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dxx-rebirth/main/aipath.c
Bradley Bell 9bd1ba7c47 This commit was generated by cvs2svn to compensate for changes in r2, 
which included commits to RCS files with non-trunk default branches.
2001-01-19 03:30:16 +00:00

1844 lines
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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 1993-1999 PARALLAX SOFTWARE CORPORATION. ALL RIGHTS RESERVED.
*/
#include <conf.h>
#include <stdio.h> // for printf()
#include <stdlib.h> // for rand() and qsort()
#include <string.h> // for memset()
#include "inferno.h"
#include "mono.h"
#include "fix.h"
#include "vecmat.h"
#include "gr.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"
#include "player.h"
#include "fireball.h"
#include "game.h"
#include "maths.h"
#ifdef EDITOR
#include "editor\editor.h"
#endif
#define PARALLAX 0 // If !0, then special debugging for Parallax eyes enabled.
// Length in segments of avoidance path
#define AVOID_SEG_LENGTH 7
#define PATH_VALIDATION 0
// LINT: Function prototypes
int validate_path(int debug_flag, point_seg* psegs, int num_points);
void validate_all_paths(void);
void ai_path_set_orient_and_vel(object *objp, vms_vector* goal_point, int player_visibility, vms_vector *vec_to_player);
void maybe_ai_path_garbage_collect(void);
void ai_path_garbage_collect(void);
// ------------------------------------------------------------------------
void create_random_xlate(byte *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)/(RAND_MAX);
byte 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, int *num_points)
{
int i, j, last_point;
int count=*num_points;
last_point = *num_points-1;
for (i=last_point; i>0; i--) {
int connect_side, temp_segnum;
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);
temp_segnum = find_point_seg(&psegs[2*i-1].point, psegs[2*i].segnum);
if (temp_segnum == -1) {
mprintf((1, "Warning: point not in ANY segment in aipath.c/insert_center_points.\n"));
psegs[2*i-1].point = center_point;
find_point_seg(&psegs[2*i-1].point, psegs[2*i].segnum);
}
psegs[2*i-1].segnum = psegs[2*i].segnum;
count++;
}
// Now, remove unnecessary center points.
// A center point is unnecessary if it is close to the line between the two adjacent points.
// MK, OPTIMIZE! Can get away with about half the math since every vector gets computed twice.
for (i=1; i<count-1; i+=2) {
vms_vector temp1, temp2;
fix dot;
dot = vm_vec_dot(vm_vec_sub(&temp1, &psegs[i].point, &psegs[i-1].point), vm_vec_sub(&temp2, &psegs[i+1].point, &psegs[i].point));
if (dot * 9/8 > fixmul(vm_vec_mag(&temp1), vm_vec_mag(&temp2)))
psegs[i].segnum = -1;
}
// Now, scan for points with segnum == -1
j = 0;
for (i=0; i<count; i++)
if (psegs[i].segnum != -1)
psegs[j++] = psegs[i];
*num_points = j;
}
#ifdef EDITOR
int Safety_flag_override = 0;
int Random_flag_override = 0;
int Ai_path_debug=0;
#endif
// -----------------------------------------------------------------------------------------------------------
// Move points halfway to outside of segment.
void move_towards_outside(point_seg *psegs, int *num_points, object *objp, int rand_flag)
{
int i;
point_seg new_psegs[200];
Assert(*num_points < 200);
for (i=1; i<*num_points-1; i++) {
int new_segnum;
fix segment_size;
int segnum;
vms_vector a, b, c, d, e;
vms_vector goal_pos;
int count;
int temp_segnum;
// -- psegs[i].segnum = find_point_seg(&psegs[i].point, psegs[i].segnum);
temp_segnum = find_point_seg(&psegs[i].point, psegs[i].segnum);
Assert(temp_segnum != -1);
psegs[i].segnum = temp_segnum;
segnum = psegs[i].segnum;
vm_vec_sub(&a, &psegs[i].point, &psegs[i-1].point);
vm_vec_sub(&b, &psegs[i+1].point, &psegs[i].point);
vm_vec_sub(&c, &psegs[i+1].point, &psegs[i-1].point);
// I don't think we can use quick version here and this is _very_ rarely called. --MK, 07/03/95
vm_vec_normalize_quick(&a);
vm_vec_normalize_quick(&b);
if (abs(vm_vec_dot(&a, &b)) > 3*F1_0/4 ) {
if (abs(a.z) < F1_0/2) {
if (rand_flag) {
e.x = (d_rand()-16384)/2;
e.y = (d_rand()-16384)/2;
e.z = abs(e.x) + abs(e.y) + 1;
vm_vec_normalize_quick(&e);
} else {
e.x = 0;
e.y = 0;
e.z = F1_0;
}
} else {
if (rand_flag) {
e.y = (d_rand()-16384)/2;
e.z = (d_rand()-16384)/2;
e.x = abs(e.y) + abs(e.z) + 1;
vm_vec_normalize_quick(&e);
} else {
e.x = F1_0;
e.y = 0;
e.z = 0;
}
}
} else {
vm_vec_cross(&d, &a, &b);
vm_vec_cross(&e, &c, &d);
vm_vec_normalize_quick(&e);
}
if (vm_vec_mag_quick(&e) < F1_0/2)
Int3();
//mprintf((0, "(%i) Moving to side: %6.3f %6.3f %6.3f\n", i, f2fl(e.x), f2fl(e.y), f2fl(e.z)));
segment_size = vm_vec_dist_quick(&Vertices[Segments[segnum].verts[0]], &Vertices[Segments[segnum].verts[6]]);
if (segment_size > F1_0*40)
segment_size = F1_0*40;
vm_vec_scale_add(&goal_pos, &psegs[i].point, &e, segment_size/4);
count = 3;
while (count) {
fvi_query fq;
fvi_info hit_data;
int hit_type;
fq.p0 = &psegs[i].point;
fq.startseg = psegs[i].segnum;
fq.p1 = &goal_pos;
fq.rad = objp->size;
fq.thisobjnum = objp-Objects;
fq.ignore_obj_list = NULL;
fq.flags = 0;
hit_type = find_vector_intersection(&fq, &hit_data);
if (hit_type == HIT_NONE)
count = 0;
else {
if ((count == 3) && (hit_type == HIT_BAD_P0))
Int3();
goal_pos.x = (fq.p0->x + hit_data.hit_pnt.x)/2;
goal_pos.y = (fq.p0->y + hit_data.hit_pnt.y)/2;
goal_pos.z = (fq.p0->z + hit_data.hit_pnt.z)/2;
count--;
if (count == 0) { // Couldn't move towards outside, that's ok, sometimes things can't be moved.
goal_pos = psegs[i].point;
}
}
}
// Only move towards outside if remained inside segment.
new_segnum = find_point_seg(&goal_pos, psegs[i].segnum);
if (new_segnum == psegs[i].segnum) {
new_psegs[i].point = goal_pos;
new_psegs[i].segnum = new_segnum;
} else {
new_psegs[i].point = psegs[i].point;
new_psegs[i].segnum = psegs[i].segnum;
}
}
for (i=1; i<*num_points-1; i++)
psegs[i] = new_psegs[i];
}
// -----------------------------------------------------------------------------------------------------------
// 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;
byte visited[MAX_SEGMENTS];
seg_seg seg_queue[MAX_SEGMENTS];
short depth[MAX_SEGMENTS];
int cur_depth;
byte random_xlate[MAX_SIDES_PER_SEGMENT];
point_seg *original_psegs = psegs;
int l_num_points;
// -- mprintf((0, "cpp: frame = %4i obj %3i, psegs = %5i\n", FrameCount, objp-Objects, psegs-Point_segs));
#if PATH_VALIDATION
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;
l_num_points = 0;
//random_flag = Random_flag_override; //!! debug!!
//safety_flag = Safety_flag_override; //!! debug!!
// 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;
} else
; // -- mprintf((0, "Start/End/Avoid = %i %i %i\n", start_seg, end_seg, avoid_seg));
}
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];
if (random_flag)
if (d_rand() < 8192)
create_random_xlate(random_xlate);
// mprintf((0, "\n"));
for (sidenum = 0; sidenum < MAX_SIDES_PER_SEGMENT; sidenum++) {
int snum = sidenum;
if (random_flag)
snum = random_xlate[sidenum];
if (IS_CHILD(segp->children[snum]) && ((WALL_IS_DOORWAY(segp, snum) & WID_FLY_FLAG) || (ai_door_is_openable(objp, segp, snum)))) {
int this_seg = segp->children[snum];
Assert(this_seg != -1);
if (((cur_seg == avoid_seg) || (this_seg == avoid_seg)) && (ConsoleObject->segnum == avoid_seg)) {
vms_vector center_point;
fvi_query fq;
fvi_info hit_data;
int hit_type;
compute_center_point_on_side(&center_point, segp, snum);
fq.p0 = &objp->pos;
fq.startseg = objp->segnum;
fq.p1 = &center_point;
fq.rad = objp->size;
fq.thisobjnum = objp-Objects;
fq.ignore_obj_list = NULL;
fq.flags = 0;
hit_type = find_vector_intersection(&fq, &hit_data);
if (hit_type != HIT_NONE) {
// -- mprintf((0, "hit_type = %i, object = %i\n", hit_type, hit_data.hit_object));
goto dont_add;
}
}
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;
} // end if (depth[...
} // end if (!visited...
} // if (WALL_IS_DOORWAY(...
dont_add: ;
} // for (sidenum...
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 ...
// Set qtail to the segment which ends at the goal.
while (seg_queue[--qtail].end != end_seg)
if (qtail < 0) {
// mprintf((0, "\nNo path!\n"));
// printf("UNABLE TO FORM PATH");
// Int3();
*num_points = l_num_points;
return -1;
}
#ifdef EDITOR
// -- N_selected_segs = 0;
#endif
//printf("Object #%3i, start: %3i ", objp-Objects, psegs-Point_segs);
while (qtail >= 0) {
int parent_seg, this_seg;
this_seg = seg_queue[qtail].end;
parent_seg = seg_queue[qtail].start;
Assert((this_seg >= 0) && (this_seg <= Highest_segment_index));
psegs->segnum = this_seg;
//printf("%3i ", this_seg);
compute_segment_center(&psegs->point,&Segments[this_seg]);
psegs++;
l_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);
}
Assert((start_seg >= 0) && (start_seg <= Highest_segment_index));
psegs->segnum = start_seg;
//printf("%3i\n", start_seg);
compute_segment_center(&psegs->point,&Segments[start_seg]);
psegs++;
l_num_points++;
#if PATH_VALIDATION
validate_path(1, original_psegs, l_num_points);
#endif
// Now, reverse point_segs in place.
for (i=0; i< l_num_points/2; i++) {
point_seg temp_point_seg = *(original_psegs + i);
*(original_psegs + i) = *(original_psegs + l_num_points - i - 1);
*(original_psegs + l_num_points - i - 1) = temp_point_seg;
}
#if PATH_VALIDATION
validate_path(2, original_psegs, l_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 + l_num_points + 2 > MAX_POINT_SEGS) {
// Ouch! Cannot insert center points in path. So return unsafe path.
// Int3(); // Contact Mike: This is impossible.
// force_dump_ai_objects_all("Error in create_path_points");
mprintf((0, "Resetting all paths because of safety_flag.\n"));
ai_reset_all_paths();
*num_points = l_num_points;
return -1;
} else {
// int old_num_points = l_num_points;
insert_center_points(original_psegs, &l_num_points);
// mprintf((0, "Saved %i/%i points.\n", 2*old_num_points - l_num_points - 1, old_num_points-1));
}
}
#if PATH_VALIDATION
validate_path(3, original_psegs, l_num_points);
#endif
// -- MK, 10/30/95 -- This code causes apparent discontinuities in the path, moving a point
// into a new segment. It is not necessarily bad, but it makes it hard to track down actual
// discontinuity problems.
if (objp->type == OBJ_ROBOT)
if (Robot_info[objp->id].companion)
move_towards_outside(original_psegs, &l_num_points, objp, 0);
#if PATH_VALIDATION
validate_path(4, original_psegs, l_num_points);
#endif
*num_points = l_num_points;
return 0;
}
int Last_buddy_polish_path_frame;
// -------------------------------------------------------------------------------------------------------
// polish_path
// Takes an existing path and makes it nicer.
// Drops as many leading points as possible still maintaining direct accessibility
// from current position to first point.
// Will not shorten path to fewer than 3 points.
// Returns number of points.
// Starting position in psegs doesn't change.
// Changed, MK, 10/18/95. I think this was causing robots to get hung up on walls.
// Only drop up to the first three points.
int polish_path(object *objp, point_seg *psegs, int num_points)
{
int i, first_point=0;
if (num_points <= 4)
return num_points;
// Prevent the buddy from polishing his path twice in one frame, which can cause him to get hung up. Pretty ugly, huh?
if (Robot_info[objp->id].companion)
{
if (FrameCount == Last_buddy_polish_path_frame)
return num_points;
else
Last_buddy_polish_path_frame = FrameCount;
}
// -- MK: 10/18/95: for (i=0; i<num_points-3; i++) {
for (i=0; i<2; i++) {
fvi_query fq;
fvi_info hit_data;
int hit_type;
fq.p0 = &objp->pos;
fq.startseg = objp->segnum;
fq.p1 = &psegs[i].point;
fq.rad = objp->size;
fq.thisobjnum = objp-Objects;
fq.ignore_obj_list = NULL;
fq.flags = 0;
hit_type = find_vector_intersection(&fq, &hit_data);
if (hit_type == HIT_NONE)
first_point = i+1;
else
break;
}
if (first_point) {
// Scrunch down all the psegs.
for (i=first_point; i<num_points; i++)
psegs[i-first_point] = psegs[i];
}
return num_points - first_point;
}
#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 PATH_VALIDATION
int i, curseg;
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));
Int3(); // Contact Mike: Debug trap for elusive, nasty bug.
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));
Int3(); // Contact Mike: Debug trap for elusive, nasty bug.
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 PATH_VALIDATION
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;
// -- #if PATH_VALIDATION
// -- 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
// Change, 10/07/95: Used to create path to ConsoleObject->pos. Now creates path to Believed_player_pos.
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 = Believed_player_seg;
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 {
create_path_points(objp, start_seg, end_seg, Point_segs_free_ptr, &aip->path_length, max_length, 1, safety_flag, -1);
aip->path_length = polish_path(objp, Point_segs_free_ptr, aip->path_length);
aip->hide_index = Point_segs_free_ptr - Point_segs;
aip->cur_path_index = 0;
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.
// -- UNUSED! 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 object's current segment (objp->segnum) to segment goalseg.
void create_path_to_segment(object *objp, int goalseg, 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 = GameTime; // Prevent from resetting path quickly.
ailp->goal_segment = goalseg;
start_seg = objp->segnum;
end_seg = ailp->goal_segment;
if (end_seg == -1) {
;
} else {
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;
Point_segs_free_ptr += aip->path_length;
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
ai_reset_all_paths();
return;
}
aip->PATH_DIR = 1; // Initialize to moving forward.
// -- UNUSED! aip->SUBMODE = AISM_GOHIDE; // This forces immediate movement.
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 = 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->path_length = polish_path(objp, Point_segs_free_ptr, aip->path_length);
aip->hide_index = Point_segs_free_ptr - Point_segs;
aip->cur_path_index = 0;
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) {
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)) {
//mprintf((0, "R"));
Assert(path_length);
}
}
aip->hide_index = Point_segs_free_ptr - Point_segs;
aip->cur_path_index = 0;
#if PATH_VALIDATION
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.
// -- UNUSED! aip->SUBMODE = -1; // Don't know what this means.
ailp->mode = AIM_FOLLOW_PATH;
// If this robot is visible (player_visibility is not available) and it's running away, move towards outside with
// randomness to prevent a stream of bots from going away down the center of a corridor.
if (Ai_local_info[objp-Objects].previous_visibility) {
if (aip->path_length) {
int t_num_points = aip->path_length;
move_towards_outside(&Point_segs[aip->hide_index], &t_num_points, objp, 1);
aip->path_length = t_num_points;
}
}
//mprintf((0, "\n"));
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);
}
extern int Connected_segment_distance;
#define Int3_if(cond) if (!cond) Int3();
// ----------------------------------------------------------------------------------------------------
void move_object_to_goal(object *objp, vms_vector *goal_point, int goal_seg)
{
ai_static *aip = &objp->ctype.ai_info;
int segnum;
if (aip->path_length < 2)
return;
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
Assert(aip->path_length >= 2);
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 = 1;
aip->PATH_DIR = 1;
} else if (aip->cur_path_index >= aip->path_length - 1) {
if (aip->behavior == AIB_STATION) {
// mprintf((0, "Object #%i, creating path back to station.\n", objp-Objects));
create_path_to_station(objp, 15);
if (aip->path_length == 0) {
ai_local *ailp = &Ai_local_info[objp-Objects];
ailp->mode = AIM_STILL;
}
return;
}
Assert(aip->path_length != 0);
aip->cur_path_index = aip->path_length-2;
aip->PATH_DIR = -1;
} else
aip->cur_path_index += aip->PATH_DIR;
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
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);
}
// -- too much work -- // ----------------------------------------------------------------------------------------------------------
// -- too much work -- // Return true if the object the companion wants to kill is reachable.
// -- too much work -- int attack_kill_object(object *objp)
// -- too much work -- {
// -- too much work -- object *kill_objp;
// -- too much work -- fvi_info hit_data;
// -- too much work -- int fate;
// -- too much work -- fvi_query fq;
// -- too much work --
// -- too much work -- if (Escort_kill_object == -1)
// -- too much work -- return 0;
// -- too much work --
// -- too much work -- kill_objp = &Objects[Escort_kill_object];
// -- too much work --
// -- too much work -- fq.p0 = &objp->pos;
// -- too much work -- fq.startseg = objp->segnum;
// -- too much work -- fq.p1 = &kill_objp->pos;
// -- too much work -- fq.rad = objp->size;
// -- too much work -- fq.thisobjnum = objp-Objects;
// -- too much work -- fq.ignore_obj_list = NULL;
// -- too much work -- fq.flags = 0;
// -- too much work --
// -- too much work -- fate = find_vector_intersection(&fq,&hit_data);
// -- too much work --
// -- too much work -- if (fate == HIT_NONE)
// -- too much work -- return 1;
// -- too much work -- else
// -- too much work -- return 0;
// -- too much work -- }
// ----------------------------------------------------------------------------------------------------------
// Optimization: If current velocity will take robot near goal, don't change velocity
void ai_follow_path(object *objp, int player_visibility, int previous_visibility, vms_vector *vec_to_player)
{
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;
// 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), f2
if ((aip->hide_index == -1) || (aip->path_length == 0))
{
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
create_n_segment_path(objp, 5, -1);
//--Int3_if((aip->path_length != 0));
ailp->mode = AIM_RUN_FROM_OBJECT;
} else {
// -- mprintf((0, "Object %i creating path for no apparent reason.\n", objp-Objects));
create_n_segment_path(objp, 5, -1);
//--Int3_if((aip->path_length != 0));
}
}
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.
// This is debugging code. Figure out why garbage collection
// didn't compress this object's path information.
ai_path_garbage_collect();
//force_dump_ai_objects_all("Error in ai_follow_path");
ai_reset_all_paths();
}
if (aip->path_length < 2) {
if ((aip->behavior == AIB_SNIPE) || (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)
//--Int3_if((aip->path_length != 0));
} else {
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
//--Int3_if((aip->path_length != 0));
}
if (aip->behavior == AIB_SNIPE) {
if (robptr->thief)
ailp->mode = AIM_THIEF_ATTACK; // It gets bashed in create_n_segment_path
else
ailp->mode = AIM_SNIPE_FIRE; // It gets bashed in create_n_segment_path
} else {
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
}
} else if (robptr->companion == 0) {
ailp->mode = AIM_STILL;
aip->path_length = 0;
return;
}
}
//--Int3_if(((aip->PATH_DIR == -1) || (aip->PATH_DIR == 1)));
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
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 (!(player_visibility || previous_visibility) && (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);
return;
} else {
robot_info *robptr = &Robot_info[objp->id];
fix cur_speed = robptr->max_speed[Difficulty_level]/2;
fix distance_travellable = fixmul(FrameTime, cur_speed);
// int connect_side = find_connect_side(objp->segnum, goal_seg);
// Only move to goal if allowed to fly through the side.
// Buddy-bot can create paths he can't fly, waiting for player.
// -- bah, this isn't good enough, buddy will fail to get through any door! if (WALL_IS_DOORWAY(&Segments]objp->segnum], connect_side) & WID_FLY_FLAG) {
if (!Robot_info[objp->id].companion && !Robot_info[objp->id].thief) {
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);
}
}
return;
}
}
}
// 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 (!(FrameCount ^ ((objp-Objects) & 0x07))) { // Done 1/8 frames.
// 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);
}
Assert(aip->path_length != 0);
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;
}
}
}
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
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
Assert(aip->path_length != 0);
} 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;
new_goal_point = Point_segs[aip->hide_index + aip->cur_path_index].point;
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
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_BEHIND) {
// -- ailp->mode = AIM_STILL;
// -- return; // Stay here until bonked or hit by player.
// -- } else
// Buddy bot. If he's in mode to get away from player and at end of line,
// if player visible, then make a new path, else just return.
if (robptr->companion) {
if (Escort_special_goal == ESCORT_GOAL_SCRAM)
{
if (player_visibility) {
create_n_segment_path(objp, 16 + d_rand() * 16, -1);
aip->path_length = polish_path(objp, &Point_segs[aip->hide_index], aip->path_length);
Assert(aip->path_length != 0);
// -- mprintf((0, "Buddy: Creating new path!\n"));
ailp->mode = AIM_WANDER; // Special buddy mode.
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
return;
} else {
ailp->mode = AIM_WANDER; // Special buddy mode.
vm_vec_zero(&objp->mtype.phys_info.velocity);
vm_vec_zero(&objp->mtype.phys_info.rotvel);
// -- mprintf((0, "Buddy: I'm hidden!\n"));
//!!Assert((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length));
return;
}
}
}
if (aip->behavior == AIB_FOLLOW) {
// mprintf((0, "AIB_FOLLOW: Making new path.\n"));
create_n_segment_path(objp, 10, ConsoleObject->segnum);
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
} 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) || (aip->path_length == 0)) {
ailp->mode = AIM_STILL;
} else {
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
}
return;
} else if (ailp->mode == AIM_FOLLOW_PATH) {
create_path_to_player(objp, 10, 1);
if (aip->hide_segment != Point_segs[aip->hide_index+aip->path_length-1].segnum) {
ailp->mode = AIM_STILL;
return;
} else {
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
}
} 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
if (aip->path_length < 1) {
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
if (aip->path_length < 1) {
aip->behavior = AIB_NORMAL;
ailp->mode = AIM_STILL;
return;
}
}
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
} 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;
}
//--Int3_if(((opposite_end_index >= 0) && (opposite_end_index < aip->path_length)));
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;
aip->cur_path_index += aip->PATH_DIR;
}
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
}
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);
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
}
// If went all the way around to original point, in same direction, then get out of here!
if ((aip->cur_path_index == original_index) && (aip->PATH_DIR == original_dir)) {
create_path_to_player(objp, 3, 1);
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
forced_break = 1;
}
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
} // end while
// Set velocity (objp->mtype.phys_info.velocity) and orientation (objp->orient) for this object.
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
ai_path_set_orient_and_vel(objp, &goal_point, player_visibility, vec_to_player);
//--Int3_if(((aip->cur_path_index >= 0) && (aip->cur_path_index < aip->path_length)));
}
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, int player_visibility, vms_vector *vec_to_player)
{
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) || (objp->ctype.ai_info.behavior == AIB_SNIPE))
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;
// If in snipe mode, can move fast even if not facing that direction.
if (objp->ctype.ai_info.behavior == AIB_SNIPE)
if (dot < F1_0/2)
dot = (dot + F1_0)/2;
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) || (robptr->companion == 1) || (objp->ctype.ai_info.behavior == AIB_SNIPE)) {
if (Ai_local_info[objp-Objects].mode == AIM_SNIPE_RETREAT_BACKWARDS) {
if ((player_visibility) && (vec_to_player != NULL))
norm_vec_to_goal = *vec_to_player;
else
vm_vec_negate(&norm_vec_to_goal);
}
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;
#if PATH_VALIDATION
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) || (objp->control_type == CT_MORPH))) {
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 (*)(void const *,void const *))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) && (Robot_info[objp->id].companion != 1))
if (d_rand() > 8192) {
ai_local *ailp = &Ai_local_info[objp-Objects];
aip->hide_segment = objp->segnum;
//Int3();
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)) / RAND_MAX];
Markedsegp = &Segments[(d_rand() * (Highest_segment_index + 1)) / 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;
//--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 = Robot_info[objp->id].max_speed[Difficulty_level];
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 (Ai_local_info[objp-Objects].mode == AIM_SNIPE_RETREAT_BACKWARDS) {
dot = -dot;
}
// 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
// ----------------------------------------------------------------------------------------------------------
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