1 | /* |
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2 | * ORXONOX - the hottest 3D action shooter ever to exist |
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3 | * > www.orxonox.net < |
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4 | * |
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5 | * |
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6 | * License notice: |
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7 | * |
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8 | * This program is free software; you can redistribute it and/or |
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9 | * modify it under the terms of the GNU General Public License |
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10 | * as published by the Free Software Foundation; either version 2 |
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11 | * of the License, or (at your option) any later version. |
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12 | * |
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13 | * This program is distributed in the hope that it will be useful, |
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14 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | * GNU General Public License for more details. |
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17 | * |
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18 | * You should have received a copy of the GNU General Public License |
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19 | * along with this program; if not, write to the Free Software |
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20 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
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21 | * |
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22 | * Author: |
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23 | * Fabian 'x3n' Landau |
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24 | * Co-authors: |
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25 | * ... |
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26 | * |
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27 | */ |
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28 | |
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29 | #include "PongAI.h" |
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30 | |
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31 | #include "core/CoreIncludes.h" |
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32 | #include "core/ConfigValueIncludes.h" |
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33 | #include "tools/Timer.h" |
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34 | #include "worldentities/ControllableEntity.h" |
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35 | #include "PongBall.h" |
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36 | |
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37 | namespace orxonox |
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38 | { |
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39 | CreateUnloadableFactory(PongAI); |
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40 | |
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41 | const static float MAX_REACTION_TIME = 0.4f; |
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42 | |
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43 | PongAI::PongAI(BaseObject* creator) : Controller(creator) |
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44 | { |
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45 | RegisterObject(PongAI); |
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46 | |
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47 | this->ball_ = 0; |
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48 | this->ballDirection_ = Vector2::ZERO; |
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49 | this->ballEndPosition_ = 0; |
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50 | this->randomOffset_ = 0; |
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51 | this->bChangedRandomOffset_ = false; |
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52 | this->relHysteresisOffset_ = 0.02f; |
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53 | this->strength_ = 0.5f; |
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54 | this->movement_ = 0; |
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55 | this->oldMove_ = 0; |
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56 | this->bOscillationAvoidanceActive_ = false; |
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57 | |
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58 | this->setConfigValues(); |
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59 | } |
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60 | |
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61 | PongAI::~PongAI() |
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62 | { |
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63 | for (std::list<std::pair<Timer*, char> >::iterator it = this->reactionTimers_.begin(); it != this->reactionTimers_.end(); ++it) |
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64 | it->first->destroy(); |
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65 | } |
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66 | |
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67 | void PongAI::setConfigValues() |
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68 | { |
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69 | SetConfigValue(strength_, 0.5).description("A value from 0 to 1 where 0 is weak and 1 is strong."); |
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70 | } |
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71 | |
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72 | void PongAI::tick(float dt) |
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73 | { |
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74 | if (!this->ball_ || !this->getControllableEntity()) |
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75 | return; |
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76 | |
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77 | Vector3 mypos = this->getControllableEntity()->getPosition(); |
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78 | Vector3 ballpos = this->ball_->getPosition(); |
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79 | Vector3 ballvel = this->ball_->getVelocity(); |
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80 | float hysteresisOffset = this->relHysteresisOffset_ * this->ball_->getFieldDimension().y; |
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81 | |
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82 | char move = 0; |
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83 | bool delay = false; |
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84 | |
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85 | // Check in which direction the ball is flying |
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86 | if ((mypos.x > 0 && ballvel.x < 0) || (mypos.x < 0 && ballvel.x > 0)) |
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87 | { |
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88 | // The ball is flying away |
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89 | this->ballDirection_.x = -1; |
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90 | this->ballDirection_.y = 0; |
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91 | this->bOscillationAvoidanceActive_ = false; |
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92 | |
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93 | // Move to the middle |
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94 | if (mypos.z > hysteresisOffset) |
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95 | move = 1; |
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96 | else if (mypos.z < -hysteresisOffset) |
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97 | move = -1; |
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98 | } |
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99 | else if (ballvel.x == 0) |
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100 | { |
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101 | // The ball is standing still |
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102 | this->ballDirection_.x = 0; |
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103 | this->ballDirection_.y = 0; |
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104 | this->bOscillationAvoidanceActive_ = false; |
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105 | } |
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106 | else |
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107 | { |
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108 | // The ball is approaching |
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109 | if (this->ballDirection_.x != 1) |
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110 | { |
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111 | // The ball just startet to approach, initialize all values |
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112 | this->ballDirection_.x = 1; |
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113 | this->ballDirection_.y = sgn(ballvel.z); |
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114 | this->ballEndPosition_ = 0; |
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115 | this->randomOffset_ = 0; |
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116 | this->bChangedRandomOffset_ = false; |
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117 | |
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118 | this->calculateRandomOffset(); |
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119 | this->calculateBallEndPosition(); |
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120 | delay = true; |
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121 | this->bOscillationAvoidanceActive_ = false; |
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122 | } |
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123 | |
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124 | if (this->ballDirection_.y != sgn(ballvel.z)) |
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125 | { |
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126 | // The ball just bounced from a bound, recalculate the predicted end position |
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127 | this->ballDirection_.y = sgn(ballvel.z); |
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128 | |
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129 | this->calculateBallEndPosition(); |
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130 | delay = true; |
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131 | this->bOscillationAvoidanceActive_ = false; |
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132 | } |
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133 | |
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134 | // If the ball is close enough, calculate another random offset to accelerate the ball |
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135 | if (!this->bChangedRandomOffset_) |
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136 | { |
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137 | float timetohit = (-this->ball_->getPosition().x + this->ball_->getFieldDimension().x / 2 * sgn(this->ball_->getVelocity().x)) / this->ball_->getVelocity().x; |
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138 | if (timetohit < 0.05) |
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139 | { |
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140 | this->bChangedRandomOffset_ = true; |
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141 | if (rnd() < this->strength_) |
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142 | this->calculateRandomOffset(); |
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143 | } |
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144 | } |
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145 | |
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146 | // Move to the predicted end position with an additional offset (to hit the ball with the side of the bat) |
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147 | if (!this->bOscillationAvoidanceActive_) |
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148 | { |
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149 | float desiredZValue = this->ballEndPosition_ + this->randomOffset_; |
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150 | |
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151 | if (mypos.z > desiredZValue + hysteresisOffset * (this->randomOffset_ < 0)) |
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152 | move = 1; |
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153 | else if (mypos.z < desiredZValue - hysteresisOffset * (this->randomOffset_ > 0)) |
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154 | move = -1; |
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155 | } |
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156 | |
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157 | if (move != 0 && this->oldMove_ != 0 && move != this->oldMove_ && !delay) |
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158 | { |
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159 | // We had to correct our position because we moved too far |
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160 | // (and delay ist false, so we're not in the wrong place because of a new end-position prediction) |
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161 | if (fabs(mypos.z - this->ballEndPosition_) < 0.5 * this->ball_->getBatLength() * this->ball_->getFieldDimension().y) |
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162 | { |
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163 | // We're not at the right position, but we still hit the ball, so just stay there to avoid oscillation |
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164 | move = 0; |
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165 | this->bOscillationAvoidanceActive_ = true; |
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166 | } |
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167 | } |
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168 | } |
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169 | |
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170 | this->oldMove_ = move; |
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171 | this->move(move, delay); |
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172 | this->getControllableEntity()->moveFrontBack(this->movement_); |
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173 | } |
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174 | |
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175 | void PongAI::calculateRandomOffset() |
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176 | { |
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177 | // Calculate the exponent for the position-formula |
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178 | float exp = pow(10, 1 - 2*this->strength_); // strength: 0 -> exp = 10 |
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179 | // strength: 0.5 -> exp = 1 |
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180 | // strength: 1 -> exp = 0.1 |
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181 | |
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182 | // Calculate the relative position where to hit the ball with the bat |
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183 | float position = pow(rnd(), exp); // exp > 1 -> position is more likely a small number |
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184 | // exp < 1 -> position is more likely a large number |
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185 | |
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186 | // The position shouln't be larger than 0.5 (50% of the bat-length from the middle is the end) |
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187 | position *= 0.48f; |
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188 | |
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189 | // Both sides are equally probable |
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190 | position *= rndsgn(); |
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191 | |
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192 | // Calculate the offset in world units |
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193 | this->randomOffset_ = position * this->ball_->getBatLength() * this->ball_->getFieldDimension().y; |
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194 | } |
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195 | |
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196 | void PongAI::calculateBallEndPosition() |
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197 | { |
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198 | Vector3 position = this->ball_->getPosition(); |
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199 | Vector3 velocity = this->ball_->getVelocity(); |
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200 | Vector3 acceleration = this->ball_->getAcceleration(); |
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201 | Vector2 dimension = this->ball_->getFieldDimension(); |
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202 | |
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203 | // Calculate bounces. The number of predicted bounces is limited by the AIs strength |
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204 | for (float limit = -0.05f; limit < this->strength_ || this->strength_ > 0.99f; limit += 0.4f) |
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205 | { |
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206 | // calculate the time until the ball reaches the other side |
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207 | float totaltime = (-position.x + dimension.x / 2 * sgn(velocity.x)) / velocity.x; |
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208 | |
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209 | // calculate wall bounce position (four possible solutions of the equation: pos.z + vel.z*t + acc.z/2*t^2 = +/- dim.z/2) |
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210 | float bouncetime = totaltime; |
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211 | bool bUpperWall = false; |
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212 | |
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213 | if (acceleration.z == 0) |
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214 | { |
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215 | if (velocity.z > 0) |
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216 | { |
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217 | bUpperWall = true; |
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218 | bouncetime = (dimension.y/2 - position.z) / velocity.z; |
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219 | } |
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220 | else if (velocity.z < 0) |
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221 | { |
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222 | bUpperWall = false; |
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223 | bouncetime = (-dimension.y/2 - position.z) / velocity.z; |
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224 | } |
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225 | } |
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226 | else |
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227 | { |
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228 | // upper wall |
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229 | float temp = velocity.z*velocity.z + 2*acceleration.z*(dimension.y/2 - position.z); |
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230 | if (temp >= 0) |
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231 | { |
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232 | float t1 = (sqrt(temp) - velocity.z) / acceleration.z; |
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233 | float t2 = (sqrt(temp) + velocity.z) / acceleration.z * (-1); |
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234 | if (t1 > 0 && t1 < bouncetime) |
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235 | { |
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236 | bouncetime = t1; |
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237 | bUpperWall = true; |
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238 | } |
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239 | if (t2 > 0 && t2 < bouncetime) |
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240 | { |
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241 | bouncetime = t2; |
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242 | bUpperWall = true; |
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243 | } |
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244 | } |
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245 | // lower wall |
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246 | temp = velocity.z*velocity.z - 2*acceleration.z*(dimension.y/2 + position.z); |
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247 | if (temp >= 0) |
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248 | { |
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249 | float t1 = (sqrt(temp) - velocity.z) / acceleration.z; |
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250 | float t2 = (sqrt(temp) + velocity.z) / acceleration.z * (-1); |
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251 | if (t1 > 0 && t1 < bouncetime) |
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252 | { |
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253 | bouncetime = t1; |
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254 | bUpperWall = false; |
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255 | } |
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256 | if (t2 > 0 && t2 < bouncetime) |
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257 | { |
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258 | bouncetime = t2; |
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259 | bUpperWall = false; |
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260 | } |
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261 | } |
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262 | } |
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263 | |
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264 | if (bouncetime < totaltime) |
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265 | { |
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266 | // Calculate a random prediction error, based on the vertical speed of the ball and the strength of the AI |
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267 | float randomErrorX = rnd(-1, 1) * dimension.y * (velocity.z / velocity.x / PongBall::MAX_REL_Z_VELOCITY) * (1 - this->strength_); |
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268 | float randomErrorZ = rnd(-1, 1) * dimension.y * (velocity.z / velocity.x / PongBall::MAX_REL_Z_VELOCITY) * (1 - this->strength_); |
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269 | |
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270 | // ball bounces after <bouncetime> seconds, update the position and continue |
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271 | velocity.z = velocity.z + acceleration.z * bouncetime; |
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272 | |
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273 | if (bUpperWall) |
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274 | { |
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275 | position.z = dimension.y / 2; |
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276 | velocity.z = -fabs(velocity.z) + fabs(randomErrorZ); |
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277 | } |
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278 | else |
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279 | { |
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280 | position.z = -dimension.y / 2; |
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281 | velocity.z = fabs(velocity.z) - fabs(randomErrorZ); |
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282 | } |
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283 | |
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284 | position.x = position.x + velocity.x * bouncetime + randomErrorX; |
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285 | this->ballEndPosition_ = position.z; |
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286 | } |
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287 | else |
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288 | { |
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289 | // ball doesn't bounce, calculate the end position and return |
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290 | // calculate end-height: current height + slope * distance incl. acceleration |
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291 | this->ballEndPosition_ = position.z + velocity.z * totaltime + acceleration.z / 2 * totaltime * totaltime; |
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292 | return; |
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293 | } |
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294 | } |
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295 | } |
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296 | |
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297 | void PongAI::move(char direction, bool bUseDelay) |
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298 | { |
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299 | // The current direction is either what we're doing right now (movement_) or what is last in the queue |
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300 | char currentDirection = this->movement_; |
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301 | if (this->reactionTimers_.size() > 0) |
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302 | currentDirection = this->reactionTimers_.back().second; |
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303 | |
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304 | // Only add changes of direction |
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305 | if (direction == currentDirection) |
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306 | return; |
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307 | |
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308 | if (bUseDelay) |
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309 | { |
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310 | // Calculate delay |
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311 | float delay = MAX_REACTION_TIME * (1 - this->strength_); |
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312 | |
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313 | // Add a new Timer |
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314 | Timer* timer = new Timer(delay, false, createExecutor(createFunctor(&PongAI::delayedMove, this))); |
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315 | this->reactionTimers_.push_back(std::pair<Timer*, char>(timer, direction)); |
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316 | } |
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317 | else |
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318 | { |
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319 | this->movement_ = direction; |
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320 | } |
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321 | } |
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322 | |
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323 | void PongAI::delayedMove() |
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324 | { |
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325 | // Get the new movement direction from the timer list |
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326 | this->movement_ = this->reactionTimers_.front().second; |
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327 | |
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328 | // Destroy the timer and remove it from the list |
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329 | Timer* timer = this->reactionTimers_.front().first; |
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330 | timer->destroy(); |
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331 | |
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332 | this->reactionTimers_.pop_front(); |
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333 | } |
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334 | } |
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