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Use hittests for AI driver behaviour

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This commit is contained in:
Daniel Evans 2018-11-25 23:18:43 +00:00
parent 00240c4125
commit 0bf99fade6
1 changed files with 19 additions and 80 deletions
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99
rwengine/src/ai/CharacterController.cpp
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@ -19,6 +19,7 @@
#include <LinearMath/btScalar.h>
#include <rw/debug.hpp>
#include <dynamics/HitTest.hpp>
#include "data/WeaponData.hpp"
#include "engine/Animator.hpp"
@ -193,91 +194,25 @@ void CharacterController::steerTo(const glm::vec3 &target) {
vehicle->setSteeringAngle(steeringAngle, true);
}
// @todo replace this by raytest/raycast logic
bool CharacterController::checkForObstacles()
{
bool CharacterController::checkForObstacles() {
// We can't drive without a vehicle
VehicleObject* vehicle = character->getCurrentVehicle();
VehicleObject *vehicle = character->getCurrentVehicle();
if (vehicle == nullptr) {
return false;
}
// The minimal distance we test for objects
static constexpr float minColDist = 20.f;
HitTest test{*vehicle->engine->dynamicsWorld};
// Try to stop before pedestrians
for (const auto &obj : character->engine->pedestrianPool.objects) {
// Verify that the character isn't the driver and is walking
if (obj.second.get() != character &&
static_cast<CharacterObject *>(obj.second.get())->getCurrentVehicle() ==
nullptr) {
// Only check characters that are near our vehicle
if (glm::distance(vehicle->getPosition(),
obj.second->getPosition()) <= minColDist) {
// Check if the character is in front of us and in our way
if (vehicle->isInFront(obj.second->getPosition()) > -3.f &&
vehicle->isInFront(obj.second->getPosition()) < 10.f &&
glm::abs(vehicle->isOnSide(obj.second->getPosition())) <
3.f) {
return true;
}
}
}
}
auto[center, halfSize] = vehicle->obstacleCheckVolume();
const auto rotation = vehicle->getRotation();
center = vehicle->getPosition() + rotation * center;
auto results = test.boxTest(center, halfSize, vehicle->getRotation());
// Brake when a car is in front of us and change lanes when possible
for (const auto &obj : character->engine->vehiclePool.objects) {
// Verify that the vehicle isn't our vehicle
if (obj.second.get() != vehicle) {
// Only check vehicles that are near our vehicle
if (glm::distance(vehicle->getPosition(),
obj.second->getPosition()) <= minColDist) {
// Check if the vehicle is in front of us and in our way
if (vehicle->isInFront(obj.second->getPosition()) > 0.f &&
vehicle->isInFront(obj.second->getPosition()) < 10.f &&
glm::abs(vehicle->isOnSide(obj.second->getPosition())) <
2.5f) {
// Check if the road has more than one lane
// @todo we don't know the direction of the road, so for
// now, choose the bigger value
int maxLanes =
targetNode->rightLanes > targetNode->leftLanes
? targetNode->rightLanes
: targetNode->leftLanes;
if (maxLanes > 1) {
// Change the lane, firstly check if there is an
// occupant
if (static_cast<VehicleObject *>(obj.second.get())
->getDriver() != nullptr) {
// @todo for now we don't know the lane where the
// player is currently driving so just slow down, in
// the future calculate the lane
if (static_cast<VehicleObject *>(obj.second.get())
->getDriver()
->isPlayer()) {
return true;
} else {
int avoidLane =
static_cast<VehicleObject *>(obj.second.get())
->getDriver()
->controller->getLane();
// @todo for now just two lanes
if (avoidLane == 1)
character->controller->setLane(2);
else
character->controller->setLane(1);
}
}
} else {
return true;
}
}
}
}
}
return false;
return any_of(results.begin(), results.end(),
[&](const auto &hit) {
return !(hit.object == vehicle ||
hit.body->isStaticObject());
});
}
bool Activities::DriveTo::update(CharacterObject *character,
@ -384,12 +319,16 @@ bool Activities::DriveTo::update(CharacterObject *character,
}
// Check whether a pedestrian or vehicle is in our way
if (controller->checkForObstacles() == true) {
if (controller->checkForObstacles()) {
currentSpeed = 0.f;
}
if (std::fabs(currentSpeed) < 0.1f) {
vehicle->setHandbraking(true);
vehicle->setThrottle(0.f);
}
// Is the vehicle slower than it should be
if (vehicle->getVelocity() < currentSpeed) {
else if (vehicle->getVelocity() < currentSpeed) {
vehicle->setHandbraking(false);
// The vehicle is driving backwards, accelerate