ilikecats/stk-code_catmod
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Make gift package playable

Browse Source
This commit is contained in:
Benau 2016-05-28 00:33:06 +08:00
parent cc92ee6ef3
commit 91b9d13611
5 changed files with 147 additions and 258 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/items/item_manager.cpp
View File

@ -532,10 +532,9 @@ bool ItemManager::randomItemsForArena(const AlignedArray<btTransform>& pos)
for (unsigned int j = 0; j < used_location.size(); j++) for (unsigned int j = 0; j < used_location.size(); j++)
{ {
if (!found) continue; if (!found) continue;
Vec3 d = BattleGraph::get() float test_distance = BattleGraph::get()
->getPolyOfNode(used_location[j]).getCenter() - ->getDistance(used_location[j], node);
BattleGraph::get()->getPolyOfNode(node).getCenter(); found = test_distance > MIN_DIST;
found = d.length_2d() > MIN_DIST;
} }
if (found) if (found)
{ {

364
src/karts/controller/arena_ai.cpp
View File

@ -42,6 +42,8 @@ ArenaAI::ArenaAI(AbstractKart *kart)
void ArenaAI::reset() void ArenaAI::reset()
{ {
m_target_node = BattleGraph::UNKNOWN_POLY; m_target_node = BattleGraph::UNKNOWN_POLY;
m_current_forward_node = BattleGraph::UNKNOWN_POLY;
m_current_forward_point = Vec3(0, 0, 0);
m_adjusting_side = false; m_adjusting_side = false;
m_closest_kart = NULL; m_closest_kart = NULL;
m_closest_kart_node = BattleGraph::UNKNOWN_POLY; m_closest_kart_node = BattleGraph::UNKNOWN_POLY;
@ -57,8 +59,7 @@ void ArenaAI::reset()
m_time_since_reversing = 0.0f; m_time_since_reversing = 0.0f;
m_time_since_uturn = 0.0f; m_time_since_uturn = 0.0f;
m_on_node.clear(); m_on_node.clear();
m_path_corners.clear(); m_aiming_points.clear();
m_portals.clear();
m_cur_difficulty = race_manager->getDifficulty(); m_cur_difficulty = race_manager->getDifficulty();
AIBaseController::reset(); AIBaseController::reset();
@ -119,6 +120,108 @@ void ArenaAI::update(float dt)
} // update } // update
//-----------------------------------------------------------------------------
bool ArenaAI::getAimingPoints()
{
m_current_forward_point =
m_kart->getTrans()(Vec3(0, 0, m_kart->getKartLength()));
m_current_forward_node = BattleGraph::get()->pointToNode
(m_current_forward_node, m_current_forward_point,
false/*ignore_vertical*/);
if (m_current_forward_node == BattleGraph::UNKNOWN_POLY ||
m_current_forward_node == m_target_node)
m_current_forward_node = getCurrentNode();
int first = m_current_forward_node;
int last = m_target_node;
if (first == BattleGraph::UNKNOWN_POLY ||
last == BattleGraph::UNKNOWN_POLY)
return false;
if (m_current_forward_node == m_target_node)
{
m_aiming_points.push_back(BattleGraph::get()
->getPolyOfNode(first).getCenter());
m_aiming_points.push_back(m_target_point);
return true;
}
m_aiming_points.push_back(BattleGraph::get()
->getPolyOfNode(first).getCenter());
const int next_node = BattleGraph::get()
->getNextShortestPathPoly(first, last);
assert(next_node != BattleGraph::UNKNOWN_POLY);
m_aiming_points.push_back(BattleGraph::get()
->getPolyOfNode(next_node).getCenter());
return true;
} // getAimingPoints
//-----------------------------------------------------------------------------
/** This function sets the steering.
* \param dt Time step size.
*/
void ArenaAI::handleArenaSteering(const float dt)
{
const int current_node = getCurrentNode();
if (current_node == BattleGraph::UNKNOWN_POLY ||
m_target_node == BattleGraph::UNKNOWN_POLY) return;
m_aiming_points.clear();
const bool found_points = getAimingPoints();
if (ignorePathFinding())
{
// Steer directly
checkPosition(m_target_point, &m_cur_kart_pos_data);
#ifdef AI_DEBUG
m_debug_sphere->setPosition(m_target_point.toIrrVector());
#endif
if (m_cur_kart_pos_data.behind)
{
m_adjusting_side = m_cur_kart_pos_data.lhs;
m_is_uturn = true;
}
else
{
float target_angle = steerToPoint(m_target_point);
setSteering(target_angle, dt);
}
return;
}
else if (found_points)
{
m_target_point = m_aiming_points[1];
checkPosition(m_target_point, &m_cur_kart_pos_data);
#ifdef AI_DEBUG
m_debug_sphere->setVisible(true);
m_debug_sphere_next->setVisible(true);
m_debug_sphere->setPosition(m_aiming_points[0].toIrrVector());
m_debug_sphere_next->setPosition(m_aiming_points[1].toIrrVector());
#endif
if (m_cur_kart_pos_data.behind)
{
m_adjusting_side = m_cur_kart_pos_data.lhs;
m_is_uturn = true;
}
else
{
float target_angle = steerToPoint(m_target_point);
setSteering(target_angle, dt);
}
return;
}
else
{
// Do nothing (go straight) if no targets found
setSteering(0.0f, dt);
return;
}
} // handleSteering
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
void ArenaAI::checkIfStuck(const float dt) void ArenaAI::checkIfStuck(const float dt)
{ {
@ -230,82 +333,6 @@ bool ArenaAI::handleArenaUnstuck(const float dt)
} // handleArenaUnstuck } // handleArenaUnstuck
//-----------------------------------------------------------------------------
/** This function sets the steering.
* \param dt Time step size.
*/
void ArenaAI::handleArenaSteering(const float dt)
{
const int current_node = getCurrentNode();
if (current_node == BattleGraph::UNKNOWN_POLY ||
m_target_node == BattleGraph::UNKNOWN_POLY) return;
if (m_target_node == current_node || ignorePathFinding())
{
// Very close to the item, steer directly
m_path_corners.clear();
checkPosition(m_target_point, &m_cur_kart_pos_data);
#ifdef AI_DEBUG
m_debug_sphere->setPosition(m_target_point.toIrrVector());
#endif
if (m_cur_kart_pos_data.behind)
{
m_adjusting_side = m_cur_kart_pos_data.lhs;
m_is_uturn = true;
}
else
{
float target_angle = steerToPoint(m_target_point);
setSteering(target_angle, dt);
}
return;
}
else if (m_target_node != current_node)
{
findPortals(current_node, m_target_node);
stringPull(m_kart->getXYZ(), m_target_point);
if (m_path_corners.size() > 0)
m_target_point = m_path_corners[0];
checkPosition(m_target_point, &m_cur_kart_pos_data);
#ifdef AI_DEBUG
m_debug_sphere->setPosition(m_path_corners[0].toIrrVector());
/*if (m_path_corners.size() > 2)
{
m_debug_sphere->setVisible(true);
m_debug_sphere_next->setVisible(true);
m_debug_sphere->setPosition(m_path_corners[1].toIrrVector());
m_debug_sphere_next->setPosition(m_path_corners[2].toIrrVector());
}
else
{
m_debug_sphere->setVisible(false);
m_debug_sphere_next->setVisible(false);
}*/
#endif
if (m_cur_kart_pos_data.behind)
{
m_adjusting_side = m_cur_kart_pos_data.lhs;
m_is_uturn = true;
}
else
{
float target_angle = steerToPoint(m_target_point);
setSteering(target_angle, dt);
}
return;
}
else
{
// Do nothing (go straight) if no targets found
setSteering(0.0f, dt);
return;
}
} // handleSteering
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
void ArenaAI::handleArenaBanana() void ArenaAI::handleArenaBanana()
{ {
@ -341,155 +368,6 @@ void ArenaAI::handleArenaBanana()
} // handleArenaBanana } // handleArenaBanana
//-----------------------------------------------------------------------------
/** This function finds the polyon edges(portals) that the AI will cross before
* reaching its destination. We start from the current polygon and call
* BattleGraph::getNextShortestPathPoly() to find the next polygon on the shortest
* path to the destination. Then find the common edge between the current
* poly and the next poly, store it and step through the channel.
*
* 1----2----3 In this case, the portals are:
* |strt| | (2,5) (4,5) (10,7) (10,9) (11,12)
* 6----5----4
* | |
* 7----10----11----14
* | | | end |
* 8----9-----12----13
*
* \param start The start node(polygon) of the channel.
* \param end The end node(polygon) of the channel.
*/
void ArenaAI::findPortals(int start, int end)
{
int this_node = start;
// We can't use NULL because NULL==0 which is a valid node, so we initialize
// with a value that is always invalid.
int next_node = -999;
m_portals.clear();
while (next_node != end && this_node != -1 && next_node != -1 && this_node != end)
{
next_node = BattleGraph::get()->getNextShortestPathPoly(this_node, end);
if (next_node == BattleGraph::UNKNOWN_POLY || next_node == -999) return;
std::vector<int> this_node_verts =
NavMesh::get()->getNavPoly(this_node).getVerticesIndex();
std::vector<int> next_node_verts=
NavMesh::get()->getNavPoly(next_node).getVerticesIndex();
// this_node_verts and next_node_verts hold vertices of polygons in CCW order
// We reverse next_node_verts so it becomes easy to compare edges in the next step
std::reverse(next_node_verts.begin(),next_node_verts.end());
Vec3 portalLeft, portalRight;
//bool flag = 0;
for (unsigned int n_i = 0; n_i < next_node_verts.size(); n_i++)
{
for (unsigned int t_i = 0; t_i < this_node_verts.size(); t_i++)
{
if ((next_node_verts[n_i] == this_node_verts[t_i]) &&
(next_node_verts[(n_i+1)%next_node_verts.size()] ==
this_node_verts[(t_i+1)%this_node_verts.size()]))
{
portalLeft = NavMesh::get()->
getVertex(this_node_verts[(t_i+1)%this_node_verts.size()]);
portalRight = NavMesh::get()->getVertex(this_node_verts[t_i]);
}
}
}
m_portals.push_back(std::make_pair(portalLeft, portalRight));
// for debugging:
//m_debug_sphere->setPosition((portalLeft).toIrrVector());
this_node = next_node;
}
} // findPortals
//-----------------------------------------------------------------------------
/** This function implements the funnel algorithm for finding shortest paths
* through a polygon channel. This means that we should move from corner to
* corner to move on the most straight and shortest path to the destination.
* This can be visualized as pulling a string from the end point to the start.
* The string will bend at the corners, and this algorithm will find those
* corners using portals from findPortals(). The AI will aim at the first
* corner and the rest can be used for estimating the curve (braking).
*
* 1----2----3 In this case, the corners are:
* |strt| | <5,10,end>
* 6----5----4
* | |
* 7----10----11----14
* | | | end |
* 8----9-----12----13
*
* \param start_pos The start position (usually the AI's current position).
* \param end_pos The end position (m_target_point).
*/
void ArenaAI::stringPull(const Vec3& start_pos, const Vec3& end_pos)
{
Vec3 funnel_apex = start_pos;
Vec3 funnel_left = m_portals[0].first;
Vec3 funnel_right = m_portals[0].second;
unsigned int apex_index=0, fun_left_index=0, fun_right_index=0;
m_portals.push_back(std::make_pair(end_pos, end_pos));
m_path_corners.clear();
const float eps=0.0001f;
for (unsigned int i = 0; i < m_portals.size(); i++)
{
Vec3 portal_left = m_portals[i].first;
Vec3 portal_right = m_portals[i].second;
//Compute for left edge
if ((funnel_left == funnel_apex) ||
portal_left.sideOfLine2D(funnel_apex, funnel_left) <= -eps)
{
funnel_left = 0.98f*portal_left + 0.02f*portal_right;
//funnel_left = portal_left;
fun_left_index = i;
if (portal_left.sideOfLine2D(funnel_apex, funnel_right) < -eps)
{
funnel_apex = funnel_right;
apex_index = fun_right_index;
m_path_corners.push_back(funnel_apex);
funnel_left = funnel_apex;
funnel_right = funnel_apex;
i = apex_index;
continue;
}
}
//Compute for right edge
if ((funnel_right == funnel_apex) ||
portal_right.sideOfLine2D(funnel_apex, funnel_right) >= eps)
{
funnel_right = 0.98f*portal_right + 0.02f*portal_left;
//funnel_right = portal_right;
fun_right_index = i;
if (portal_right.sideOfLine2D(funnel_apex, funnel_left) > eps)
{
funnel_apex = funnel_left;
apex_index = fun_left_index;
m_path_corners.push_back(funnel_apex);
funnel_left = funnel_apex;
funnel_right = funnel_apex;
i = apex_index;
continue;
}
}
}
//Push end_pos to m_path_corners so if no corners, we aim at target
m_path_corners.push_back(end_pos);
} // stringPull
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
/** This function handles braking. It calls determineTurnRadius() to find out /** This function handles braking. It calls determineTurnRadius() to find out
* the curve radius. Depending on the turn radius, it finds out the maximum * the curve radius. Depending on the turn radius, it finds out the maximum
@ -515,16 +393,16 @@ void ArenaAI::handleArenaBraking()
if (getCurrentNode() == BattleGraph::UNKNOWN_POLY || if (getCurrentNode() == BattleGraph::UNKNOWN_POLY ||
m_target_node == BattleGraph::UNKNOWN_POLY) return; m_target_node == BattleGraph::UNKNOWN_POLY) return;
if (m_path_corners.empty()) return; if (m_aiming_points.empty()) return;
float current_curve_radius = determineTurnRadius(m_kart->getXYZ(), float current_curve_radius = determineTurnRadius(m_kart->getXYZ(),
m_path_corners[0], (m_path_corners.size() >= 2 ? m_path_corners[1] : m_aiming_points[0], m_aiming_points[1]);
m_path_corners[0]));
float max_turn_speed = m_kart->getSpeedForTurnRadius(current_curve_radius); float max_turn_speed = m_kart->getSpeedForTurnRadius(current_curve_radius);
if (m_kart->getSpeed() > max_turn_speed && if (m_kart->getSpeed() > max_turn_speed &&
m_kart->getSpeed() > MIN_SPEED) m_kart->getSpeed() > MIN_SPEED &&
fabsf(m_controls->m_steer) > 0.3f)
{ {
m_controls->m_brake = true; m_controls->m_brake = true;
} }
@ -534,8 +412,8 @@ void ArenaAI::handleArenaBraking()
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
/** The turn radius is determined by fitting a parabola to 3 points: current /** The turn radius is determined by fitting a parabola to 3 points: current
* location of AI, first corner and the second corner. Once the constants are * location of AI, first corner and the second corner. Once the constants are
* computed, a formula is used to find the radius of curvature at the kart's * computed, a formula is used to find the radius of curvature at the vertex
* current location. * of the parabola.
*/ */
float ArenaAI::determineTurnRadius(const Vec3& p1, const Vec3& p2, float ArenaAI::determineTurnRadius(const Vec3& p1, const Vec3& p2,
const Vec3& p3) const Vec3& p3)
@ -549,23 +427,26 @@ float ArenaAI::determineTurnRadius(const Vec3& p1, const Vec3& p2,
// Avoid nan, this will happen if three values of coordinates x are too // Avoid nan, this will happen if three values of coordinates x are too
// close together, ie a straight line, return a large radius // close together, ie a straight line, return a large radius
// so no braking is needed // so no braking is needed
if (fabsf(denominator) < eps) return 25.0f; if (fabsf(denominator) < eps) return 40.0f;
const float a = (p3.x() * (p2.z() - p1.z()) + const float a = (p3.x() * (p2.z() - p1.z()) +
p2.x() * (p1.z() - p3.z()) + p2.x() * (p1.z() - p3.z()) +
p1.x() * (p3.z() - p2.z())) / denominator; p1.x() * (p3.z() - p2.z())) / denominator;
// Should not happen, otherwise y=c which is a straight line // Should not happen, otherwise y=c which is a straight line
if (fabsf(a) < eps) return 25.0f; if (fabsf(a) < eps) return 40.0f;
const float b = (p3.x() * p3.x() * (p1.z() - p2.z()) + const float b = (p3.x() * p3.x() * (p1.z() - p2.z()) +
p2.x() * p2.x() * (p3.z() - p1.z()) + p2.x() * p2.x() * (p3.z() - p1.z()) +
p1.x() * p1.x() * (p2.z() - p3.z())) / denominator; p1.x() * p1.x() * (p2.z() - p3.z())) / denominator;
// Vertex: -b / 2a
const float vertex_x = -b / (2 * a);
// Differentiate the function, so y=ax2+bx+c will become y=2ax+b for dy_dx, // Differentiate the function, so y=ax2+bx+c will become y=2ax+b for dy_dx,
// y=2a for d2y_dx2 // y=2a for d2y_dx2
// Use the p1 (current location of AI) as x // Use the vertex of the parabola as x
const float dy_dx = 2 * a * p1.x() + b; const float dy_dx = 2 * a * vertex_x + b;
const float d2y_dx2 = 2 * a; const float d2y_dx2 = 2 * a;
// Calculate the radius of curvature at current location of AI // Calculate the radius of curvature at current location of AI
@ -573,7 +454,7 @@ float ArenaAI::determineTurnRadius(const Vec3& p1, const Vec3& p2,
assert(!std::isnan(radius)); assert(!std::isnan(radius));
// Avoid returning too large radius // Avoid returning too large radius
return (radius > 25.0f ? 25.0f : radius); return (radius > 40.0f ? 40.0f : radius);
} // determineTurnRadius } // determineTurnRadius
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
@ -765,14 +646,15 @@ void ArenaAI::collectItemInArena(Vec3* aim_point, int* target_node) const
m_kart->getKartProperties()->getNitroSmallContainer())) m_kart->getKartProperties()->getNitroSmallContainer()))
continue; // Ignore nitro when already has some continue; // Ignore nitro when already has some
Vec3 d = item->getXYZ() - m_kart->getXYZ(); float test_distance = BattleGraph::get()
if (d.length_2d() <= distance && ->getDistance(item_list[i].second, getCurrentNode());
if (test_distance <= distance &&
(item->getType() == Item::ITEM_BONUS_BOX || (item->getType() == Item::ITEM_BONUS_BOX ||
item->getType() == Item::ITEM_NITRO_BIG || item->getType() == Item::ITEM_NITRO_BIG ||
item->getType() == Item::ITEM_NITRO_SMALL)) item->getType() == Item::ITEM_NITRO_SMALL))
{ {
closest_item_num = i; closest_item_num = i;
distance = d.length_2d(); distance = test_distance;
} }
} }

16
src/karts/controller/arena_ai.hpp
View File

@ -64,6 +64,9 @@ protected:
/** The target point. */ /** The target point. */
Vec3 m_target_point; Vec3 m_target_point;
int m_current_forward_node;
Vec3 m_current_forward_point;
/** For ignorePathFinding() to work */ /** For ignorePathFinding() to work */
bool m_avoid_eating_banana; bool m_avoid_eating_banana;
@ -85,15 +88,9 @@ private:
/** Holds the unique node ai has driven through, useful to tell if AI is /** Holds the unique node ai has driven through, useful to tell if AI is
* stuck by determine the size of this set. */ * stuck by determine the size of this set. */
std::set <int> m_on_node; std::set<int> m_on_node;
/** Holds the corner points computed using the funnel algorithm that the AI std::vector<Vec3> m_aiming_points;
* will eventaully move through. See stringPull(). */
std::vector<Vec3> m_path_corners;
/** Holds the set of portals that the kart will cross when moving through
* polygon channel. See findPortals(). */
std::vector<std::pair<Vec3,Vec3> > m_portals;
/** Time an item has been collected and not used. */ /** Time an item has been collected and not used. */
float m_time_since_last_shot; float m_time_since_last_shot;
@ -110,7 +107,6 @@ private:
void checkIfStuck(const float dt); void checkIfStuck(const float dt);
float determineTurnRadius(const Vec3& p1, const Vec3& p2, float determineTurnRadius(const Vec3& p1, const Vec3& p2,
const Vec3& p3); const Vec3& p3);
void findPortals(int start, int end);
void handleArenaAcceleration(const float dt); void handleArenaAcceleration(const float dt);
void handleArenaBanana(); void handleArenaBanana();
void handleArenaBraking(); void handleArenaBraking();
@ -118,7 +114,7 @@ private:
void handleArenaSteering(const float dt); void handleArenaSteering(const float dt);
void handleArenaUTurn(const float dt); void handleArenaUTurn(const float dt);
bool handleArenaUnstuck(const float dt); bool handleArenaUnstuck(const float dt);
void stringPull(const Vec3&, const Vec3&); bool getAimingPoints();
virtual int getCurrentNode() const = 0; virtual int getCurrentNode() const = 0;
virtual bool isWaiting() const = 0; virtual bool isWaiting() const = 0;
virtual void resetAfterStop() {}; virtual void resetAfterStop() {};

9
src/karts/controller/battle_ai.cpp
View File

@ -25,6 +25,7 @@
#include "karts/abstract_kart.hpp" #include "karts/abstract_kart.hpp"
#include "karts/controller/kart_control.hpp" #include "karts/controller/kart_control.hpp"
#include "modes/three_strikes_battle.hpp" #include "modes/three_strikes_battle.hpp"
#include "tracks/battle_graph.hpp"
#ifdef AI_DEBUG #ifdef AI_DEBUG
#include "irrlicht.h" #include "irrlicht.h"
@ -118,10 +119,11 @@ void BattleAI::findClosestKart(bool use_difficulty)
continue; continue;
} }
Vec3 d = kart->getXYZ() - m_kart->getXYZ(); float test_distance = BattleGraph::get()->getDistance(m_world
if (d.length_2d() <= distance) ->getKartNode(kart->getWorldKartId()), getCurrentNode());
if (test_distance <= distance)
{ {
distance = d.length_2d(); distance = test_distance;
closest_kart_num = i; closest_kart_num = i;
} }
} }
@ -134,6 +136,7 @@ void BattleAI::findClosestKart(bool use_difficulty)
{ {
m_closest_kart = m_world->getKart(closest_kart_num); m_closest_kart = m_world->getKart(closest_kart_num);
checkPosition(m_closest_kart_point, &m_closest_kart_pos_data); checkPosition(m_closest_kart_point, &m_closest_kart_pos_data);
m_closest_kart_pos_data.distance = distance;
// Do a mini-skid to closest kart only when firing target, // Do a mini-skid to closest kart only when firing target,
// not straight ahead, not too far, in front of it // not straight ahead, not too far, in front of it

9
src/tracks/battle_graph.hpp
View File

@ -120,6 +120,15 @@ public:
{ return m_distance_matrix.size(); } { return m_distance_matrix.size(); }
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
/** Returns the distance between any two nodes */
float getDistance(int from, int to) const
{
if (from == BattleGraph::UNKNOWN_POLY ||
to == BattleGraph::UNKNOWN_POLY)
return 0.0f;
return m_distance_matrix[from][to];
}
// ------------------------------------------------------------------------
/** Returns the NavPoly corresponding to the i-th node of the BattleGraph */ /** Returns the NavPoly corresponding to the i-th node of the BattleGraph */
const NavPoly& getPolyOfNode(int i) const const NavPoly& getPolyOfNode(int i) const
{ return NavMesh::get()->getNavPoly(i); } { return NavMesh::get()->getNavPoly(i); }