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Proper fix for reverse and unstuck

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This commit is contained in:
Benau 2015-12-05 16:21:12 +08:00
parent 9ad438b945
commit ed41b7c805
2 changed files with 45 additions and 35 deletions
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65
src/karts/controller/battle_ai.cpp
View File

@ -18,13 +18,8 @@
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#undef AI_DEBUG
#include "karts/controller/battle_ai.hpp"
#ifdef AI_DEBUG
#include "graphics/irr_driver.hpp"
#endif
#include "items/attachment.hpp"
#include "items/item_manager.hpp"
#include "items/powerup.hpp"
@ -45,7 +40,9 @@
#ifdef AI_DEBUG
#include "irrlicht.h"
#include <iostream>
using namespace irr;
using namespace std;
#endif
#if defined(WIN32) && !defined(__CYGWIN__) && !defined(__MINGW32__)
@ -111,7 +108,7 @@ void BattleAI::reset()
m_target_point = Vec3(0,0,0);
m_time_since_last_shot = 0.0f;
m_time_since_reversing = 0.0f;
m_time_since_stuck = 0.0f;
m_time_since_driving = 0.0f;
m_time_since_uturn = 0.0f;
m_on_node.clear();
m_path_corners.clear();
@ -145,16 +142,19 @@ void BattleAI::update(float dt)
checkIfStuck(dt);
if (m_is_stuck && !m_is_uturn)
{
setSteering(1.0f,dt);
if (m_kart->getSpeed() > 0.1f) // Hard-brake for the first time
m_controls->m_accel = -4.0f; // human players can also do the same
setSteering(0.0f,dt);
if (fabsf(m_kart->getSpeed()) >
(m_kart->getKartProperties()->getMaxSpeed() / 5)
&& m_kart->getSpeed() < 0)
m_controls->m_accel = -0.06f;
else
m_controls->m_accel = -(stk_config->m_ai_acceleration * 0.5f);
m_controls->m_accel = -4.0f;
m_time_since_reversing += dt;
if (m_time_since_reversing >= 1.5f)
if (m_time_since_reversing >= 1.0f)
{
m_controls->m_accel = 1.0f;
m_is_stuck = false;
m_time_since_reversing = 0.0f;
}
@ -192,23 +192,27 @@ void BattleAI::checkIfStuck(const float dt)
if (m_kart->getKartAnimation() || m_world->isStartPhase())
{
m_on_node.clear();
m_time_since_stuck = 0.0f;
m_time_since_driving = 0.0f;
}
m_on_node.insert(m_current_node);
m_time_since_stuck += dt;
m_time_since_driving += dt;
if (m_time_since_stuck >= 2.0f && m_on_node.size() < 3 && !m_is_uturn)
if (m_time_since_driving >=
(m_cur_difficulty == RaceManager::DIFFICULTY_EASY ? 2.0f : 1.5f)
&& m_on_node.size() < 2 && !m_is_uturn &&
fabsf(m_kart->getSpeed()) < 3.0f)
{
// Check whether a kart stay between two node for more than 2.0f time
// Check whether a kart stay on the same node for a period of time
m_on_node.clear();
m_time_since_stuck = 0.0f;
m_time_since_driving = 0.0f;
m_is_stuck = true;
}
else if (m_time_since_stuck >= 2.0f)
else if (m_time_since_driving >=
(m_cur_difficulty == RaceManager::DIFFICULTY_EASY ? 2.0f : 1.5f))
{
m_on_node.clear();
m_time_since_stuck = 0.0f;
m_on_node.clear(); // Reset for any correct movement
m_time_since_driving = 0.0f;
}
} // checkIfStuck
@ -333,26 +337,27 @@ void BattleAI::handleAcceleration(const float dt)
//-----------------------------------------------------------------------------
void BattleAI::handleUTurn(const float dt)
{
if (m_kart->getSpeed() > 0.1f) // Hard-brake when speed too fast
m_controls->m_accel = -4.0f; // human players can also do the same
if (fabsf(m_kart->getSpeed()) >
(m_kart->getKartProperties()->getMaxSpeed() / 5)
&& m_kart->getSpeed() < 0) // Try to emulate reverse like human players
m_controls->m_accel = -0.06f;
else
m_controls->m_accel = -(stk_config->m_ai_acceleration * 0.5f);
m_controls->m_accel = -5.0f;
if (m_time_since_uturn >= 1.0f)
if (m_time_since_uturn >= 1.5f)
setSteering(M_PI,dt); // Preventing keep going around circle
else
setSteering(-M_PI,dt);
setSteering(-1.0f,dt);
m_time_since_uturn += dt;
checkPosition(m_target_point, &m_cur_kart_pos_data);
if ((!m_cur_kart_pos_data.behind || m_time_since_uturn >= 2.0f) &&
m_time_since_uturn >= 0.1f)
if (!m_cur_kart_pos_data.behind || m_time_since_uturn > 3.0f)
{
m_is_uturn = false;
m_controls->m_accel = 1.0f;
m_time_since_uturn = 0.0f;
}
else
m_is_uturn = true;
} // handleUTurn
//-----------------------------------------------------------------------------
@ -409,7 +414,7 @@ void BattleAI::handleSteering(const float dt)
else
{
// Do nothing (go straight) if no targets found
setSteering(1.0f,dt);
setSteering(0.0f,dt);
return;
}
} // handleSteering

13
src/karts/controller/battle_ai.hpp
View File

@ -22,6 +22,11 @@
#ifndef HEADER_BATTLE_AI_HPP
#define HEADER_BATTLE_AI_HPP
#undef AI_DEBUG
#ifdef AI_DEBUG
#include "graphics/irr_driver.hpp"
#endif
#include "karts/controller/ai_base_controller.hpp"
#include "race/race_manager.hpp"
#include "tracks/battle_graph.hpp"
@ -62,7 +67,7 @@ private:
/** Holds the current difficulty. */
RaceManager::Difficulty m_cur_difficulty;
/** Indicates that the kart is currently stuck, and m_time_since_stuck is
/** Indicates that the kart is currently stuck, and m_time_since_reversing is
* counting down. */
bool m_is_stuck;
@ -72,7 +77,7 @@ private:
const Item *m_item_to_collect;
/** Holds the unique node ai has walked 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. */
std::set <int> m_on_node;
@ -96,8 +101,8 @@ private:
/** This is a timer that counts down when the kart is reversing to get unstuck. */
float m_time_since_reversing;
/** This is a timer that counts down when the kart is starting to get stuck. */
float m_time_since_stuck;
/** This is a timer that counts down when the kart is starting to drive. */
float m_time_since_driving;
/** This is a timer that counts down when the kart is doing u-turn. */
float m_time_since_uturn;