X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fai%2Fai.cpp;h=c47b4d3893de5a0483b86033ef16ad3f817f9644;hb=0d580658b896dfec07466c31ae4847455724ee95;hp=7ada5a34b3bc6d80912f0dfd876e8a721217fff6;hpb=d38be21d103052761505d58a6d13e30a896dde01;p=blank.git

diff --git a/src/ai/ai.cpp b/src/ai/ai.cpp
index 7ada5a3..c47b4d3 100644
--- a/src/ai/ai.cpp
+++ b/src/ai/ai.cpp
@@ -1,123 +1,639 @@
-#include "Chaser.hpp"
-#include "Controller.hpp"
-#include "RandomWalk.hpp"
+#include "AIController.hpp"
+#include "ChaseState.hpp"
+#include "FleeState.hpp"
+#include "IdleState.hpp"
+#include "RoamState.hpp"
 
 #include "../model/geometry.hpp"
+#include "../rand/GaloisLFSR.hpp"
 #include "../world/Entity.hpp"
 #include "../world/World.hpp"
 #include "../world/WorldCollision.hpp"
 
+#include <cmath>
+#include <limits>
 #include <glm/glm.hpp>
 
 
 namespace blank {
 
-Chaser::Chaser(World &world, Entity &ctrl, Entity &tgt) noexcept
-: Controller(ctrl)
-, world(world)
-, tgt(tgt)
-, chase_speed(0.002f)
-, flee_speed(-0.005f)
-, stop_dist(10)
-, flee_dist(5) {
-	tgt.Ref();
+namespace {
+
+ChaseState chase;
+FleeState flee;
+IdleState idle;
+RoamState roam;
+
 }
 
-Chaser::~Chaser() {
-	tgt.UnRef();
+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);
 }
 
-void Chaser::Update(int dt) {
-	if (Target().Dead()) {
-		Controlled().Kill();
-		return;
+AIController::~AIController() {
+	state->Exit(*this);
+}
+
+void AIController::SetState(const AIState &s) {
+	state->Exit(*this);
+	state = &s;
+	state->Enter(*this);
+}
+
+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().block_pos, 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;
+		// 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 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;
+	const glm::ivec3 &reference(e.ChunkCoords());
+	Ray aim(e.Aim(reference));
+	for (Player &p : world.Players()) {
+		const Entity &pe = p.GetEntity();
 
-	glm::vec3 diff(Target().AbsoluteDifference(Controlled()));
+		// 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, glm::mat4(1.0f), 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 < std::numeric_limits<float>::epsilon()) {
-		Controlled().TargetVelocity(glm::vec3(0.0f));
-		return;
+	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;
 	}
-	glm::vec3 norm_diff(diff / dist);
+	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
+) noexcept {
+	decision_timer = FineTimer(minimum + variance * random.SNorm());
+	decision_timer.Start();
+}
+
+bool AIController::DecisionDue() const noexcept {
+	return decision_timer.HitOnce();
+}
+
+unsigned int AIController::Decide(unsigned int num_choices) noexcept {
+	return random.Next<unsigned int>() % num_choices;
+}
+
+// halt
 
-	bool line_of_sight = true;
-	Ray aim{Target().Position() - diff, norm_diff};
-	WorldCollision coll;
-	if (world.Intersection(aim, glm::mat4(1.0f), Target().ChunkCoords(), coll)) {
-		line_of_sight = coll.depth > dist;
+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 = length_squared(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().block_pos + 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));
+}
 
-	if (!line_of_sight) {
-		Controlled().TargetVelocity(glm::vec3(0.0f));
-	} else if (dist > stop_dist) {
-		Controlled().TargetVelocity(norm_diff * chase_speed);
-	} else if (dist < flee_dist) {
-		Controlled().TargetVelocity(norm_diff * flee_speed);
-	} else {
-		Controlled().TargetVelocity(glm::vec3(0.0f));
+// 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;
+}
 
-Controller::Controller(Entity &e) noexcept
-: entity(e) {
-	entity.Ref();
+void AIController::SetSeekTarget(Entity &e) noexcept {
+	if (seek_target) {
+		seek_target->UnRef();
+	}
+	seek_target = &e;
+	seek_target->Ref();
 }
 
-Controller::~Controller() {
-	entity.UnRef();
+void AIController::SetSeekSpeed(float speed) noexcept {
+	seek_speed = speed;
 }
 
+Entity &AIController::GetSeekTarget() noexcept {
+	return *seek_target;
+}
 
-RandomWalk::RandomWalk(Entity &e, std::uint64_t seed) noexcept
-: Controller(e)
-, random(seed)
-, start_vel(e.Velocity())
-, target_vel(start_vel)
-, start_rot(e.AngularVelocity())
-, target_rot(start_rot)
-, switch_time(0)
-, lerp_max(1.0f)
-, lerp_time(0.0f) {
+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);
 }
 
-RandomWalk::~RandomWalk() {
+// evade
+
+void AIController::StartEvading() noexcept {
+	evading = true;
+}
 
+void AIController::StopEvading() noexcept {
+	evading = false;
+	if (evade_target) {
+		evade_target->UnRef();
+		evade_target = nullptr;
+	}
 }
 
-void RandomWalk::Update(int dt) {
-	switch_time -= dt;
-	lerp_time -= dt;
-	if (switch_time < 0) {
-		switch_time += 2500 + (random.Next<unsigned short>() % 5000);
-		lerp_max = 1500 + (random.Next<unsigned short>() % 1000);
-		lerp_time = lerp_max;
-		Change();
-	} else if (lerp_time > 0) {
-		float a = std::min(lerp_time / lerp_max, 1.0f);
-		Controlled().TargetVelocity(mix(target_vel, start_vel, a));
-		Controlled().AngularVelocity(mix(target_rot, start_rot, a));
+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.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 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.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 {
+	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);
+}
+
+
+// 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.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 {
+	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 < 2) {
+		// .2 chance to start going
+		ctrl.SetState(roam);
+	} else if (d < 5) {
+		// .3 chance of looking around
+		ctrl.ExitHalt();
+		ctrl.StartWandering();
 	} else {
-		Controlled().TargetVelocity(target_vel);
-		Controlled().AngularVelocity(target_rot);
+		// .5 chance of doing nothing
+		ctrl.StopWandering();
+		ctrl.EnterHalt();
 	}
+	ctrl.CueDecision(10.0f, 5.0f);
 }
 
-void RandomWalk::Change() noexcept {
-	start_vel = target_vel;
-	start_rot = target_rot;
+void IdleState::Exit(AIController &ctrl) const {
+	ctrl.ExitHalt();
+	ctrl.StopWandering();
+}
+
+// roam
 
-	constexpr float base = 0.000001f;
+void RoamState::Enter(AIController &ctrl) const {
+	ctrl.SetWanderParams(1.0f);
+	ctrl.StartWandering();
+	ctrl.CueDecision(10.0f, 5.0f);
+}
 
-	target_vel.x = base * (random.Next<short>() % 1024);
-	target_vel.y = base * (random.Next<short>() % 1024);
-	target_vel.z = base * (random.Next<short>() % 1024);
+void RoamState::Update(AIController &ctrl, Entity &e, float dt) const {
+	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 of idling
+		ctrl.SetState(idle);
+	}
+	ctrl.CueDecision(10.0f, 5.0f);
+}
 
-	target_rot.x = base * (random.Next<short>() % 1024);
-	target_rot.y = base * (random.Next<short>() % 1024);
-	target_rot.z = base * (random.Next<short>() % 1024);
+void RoamState::Exit(AIController &ctrl) const {
+	ctrl.StopWandering();
 }
 
 }