X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fai%2Fai.cpp;h=4b76856ea9664db0bb5dc17681155bfe501090be;hb=f5de855fbd4bf5b0df1cad950cbe9069e41369ca;hp=343bacf774aebe56d0828e3ab74a079149779f7a;hpb=f0a20986c573c4df1eb1212333489252c4b30efa;p=blank.git

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index 343bacf..4b76856 100644
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -1,8 +1,11 @@
 #include "AIController.hpp"
+#include "ChaseState.hpp"
+#include "FleeState.hpp"
 #include "IdleState.hpp"
 #include "RoamState.hpp"
 
-#include "../model/geometry.hpp"
+#include "../geometry/distance.hpp"
+#include "../geometry/rotation.hpp"
 #include "../rand/GaloisLFSR.hpp"
 #include "../world/Entity.hpp"
 #include "../world/World.hpp"
@@ -17,27 +20,45 @@ 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)
+, avoid_obstacles(true)
+, obstacle_box{ glm::vec3(0.0f), glm::vec3(0.0f) }
+, obstacle_transform(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);
 }
 
@@ -52,9 +73,20 @@ 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);
 
+	if (avoid_obstacles && e.Moving()) {
+		obstacle_box = e.Bounds();
+		obstacle_box.min.z = -e.Speed();
+		obstacle_box.max.x = 0.0f;
+		// our box is oriented for -Z velocity
+		obstacle_transform = glm::mat4(find_rotation(glm::vec3(0.0f, 0.0f, -1.0f), e.Heading()));
+		// and positioned relative to the entity's chunk
+		obstacle_transform[3] = glm::vec4(e.GetState().pos.block, 1.0f);
+	}
+
 	if (wandering) {
 		glm::vec3 displacement(
 			random.SNorm() * wander_disp,
@@ -68,48 +100,114 @@ void AIController::Update(Entity &e, float dt) {
 
 	if (e.Moving()) {
 		// orient head towards heading
-		glm::vec3 heading(Heading(e.GetState()));
-		float tgt_pitch = std::atan(heading.y / length(glm::vec2(heading.x, heading.z)));
-		float tgt_yaw = std::atan2(-heading.x, -heading.z);
+		glm::vec3 heading(e.Heading());
+		// only half pitch, so we don't crane our neck
+		float tgt_pitch = std::atan(heading.y / length(glm::vec2(heading.x, heading.z))) * 0.5f;
+		// always look straight ahead
+		// maybe look at the pursuit target if there is one
+		float tgt_yaw = 0.0f;
 		e.SetHead(tgt_pitch, tgt_yaw);
+		e.OrientBody(dt);
 	}
 }
 
 glm::vec3 AIController::ControlForce(const Entity &entity, const EntityState &state) const {
 	if (IsHalted()) {
-		return Halt(state, halt_speed);
+		return GetHaltForce(entity, state);
 	}
 	glm::vec3 force(0.0f);
+	if (IsAvoidingObstacles() && entity.Moving()) {
+		if (MaxOutForce(force, GetObstacleAvoidanceForce(entity, state), entity.MaxControlForce())) {
+			return force;
+		}
+	}
 	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(entity, 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(entity, state), entity.MaxControlForce())) {
+			return force;
+		}
+	}
+	if (IsEvading()) {
+		if (MaxOutForce(force, GetEvadeForce(entity, state), entity.MaxControlForce())) {
+			return force;
+		}
+	}
+	if (IsPursuing()) {
+		if (MaxOutForce(force, GetPursuitForce(entity, 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(entity, state), entity.MaxControlForce())) {
 			return force;
 		}
 	}
 	return force;
 }
 
-glm::vec3 AIController::Heading(const EntityState &state) noexcept {
-	if (dot(state.velocity, state.velocity) > std::numeric_limits<float>::epsilon()) {
-		return normalize(state.velocity);
-	} else {
-		float cp = std::cos(state.pitch);
-		return glm::vec3(std::cos(state.yaw) * cp, std::sin(state.yaw) * cp, std::sin(state.pitch));
+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(diff);
+		if (dist > distance) continue;
+
+		// FOV test, 45° in each direction
+		if (dot(diff / dist, aim.dir) < sight_angle) {
+			continue;
+		}
+
+		// LOS test, assumes all entities are see-through
+		WorldCollision col;
+		if (world.Intersection(aim, reference, col) && 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, 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 +224,10 @@ unsigned int AIController::Decide(unsigned int num_choices) noexcept {
 	return random.Next<unsigned int>() % num_choices;
 }
 
-void AIController::EnterHalt(float speed) noexcept {
+// halt
+
+void AIController::EnterHalt() noexcept {
 	halted = true;
-	halt_speed = speed;
 }
 
 void AIController::ExitHalt() noexcept {
@@ -139,81 +238,364 @@ 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 Entity &, const EntityState &state) const noexcept {
+	return Halt(state, halt_speed);
+}
+
+// obstacle avoidance
+
+void AIController::StartAvoidingObstacles() noexcept {
+	avoid_obstacles = true;
+}
+
+void AIController::StopAvoidingObstacles() noexcept {
+	avoid_obstacles = false;
+}
+
+bool AIController::IsAvoidingObstacles() const noexcept {
+	return avoid_obstacles;
+}
+
+namespace {
+
+std::vector<WorldCollision> col;
+
+}
+
+glm::vec3 AIController::GetObstacleAvoidanceForce(const Entity &e, const EntityState &state) const noexcept {
+	if (!e.Moving()) {
+		return glm::vec3(0.0f);
+	}
+	col.clear();
+	if (!world.Intersection(obstacle_box, obstacle_transform, e.ChunkCoords(), col)) {
+		return glm::vec3(0.0f);
+	}
+	// find the nearest block
+	WorldCollision *nearest = nullptr;
+	glm::vec3 difference(0.0f);
+	float distance = std::numeric_limits<float>::infinity();
+	for (WorldCollision &c : col) {
+		// diff points from block to state
+		glm::vec3 diff = state.RelativePosition(c.ChunkPos()) - c.BlockCoords();
+		float dist = length2(diff);
+		if (dist < distance) {
+			nearest = &c;
+			difference = diff;
+			distance = dist;
+		}
+	}
+	if (!nearest) {
+		// intersection test lied to us
+		return glm::vec3(0.0f);
+	}
+	// and steer away from it
+	// to_go is the distance between our position and the
+	// point on the "velocity ray" closest to obstacle
+	float to_go = dot(difference, e.Heading());
+	// point is our future position if we keep going our way
+	glm::vec3 point(e.GetState().pos.block + e.Heading() * to_go);
+	// now steer away in the direction of (point - block)
+	// with a magniture proportional to speed/distance
+	return normalize(point - nearest->BlockCoords()) * (e.Speed() / std::sqrt(distance));
+}
+
+// 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 Entity &, 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 Entity &, 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 Entity &, 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.pos.block += 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 Entity &, 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.pos.block += 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 Entity &e, const EntityState &state) const noexcept {
+	glm::vec3 wander_target(normalize(e.Heading() * 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 = length2(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 +605,24 @@ 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);