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Merge pull request #2122 from SafwatHalaby/bounding

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Pathfinder - Bounding boxes and some tweaks
This commit is contained in:
worktycho 2015-05-24 12:51:15 +01:00
commit d86e8fae79
3 changed files with 114 additions and 26 deletions
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6
src/Mobs/Monster.cpp
View File

@ -169,7 +169,7 @@ bool cMonster::TickPathFinding(cChunk & a_Chunk)
m_NoPathToTarget = false;
m_NoMoreWayPoints = false;
m_PathFinderDestination = m_FinalDestination;
m_Path = new cPath(a_Chunk, GetPosition().Floor(), m_PathFinderDestination.Floor(), 20);
m_Path = new cPath(a_Chunk, GetPosition(), m_PathFinderDestination, 20, GetWidth(), GetHeight());
}
switch (m_Path->Step(a_Chunk))
@ -183,7 +183,7 @@ bool cMonster::TickPathFinding(cChunk & a_Chunk)
case ePathFinderStatus::PATH_NOT_FOUND:
{
ResetPathFinding(); // Try to calculate a path again.
StopMovingToPosition(); // Try to calculate a path again.
// Note that the next time may succeed, e.g. if a player breaks a barrier.
break;
}
@ -203,7 +203,7 @@ bool cMonster::TickPathFinding(cChunk & a_Chunk)
{
if ((m_Path->IsFirstPoint() || ReachedNextWaypoint()))
{
m_NextWayPointPosition = Vector3d(0.5, 0, 0.5) + m_Path->GetNextPoint();
m_NextWayPointPosition = m_Path->GetNextPoint();
m_GiveUpCounter = 40; // Give up after 40 ticks (2 seconds) if failed to reach m_NextWayPointPosition.
}
}

117
src/Mobs/Path.cpp
View File

@ -6,6 +6,7 @@
#include "Path.h"
#include "../Chunk.h"
#define JUMP_G_COST 20
#define DISTANCE_MANHATTAN 0 // 1: More speed, a bit less accuracy 0: Max accuracy, less speed.
#define HEURISTICS_ONLY 0 // 1: Much more speed, much less accurate.
@ -31,12 +32,11 @@ bool compareHeuristics::operator()(cPathCell * & a_Cell1, cPathCell * & a_Cell2)
/* cPath implementation */
cPath::cPath(
cChunk & a_Chunk,
const Vector3i & a_StartingPoint, const Vector3i & a_EndingPoint, int a_MaxSteps,
const Vector3d & a_StartingPoint, const Vector3d & a_EndingPoint, int a_MaxSteps,
double a_BoundingBoxWidth, double a_BoundingBoxHeight,
int a_MaxUp, int a_MaxDown
) :
m_Destination(a_EndingPoint.Floor()),
m_Source(a_StartingPoint.Floor()),
m_CurrentPoint(0), // GetNextPoint increments this to 1, but that's fine, since the first cell is always a_StartingPoint
m_Chunk(&a_Chunk),
m_BadChunkFound(false)
@ -44,6 +44,21 @@ cPath::cPath(
// TODO: if src not walkable OR dest not walkable, then abort.
// Borrow a new "isWalkable" from ProcessIfWalkable, make ProcessIfWalkable also call isWalkable
a_BoundingBoxWidth = 1; // Until we improve physics, if ever.
m_BoundingBoxWidth = ceil(a_BoundingBoxWidth);
m_BoundingBoxHeight = ceil(a_BoundingBoxHeight);
m_HalfWidth = a_BoundingBoxWidth / 2;
int HalfWidthInt = a_BoundingBoxWidth / 2;
m_Source.x = floor(a_StartingPoint.x - HalfWidthInt);
m_Source.y = floor(a_StartingPoint.y);
m_Source.z = floor(a_StartingPoint.z - HalfWidthInt);
m_Destination.x = floor(a_EndingPoint.x - HalfWidthInt);
m_Destination.y = floor(a_EndingPoint.y);
m_Destination.z = floor(a_EndingPoint.z - HalfWidthInt);
if (GetCell(m_Source)->m_IsSolid || GetCell(m_Destination)->m_IsSolid)
{
m_Status = ePathFinderStatus::PATH_NOT_FOUND;
@ -148,7 +163,7 @@ bool cPath::IsSolid(const Vector3i & a_Location)
}
if (BlockType == E_BLOCK_STATIONARY_WATER)
{
GetCell(a_Location + Vector3i(0, -1, 0))->m_IsSolid = true; // Mobs will always think that the fence is 2 blocks high and therefore won't jump over.
GetCell(a_Location + Vector3i(0, -1, 0))->m_IsSolid = true;
}
return cBlockInfo::IsSolid(BlockType);
@ -179,7 +194,7 @@ bool cPath::Step_Internal()
// Calculation not finished yet.
// Check if we have a new NearestPoint.
// TODO I don't like this that much, there should be a smarter way.
if ((m_Destination - CurrentCell->m_Location).Length() < 5)
{
if (m_Rand.NextInt(4) == 0)
@ -193,21 +208,43 @@ bool cPath::Step_Internal()
}
// process a currentCell by inspecting all neighbors.
// Check North, South, East, West on all 3 different heights.
int i;
for (i = -1; i <= 1; ++i)
// Check North, South, East, West on our height.
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(1, 0, 0), CurrentCell, 10);
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(-1, 0, 0), CurrentCell, 10);
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(0, 0, 1), CurrentCell, 10);
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(0, 0, -1), CurrentCell, 10);
// Check diagonals on XY plane.
for (int x = -1; x <= 1; x += 2)
{
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(1, i, 0), CurrentCell, 10);
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(-1, i, 0), CurrentCell, 10);
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(0, i, 1), CurrentCell, 10);
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(0, i, -1), CurrentCell, 10);
if (GetCell(CurrentCell->m_Location + Vector3i(x, 0, 0))->m_IsSolid) // If there's a solid our east / west.
{
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(x, 1, 0), CurrentCell, JUMP_G_COST); // Check east / west-up.
}
else
{
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(x, -1, 0), CurrentCell, 14); // Else check east / west-down.
}
}
// Check diagonals on mob's height only.
int x, z;
for (x = -1; x <= 1; x += 2)
// Check diagonals on the YZ plane.
for (int z = -1; z <= 1; z += 2)
{
for (z = -1; z <= 1; z += 2)
if (GetCell(CurrentCell->m_Location + Vector3i(0, 0, z))->m_IsSolid) // If there's a solid our east / west.
{
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(0, 1, z), CurrentCell, JUMP_G_COST); // Check east / west-up.
}
else
{
ProcessIfWalkable(CurrentCell->m_Location + Vector3i(0, -1, z), CurrentCell, 14); // Else check east / west-down.
}
}
// Check diagonals on the XZ plane. (Normal diagonals, this plane is special because of gravity, etc)
for (int x = -1; x <= 1; x += 2)
{
for (int z = -1; z <= 1; z += 2)
{
// This condition prevents diagonal corner cutting.
if (!GetCell(CurrentCell->m_Location + Vector3i(x, 0, 0))->m_IsSolid && !GetCell(CurrentCell->m_Location + Vector3i(0, 0, z))->m_IsSolid)
@ -320,7 +357,53 @@ si::setBlock((Ret)->m_Location.x, (Ret)->m_Location.y, (Ret)->m_Location.z, debu
void cPath::ProcessIfWalkable(const Vector3i & a_Location, cPathCell * a_Parent, int a_Cost)
{
cPathCell * cell = GetCell(a_Location);
if (!cell->m_IsSolid && GetCell(a_Location + Vector3i(0, -1, 0))->m_IsSolid && !GetCell(a_Location + Vector3i(0, 1, 0))->m_IsSolid)
int x, y, z;
// Make sure we fit in the position.
for (y = 0; y < m_BoundingBoxHeight; ++y)
{
for (x = 0; x < m_BoundingBoxWidth; ++x)
{
for (z = 0; z < m_BoundingBoxWidth; ++z)
{
if (GetCell(a_Location + Vector3i(x, y, z))->m_IsSolid)
{
return;
}
}
}
}
/*y =-1;
for (x = 0; x < m_BoundingBoxWidth; ++x)
{
for (z = 0; z < m_BoundingBoxWidth; ++z)
{
if (!GetCell(a_Location + Vector3i(x, y, z))->m_IsSolid)
{
return;
}
}
}
ProcessCell(cell, a_Parent, a_Cost);*/
// Make sure there's at least 1 piece of solid below us.
bool GroundFlag = false;
y =-1;
for (x = 0; x < m_BoundingBoxWidth; ++x)
{
for (z = 0; z < m_BoundingBoxWidth; ++z)
{
if (GetCell(a_Location + Vector3i(x, y, z))->m_IsSolid)
{
GroundFlag = true;
break;
}
}
}
if (GroundFlag)
{
ProcessCell(cell, a_Parent, a_Cost);
}

17
src/Mobs/Path.h
View File

@ -68,8 +68,8 @@ public:
@param a_MaxSteps The maximum steps before giving up. */
cPath(
cChunk & a_Chunk,
const Vector3i & a_StartingPoint, const Vector3i & a_EndingPoint, int a_MaxSteps,
double a_BoundingBoxWidth = 1, double a_BoundingBoxHeight = 2,
const Vector3d & a_StartingPoint, const Vector3d & a_EndingPoint, int a_MaxSteps,
double a_BoundingBoxWidth, double a_BoundingBoxHeight,
int a_MaxUp = 1, int a_MaxDown = 1
);
@ -89,10 +89,11 @@ public:
/* Point retrieval functions, inlined for performance. */
/** Returns the next point in the path. */
inline Vector3i GetNextPoint()
inline Vector3d GetNextPoint()
{
ASSERT(m_Status == ePathFinderStatus::PATH_FOUND);
return m_PathPoints[m_PathPoints.size() - 1 - (++m_CurrentPoint)];
Vector3i Point = m_PathPoints[m_PathPoints.size() - 1 - (++m_CurrentPoint)];
return Vector3d(Point.x + m_HalfWidth, Point.y, Point.z + m_HalfWidth);
}
/** Checks whether this is the last point or not. Never call getnextPoint when this is true. */
inline bool IsLastPoint()
@ -106,11 +107,12 @@ public:
return (m_CurrentPoint == 0);
}
/** Get the point at a_index. Remark: Internally, the indexes are reversed. */
inline Vector3i GetPoint(size_t a_index)
inline Vector3d GetPoint(size_t a_index)
{
ASSERT(m_Status == ePathFinderStatus::PATH_FOUND);
ASSERT(a_index < m_PathPoints.size());
return m_PathPoints[m_PathPoints.size() - 1 - a_index];
Vector3i Point = m_PathPoints[m_PathPoints.size() - 1 - a_index];
return Vector3d(Point.x + m_HalfWidth, Point.y, Point.z + m_HalfWidth);
}
/** Returns the total number of points this path has. */
inline int GetPointCount()
@ -161,6 +163,9 @@ private:
std::unordered_map<Vector3i, cPathCell, VectorHasher> m_Map;
Vector3i m_Destination;
Vector3i m_Source;
int m_BoundingBoxWidth;
int m_BoundingBoxHeight;
double m_HalfWidth;
int m_StepsLeft;
cPathCell * m_NearestPointToTarget;
cFastRandom m_Rand;