X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fai%2Fai.cpp;h=95dc8f7d26e66703a50a45f9c427f990aece1370;hb=20d0a76d2519c71009c3b3babec0df27529f8142;hp=4b76856ea9664db0bb5dc17681155bfe501090be;hpb=f5de855fbd4bf5b0df1cad950cbe9069e41369ca;p=blank.git

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index 4b76856..95dc8f7 100644
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -6,6 +6,7 @@
 
 #include "../geometry/distance.hpp"
 #include "../geometry/rotation.hpp"
+#include "../graphics/glm.hpp"
 #include "../rand/GaloisLFSR.hpp"
 #include "../world/Entity.hpp"
 #include "../world/World.hpp"
@@ -13,7 +14,6 @@
 
 #include <cmath>
 #include <limits>
-#include <glm/glm.hpp>
 
 
 namespace blank {
@@ -27,49 +27,26 @@ RoamState roam;
 
 }
 
-AIController::AIController(World &world, GaloisLFSR &rand)
+AIController::AIController(World &world, Entity &entity)
 : 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) {
+, decision_timer(1.0f) {
 	think_timer.Start();
-	state->Enter(*this);
+	state->Enter(*this, entity);
 }
 
 AIController::~AIController() {
-	state->Exit(*this);
+	// ignore this for now
+	// state->Exit(*this, entity);
 }
 
-void AIController::SetState(const AIState &s) {
-	state->Exit(*this);
+void AIController::SetState(const AIState &s, Entity &entity) {
+	state->Exit(*this, entity);
 	state = &s;
-	state->Enter(*this);
+	state->Enter(*this, entity);
 }
 
 void AIController::Update(Entity &e, float dt) {
@@ -77,32 +54,11 @@ void AIController::Update(Entity &e, float 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,
-			random.SNorm() * wander_disp,
-			random.SNorm() * wander_disp
-		);
-		if (!iszero(displacement)) {
-			wander_pos = normalize(wander_pos + displacement * dt) * wander_radius;
-		}
-	}
-
 	if (e.Moving()) {
 		// orient head towards heading
 		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;
+		float tgt_pitch = std::atan(heading.y / glm::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;
@@ -111,44 +67,6 @@ void AIController::Update(Entity &e, float dt) {
 	}
 }
 
-glm::vec3 AIController::ControlForce(const Entity &entity, const EntityState &state) const {
-	if (IsHalted()) {
-		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()) {
-		if (MaxOutForce(force, GetFleeForce(entity, state), entity.MaxControlForce())) {
-			return force;
-		}
-	}
-	if (IsSeeking()) {
-		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()) {
-		if (MaxOutForce(force, GetWanderForce(entity, state), entity.MaxControlForce())) {
-			return force;
-		}
-	}
-	return force;
-}
-
 Player *AIController::ClosestVisiblePlayer(const Entity &e) noexcept {
 	Player *target = nullptr;
 	float distance = sight_dist;
@@ -159,11 +77,11 @@ Player *AIController::ClosestVisiblePlayer(const Entity &e) noexcept {
 
 		// distance test
 		const glm::vec3 diff(pe.AbsoluteDifference(e));
-		float dist = length(diff);
+		float dist = glm::length(diff);
 		if (dist > distance) continue;
 
 		// FOV test, 45° in each direction
-		if (dot(diff / dist, aim.dir) < sight_angle) {
+		if (glm::dot(diff / dist, aim.dir) < sight_angle) {
 			continue;
 		}
 
@@ -184,8 +102,8 @@ bool AIController::LineOfSight(const Entity &from, const Entity &to) const noexc
 	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) {
+	float dist = glm::length(diff);
+	if (dist > sight_dist || glm::dot(diff / dist, aim.dir) < sight_angle) {
 		return false;
 	}
 	WorldCollision col;
@@ -212,7 +130,7 @@ void AIController::CueDecision(
 	float minimum,
 	float variance
 ) noexcept {
-	decision_timer = FineTimer(minimum + variance * random.SNorm());
+	decision_timer = FineTimer(minimum + variance * world.Random().SNorm());
 	decision_timer.Start();
 }
 
@@ -221,363 +139,85 @@ bool AIController::DecisionDue() const noexcept {
 }
 
 unsigned int AIController::Decide(unsigned int num_choices) noexcept {
-	return random.Next<unsigned int>() % num_choices;
-}
-
-// halt
-
-void AIController::EnterHalt() noexcept {
-	halted = true;
-}
-
-void AIController::ExitHalt() noexcept {
-	halted = false;
-}
-
-bool AIController::IsHalted() const noexcept {
-	return halted;
-}
-
-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 {
-	fleeing = false;
-	if (flee_target) {
-		flee_target->UnRef();
-		flee_target = nullptr;
-	}
-}
-
-bool AIController::IsFleeing() const noexcept {
-	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;
-}
-
-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 {
-	seeking = false;
-	if (seek_target) {
-		seek_target->UnRef();
-		seek_target = nullptr;
-	}
-}
-
-bool AIController::IsSeeking() const noexcept {
-	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;
-}
-
-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 {
-	wander_speed = speed;
-	wander_dist = distance;
-	wander_radius = radius;
-	wander_disp = displacement;
-}
-
-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);
+	return world.Random().Next<unsigned int>() % num_choices;
 }
 
 
 // chase
 
-void ChaseState::Enter(AIController &ctrl) const {
-	ctrl.SetHaltSpeed(2.0f);
-	ctrl.SetPursuitSpeed(4.0f);
-	ctrl.StartPursuing();
+void ChaseState::Enter(AIController &, Entity &e) const {
+	e.GetSteering()
+		.SetAcceleration(5.0f)
+		.SetSpeed(4.0f)
+		.Enable(Steering::PURSUE_TARGET)
+	;
 }
 
-void ChaseState::Update(AIController &ctrl, Entity &e, float dt) const {
+void ChaseState::Update(AIController &ctrl, Entity &e, float) const {
+	Steering &steering = e.GetSteering();
 	// 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);
+	if (
+		!steering.HasTargetEntity() || // lost
+		steering.GetTargetEntity().Dead() || // dead
+		!ctrl.LineOfSight(e, steering.GetTargetEntity()) // escaped
+	) {
+		steering.ClearTargetEntity();
+		ctrl.SetState(idle, e);
 		return;
 	}
 	// halt if we're close enough, flee if we're too close
-	float dist_sq = length2(e.AbsoluteDifference(ctrl.GetPursuitTarget()));
+	float dist_sq = glm::length2(e.AbsoluteDifference(steering.GetTargetEntity()));
 	if (dist_sq < 8.0f) {
-		ctrl.SetFleeTarget(ctrl.GetPursuitTarget());
-		ctrl.SetState(flee);
+		ctrl.SetState(flee, e);
 	} else if (dist_sq < 25.0f) {
-		ctrl.EnterHalt();
+		steering.Enable(Steering::HALT).Disable(Steering::PURSUE_TARGET);
 	} else {
-		ctrl.ExitHalt();
+		steering.Enable(Steering::PURSUE_TARGET).Disable(Steering::HALT);
 	}
 }
 
-void ChaseState::Exit(AIController &ctrl) const {
-	ctrl.StopPursuing();
-	ctrl.ExitHalt();
+void ChaseState::Exit(AIController &, Entity &e) const {
+	e.GetSteering().Disable(Steering::HALT | Steering::PURSUE_TARGET);
 }
 
 // flee
 
-void FleeState::Enter(AIController &ctrl) const {
+void FleeState::Enter(AIController &ctrl, Entity &e) const {
+	e.GetSteering()
+		.SetAcceleration(5.0f)
+		.SetSpeed(4.0f)
+		.Enable(Steering::EVADE_TARGET)
+	;
 	ctrl.CueDecision(6.0f, 3.0f);
-	ctrl.SetFleeSpeed(4.0f);
-	ctrl.StartFleeing();
 }
 
-void FleeState::Update(AIController &ctrl, Entity &e, float dt) const {
+void FleeState::Update(AIController &ctrl, Entity &e, float) const {
 	if (!ctrl.DecisionDue()) return;
-	ctrl.SetState(idle);
+	ctrl.SetState(idle, e);
 }
 
-void FleeState::Exit(AIController &ctrl) const {
-	ctrl.StopFleeing();
+void FleeState::Exit(AIController &, Entity &e) const {
+	e.GetSteering().Disable(Steering::EVADE_TARGET);
 }
 
 // idle
 
-void IdleState::Enter(AIController &ctrl) const {
-	ctrl.SetHaltSpeed(0.5f);
-	ctrl.EnterHalt();
-	ctrl.SetWanderParams(0.001f, 1.1f);
+void IdleState::Enter(AIController &ctrl, Entity &e) const {
+	e.GetSteering()
+		.SetAcceleration(0.5f)
+		.SetSpeed(0.01f)
+		.Enable(Steering::HALT)
+		.SetWanderParams(1.0f, 1.1f, 1.0f)
+	;
 	ctrl.CueDecision(10.0f, 5.0f);
 }
 
-void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {
+void IdleState::Update(AIController &ctrl, Entity &e, float) const {
 	if (ctrl.MayThink()) {
 		const Player *player = ctrl.ClosestVisiblePlayer(e);
 		if (player) {
-			ctrl.SetPursuitTarget(player->GetEntity());
-			ctrl.SetState(chase);
+			e.GetSteering().SetTargetEntity(player->GetEntity());
+			ctrl.SetState(chase, e);
 			return;
 		}
 	}
@@ -587,38 +227,39 @@ void IdleState::Update(AIController &ctrl, Entity &e, float dt) const {
 	unsigned int d = ctrl.Decide(10);
 	if (d < 2) {
 		// .2 chance to start going
-		ctrl.SetState(roam);
+		ctrl.SetState(roam, e);
 	} else if (d < 5) {
 		// .3 chance of looking around
-		ctrl.ExitHalt();
-		ctrl.StartWandering();
+		e.GetSteering().Disable(Steering::HALT).Enable(Steering::WANDER);
 	} else {
 		// .5 chance of doing nothing
-		ctrl.StopWandering();
-		ctrl.EnterHalt();
+		e.GetSteering().Disable(Steering::WANDER).Enable(Steering::HALT);
 	}
 	ctrl.CueDecision(10.0f, 5.0f);
 }
 
-void IdleState::Exit(AIController &ctrl) const {
-	ctrl.ExitHalt();
-	ctrl.StopWandering();
+void IdleState::Exit(AIController &, Entity &e) const {
+	e.GetSteering().Disable(Steering::HALT | Steering::WANDER);
 }
 
 // roam
 
-void RoamState::Enter(AIController &ctrl) const {
-	ctrl.SetWanderParams(1.0f);
-	ctrl.StartWandering();
+void RoamState::Enter(AIController &ctrl, Entity &e) const {
+	e.GetSteering()
+		.SetAcceleration(0.5f)
+		.SetSpeed(1.0f)
+		.SetWanderParams(1.0f, 2.0f, 1.0f)
+		.Enable(Steering::WANDER)
+	;
 	ctrl.CueDecision(10.0f, 5.0f);
 }
 
-void RoamState::Update(AIController &ctrl, Entity &e, float dt) const {
+void RoamState::Update(AIController &ctrl, Entity &e, float) const {
 	if (ctrl.MayThink()) {
 		const Player *player = ctrl.ClosestVisiblePlayer(e);
 		if (player) {
-			ctrl.SetPursuitTarget(player->GetEntity());
-			ctrl.SetState(chase);
+			e.GetSteering().SetTargetEntity(player->GetEntity());
+			ctrl.SetState(chase, e);
 			return;
 		}
 	}
@@ -628,13 +269,13 @@ void RoamState::Update(AIController &ctrl, Entity &e, float dt) const {
 	unsigned int d = ctrl.Decide(10);
 	if (d == 0) {
 		// .1 chance of idling
-		ctrl.SetState(idle);
+		ctrl.SetState(idle, e);
 	}
 	ctrl.CueDecision(10.0f, 5.0f);
 }
 
-void RoamState::Exit(AIController &ctrl) const {
-	ctrl.StopWandering();
+void RoamState::Exit(AIController &, Entity &e) const {
+	e.GetSteering().Disable(Steering::WANDER);
 }
 
 }