start going + if (d < 2) { + // .2 chance to start going ctrl.SetState(roam); - } else if (d < 3) { - // .2 chance of looking around + } else if (d < 5) { + // .3 chance of looking around ctrl.ExitHalt(); + ctrl.StartWandering(); } else { - ctrl.EnterHalt(2.0f); + // .5 chance of doing nothing + ctrl.StopWandering(); + ctrl.EnterHalt(); } ctrl.CueDecision(10.0f, 5.0f); } @@ -223,13 +534,24 @@ void IdleState::Exit(AIController &ctrl) const { ctrl.StopWandering(); } +// roam + void RoamState::Enter(AIController &ctrl) const { - ctrl.StartWandering(1.0f); + ctrl.SetWanderParams(1.0f); + ctrl.StartWandering(); ctrl.CueDecision(10.0f, 5.0f); } void RoamState::Update(AIController &ctrl, Entity &e, float dt) const { - // TODO: check for players + if (ctrl.MayThink()) { + const Player *player = ctrl.ClosestVisiblePlayer(e); + if (player) { + ctrl.SetPursuitTarget(player->GetEntity()); + ctrl.SetState(chase); + return; + } + } + if (!ctrl.DecisionDue()) return; unsigned int d = ctrl.Decide(10);