2006-03-20 16:43:15 +00:00
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/*
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THE COMPUTER CODE CONTAINED HEREIN IS THE SOLE PROPERTY OF PARALLAX
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SOFTWARE CORPORATION ("PARALLAX"). PARALLAX, IN DISTRIBUTING THE CODE TO
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END-USERS, AND SUBJECT TO ALL OF THE TERMS AND CONDITIONS HEREIN, GRANTS A
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ROYALTY-FREE, PERPETUAL LICENSE TO SUCH END-USERS FOR USE BY SUCH END-USERS
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IN USING, DISPLAYING, AND CREATING DERIVATIVE WORKS THEREOF, SO LONG AS
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SUCH USE, DISPLAY OR CREATION IS FOR NON-COMMERCIAL, ROYALTY OR REVENUE
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FREE PURPOSES. IN NO EVENT SHALL THE END-USER USE THE COMPUTER CODE
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CONTAINED HEREIN FOR REVENUE-BEARING PURPOSES. THE END-USER UNDERSTANDS
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AND AGREES TO THE TERMS HEREIN AND ACCEPTS THE SAME BY USE OF THIS FILE.
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COPYRIGHT 1993-1998 PARALLAX SOFTWARE CORPORATION. ALL RIGHTS RESERVED.
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*/
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/*
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* $Source: /cvsroot/dxx-rebirth/d1x-rebirth/main/aipath.c,v $
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* $Revision: 1.1.1.1 $
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* $Author: zicodxx $
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* $Date: 2006/03/17 19:42:49 $
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*
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* AI path forming stuff.
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*
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* $Log: aipath.c,v $
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* Revision 1.1.1.1 2006/03/17 19:42:49 zicodxx
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* initial import
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*
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* Revision 1.1.1.1 1999/06/14 22:05:15 donut
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* Import of d1x 1.37 source.
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*
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* Revision 2.0 1995/02/27 11:30:48 john
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* New version 2.0, which has no anonymous unions, builds with
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* Watcom 10.0, and doesn't require parsing BITMAPS.TBL.
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*
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* Revision 1.101 1995/02/22 13:42:44 allender
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* remove anonymous unions for object structure
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*
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* Revision 1.100 1995/02/10 16:20:04 mike
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* fix bogosity in create_path_points, assumed all objects were robots.
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*
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* Revision 1.99 1995/02/07 21:09:30 mike
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* make run_from guys have diff level based speed.
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*
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* Revision 1.98 1995/02/04 17:28:29 mike
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* make station guys return better.
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*
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* Revision 1.97 1995/02/04 10:28:39 mike
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* fix compile error!
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*
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* Revision 1.96 1995/02/04 10:03:37 mike
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* Fly to exit cheat.
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*
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* Revision 1.95 1995/02/01 21:10:36 mike
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* Array name was dereferenced. Not a bug, but unclean.
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*
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* Revision 1.94 1995/02/01 17:14:12 mike
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* comment out some common mprintfs which didn't matter.
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*
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* Revision 1.93 1995/01/30 13:01:23 mike
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* Make robots fire at player other than one they are controlled by sometimes.
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*
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* Revision 1.92 1995/01/29 22:29:32 mike
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* add more debug info for guys that get lost.
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*
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* Revision 1.91 1995/01/20 16:56:05 mike
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* station stuff.
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*
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* Revision 1.90 1995/01/18 10:59:45 mike
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* comment out some mprintfs.
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*
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* Revision 1.89 1995/01/17 16:58:34 mike
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* make path following work for multiplayer.
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*
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* Revision 1.88 1995/01/17 14:21:44 mike
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* make run_from guys run better.
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*
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* Revision 1.87 1995/01/14 17:09:04 mike
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* playing with crazy josh, he's kinda slow and dumb now.
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*
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* Revision 1.86 1995/01/13 18:52:28 mike
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* comment out int3.
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*
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* Revision 1.85 1995/01/05 09:42:11 mike
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* compile out code based on SHAREWARE.
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*
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* Revision 1.84 1995/01/02 12:38:32 mike
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* make crazy josh turn faster, therefore evade player better.
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*
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* Revision 1.83 1994/12/27 15:59:40 mike
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* tweak ai_multiplayer_awareness constants.
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*
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* Revision 1.82 1994/12/19 17:07:10 mike
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* deal with new ai_multiplayer_awareness which returns a value saying whether this object can be moved by this player.
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*
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* Revision 1.81 1994/12/15 13:04:30 mike
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* Replace Players[Player_num].time_total references with GameTime.
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*
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* Revision 1.80 1994/12/09 16:13:23 mike
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* remove debug code.
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*
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* Revision 1.79 1994/12/07 00:36:54 mike
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* make robots get out of matcens better and be aware of player.
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*
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* Revision 1.78 1994/11/30 00:59:05 mike
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* optimizations.
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*
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* Revision 1.77 1994/11/27 23:13:39 matt
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* Made changes for new mprintf calling convention
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*
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* Revision 1.76 1994/11/23 21:59:34 mike
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* comment out some mprintfs.
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*
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* Revision 1.75 1994/11/21 16:07:14 mike
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* flip PARALLAX flag, prevent annoying debug information.
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*
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* Revision 1.74 1994/11/19 15:13:28 mike
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* remove unused code and data.
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*
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* Revision 1.73 1994/11/17 14:53:15 mike
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* segment validation functions moved from editor to main.
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*
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* Revision 1.72 1994/11/16 23:38:42 mike
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* new improved boss teleportation behavior.
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*
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* Revision 1.71 1994/11/13 17:18:30 mike
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* debug code, then comment it out.
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*
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* Revision 1.70 1994/11/11 16:41:43 mike
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* flip the PARALLAX flag.
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*
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* Revision 1.69 1994/11/11 16:33:45 mike
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* twiddle the PARALLAX flag.
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*
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*
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* Revision 1.68 1994/11/10 21:32:29 mike
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* debug code.
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*
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* Revision 1.67 1994/11/10 20:15:07 mike
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* fix stupid bug: uninitialized pointer.
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*
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* Revision 1.66 1994/11/10 17:45:15 mike
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* debugging.
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*
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* Revision 1.65 1994/11/10 17:28:10 mike
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* debugging.
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*
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*/
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#ifdef RCS
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static char rcsid[] = "$Id: aipath.c,v 1.1.1.1 2006/03/17 19:42:49 zicodxx Exp $";
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#endif
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#include <stdio.h> // for printf()
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#include <stdlib.h> // for d_rand() and qsort()
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#include <string.h> // for memset()
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#include "inferno.h"
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#include "mono.h"
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#include "3d.h"
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#include "object.h"
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#include "error.h"
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#include "ai.h"
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#include "robot.h"
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#include "fvi.h"
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#include "physics.h"
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#include "wall.h"
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#ifdef EDITOR
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#include "editor/editor.h"
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#endif
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#include "player.h"
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#include "fireball.h"
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#include "game.h"
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void validate_all_paths(void);
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void ai_path_set_orient_and_vel(object *objp, vms_vector *goal_point);
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void maybe_ai_path_garbage_collect(void);
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#ifndef NDEBUG
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int validate_path(int debug_flag, point_seg *psegs, int num_points);
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#endif
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#define PARALLAX 0 // If !0, then special debugging for Parallax eyes enabled.
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// Length in segments of avoidance path
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#define AVOID_SEG_LENGTH 7
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2006-10-06 14:41:31 +00:00
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void create_random_xlate(sbyte *xt)
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2006-03-20 16:43:15 +00:00
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{
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int i;
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for (i=0; i<MAX_SIDES_PER_SEGMENT; i++)
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xt[i] = i;
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for (i=0; i<MAX_SIDES_PER_SEGMENT; i++) {
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int j = (d_rand()*MAX_SIDES_PER_SEGMENT)/(D_RAND_MAX+1);
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2006-10-06 14:41:31 +00:00
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sbyte temp_byte;
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2006-03-20 16:43:15 +00:00
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Assert((j >= 0) && (j < MAX_SIDES_PER_SEGMENT));
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temp_byte = xt[j];
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xt[j] = xt[i];
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xt[i] = temp_byte;
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}
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}
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// -----------------------------------------------------------------------------------------------------------
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// Insert the point at the center of the side connecting two segments between the two points.
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// This is messy because we must insert into the list. The simplest (and not too slow) way to do this is to start
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// at the end of the list and go backwards.
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void insert_center_points(point_seg *psegs, short *num_points)
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{
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int i, last_point;
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last_point = *num_points-1;
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// printf("---------- Original points ----------\n");
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// for (i=0; i<*num_points; i++)
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// printf("%2i: %3i [%7.3f %7.3f %7.3f]\n", i, psegs[i].segnum, f2fl(psegs[i].point.x), f2fl(psegs[i].point.y), f2fl(psegs[i].point.z));
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// printf("\n");
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for (i=last_point; i>0; i--) {
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int connect_side;
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vms_vector center_point, new_point;
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psegs[2*i] = psegs[i];
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connect_side = find_connect_side(&Segments[psegs[i].segnum], &Segments[psegs[i-1].segnum]);
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Assert(connect_side != -1); // Impossible! These two segments must be connected, they were created by create_path_points (which was created by mk!)
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if (connect_side == -1) // Try to blow past the assert, this should at least prevent a hang.
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connect_side = 0;
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compute_center_point_on_side(¢er_point, &Segments[psegs[i-1].segnum], connect_side);
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vm_vec_sub(&new_point, &psegs[i-1].point, ¢er_point);
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new_point.x /= 16;
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new_point.y /= 16;
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new_point.z /= 16;
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vm_vec_sub(&psegs[2*i-1].point, ¢er_point, &new_point);
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psegs[2*i-1].segnum = psegs[2*i].segnum;
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(*num_points)++;
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}
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// printf("---------- With inserted points ----------\n");
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// for (i=0; i<*num_points; i++)
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// printf("%2i: %3i [%7.3f %7.3f %7.3f]\n", i, psegs[i].segnum, f2fl(psegs[i].point.x), f2fl(psegs[i].point.y), f2fl(psegs[i].point.z));
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// printf("\n\n");
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}
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#ifdef EDITOR
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int Safety_flag_override = 0;
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int Random_flag_override = 0;
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int Ai_path_debug=0;
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#endif
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// -----------------------------------------------------------------------------------------------------------
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// Create a path from objp->pos to the center of end_seg.
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// Return a list of (segment_num, point_locations) at psegs
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// Return number of points in *num_points.
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// if max_depth == -1, then there is no maximum depth.
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// If unable to create path, return -1, else return 0.
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// If random_flag !0, then introduce randomness into path by looking at sides in random order. This means
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// that a path between two segments won't always be the same, unless it is unique.
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// If safety_flag is set, then additional points are added to "make sure" that points are reachable. I would
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// like to say that it ensures that the object can move between the points, but that would require knowing what
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// the object is (which isn't passed, right?) and making fvi calls (slow, right?). So, consider it the more_or_less_safe_flag.
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// If end_seg == -2, then end seg will never be found and this routine will drop out due to depth (probably called by create_n_segment_path).
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int create_path_points(object *objp, int start_seg, int end_seg, point_seg *psegs, short *num_points, int max_depth, int random_flag, int safety_flag, int avoid_seg)
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{
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int cur_seg;
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int sidenum;
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int qtail = 0, qhead = 0;
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int i;
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2006-10-06 14:41:31 +00:00
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sbyte visited[MAX_SEGMENTS];
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2006-03-20 16:43:15 +00:00
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seg_seg seg_queue[MAX_SEGMENTS];
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short depth[MAX_SEGMENTS];
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int cur_depth;
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2006-10-06 14:41:31 +00:00
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sbyte random_xlate[MAX_SIDES_PER_SEGMENT];
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2006-03-20 16:43:15 +00:00
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point_seg *original_psegs = psegs;
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#ifndef NDEBUG
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point_seg *other_original_psegs = psegs;
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#endif
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#ifndef NDEBUG
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validate_all_paths();
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#endif
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2007-11-23 21:14:57 +00:00
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if ((objp->type == OBJ_ROBOT) && (objp->ctype.ai_info.behavior == AIB_RUN_FROM)) {
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random_flag = 1;
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avoid_seg = ConsoleObject->segnum;
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// Int3();
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}
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2006-03-20 16:43:15 +00:00
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if (max_depth == -1)
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max_depth = MAX_PATH_LENGTH;
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*num_points = 0;
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// for (i=0; i<=Highest_segment_index; i++) {
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// visited[i] = 0;
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// depth[i] = 0;
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// }
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memset(visited, 0, sizeof(visited[0])*(Highest_segment_index+1));
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memset(depth, 0, sizeof(depth[0])*(Highest_segment_index+1));
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// If there is a segment we're not allowed to visit, mark it.
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if (avoid_seg != -1) {
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Assert(avoid_seg <= Highest_segment_index);
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if ((start_seg != avoid_seg) && (end_seg != avoid_seg)) {
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visited[avoid_seg] = 1;
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depth[avoid_seg] = 0;
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}
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}
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if (random_flag)
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create_random_xlate(random_xlate);
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cur_seg = start_seg;
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visited[cur_seg] = 1;
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cur_depth = 0;
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while (cur_seg != end_seg) {
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segment *segp = &Segments[cur_seg];
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// mprintf((0, "\n"));
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for (sidenum = 0; sidenum < MAX_SIDES_PER_SEGMENT; sidenum++) {
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int snum = sidenum;
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if (random_flag)
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snum = random_xlate[sidenum];
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if ((WALL_IS_DOORWAY(segp, snum) & WID_FLY_FLAG) || (ai_door_is_openable(objp, segp, snum))) {
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int this_seg = segp->children[snum];
|
|
|
|
|
|
|
|
if (!visited[this_seg]) {
|
|
|
|
seg_queue[qtail].start = cur_seg;
|
|
|
|
seg_queue[qtail].end = this_seg;
|
|
|
|
visited[this_seg] = 1;
|
|
|
|
depth[qtail++] = cur_depth+1;
|
|
|
|
if (depth[qtail-1] == max_depth) {
|
|
|
|
// mprintf((0, "\ndepth == max_depth == %i\n", max_depth));
|
|
|
|
end_seg = seg_queue[qtail-1].end;
|
|
|
|
goto cpp_done1;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
} // for (sidenum...
|
|
|
|
|
2007-11-23 21:14:57 +00:00
|
|
|
if (qtail<=0)
|
|
|
|
return 0;
|
|
|
|
|
2006-03-20 16:43:15 +00:00
|
|
|
if (qhead >= qtail) {
|
|
|
|
// Couldn't get to goal, return a path as far as we got, which probably acceptable to the unparticular caller.
|
|
|
|
end_seg = seg_queue[qtail-1].end;
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
cur_seg = seg_queue[qhead].end;
|
|
|
|
cur_depth = depth[qhead];
|
|
|
|
qhead++;
|
|
|
|
|
|
|
|
cpp_done1: ;
|
|
|
|
} // while (cur_seg ...
|
|
|
|
|
2007-11-23 21:14:57 +00:00
|
|
|
if (qtail<=0)
|
|
|
|
return 0;
|
|
|
|
|
2006-03-20 16:43:15 +00:00
|
|
|
// Set qtail to the segment which ends at the goal.
|
|
|
|
while (seg_queue[--qtail].end != end_seg)
|
|
|
|
if (qtail < 0) {
|
|
|
|
return -1;
|
|
|
|
}
|
|
|
|
|
2007-11-23 21:14:57 +00:00
|
|
|
#ifdef EDITOR
|
2006-03-20 16:43:15 +00:00
|
|
|
N_selected_segs = 0;
|
2007-11-23 21:14:57 +00:00
|
|
|
#endif
|
|
|
|
|
2006-03-20 16:43:15 +00:00
|
|
|
while (qtail >= 0) {
|
|
|
|
int parent_seg, this_seg;
|
|
|
|
|
|
|
|
this_seg = seg_queue[qtail].end;
|
|
|
|
parent_seg = seg_queue[qtail].start;
|
|
|
|
psegs->segnum = this_seg;
|
|
|
|
compute_segment_center(&psegs->point,&Segments[this_seg]);
|
|
|
|
psegs++;
|
|
|
|
(*num_points)++;
|
|
|
|
#ifdef EDITOR
|
|
|
|
Selected_segs[N_selected_segs++] = this_seg;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
if (parent_seg == start_seg)
|
|
|
|
break;
|
|
|
|
|
|
|
|
while (seg_queue[--qtail].end != parent_seg)
|
|
|
|
Assert(qtail >= 0);
|
|
|
|
}
|
|
|
|
|
|
|
|
psegs->segnum = start_seg;
|
|
|
|
compute_segment_center(&psegs->point,&Segments[start_seg]);
|
|
|
|
psegs++;
|
|
|
|
(*num_points)++;
|
|
|
|
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_path(1, original_psegs, *num_points);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// Now, reverse point_segs in place.
|
|
|
|
for (i=0; i< (*num_points)/2; i++) {
|
|
|
|
point_seg temp_point_seg = *(original_psegs + i);
|
|
|
|
*(original_psegs + i) = *(original_psegs + *num_points - i - 1);
|
|
|
|
*(original_psegs + *num_points - i - 1) = temp_point_seg;
|
|
|
|
}
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_path(2, original_psegs, *num_points);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// Now, if safety_flag set, then insert the point at the center of the side connecting two segments
|
|
|
|
// between the two points. This is messy because we must insert into the list. The simplest (and not too slow)
|
|
|
|
// way to do this is to start at the end of the list and go backwards.
|
|
|
|
if (safety_flag) {
|
|
|
|
if (psegs - Point_segs + *num_points + 2 > MAX_POINT_SEGS) {
|
|
|
|
ai_reset_all_paths();
|
|
|
|
return -1;
|
|
|
|
} else {
|
|
|
|
insert_center_points(original_psegs, num_points);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_path(3, original_psegs, *num_points);
|
|
|
|
validate_path(0, original_psegs, *num_points);
|
|
|
|
Assert(other_original_psegs == original_psegs);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
#ifndef NDEBUG
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
|
|
// Make sure that there are connections between all segments on path.
|
|
|
|
// Note that if path has been optimized, connections may not be direct, so this function is useless, or worse.
|
|
|
|
// Return true if valid, else return false.
|
|
|
|
int validate_path(int debug_flag, point_seg *psegs, int num_points)
|
|
|
|
{
|
|
|
|
#if PARALLAX
|
|
|
|
int i, curseg;
|
|
|
|
|
|
|
|
// Trap a common bug elsewhere in aipath.
|
|
|
|
if (psegs > Point_segs_free_ptr) {
|
|
|
|
//Int3(); // Contact Mike: Debug trap for elusive, nasty bug.
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
curseg = psegs->segnum;
|
|
|
|
if ((curseg < 0) || (curseg > Highest_segment_index)) {
|
|
|
|
mprintf((0, "Path beginning at index %i, length=%i is bogus!\n", psegs-Point_segs, num_points));
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (debug_flag == 999)
|
|
|
|
mprintf((0, "That's curious...\n"));
|
|
|
|
|
|
|
|
if (num_points == 0)
|
|
|
|
return 1;
|
|
|
|
|
|
|
|
// printf("(%i) Validating path at psegs=%i, num_points=%i, segments = %3i ", debug_flag, psegs-Point_segs, num_points, psegs[0].segnum);
|
|
|
|
for (i=1; i<num_points; i++) {
|
|
|
|
int sidenum;
|
|
|
|
int nextseg = psegs[i].segnum;
|
|
|
|
|
|
|
|
if ((nextseg < 0) || (nextseg > Highest_segment_index)) {
|
|
|
|
mprintf((0, "Path beginning at index %i, length=%i is bogus!\n", psegs-Point_segs, num_points));
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
// printf("%3i ", nextseg);
|
|
|
|
if (curseg != nextseg) {
|
|
|
|
for (sidenum=0; sidenum<MAX_SIDES_PER_SEGMENT; sidenum++)
|
|
|
|
if (Segments[curseg].children[sidenum] == nextseg)
|
|
|
|
break;
|
|
|
|
|
|
|
|
// Assert(sidenum != MAX_SIDES_PER_SEGMENT); // Hey, created path is not contiguous, why!?
|
|
|
|
if (sidenum == MAX_SIDES_PER_SEGMENT) {
|
|
|
|
mprintf((0, "Path beginning at index %i, length=%i is bogus!\n", psegs-Point_segs, num_points));
|
|
|
|
// printf("BOGUS");
|
|
|
|
// Int3();
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
curseg = nextseg;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
//printf("\n");
|
|
|
|
#endif
|
|
|
|
return 1;
|
|
|
|
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifndef NDEBUG
|
|
|
|
// -----------------------------------------------------------------------------------------------------------
|
|
|
|
void validate_all_paths(void)
|
|
|
|
{
|
|
|
|
|
|
|
|
#if PARALLAX
|
|
|
|
int i;
|
|
|
|
|
|
|
|
for (i=0; i<=Highest_object_index; i++) {
|
|
|
|
if (Objects[i].type == OBJ_ROBOT) {
|
|
|
|
object *objp = &Objects[i];
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
//ai_local *ailp = &Ai_local_info[i];
|
|
|
|
|
|
|
|
if (objp->control_type == CT_AI) {
|
|
|
|
if ((aip->hide_index != -1) && (aip->path_length > 0))
|
|
|
|
if (!validate_path(4, &Point_segs[aip->hide_index], aip->path_length)) {
|
|
|
|
//Int3(); // This path is bogus! Who corrupted it! Danger! Danger!
|
|
|
|
// Contact Mike, he caused this mess.
|
|
|
|
//force_dump_ai_objects_all("Error in validate_all_paths");
|
|
|
|
aip->path_length=0; // This allows people to resume without harm...
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
|
|
// Creates a path from the objects current segment (objp->segnum) to the specified segment for the object to
|
|
|
|
// hide in Ai_local_info[objnum].goal_segment.
|
|
|
|
// Sets objp->ctype.ai_info.hide_index, a pointer into Point_segs, the first point_seg of the path.
|
|
|
|
// objp->ctype.ai_info.path_length, length of path
|
|
|
|
// Point_segs_free_ptr global pointer into Point_segs array
|
|
|
|
void create_path(object *objp)
|
|
|
|
{
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
int start_seg, end_seg;
|
|
|
|
|
|
|
|
start_seg = objp->segnum;
|
|
|
|
end_seg = ailp->goal_segment;
|
|
|
|
|
|
|
|
if (end_seg == -1)
|
|
|
|
create_n_segment_path(objp, 3, -1);
|
|
|
|
|
|
|
|
if (end_seg == -1) {
|
|
|
|
; //mprintf((0, "Object %i, hide_segment = -1, not creating path.\n", objp-Objects));
|
|
|
|
} else {
|
|
|
|
create_path_points(objp, start_seg, end_seg, Point_segs_free_ptr, &aip->path_length, -1, 0, 0, -1);
|
|
|
|
aip->hide_index = Point_segs_free_ptr - Point_segs;
|
|
|
|
aip->cur_path_index = 0;
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_path(5, Point_segs_free_ptr, aip->path_length);
|
|
|
|
#endif
|
|
|
|
Point_segs_free_ptr += aip->path_length;
|
|
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
|
|
//Int3(); // Contact Mike: This is curious, though not deadly. /eip++;g
|
|
|
|
//force_dump_ai_objects_all("Error in create_path");
|
|
|
|
ai_reset_all_paths();
|
|
|
|
}
|
|
|
|
aip->PATH_DIR = 1; // Initialize to moving forward.
|
|
|
|
aip->SUBMODE = AISM_HIDING; // Pretend we are hiding, so we sit here until bothered.
|
|
|
|
}
|
|
|
|
|
|
|
|
maybe_ai_path_garbage_collect();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
|
|
// Creates a path from the objects current segment (objp->segnum) to the specified segment for the object to
|
|
|
|
// hide in Ai_local_info[objnum].goal_segment.
|
|
|
|
// Sets objp->ctype.ai_info.hide_index, a pointer into Point_segs, the first point_seg of the path.
|
|
|
|
// objp->ctype.ai_info.path_length, length of path
|
|
|
|
// Point_segs_free_ptr global pointer into Point_segs array
|
|
|
|
void create_path_to_player(object *objp, int max_length, int safety_flag)
|
|
|
|
{
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
int start_seg, end_seg;
|
|
|
|
|
|
|
|
//mprintf((0, "Creating path to player.\n"));
|
|
|
|
if (max_length == -1)
|
|
|
|
max_length = MAX_DEPTH_TO_SEARCH_FOR_PLAYER;
|
|
|
|
|
|
|
|
ailp->time_player_seen = GameTime; // Prevent from resetting path quickly.
|
|
|
|
ailp->goal_segment = ConsoleObject->segnum;
|
|
|
|
|
|
|
|
start_seg = objp->segnum;
|
|
|
|
end_seg = ailp->goal_segment;
|
|
|
|
|
|
|
|
// mprintf((0, "Creating path for object #%i, from segment #%i to #%i\n", objp-Objects, start_seg, end_seg));
|
|
|
|
|
|
|
|
if (end_seg == -1) {
|
|
|
|
; //mprintf((0, "Object %i, hide_segment = -1, not creating path.\n", objp-Objects));
|
|
|
|
} else {
|
|
|
|
#ifndef NDEBUG
|
|
|
|
point_seg *pseg0 = Point_segs_free_ptr;
|
|
|
|
#endif
|
|
|
|
create_path_points(objp, start_seg, end_seg, Point_segs_free_ptr, &aip->path_length, max_length, 1, safety_flag, -1);
|
|
|
|
aip->hide_index = Point_segs_free_ptr - Point_segs;
|
|
|
|
aip->cur_path_index = 0;
|
|
|
|
#ifndef NDEBUG
|
|
|
|
//Enclosed this Assert in an ifdef, because if NDEBUG isn't defined,
|
|
|
|
//pseg0 doesn't exist! -KRB
|
|
|
|
Assert(Point_segs_free_ptr == pseg0);
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_path(6, Point_segs_free_ptr, aip->path_length);
|
|
|
|
#endif
|
|
|
|
// mprintf((0, "Created path to player, len = %i, EndSeg = %i, PlayerSeg = %i\n", aip->path_length, Point_segs[aip->hide_index+aip->path_length-1].segnum, ConsoleObject->segnum));
|
|
|
|
Point_segs_free_ptr += aip->path_length;
|
|
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
|
|
//Int3(); // Contact Mike: This is stupid. Should call maybe_ai_garbage_collect before the add.
|
|
|
|
//force_dump_ai_objects_all("Error in create_path_to_player");
|
|
|
|
ai_reset_all_paths();
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
// Assert(Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 < MAX_POINT_SEGS);
|
|
|
|
aip->PATH_DIR = 1; // Initialize to moving forward.
|
|
|
|
aip->SUBMODE = AISM_GOHIDE; // This forces immediate movement.
|
|
|
|
ailp->mode = AIM_FOLLOW_PATH;
|
|
|
|
ailp->player_awareness_type = 0; // If robot too aware of player, will set mode to chase
|
|
|
|
// mprintf((0, "Created %i segment path to player.\n", aip->path_length));
|
|
|
|
}
|
|
|
|
|
|
|
|
maybe_ai_path_garbage_collect();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
|
|
// Creates a path from the objects current segment (objp->segnum) to the specified segment for the object to
|
|
|
|
// hide in Ai_local_info[objnum].goal_segment
|
|
|
|
// Sets objp->ctype.ai_info.hide_index, a pointer into Point_segs, the first point_seg of the path.
|
|
|
|
// objp->ctype.ai_info.path_length, length of path
|
|
|
|
// Point_segs_free_ptr global pointer into Point_segs array
|
|
|
|
void create_path_to_station(object *objp, int max_length)
|
|
|
|
{
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
int start_seg, end_seg;
|
|
|
|
|
|
|
|
if (max_length == -1)
|
|
|
|
max_length = MAX_DEPTH_TO_SEARCH_FOR_PLAYER;
|
|
|
|
|
|
|
|
ailp->time_player_seen = GameTime; // Prevent from resetting path quickly.
|
|
|
|
|
|
|
|
start_seg = objp->segnum;
|
|
|
|
end_seg = aip->hide_segment;
|
|
|
|
|
|
|
|
//1001: mprintf((0, "Back to station for object #%i, from segment #%i to #%i\n", objp-Objects, start_seg, end_seg));
|
|
|
|
|
|
|
|
if (end_seg == -1) {
|
|
|
|
; //mprintf((0, "Object %i, hide_segment = -1, not creating path.\n", objp-Objects));
|
|
|
|
} else {
|
|
|
|
create_path_points(objp, start_seg, end_seg, Point_segs_free_ptr, &aip->path_length, max_length, 1, 1, -1);
|
|
|
|
aip->hide_index = Point_segs_free_ptr - Point_segs;
|
|
|
|
aip->cur_path_index = 0;
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_path(7, Point_segs_free_ptr, aip->path_length);
|
|
|
|
#endif
|
|
|
|
//mprintf((0, "Created station path, len = %i, EndSeg = %i\n", aip->path_length, Point_segs[aip->hide_index+aip->path_length-1].segnum));
|
|
|
|
Point_segs_free_ptr += aip->path_length;
|
|
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
|
|
//Int3(); // Contact Mike: Stupid.
|
|
|
|
//force_dump_ai_objects_all("Error in create_path_to_station");
|
|
|
|
ai_reset_all_paths();
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
// Assert(Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 < MAX_POINT_SEGS);
|
|
|
|
aip->PATH_DIR = 1; // Initialize to moving forward.
|
|
|
|
// aip->SUBMODE = AISM_GOHIDE; // This forces immediate movement.
|
|
|
|
ailp->mode = AIM_FOLLOW_PATH;
|
|
|
|
ailp->player_awareness_type = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
maybe_ai_path_garbage_collect();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
|
|
// Create a path of length path_length for an object, stuffing info in ai_info field.
|
|
|
|
void create_n_segment_path(object *objp, int path_length, int avoid_seg)
|
|
|
|
{
|
|
|
|
ai_static *aip=&objp->ctype.ai_info;
|
|
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
|
|
|
|
//mprintf((0, "Creating %i segment path.\n", path_length));
|
|
|
|
|
|
|
|
if (create_path_points(objp, objp->segnum, -2, Point_segs_free_ptr, &aip->path_length, path_length, 1, 0, avoid_seg) == -1) {
|
|
|
|
//Int3(); // Contact Mike: Considering removing this code. Can I?
|
|
|
|
//force_dump_ai_objects_all("Error in create_n_segment_path");
|
|
|
|
Point_segs_free_ptr += aip->path_length;
|
|
|
|
//mprintf((0, "Unable to form path of length %i for object %i\n", path_length, objp-Objects));
|
|
|
|
while ((create_path_points(objp, objp->segnum, -2, Point_segs_free_ptr, &aip->path_length, --path_length, 1, 0, -1) == -1)) {
|
|
|
|
//mprintf((0, "Unable to form path of length %i for object %i\n", path_length, objp-Objects));
|
|
|
|
Assert(path_length);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
aip->hide_index = Point_segs_free_ptr - Point_segs;
|
|
|
|
aip->cur_path_index = 0;
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_path(8, Point_segs_free_ptr, aip->path_length);
|
|
|
|
#endif
|
|
|
|
Point_segs_free_ptr += aip->path_length;
|
|
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
|
|
//Int3(); // Contact Mike: This is curious, though not deadly. /eip++;g
|
|
|
|
//force_dump_ai_objects_all("Error in crete_n_segment_path 2");
|
|
|
|
ai_reset_all_paths();
|
|
|
|
}
|
|
|
|
|
|
|
|
aip->PATH_DIR = 1; // Initialize to moving forward.
|
|
|
|
aip->SUBMODE = -1; // Don't know what this means.
|
|
|
|
ailp->mode = AIM_FOLLOW_PATH;
|
|
|
|
|
|
|
|
maybe_ai_path_garbage_collect();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
|
|
void create_n_segment_path_to_door(object *objp, int path_length, int avoid_seg)
|
|
|
|
{
|
|
|
|
create_n_segment_path(objp, path_length, avoid_seg);
|
|
|
|
}
|
|
|
|
|
|
|
|
//--unused-- // -------------------------------------------------------------------------------------------------------
|
|
|
|
//--unused-- // For all AI objects which have mode HIDE or RUN_FROM_OBJECT, create a path to run to.
|
|
|
|
//--unused-- void create_all_paths(void)
|
|
|
|
//--unused-- {
|
|
|
|
//--unused-- int i;
|
|
|
|
//--unused--
|
|
|
|
//--unused-- for (i=0; i<=Highest_object_index; i++) {
|
|
|
|
//--unused-- object *objp = &Objects[i];
|
|
|
|
//--unused-- if (Objects[i].control_type == CT_AI) {
|
|
|
|
//--unused-- ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
//--unused-- if ((aip->behavior == AIB_HIDE) || (aip->behavior == AIB_RUN_FROM) || (aip->behavior == AIB_FOLLOW_PATH))
|
|
|
|
//--unused-- create_path(&Objects[i]);
|
|
|
|
//--unused-- }
|
|
|
|
//--unused-- }
|
|
|
|
//--unused--
|
|
|
|
//--unused-- }
|
|
|
|
|
|
|
|
extern int Connected_segment_distance;
|
|
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------------------
|
|
|
|
void move_object_to_goal(object *objp, vms_vector *goal_point, int goal_seg)
|
|
|
|
{
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
int segnum;
|
|
|
|
|
|
|
|
Assert(objp->segnum != -1);
|
|
|
|
|
|
|
|
// mprintf((0, "[%i -> %i]\n", objp-Objects, goal_seg));
|
|
|
|
|
|
|
|
#ifndef NDEBUG
|
|
|
|
if (objp->segnum != goal_seg)
|
|
|
|
if (find_connect_side(&Segments[objp->segnum], &Segments[goal_seg]) == -1) {
|
|
|
|
fix dist;
|
|
|
|
dist = find_connected_distance(&objp->pos, objp->segnum, goal_point, goal_seg, 30, WID_FLY_FLAG);
|
|
|
|
if (Connected_segment_distance > 2) { // This global is set in find_connected_distance
|
|
|
|
// Int3();
|
|
|
|
mprintf((1, "Warning: Object %i hopped across %i segments, a distance of %7.3f.\n", objp-Objects, Connected_segment_distance, f2fl(dist)));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
aip->cur_path_index += aip->PATH_DIR;
|
|
|
|
|
|
|
|
if (aip->cur_path_index <= 0) {
|
|
|
|
if (aip->behavior == AIB_STATION) {
|
|
|
|
mprintf((0, "Object #%i, creating path back to station.\n", objp-Objects));
|
|
|
|
create_path_to_station(objp, 15);
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
aip->cur_path_index = 0;
|
|
|
|
aip->PATH_DIR = -aip->PATH_DIR;
|
|
|
|
} else if (aip->cur_path_index >= aip->path_length) {
|
|
|
|
if (aip->behavior == AIB_STATION) {
|
|
|
|
mprintf((0, "Object #%i, creating path back to station.\n", objp-Objects));
|
|
|
|
create_path_to_station(objp, 15);
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
aip->cur_path_index = aip->path_length-1;
|
|
|
|
aip->PATH_DIR = -aip->PATH_DIR;
|
|
|
|
}
|
|
|
|
|
|
|
|
objp->pos = *goal_point;
|
|
|
|
segnum = find_object_seg(objp);
|
|
|
|
if (segnum != goal_seg)
|
|
|
|
mprintf((1, "Object #%i goal supposed to be in segment #%i, but in segment #%i\n", objp-Objects, goal_seg, segnum));
|
|
|
|
|
|
|
|
if (segnum == -1) {
|
|
|
|
Int3(); // Oops, object is not in any segment.
|
|
|
|
// Contact Mike: This is impossible.
|
|
|
|
// Hack, move object to center of segment it used to be in.
|
|
|
|
compute_segment_center(&objp->pos, &Segments[objp->segnum]);
|
|
|
|
} else
|
|
|
|
obj_relink(objp-Objects, segnum);
|
|
|
|
}
|
|
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
// Optimization: If current velocity will take robot near goal, don't change velocity
|
|
|
|
void ai_follow_path(object *objp, int player_visibility)
|
|
|
|
{
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
|
|
|
|
vms_vector goal_point, new_goal_point;
|
|
|
|
fix dist_to_goal;
|
|
|
|
// robot_info *robptr = &Robot_info[objp->id];
|
|
|
|
int forced_break, original_dir, original_index;
|
|
|
|
fix dist_to_player;
|
|
|
|
int goal_seg;
|
|
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
fix threshold_distance;
|
|
|
|
|
|
|
|
//int debug_count=0;
|
|
|
|
//int Cur_index[100], Cur_dir[100];
|
|
|
|
|
|
|
|
// mprintf((0, "Obj %i, dist=%6.1f index=%i len=%i seg=%i pos = %6.1f %6.1f %6.1f.\n", objp-Objects, f2fl(vm_vec_dist_quick(&objp->pos, &ConsoleObject->pos)), aip->cur_path_index, aip->path_length, objp->segnum, f2fl(objp->pos.x), f2fl(objp->pos.y), f2fl(objp->pos.z)));
|
|
|
|
|
|
|
|
//--debug 01/17/95-- // If in multiplayer mode, only follow path if player is visible.
|
|
|
|
//--debug 01/17/95-- if (Game_mode & GM_MULTI)
|
|
|
|
//--debug 01/17/95-- if (player_visibility) {
|
|
|
|
//--debug 01/17/95-- #ifndef SHAREWARE
|
|
|
|
//--debug 01/17/95-- if (!ai_multiplayer_awareness(objp, 69))
|
|
|
|
//--debug 01/17/95-- return;
|
|
|
|
//--debug 01/17/95-- #endif
|
|
|
|
//--debug 01/17/95-- } else
|
|
|
|
//--debug 01/17/95-- return;
|
|
|
|
|
|
|
|
if ((aip->hide_index == -1) || (aip->path_length == 0))
|
|
|
|
{
|
|
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
|
|
create_n_segment_path(objp, 5, -1);
|
|
|
|
ailp->mode = AIM_RUN_FROM_OBJECT;
|
|
|
|
} else
|
|
|
|
create_path(objp);
|
|
|
|
}
|
|
|
|
|
|
|
|
if ((aip->hide_index + aip->path_length > Point_segs_free_ptr - Point_segs) && (aip->path_length>0)) {
|
|
|
|
//Int3(); // Contact Mike: Bad. Path goes into what is believed to be free space.
|
|
|
|
//force_dump_ai_objects_all("Error in ai_follow_path");
|
|
|
|
ai_reset_all_paths();
|
|
|
|
}
|
|
|
|
|
|
|
|
if (aip->path_length < 2) {
|
|
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
|
|
if (ConsoleObject->segnum == objp->segnum)
|
|
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, -1); // Can't avoid segment player is in, robot is already in it! (That's what the -1 is for)
|
|
|
|
else
|
|
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
|
|
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
|
|
} else {
|
|
|
|
ailp->mode = AIM_STILL;
|
|
|
|
}
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
Assert((aip->PATH_DIR == -1) || (aip->PATH_DIR == 1));
|
|
|
|
|
|
|
|
if ((aip->SUBMODE == AISM_HIDING) && (aip->behavior == AIB_HIDE))
|
|
|
|
return;
|
|
|
|
|
|
|
|
goal_point = Point_segs[aip->hide_index + aip->cur_path_index].point;
|
|
|
|
goal_seg = Point_segs[aip->hide_index + aip->cur_path_index].segnum;
|
|
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
|
|
|
|
|
|
if (Player_is_dead)
|
|
|
|
dist_to_player = vm_vec_dist_quick(&objp->pos, &Viewer->pos);
|
|
|
|
else
|
|
|
|
dist_to_player = vm_vec_dist_quick(&objp->pos, &ConsoleObject->pos);
|
|
|
|
|
|
|
|
// Efficiency hack: If far away from player, move in big quantized jumps.
|
|
|
|
if ((dist_to_player > F1_0*200) && !(Game_mode & GM_MULTI)) {
|
|
|
|
if (dist_to_goal < F1_0*2)
|
|
|
|
move_object_to_goal(objp, &goal_point, goal_seg);
|
|
|
|
else {
|
|
|
|
robot_info *robptr = &Robot_info[objp->id];
|
|
|
|
fix cur_speed = robptr->max_speed[Difficulty_level]/2;
|
|
|
|
fix distance_travellable = fixmul(FrameTime, cur_speed);
|
|
|
|
|
|
|
|
if (distance_travellable >= dist_to_goal)
|
|
|
|
move_object_to_goal(objp, &goal_point, goal_seg);
|
|
|
|
else {
|
|
|
|
fix prob = fixdiv(distance_travellable, dist_to_goal);
|
|
|
|
|
|
|
|
int rand_num = d_rand();
|
|
|
|
if ( (rand_num >> 1) < prob)
|
|
|
|
move_object_to_goal(objp, &goal_point, goal_seg);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// If we are hiding, we stop when we get to the goal.
|
|
|
|
if (ailp->mode == AIM_HIDE)
|
|
|
|
ailp->mode = AIM_STILL;
|
|
|
|
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
// if ((dist_to_player > F1_0*200) && !(Game_mode & GM_MULTI)) // ROB!
|
|
|
|
// mprintf((0, "+")); // ROB! Enable this to see how much more often follow path code would be called.
|
|
|
|
|
|
|
|
// If running from player, only run until can't be seen.
|
|
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
|
|
if ((player_visibility == 0) && (ailp->player_awareness_type == 0)) {
|
|
|
|
fix vel_scale;
|
|
|
|
|
|
|
|
vel_scale = F1_0 - FrameTime/2;
|
|
|
|
if (vel_scale < F1_0/2)
|
|
|
|
vel_scale = F1_0/2;
|
|
|
|
|
|
|
|
vm_vec_scale(&objp->mtype.phys_info.velocity, vel_scale);
|
|
|
|
|
|
|
|
return;
|
|
|
|
} else {
|
|
|
|
// If player on path (beyond point robot is now at), then create a new path.
|
|
|
|
point_seg *curpsp = &Point_segs[aip->hide_index];
|
|
|
|
int player_segnum = ConsoleObject->segnum;
|
|
|
|
int i;
|
|
|
|
|
|
|
|
// This is probably being done every frame, which is wasteful.
|
|
|
|
for (i=aip->cur_path_index; i<aip->path_length; i++)
|
|
|
|
if (curpsp[i].segnum == player_segnum) {
|
|
|
|
if (player_segnum != objp->segnum)
|
|
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, player_segnum);
|
|
|
|
else
|
|
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, -1);
|
|
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
if (player_visibility) {
|
|
|
|
ailp->player_awareness_type = 1;
|
|
|
|
ailp->player_awareness_time = F1_0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if (aip->cur_path_index < 0)
|
|
|
|
aip->cur_path_index = 0;
|
|
|
|
else if (aip->cur_path_index >= aip->path_length)
|
|
|
|
{
|
|
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
|
|
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
|
|
} else
|
|
|
|
aip->cur_path_index = aip->path_length-1;
|
|
|
|
}
|
|
|
|
|
|
|
|
goal_point = Point_segs[aip->hide_index + aip->cur_path_index].point;
|
|
|
|
|
|
|
|
// If near goal, pick another goal point.
|
|
|
|
forced_break = 0; // Gets set for short paths.
|
|
|
|
original_dir = aip->PATH_DIR;
|
|
|
|
original_index = aip->cur_path_index;
|
|
|
|
threshold_distance = fixmul(vm_vec_mag_quick(&objp->mtype.phys_info.velocity), FrameTime)*2 + F1_0*2;
|
|
|
|
|
|
|
|
while ((dist_to_goal < threshold_distance) && !forced_break) {
|
|
|
|
|
|
|
|
// Advance to next point on path.
|
|
|
|
aip->cur_path_index += aip->PATH_DIR;
|
|
|
|
|
|
|
|
// See if next point wraps past end of path (in either direction), and if so, deal with it based on mode.
|
|
|
|
if ((aip->cur_path_index >= aip->path_length) || (aip->cur_path_index < 0)) {
|
|
|
|
|
|
|
|
//mprintf((0, "Object %i reached end of the line!\n", objp-Objects));
|
|
|
|
// If mode = hiding, then stay here until get bonked or hit by player.
|
|
|
|
if (ailp->mode == AIM_HIDE) {
|
|
|
|
ailp->mode = AIM_STILL;
|
|
|
|
return; // Stay here until bonked or hit by player.
|
|
|
|
} else if (aip->behavior == AIB_STATION) {
|
|
|
|
mprintf((0, "Object %i reached end of line, creating path back to station.\n", objp-Objects));
|
|
|
|
create_path_to_station(objp, 15);
|
|
|
|
if (aip->hide_segment != Point_segs[aip->hide_index+aip->path_length-1].segnum) {
|
|
|
|
mprintf((0, "Couldn't make it back to path. Put in still mode.\n"));
|
|
|
|
ailp->mode = AIM_STILL;
|
|
|
|
}
|
|
|
|
return;
|
|
|
|
} else if ((ailp->mode == AIM_FOLLOW_PATH) && (aip->behavior != AIB_FOLLOW_PATH)) {
|
|
|
|
create_path_to_player(objp, 10, 1);
|
|
|
|
} else if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
|
|
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
|
|
} else {
|
|
|
|
// Reached end of the line. First see if opposite end point is reachable, and if so, go there.
|
|
|
|
// If not, turn around.
|
|
|
|
int opposite_end_index;
|
|
|
|
vms_vector *opposite_end_point;
|
|
|
|
fvi_info hit_data;
|
|
|
|
int fate;
|
|
|
|
fvi_query fq;
|
|
|
|
|
|
|
|
// See which end we're nearer and look at the opposite end point.
|
|
|
|
if (abs(aip->cur_path_index - aip->path_length) < aip->cur_path_index) {
|
|
|
|
// Nearer to far end (ie, index not 0), so try to reach 0.
|
|
|
|
opposite_end_index = 0;
|
|
|
|
} else {
|
|
|
|
// Nearer to 0 end, so try to reach far end.
|
|
|
|
opposite_end_index = aip->path_length-1;
|
|
|
|
}
|
|
|
|
|
|
|
|
opposite_end_point = &Point_segs[aip->hide_index + opposite_end_index].point;
|
|
|
|
|
|
|
|
fq.p0 = &objp->pos;
|
|
|
|
fq.startseg = objp->segnum;
|
|
|
|
fq.p1 = opposite_end_point;
|
|
|
|
fq.rad = objp->size;
|
|
|
|
fq.thisobjnum = objp-Objects;
|
|
|
|
fq.ignore_obj_list = NULL;
|
|
|
|
fq.flags = 0; //what about trans walls???
|
|
|
|
|
|
|
|
fate = find_vector_intersection(&fq,&hit_data);
|
|
|
|
|
|
|
|
if (fate != HIT_WALL) {
|
|
|
|
// We can be circular! Do it!
|
|
|
|
// Path direction is unchanged.
|
|
|
|
aip->cur_path_index = opposite_end_index;
|
|
|
|
} else {
|
|
|
|
aip->PATH_DIR = -aip->PATH_DIR;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
} else {
|
|
|
|
new_goal_point = Point_segs[aip->hide_index + aip->cur_path_index].point;
|
|
|
|
goal_point = new_goal_point;
|
|
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
|
|
}
|
|
|
|
|
|
|
|
// If went all the way around to original point, in same direction, then get out of here!
|
|
|
|
// Cur_index[debug_count] = aip->cur_path_index;
|
|
|
|
// Cur_dir[debug_count] = aip->PATH_DIR;
|
|
|
|
// debug_count++;
|
|
|
|
if ((aip->cur_path_index == original_index) && (aip->PATH_DIR == original_dir)) {
|
|
|
|
create_path_to_player(objp, 3, 1);
|
|
|
|
forced_break = 1;
|
|
|
|
}
|
|
|
|
} // end while
|
|
|
|
|
|
|
|
// Set velocity (objp->mtype.phys_info.velocity) and orientation (objp->orient) for this object.
|
|
|
|
ai_path_set_orient_and_vel(objp, &goal_point);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
typedef struct {
|
|
|
|
short path_start, objnum;
|
|
|
|
} obj_path;
|
|
|
|
|
|
|
|
int path_index_compare(obj_path *i1, obj_path *i2)
|
|
|
|
{
|
|
|
|
if (i1->path_start < i2->path_start)
|
|
|
|
return -1;
|
|
|
|
else if (i1->path_start == i2->path_start)
|
|
|
|
return 0;
|
|
|
|
else
|
|
|
|
return 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
// Set orientation matrix and velocity for objp based on its desire to get to a point.
|
|
|
|
void ai_path_set_orient_and_vel(object *objp, vms_vector *goal_point)
|
|
|
|
{
|
|
|
|
vms_vector cur_vel = objp->mtype.phys_info.velocity;
|
|
|
|
vms_vector norm_cur_vel;
|
|
|
|
vms_vector norm_vec_to_goal;
|
|
|
|
vms_vector cur_pos = objp->pos;
|
|
|
|
vms_vector norm_fvec;
|
|
|
|
fix speed_scale;
|
|
|
|
fix dot;
|
|
|
|
robot_info *robptr = &Robot_info[objp->id];
|
|
|
|
fix max_speed;
|
|
|
|
|
|
|
|
// If evading player, use highest difficulty level speed, plus something based on diff level
|
|
|
|
max_speed = robptr->max_speed[Difficulty_level];
|
|
|
|
if (Ai_local_info[objp-Objects].mode == AIM_RUN_FROM_OBJECT)
|
|
|
|
max_speed = max_speed*3/2;
|
|
|
|
|
|
|
|
vm_vec_sub(&norm_vec_to_goal, goal_point, &cur_pos);
|
|
|
|
vm_vec_normalize_quick(&norm_vec_to_goal);
|
|
|
|
|
|
|
|
norm_cur_vel = cur_vel;
|
|
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
|
|
|
|
norm_fvec = objp->orient.fvec;
|
|
|
|
vm_vec_normalize_quick(&norm_fvec);
|
|
|
|
|
|
|
|
dot = vm_vec_dot(&norm_vec_to_goal, &norm_fvec);
|
|
|
|
|
|
|
|
// If very close to facing opposite desired vector, perturb vector
|
|
|
|
if (dot < -15*F1_0/16) {
|
|
|
|
//mprintf((0, "Facing away from goal, abruptly turning\n"));
|
|
|
|
norm_cur_vel = norm_vec_to_goal;
|
|
|
|
} else {
|
|
|
|
norm_cur_vel.x += norm_vec_to_goal.x/2;
|
|
|
|
norm_cur_vel.y += norm_vec_to_goal.y/2;
|
|
|
|
norm_cur_vel.z += norm_vec_to_goal.z/2;
|
|
|
|
}
|
|
|
|
|
|
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
|
|
|
|
// Set speed based on this robot type's maximum allowed speed and how hard it is turning.
|
|
|
|
// How hard it is turning is based on the dot product of (vector to goal) and (current velocity vector)
|
|
|
|
// Note that since 3*F1_0/4 is added to dot product, it is possible for the robot to back up.
|
|
|
|
|
|
|
|
// Set speed and orientation.
|
|
|
|
if (dot < 0)
|
|
|
|
dot /= -4;
|
|
|
|
|
|
|
|
speed_scale = fixmul(max_speed, dot);
|
|
|
|
vm_vec_scale(&norm_cur_vel, speed_scale);
|
|
|
|
objp->mtype.phys_info.velocity = norm_cur_vel;
|
|
|
|
|
|
|
|
if (Ai_local_info[objp-Objects].mode == AIM_RUN_FROM_OBJECT)
|
|
|
|
ai_turn_towards_vector(&norm_vec_to_goal, objp, robptr->turn_time[NDL-1]/2);
|
|
|
|
else
|
|
|
|
ai_turn_towards_vector(&norm_vec_to_goal, objp, robptr->turn_time[Difficulty_level]);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
int Last_frame_garbage_collected = 0;
|
|
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
// Garbage colledion -- Free all unused records in Point_segs and compress all paths.
|
|
|
|
void ai_path_garbage_collect(void)
|
|
|
|
{
|
|
|
|
int free_path_index = 0;
|
|
|
|
int num_path_objects = 0;
|
|
|
|
int objnum;
|
|
|
|
int objind;
|
|
|
|
obj_path object_list[MAX_OBJECTS];
|
|
|
|
|
|
|
|
#ifndef NDEBUG
|
|
|
|
force_dump_ai_objects_all("***** Start ai_path_garbage_collect *****");
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// -- mprintf((0, "Garbage collection frame %i, last frame %i! Old free index = %i ", FrameCount, Last_frame_garbage_collected, Point_segs_free_ptr - Point_segs));
|
|
|
|
|
|
|
|
Last_frame_garbage_collected = FrameCount;
|
|
|
|
|
|
|
|
#ifndef NDEBUG
|
|
|
|
validate_all_paths();
|
|
|
|
#endif
|
|
|
|
// Create a list of objects which have paths of length 1 or more.
|
|
|
|
for (objnum=0; objnum <= Highest_object_index; objnum++) {
|
|
|
|
object *objp = &Objects[objnum];
|
|
|
|
|
|
|
|
if ((objp->type == OBJ_ROBOT) && (objp->control_type == CT_AI)) {
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
|
|
|
|
if (aip->path_length) {
|
|
|
|
object_list[num_path_objects].path_start = aip->hide_index;
|
|
|
|
object_list[num_path_objects++].objnum = objnum;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
qsort(object_list, num_path_objects, sizeof(object_list[0]), (int (*)(const void *, const void *))path_index_compare);
|
|
|
|
|
|
|
|
for (objind=0; objind < num_path_objects; objind++) {
|
|
|
|
object *objp;
|
|
|
|
ai_static *aip;
|
|
|
|
int i;
|
|
|
|
int old_index;
|
|
|
|
|
|
|
|
objnum = object_list[objind].objnum;
|
|
|
|
objp = &Objects[objnum];
|
|
|
|
aip = &objp->ctype.ai_info;
|
|
|
|
old_index = aip->hide_index;
|
|
|
|
|
|
|
|
aip->hide_index = free_path_index;
|
|
|
|
for (i=0; i<aip->path_length; i++)
|
|
|
|
Point_segs[free_path_index++] = Point_segs[old_index++];
|
|
|
|
}
|
|
|
|
|
|
|
|
Point_segs_free_ptr = &Point_segs[free_path_index];
|
|
|
|
|
|
|
|
mprintf((0, "new = %i\n", free_path_index));
|
|
|
|
//printf("After garbage collection, free index = %i\n", Point_segs_free_ptr - Point_segs);
|
|
|
|
#ifndef NDEBUG
|
|
|
|
{
|
|
|
|
int i;
|
|
|
|
|
|
|
|
force_dump_ai_objects_all("***** Finish ai_path_garbage_collect *****");
|
|
|
|
|
|
|
|
for (i=0; i<=Highest_object_index; i++) {
|
|
|
|
ai_static *aip = &Objects[i].ctype.ai_info;
|
|
|
|
|
|
|
|
if ((Objects[i].type == OBJ_ROBOT) && (Objects[i].control_type == CT_AI))
|
|
|
|
if ((aip->hide_index + aip->path_length > Point_segs_free_ptr - Point_segs) && (aip->path_length>0))
|
|
|
|
Int3(); // Contact Mike: Debug trap for nasty, elusive bug.
|
|
|
|
}
|
|
|
|
|
|
|
|
validate_all_paths();
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// -----------------------------------------------------------------------------
|
|
|
|
// Do garbage collection if not been done for awhile, or things getting really critical.
|
|
|
|
void maybe_ai_path_garbage_collect(void)
|
|
|
|
{
|
|
|
|
if (Point_segs_free_ptr - Point_segs > MAX_POINT_SEGS - MAX_PATH_LENGTH) {
|
|
|
|
if (Last_frame_garbage_collected+1 >= FrameCount) {
|
|
|
|
// This is kind of bad. Garbage collected last frame or this frame.
|
|
|
|
// Just destroy all paths. Too bad for the robots. They are memory wasteful.
|
|
|
|
ai_reset_all_paths();
|
|
|
|
mprintf((1, "Warning: Resetting all paths. Point_segs buffer nearly exhausted.\n"));
|
|
|
|
} else {
|
|
|
|
// We are really close to full, but didn't just garbage collect, so maybe this is recoverable.
|
|
|
|
mprintf((1, "Warning: Almost full garbage collection being performed: "));
|
|
|
|
ai_path_garbage_collect();
|
|
|
|
mprintf((1, "Free records = %i/%i\n", MAX_POINT_SEGS - (Point_segs_free_ptr - Point_segs), MAX_POINT_SEGS));
|
|
|
|
}
|
|
|
|
} else if (Point_segs_free_ptr - Point_segs > 3*MAX_POINT_SEGS/4) {
|
|
|
|
if (Last_frame_garbage_collected + 16 < FrameCount) {
|
|
|
|
ai_path_garbage_collect();
|
|
|
|
}
|
|
|
|
} else if (Point_segs_free_ptr - Point_segs > MAX_POINT_SEGS/2) {
|
|
|
|
if (Last_frame_garbage_collected + 256 < FrameCount) {
|
|
|
|
ai_path_garbage_collect();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// -----------------------------------------------------------------------------
|
|
|
|
// Reset all paths. Do garbage collection.
|
|
|
|
// Should be called at the start of each level.
|
|
|
|
void ai_reset_all_paths(void)
|
|
|
|
{
|
|
|
|
int i;
|
|
|
|
|
|
|
|
for (i=0; i<=Highest_object_index; i++)
|
|
|
|
if (Objects[i].control_type == CT_AI) {
|
|
|
|
Objects[i].ctype.ai_info.hide_index = -1;
|
|
|
|
Objects[i].ctype.ai_info.path_length = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
ai_path_garbage_collect();
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// ---------------------------------------------------------------------------------------------------------
|
|
|
|
// Probably called because a robot bashed a wall, getting a bunch of retries.
|
|
|
|
// Try to resume path.
|
|
|
|
void attempt_to_resume_path(object *objp)
|
|
|
|
{
|
|
|
|
//int objnum = objp-Objects;
|
|
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
// int goal_segnum, object_segnum,
|
|
|
|
int abs_index, new_path_index;
|
|
|
|
|
|
|
|
mprintf((0, "Object %i trying to resume path at index %i\n", objp-Objects, aip->cur_path_index));
|
|
|
|
|
|
|
|
if (aip->behavior == AIB_STATION)
|
|
|
|
if (d_rand() > 8192) {
|
|
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
|
|
|
|
aip->hide_segment = objp->segnum;
|
|
|
|
ailp->mode = AIM_STILL;
|
|
|
|
mprintf((1, "Note: Bashing hide segment of robot %i to current segment because he's lost.\n", objp-Objects));
|
|
|
|
}
|
|
|
|
|
|
|
|
// object_segnum = objp->segnum;
|
|
|
|
abs_index = aip->hide_index+aip->cur_path_index;
|
|
|
|
// goal_segnum = Point_segs[abs_index].segnum;
|
|
|
|
|
|
|
|
// if (object_segnum == goal_segnum)
|
|
|
|
// mprintf((0, "Very peculiar, goal segnum = object's segnum = %i.\n", goal_segnum));
|
|
|
|
|
|
|
|
new_path_index = aip->cur_path_index - aip->PATH_DIR;
|
|
|
|
|
|
|
|
if ((new_path_index >= 0) && (new_path_index < aip->path_length)) {
|
|
|
|
// mprintf((0, "Trying path index of %i\n", new_path_index));
|
|
|
|
aip->cur_path_index = new_path_index;
|
|
|
|
} else {
|
|
|
|
// At end of line and have nowhere to go.
|
|
|
|
// mprintf((0, "At end of line and can't get to goal. Creating new path. Frame %i\n", FrameCount));
|
|
|
|
move_towards_segment_center(objp);
|
|
|
|
create_path_to_station(objp, 15);
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
// DEBUG FUNCTIONS FOLLOW
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
|
|
|
|
#ifdef EDITOR
|
|
|
|
int Test_size = 1000;
|
|
|
|
|
|
|
|
void test_create_path_many(void)
|
|
|
|
{
|
|
|
|
point_seg point_segs[200];
|
|
|
|
short num_points;
|
|
|
|
|
|
|
|
int i;
|
|
|
|
|
|
|
|
for (i=0; i<Test_size; i++) {
|
|
|
|
Cursegp = &Segments[(d_rand() * (Highest_segment_index + 1)) / D_RAND_MAX];
|
|
|
|
Markedsegp = &Segments[(d_rand() * (Highest_segment_index + 1)) / D_RAND_MAX];
|
|
|
|
create_path_points(&Objects[0], Cursegp-Segments, Markedsegp-Segments, point_segs, &num_points, -1, 0, 0, -1);
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
void test_create_path(void)
|
|
|
|
{
|
|
|
|
point_seg point_segs[200];
|
|
|
|
short num_points;
|
|
|
|
|
|
|
|
create_path_points(&Objects[0], Cursegp-Segments, Markedsegp-Segments, point_segs, &num_points, -1, 0, 0, -1);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
void show_path(int start_seg, int end_seg, point_seg *psp, short length)
|
|
|
|
{
|
|
|
|
printf("[%3i:%3i (%3i):] ", start_seg, end_seg, length);
|
|
|
|
|
|
|
|
while (length--)
|
|
|
|
printf("%3i ", psp[length].segnum);
|
|
|
|
|
|
|
|
printf("\n");
|
|
|
|
}
|
|
|
|
|
|
|
|
// For all segments in mine, create paths to all segments in mine, print results.
|
|
|
|
void test_create_all_paths(void)
|
|
|
|
{
|
|
|
|
int start_seg, end_seg;
|
|
|
|
short resultant_length;
|
|
|
|
|
|
|
|
Point_segs_free_ptr = Point_segs;
|
|
|
|
|
|
|
|
for (start_seg=0; start_seg<=Highest_segment_index-1; start_seg++) {
|
|
|
|
mprintf((0, "."));
|
|
|
|
if (Segments[start_seg].segnum != -1) {
|
|
|
|
for (end_seg=start_seg+1; end_seg<=Highest_segment_index; end_seg++) {
|
|
|
|
if (Segments[end_seg].segnum != -1) {
|
|
|
|
create_path_points(&Objects[0], start_seg, end_seg, Point_segs_free_ptr, &resultant_length, -1, 0, 0, -1);
|
|
|
|
show_path(start_seg, end_seg, Point_segs_free_ptr, resultant_length);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
//--anchor--int Num_anchors;
|
|
|
|
//--anchor--int Anchor_distance = 3;
|
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|
|
//--anchor--int End_distance = 1;
|
|
|
|
//--anchor--int Anchors[MAX_SEGMENTS];
|
|
|
|
|
|
|
|
//--anchor--int get_nearest_anchor_distance(int segnum)
|
|
|
|
//--anchor--{
|
|
|
|
//--anchor-- short resultant_length, minimum_length;
|
|
|
|
//--anchor-- int anchor_index;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor-- minimum_length = 16383;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor-- for (anchor_index=0; anchor_index<Num_anchors; anchor_index++) {
|
|
|
|
//--anchor-- create_path_points(&Objects[0], segnum, Anchors[anchor_index], Point_segs_free_ptr, &resultant_length, -1, 0, 0, -1);
|
|
|
|
//--anchor-- if (resultant_length != 0)
|
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|
|
//--anchor-- if (resultant_length < minimum_length)
|
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|
|
//--anchor-- minimum_length = resultant_length;
|
|
|
|
//--anchor-- }
|
|
|
|
//--anchor--
|
|
|
|
//--anchor-- return minimum_length;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor--}
|
|
|
|
//--anchor--
|
|
|
|
//--anchor--void create_new_anchor(int segnum)
|
|
|
|
//--anchor--{
|
|
|
|
//--anchor-- Anchors[Num_anchors++] = segnum;
|
|
|
|
//--anchor--}
|
|
|
|
//--anchor--
|
|
|
|
//--anchor--// A set of anchors is within N units of all segments in the graph.
|
|
|
|
//--anchor--// Anchor_distance = how close anchors can be.
|
|
|
|
//--anchor--// End_distance = how close you can be to the end.
|
|
|
|
//--anchor--void test_create_all_anchors(void)
|
|
|
|
//--anchor--{
|
|
|
|
//--anchor-- int nearest_anchor_distance;
|
|
|
|
//--anchor-- int segnum,i;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor-- Num_anchors = 0;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor-- for (segnum=0; segnum<=Highest_segment_index; segnum++) {
|
|
|
|
//--anchor-- if (Segments[segnum].segnum != -1) {
|
|
|
|
//--anchor-- nearest_anchor_distance = get_nearest_anchor_distance(segnum);
|
|
|
|
//--anchor-- if (nearest_anchor_distance > Anchor_distance)
|
|
|
|
//--anchor-- create_new_anchor(segnum);
|
|
|
|
//--anchor-- }
|
|
|
|
//--anchor-- }
|
|
|
|
//--anchor--
|
|
|
|
//--anchor-- // Set selected segs.
|
|
|
|
//--anchor-- for (i=0; i<Num_anchors; i++)
|
|
|
|
//--anchor-- Selected_segs[i] = Anchors[i];
|
|
|
|
//--anchor-- N_selected_segs = Num_anchors;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor--}
|
|
|
|
//--anchor--
|
|
|
|
//--anchor--int Test_path_length = 5;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor--void test_create_n_segment_path(void)
|
|
|
|
//--anchor--{
|
|
|
|
//--anchor-- point_seg point_segs[200];
|
|
|
|
//--anchor-- short num_points;
|
|
|
|
//--anchor--
|
|
|
|
//--anchor-- create_path_points(&Objects[0], Cursegp-Segments, -2, point_segs, &num_points, Test_path_length, 0, 0, -1);
|
|
|
|
//--anchor--}
|
|
|
|
|
|
|
|
short Player_path_length=0;
|
|
|
|
int Player_hide_index=-1;
|
|
|
|
int Player_cur_path_index=0;
|
|
|
|
int Player_following_path_flag=0;
|
|
|
|
|
|
|
|
// ------------------------------------------------------------------------------------------------------------------
|
|
|
|
// Set orientation matrix and velocity for objp based on its desire to get to a point.
|
|
|
|
void player_path_set_orient_and_vel(object *objp, vms_vector *goal_point)
|
|
|
|
{
|
|
|
|
vms_vector cur_vel = objp->mtype.phys_info.velocity;
|
|
|
|
vms_vector norm_cur_vel;
|
|
|
|
vms_vector norm_vec_to_goal;
|
|
|
|
vms_vector cur_pos = objp->pos;
|
|
|
|
vms_vector norm_fvec;
|
|
|
|
fix speed_scale;
|
|
|
|
fix dot;
|
|
|
|
fix max_speed;
|
|
|
|
|
|
|
|
max_speed = F1_0*50;
|
|
|
|
|
|
|
|
vm_vec_sub(&norm_vec_to_goal, goal_point, &cur_pos);
|
|
|
|
vm_vec_normalize_quick(&norm_vec_to_goal);
|
|
|
|
|
|
|
|
norm_cur_vel = cur_vel;
|
|
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
|
|
|
|
norm_fvec = objp->orient.fvec;
|
|
|
|
vm_vec_normalize_quick(&norm_fvec);
|
|
|
|
|
|
|
|
dot = vm_vec_dot(&norm_vec_to_goal, &norm_fvec);
|
|
|
|
|
|
|
|
// If very close to facing opposite desired vector, perturb vector
|
|
|
|
if (dot < -15*F1_0/16) {
|
|
|
|
//mprintf((0, "Facing away from goal, abruptly turning\n"));
|
|
|
|
norm_cur_vel = norm_vec_to_goal;
|
|
|
|
} else {
|
|
|
|
norm_cur_vel.x += norm_vec_to_goal.x/2;
|
|
|
|
norm_cur_vel.y += norm_vec_to_goal.y/2;
|
|
|
|
norm_cur_vel.z += norm_vec_to_goal.z/2;
|
|
|
|
}
|
|
|
|
|
|
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
|
|
|
|
// Set speed based on this robot type's maximum allowed speed and how hard it is turning.
|
|
|
|
// How hard it is turning is based on the dot product of (vector to goal) and (current velocity vector)
|
|
|
|
// Note that since 3*F1_0/4 is added to dot product, it is possible for the robot to back up.
|
|
|
|
|
|
|
|
// Set speed and orientation.
|
|
|
|
if (dot < 0)
|
|
|
|
dot /= 4;
|
|
|
|
|
|
|
|
speed_scale = fixmul(max_speed, dot);
|
|
|
|
vm_vec_scale(&norm_cur_vel, speed_scale);
|
|
|
|
objp->mtype.phys_info.velocity = norm_cur_vel;
|
|
|
|
ai_turn_towards_vector(&norm_vec_to_goal, objp, F1_0);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
// Optimization: If current velocity will take robot near goal, don't change velocity
|
|
|
|
void player_follow_path(object *objp)
|
|
|
|
{
|
|
|
|
vms_vector goal_point;
|
|
|
|
fix dist_to_goal;
|
|
|
|
int count, forced_break, original_index;
|
|
|
|
int goal_seg;
|
|
|
|
fix threshold_distance;
|
|
|
|
|
|
|
|
if (!Player_following_path_flag)
|
|
|
|
return;
|
|
|
|
|
|
|
|
if (Player_hide_index == -1)
|
|
|
|
return;
|
|
|
|
|
|
|
|
if (Player_path_length < 2)
|
|
|
|
return;
|
|
|
|
|
|
|
|
goal_point = Point_segs[Player_hide_index + Player_cur_path_index].point;
|
|
|
|
goal_seg = Point_segs[Player_hide_index + Player_cur_path_index].segnum;
|
|
|
|
Assert((goal_seg >= 0) && (goal_seg <= Highest_segment_index));
|
|
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
|
|
|
|
|
|
if (Player_cur_path_index < 0)
|
|
|
|
Player_cur_path_index = 0;
|
|
|
|
else if (Player_cur_path_index >= Player_path_length)
|
|
|
|
Player_cur_path_index = Player_path_length-1;
|
|
|
|
|
|
|
|
goal_point = Point_segs[Player_hide_index + Player_cur_path_index].point;
|
|
|
|
|
|
|
|
count=0;
|
|
|
|
|
|
|
|
// If near goal, pick another goal point.
|
|
|
|
forced_break = 0; // Gets set for short paths.
|
|
|
|
//original_dir = 1;
|
|
|
|
original_index = Player_cur_path_index;
|
|
|
|
threshold_distance = fixmul(vm_vec_mag_quick(&objp->mtype.phys_info.velocity), FrameTime)*2 + F1_0*2;
|
|
|
|
|
|
|
|
while ((dist_to_goal < threshold_distance) && !forced_break) {
|
|
|
|
|
|
|
|
if (count > 1)
|
|
|
|
mprintf((0, "."));
|
|
|
|
|
|
|
|
// ----- Debug stuff -----
|
|
|
|
if (count++ > 20) {
|
|
|
|
mprintf((1,"Problem following path for player. Aborting.\n"));
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
// Advance to next point on path.
|
|
|
|
Player_cur_path_index += 1;
|
|
|
|
|
|
|
|
// See if next point wraps past end of path (in either direction), and if so, deal with it based on mode.
|
|
|
|
if ((Player_cur_path_index >= Player_path_length) || (Player_cur_path_index < 0)) {
|
|
|
|
Player_following_path_flag = 0;
|
|
|
|
forced_break = 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
// If went all the way around to original point, in same direction, then get out of here!
|
|
|
|
if (Player_cur_path_index == original_index) {
|
|
|
|
mprintf((0, "Forcing break because player path wrapped, count = %i.\n", count));
|
|
|
|
Player_following_path_flag = 0;
|
|
|
|
forced_break = 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
goal_point = Point_segs[Player_hide_index + Player_cur_path_index].point;
|
|
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
|
|
|
|
|
|
} // end while
|
|
|
|
|
|
|
|
// Set velocity (objp->mtype.phys_info.velocity) and orientation (objp->orient) for this object.
|
|
|
|
player_path_set_orient_and_vel(objp, &goal_point);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// ------------------------------------------------------------------------------------------------------------------
|
|
|
|
// Create path for player from current segment to goal segment.
|
|
|
|
void create_player_path_to_segment(int segnum)
|
|
|
|
{
|
|
|
|
object *objp = ConsoleObject;
|
|
|
|
|
|
|
|
Player_path_length=0;
|
|
|
|
Player_hide_index=-1;
|
|
|
|
Player_cur_path_index=0;
|
|
|
|
Player_following_path_flag=0;
|
|
|
|
|
|
|
|
if (create_path_points(objp, objp->segnum, segnum, Point_segs_free_ptr, &Player_path_length, 100, 0, 0, -1) == -1)
|
|
|
|
mprintf((0, "Unable to form path of length %i for myself\n", 100));
|
|
|
|
|
|
|
|
Player_following_path_flag = 1;
|
|
|
|
|
|
|
|
Player_hide_index = Point_segs_free_ptr - Point_segs;
|
|
|
|
Player_cur_path_index = 0;
|
|
|
|
Point_segs_free_ptr += Player_path_length;
|
|
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
|
|
//Int3(); // Contact Mike: This is curious, though not deadly. /eip++;g
|
|
|
|
ai_reset_all_paths();
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
int Player_goal_segment = -1;
|
|
|
|
|
|
|
|
void check_create_player_path(void)
|
|
|
|
{
|
|
|
|
if (Player_goal_segment != -1)
|
|
|
|
create_player_path_to_segment(Player_goal_segment);
|
|
|
|
|
|
|
|
Player_goal_segment = -1;
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
// DEBUG FUNCTIONS ENDED
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
|