1
0
mirror of https://github.com/rwengine/openrw.git synced 2024-11-22 02:12:45 +01:00

Merge pull request #679 from danhedron/feat/vehicle_volumequery

Use collision detection for AI vehicle behaviour
This commit is contained in:
Daniel Evans 2019-01-03 18:36:22 +00:00 committed by GitHub
commit ba913e5154
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 280 additions and 88 deletions

View File

@ -49,6 +49,8 @@ set(RWENGINE_SOURCES
src/dynamics/CollisionInstance.cpp
src/dynamics/CollisionInstance.hpp
src/dynamics/HitTest.cpp
src/dynamics/HitTest.hpp
src/dynamics/RaycastCallbacks.hpp
src/engine/Animator.cpp

View File

@ -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

View File

@ -0,0 +1,64 @@
#include "HitTest.hpp"
#include <objects/GameObject.hpp>
#ifdef _MSC_VER
#pragma warning(disable : 4305 5033)
#endif
#include <btBulletDynamicsCommon.h>
#include <BulletCollision/CollisionDispatch/btGhostObject.h>
#ifdef _MSC_VER
#pragma warning(default : 4305 5033)
#endif
namespace {
HitTest::TestResult HitTestWorld(btDiscreteDynamicsWorld& world, btPairCachingGhostObject& tester)
{
world.addCollisionObject(&tester);
HitTest::TestResult result;
result.reserve(static_cast<unsigned long>(tester.getNumOverlappingObjects()));
for (auto i = 0; i < tester.getNumOverlappingObjects(); ++i)
{
auto overlapping = tester.getOverlappingObject(i);
HitTest::Hit hit{};
hit.body = overlapping;
if (auto object = static_cast<GameObject*>(overlapping->getUserPointer()))
{
hit.object = object;
}
result.push_back(hit);
}
world.removeCollisionObject(&tester);
return result;
}
HitTest::TestResult HitTestWithShape(btDiscreteDynamicsWorld& world, btCollisionShape& shape,
const glm::vec3& center, const glm::quat& rotation) {
btPairCachingGhostObject ghost{};
btTransform xform{};
xform.setOrigin({center.x, center.y, center.z});
xform.setRotation({rotation.x, rotation.y, rotation.z, rotation.w});
ghost.setWorldTransform(xform);
ghost.setCollisionShape(&shape);
return HitTestWorld(world, ghost);
}
} // namespace
HitTest::TestResult HitTest::sphereTest(const glm::vec3& center, float radius) {
btSphereShape sphere {radius};
return HitTestWithShape(_world, sphere, center, {});
}
HitTest::TestResult HitTest::boxTest(const glm::vec3 &center, const glm::vec3 &size, const glm::quat& rotation) {
btBoxShape box {{size.x, size.y, size.z}};
return HitTestWithShape(_world, box, center, rotation);
}

View File

@ -0,0 +1,39 @@
#ifndef _RWENGINE_HITTEST_HPP_
#define _RWENGINE_HITTEST_HPP_
#include <glm/glm.hpp>
#include <glm/gtx/quaternion.hpp>
#include <vector>
#include <memory>
class btDiscreteDynamicsWorld;
class btCollisionObject;
class GameObject;
/**
* Utility for performing collision tests against the world.
*/
class HitTest {
public:
struct Hit {
btCollisionObject* body;
GameObject* object;
};
using TestResult = std::vector<Hit>;
explicit HitTest(btDiscreteDynamicsWorld& world)
: _world(world)
{}
~HitTest() = default;
TestResult sphereTest(const glm::vec3& center, float radius);
TestResult boxTest(const glm::vec3& center, const glm::vec3& size, const glm::quat& rotation = {1.f, 0.f, 0.f, 0.f});
private:
btDiscreteDynamicsWorld& _world;
};
#endif

View File

@ -1083,3 +1083,15 @@ float VehicleObject::isOnSide(const glm::vec3& point) {
return distance;
}
std::tuple<glm::vec3, glm::vec3> VehicleObject::obstacleCheckVolume() const {
const auto& dim = info->handling.dimensions;
const auto kMaxDistance = 20.f;
const auto velocity = getVelocity() / info->handling.maxVelocity;
const auto lookDistance = glm::clamp(kMaxDistance * velocity, 0.f, kMaxDistance);
const glm::vec3 areaSize{dim.x * 0.6f, 1.0f + lookDistance, 1.0f};
return {
{0.f, dim.y * 0.5f + areaSize.y, 0.f},
areaSize,
};
}

View File

@ -246,6 +246,11 @@ public:
void grantOccupantRewards(CharacterObject* character);
/**
* @return The position, and size of the area that must be free for the vehicle to continue.
*/
std::tuple<glm::vec3, glm::vec3> obstacleCheckVolume() const;
private:
void setupModel();
void registerPart(ModelFrame* mf);

View File

@ -30,6 +30,12 @@ public:
void drawLine(const btVector3 &from, const btVector3 &to,
const btVector3 &color) override;
void drawLine(const glm::vec3 &from, const glm::vec3 &to,
const glm::vec3 &color) {
drawLine(btVector3{from.x, from.y, from.z},
btVector3{to.x, to.y, to.z},
btVector3{color.r, color.g, color.b});
}
void drawContactPoint(const btVector3 &pointOnB, const btVector3 &normalOnB,
btScalar distance, int lifeTime,
const btVector3 &color) override;

View File

@ -24,6 +24,7 @@
#include <functional>
#include <iomanip>
#include <iostream>
#include <algorithm>
namespace {
static constexpr std::array<
@ -775,17 +776,49 @@ void RWGame::renderDebugPaths(float time) {
for (auto& p : world->pedestrianPool.objects) {
auto v = static_cast<CharacterObject*>(p.second.get());
static const btVector3 color(1.f, 1.f, 0.f);
static const glm::vec3 color(1.f, 1.f, 0.f);
if (v->controller->targetNode && v->getCurrentVehicle()) {
const glm::vec3 pos1 = v->getPosition();
const glm::vec3 pos2 = v->controller->targetNode->position;
if (auto vehicle = v->getCurrentVehicle(); vehicle)
{
if (v->controller->targetNode) {
debug.drawLine(v->getPosition(), v->controller->targetNode->position, color);
}
btVector3 position1(pos1.x, pos1.y, pos1.z);
btVector3 position2(pos2.x, pos2.y, pos2.z);
auto [center, halfSize] = vehicle->obstacleCheckVolume();
std::array<glm::vec3, 8> corners { {
glm::vec3{- halfSize.x, - halfSize.y, - halfSize.z},
glm::vec3{+ halfSize.x, - halfSize.y, - halfSize.z},
glm::vec3{- halfSize.x, - halfSize.y, + halfSize.z},
glm::vec3{+ halfSize.x, - halfSize.y, + halfSize.z},
glm::vec3{- halfSize.x, + halfSize.y, - halfSize.z},
glm::vec3{+ halfSize.x, + halfSize.y, - halfSize.z},
glm::vec3{- halfSize.x, + halfSize.y, + halfSize.z},
glm::vec3{+ halfSize.x, + halfSize.y, + halfSize.z},
}
};
const auto iRotation = (vehicle->getRotation());
const auto rCenter = iRotation * center;
std::transform(corners.begin(), corners.end(), corners.begin(),
[&](const auto& p) -> glm::vec3 {
return vehicle->getPosition() + rCenter + iRotation * p;
});
debug.drawLine(position1, position2, color);
}
static const glm::vec3 color2(1.f, 0.f, 0.f);
debug.drawLine(corners[0], corners[1], color2);
debug.drawLine(corners[0], corners[2], color2);
debug.drawLine(corners[3], corners[1], color2);
debug.drawLine(corners[3], corners[2], color2);
debug.drawLine(corners[0], corners[4], color2);
debug.drawLine(corners[1], corners[5], color2);
debug.drawLine(corners[2], corners[6], color2);
debug.drawLine(corners[3], corners[7], color2);
debug.drawLine(corners[4], corners[5], color2);
debug.drawLine(corners[4], corners[6], color2);
debug.drawLine(corners[7], corners[5], color2);
debug.drawLine(corners[7], corners[6], color2);
}
}
debug.flush(renderer);

View File

@ -11,6 +11,7 @@ set(TESTS
GameData
GameWorld
Garage
HitTest
Input
Items
Lifetime

91
tests/test_HitTest.cpp Normal file
View File

@ -0,0 +1,91 @@
#include <boost/test/unit_test.hpp>
#include "test_Globals.hpp"
#include <dynamics/HitTest.hpp>
#include <engine/GameWorld.hpp>
#include <dynamics/CollisionInstance.hpp>
#ifdef _MSC_VER
#pragma warning(disable : 4305 5033)
#endif
#include <btBulletDynamicsCommon.h>
#include <BulletCollision/CollisionDispatch/btGhostObject.h>
#ifdef _MSC_VER
#pragma warning(default : 4305 5033)
#endif
namespace {
struct HitTestFixture {
btDefaultCollisionConfiguration collisionConfig;
btCollisionDispatcher collisionDispatcher;
btDbvtBroadphase broadphase;
btGhostPairCallback overlappingPairCallback;
btSequentialImpulseConstraintSolver solver;
btDiscreteDynamicsWorld dynamicsWorld;
HitTest hitTest;
HitTestFixture()
: collisionDispatcher{&collisionConfig}
, dynamicsWorld{&collisionDispatcher, &broadphase, &solver, &collisionConfig}
, hitTest{dynamicsWorld}
{
broadphase.getOverlappingPairCache()->setInternalGhostPairCallback(
&overlappingPairCallback);
}
};
struct WithSphere : public HitTestFixture {
btSphereShape shape {0.5f};
std::unique_ptr<btRigidBody> target;
GameObject* object {reinterpret_cast<GameObject*>(0xDEADBEEF)};
WithSphere()
{
btDefaultMotionState ms;
btRigidBody::btRigidBodyConstructionInfo info {1.f, &ms, &shape};
target = std::make_unique<btRigidBody>(info);
target->setUserPointer(object);
dynamicsWorld.addRigidBody(target.get());
}
~WithSphere() {
dynamicsWorld.removeRigidBody(target.get());
}
};
}
BOOST_AUTO_TEST_SUITE(HitTestTests)
BOOST_FIXTURE_TEST_CASE(test_creation, HitTestFixture) {
HitTest test {dynamicsWorld};
}
BOOST_FIXTURE_TEST_CASE(sphereTest_returns_result, WithSphere) {
const auto result = hitTest.sphereTest({0.f, 0.f, 0.f}, 1.f);
BOOST_CHECK_EQUAL(result.size(), 1);
}
BOOST_FIXTURE_TEST_CASE(boxTest_returns_result, WithSphere) {
auto sphereBoundingBoxEdge = glm::vec3{ 0.f, 0.f, shape.getRadius() };
const auto result = hitTest.boxTest(sphereBoundingBoxEdge, {0.01f, 0.01f, 0.01f});
BOOST_CHECK_EQUAL(result.size(), 1);
}
BOOST_FIXTURE_TEST_CASE(non_overlapping_test_returns_nothing, WithSphere) {
auto sphereBoundingBoxEdge = glm::vec3{ shape.getRadius() };
const auto result = hitTest.boxTest(sphereBoundingBoxEdge * 2.f, {0.01f, 0.01f, 0.01f});
BOOST_CHECK(result.empty());
}
BOOST_FIXTURE_TEST_CASE(result_contains_body, WithSphere) {
const auto result = hitTest.sphereTest({0.f, 0.f, 0.f}, 1.f);
BOOST_ASSERT(result.size() == 1);
BOOST_CHECK_EQUAL(result[0].body, target.get());
}
BOOST_FIXTURE_TEST_CASE(test_result_contains_object, WithSphere) {
const auto result = hitTest.sphereTest({0.f, 0.f, 0.f}, 1.f);
BOOST_ASSERT(result.size() == 1);
BOOST_CHECK_EQUAL(result[0].object, object);
}
BOOST_AUTO_TEST_SUITE_END()