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dxx-rebirth/main/aipath.c

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/*
THE COMPUTER CODE CONTAINED HEREIN IS THE SOLE PROPERTY OF PARALLAX
SOFTWARE CORPORATION ("PARALLAX"). PARALLAX, IN DISTRIBUTING THE CODE TO
END-USERS, AND SUBJECT TO ALL OF THE TERMS AND CONDITIONS HEREIN, GRANTS A
ROYALTY-FREE, PERPETUAL LICENSE TO SUCH END-USERS FOR USE BY SUCH END-USERS
IN USING, DISPLAYING, AND CREATING DERIVATIVE WORKS THEREOF, SO LONG AS
SUCH USE, DISPLAY OR CREATION IS FOR NON-COMMERCIAL, ROYALTY OR REVENUE
FREE PURPOSES. IN NO EVENT SHALL THE END-USER USE THE COMPUTER CODE
CONTAINED HEREIN FOR REVENUE-BEARING PURPOSES. THE END-USER UNDERSTANDS
AND AGREES TO THE TERMS HEREIN AND ACCEPTS THE SAME BY USE OF THIS FILE.
COPYRIGHT 1993-1998 PARALLAX SOFTWARE CORPORATION. ALL RIGHTS RESERVED.
*/
/*
*
* AI path forming stuff.
*
*/
#include <stdio.h> // for printf()
#include <stdlib.h> // for d_rand() and qsort()
#include <string.h> // for memset()
#include "inferno.h"
#include "console.h"
#include "3d.h"
#include "object.h"
#include "error.h"
#include "ai.h"
#include "robot.h"
#include "fvi.h"
#include "physics.h"
#include "wall.h"
#ifdef EDITOR
#include "editor/editor.h"
#endif
#include "player.h"
#include "fireball.h"
#include "game.h"
void validate_all_paths(void);
void ai_path_set_orient_and_vel(object *objp, vms_vector *goal_point);
void maybe_ai_path_garbage_collect(void);
#ifndef NDEBUG
int validate_path(int debug_flag, point_seg *psegs, int num_points);
#endif
#define PARALLAX 0 // If !0, then special debugging for Parallax eyes enabled.
// Length in segments of avoidance path
#define AVOID_SEG_LENGTH 7
void create_random_xlate(sbyte *xt)
{
int i;
for (i=0; i<MAX_SIDES_PER_SEGMENT; i++)
xt[i] = i;
for (i=0; i<MAX_SIDES_PER_SEGMENT; i++) {
int j = (d_rand()*MAX_SIDES_PER_SEGMENT)/(D_RAND_MAX+1);
sbyte temp_byte;
Assert((j >= 0) && (j < MAX_SIDES_PER_SEGMENT));
temp_byte = xt[j];
xt[j] = xt[i];
xt[i] = temp_byte;
}
}
// -----------------------------------------------------------------------------------------------------------
// 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.
void insert_center_points(point_seg *psegs, short *num_points)
{
int i, last_point;
last_point = *num_points-1;
for (i=last_point; i>0; i--) {
int connect_side;
vms_vector center_point, new_point;
psegs[2*i] = psegs[i];
connect_side = find_connect_side(&Segments[psegs[i].segnum], &Segments[psegs[i-1].segnum]);
Assert(connect_side != -1); // Impossible! These two segments must be connected, they were created by create_path_points (which was created by mk!)
if (connect_side == -1) // Try to blow past the assert, this should at least prevent a hang.
connect_side = 0;
compute_center_point_on_side(&center_point, &Segments[psegs[i-1].segnum], connect_side);
vm_vec_sub(&new_point, &psegs[i-1].point, &center_point);
new_point.x /= 16;
new_point.y /= 16;
new_point.z /= 16;
vm_vec_sub(&psegs[2*i-1].point, &center_point, &new_point);
psegs[2*i-1].segnum = psegs[2*i].segnum;
(*num_points)++;
}
}
#ifdef EDITOR
int Safety_flag_override = 0;
int Random_flag_override = 0;
int Ai_path_debug=0;
#endif
// -----------------------------------------------------------------------------------------------------------
// Create a path from objp->pos to the center of end_seg.
// Return a list of (segment_num, point_locations) at psegs
// Return number of points in *num_points.
// if max_depth == -1, then there is no maximum depth.
// If unable to create path, return -1, else return 0.
// If random_flag !0, then introduce randomness into path by looking at sides in random order. This means
// that a path between two segments won't always be the same, unless it is unique.
// If safety_flag is set, then additional points are added to "make sure" that points are reachable. I would
// like to say that it ensures that the object can move between the points, but that would require knowing what
// the object is (which isn't passed, right?) and making fvi calls (slow, right?). So, consider it the more_or_less_safe_flag.
// 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).
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)
{
int cur_seg;
int sidenum;
int qtail = 0, qhead = 0;
int i;
sbyte visited[MAX_SEGMENTS];
seg_seg seg_queue[MAX_SEGMENTS];
short depth[MAX_SEGMENTS];
int cur_depth;
sbyte random_xlate[MAX_SIDES_PER_SEGMENT];
point_seg *original_psegs = psegs;
#ifndef NDEBUG
point_seg *other_original_psegs = psegs;
#endif
#ifndef NDEBUG
validate_all_paths();
#endif
if ((objp->type == OBJ_ROBOT) && (objp->ctype.ai_info.behavior == AIB_RUN_FROM)) {
random_flag = 1;
avoid_seg = ConsoleObject->segnum;
// Int3();
}
if (max_depth == -1)
max_depth = MAX_PATH_LENGTH;
*num_points = 0;
// for (i=0; i<=Highest_segment_index; i++) {
// visited[i] = 0;
// depth[i] = 0;
// }
memset(visited, 0, sizeof(visited[0])*(Highest_segment_index+1));
memset(depth, 0, sizeof(depth[0])*(Highest_segment_index+1));
// If there is a segment we're not allowed to visit, mark it.
if (avoid_seg != -1) {
Assert(avoid_seg <= Highest_segment_index);
if ((start_seg != avoid_seg) && (end_seg != avoid_seg)) {
visited[avoid_seg] = 1;
depth[avoid_seg] = 0;
}
}
if (random_flag)
create_random_xlate(random_xlate);
cur_seg = start_seg;
visited[cur_seg] = 1;
cur_depth = 0;
while (cur_seg != end_seg) {
segment *segp = &Segments[cur_seg];
for (sidenum = 0; sidenum < MAX_SIDES_PER_SEGMENT; sidenum++) {
int snum = sidenum;
if (random_flag)
snum = random_xlate[sidenum];
if ((WALL_IS_DOORWAY(segp, snum) & WID_FLY_FLAG) || (ai_door_is_openable(objp, segp, snum))) {
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) {
end_seg = seg_queue[qtail-1].end;
goto cpp_done1;
}
}
}
} // for (sidenum...
if (qtail <= 0)
break;
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 ...
if (qtail > 0)
{
// Set qtail to the segment which ends at the goal.
while (seg_queue[--qtail].end != end_seg)
if (qtail < 0) {
return -1;
}
}
else
qtail = -1;
#ifdef EDITOR
N_selected_segs = 0;
#endif
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)) {
return 0;
}
if (num_points == 0)
return 1;
for (i=1; i<num_points; i++) {
int sidenum;
int nextseg = psegs[i].segnum;
if ((nextseg < 0) || (nextseg > Highest_segment_index)) {
return 0;
}
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) {
return 0;
}
curseg = nextseg;
}
}
#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) {
;
} 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;
if (max_length == -1)
max_length = MAX_DEPTH_TO_SEARCH_FOR_PLAYER;
ailp->time_player_seen = GameTime64; // Prevent from resetting path quickly.
ailp->goal_segment = ConsoleObject->segnum;
start_seg = objp->segnum;
end_seg = ailp->goal_segment;
if (end_seg == -1) {
;
} 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
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
}
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 = GameTime64; // Prevent from resetting path quickly.
start_seg = objp->segnum;
end_seg = aip->hide_segment;
if (end_seg == -1) {
;
} 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
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];
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;
while ((create_path_points(objp, objp->segnum, -2, Point_segs_free_ptr, &aip->path_length, --path_length, 1, 0, -1) == -1)) {
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);
#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();
}
}
#endif
aip->cur_path_index += aip->PATH_DIR;
if (aip->cur_path_index <= 0) {
if (aip->behavior == AIB_STATION) {
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) {
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 == -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;
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);
#if 0
// 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;
}
#endif
// 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)) {
// 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) {
create_path_to_station(objp, 15);
if (aip->hide_segment != Point_segs[aip->hide_index+aip->path_length-1].segnum) {
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) {
norm_cur_vel = norm_vec_to_goal;
} else {
norm_cur_vel.x += norm_vec_to_goal.x/2/((float)(F1_0/30)/FrameTime);
norm_cur_vel.y += norm_vec_to_goal.y/2/((float)(F1_0/30)/FrameTime);
norm_cur_vel.z += norm_vec_to_goal.z/2/((float)(F1_0/30)/FrameTime);
}
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
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];
#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();
} else {
// We are really close to full, but didn't just garbage collect, so maybe this is recoverable.
ai_path_garbage_collect();
}
} 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;
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;
}
// object_segnum = objp->segnum;
abs_index = aip->hide_index+aip->cur_path_index;
// goal_segnum = Point_segs[abs_index].segnum;
new_path_index = aip->cur_path_index - aip->PATH_DIR;
if ((new_path_index >= 0) && (new_path_index < aip->path_length)) {
aip->cur_path_index = new_path_index;
} else {
// At end of line and have nowhere to go.
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);
}
// 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++) {
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);
}
}
}
}
}
//--anchor--int Num_anchors;
//--anchor--int Anchor_distance = 3;
//--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)
//--anchor-- if (resultant_length < minimum_length)
//--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) {
norm_cur_vel = norm_vec_to_goal;
} else {
norm_cur_vel.x += norm_vec_to_goal.x/2/((float)(F1_0/30)/FrameTime);
norm_cur_vel.y += norm_vec_to_goal.y/2/((float)(F1_0/30)/FrameTime);
norm_cur_vel.z += norm_vec_to_goal.z/2/((float)(F1_0/30)/FrameTime);
}
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) {
// ----- Debug stuff -----
if (count++ > 20) {
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) {
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)
con_printf(CON_DEBUG,"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
// ----------------------------------------------------------------------------------------------------------
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