Changeset 10226 in orxonox.OLD for branches/ai/src

Timestamp:

Jan 10, 2007, 6:31:30 PM (18 years ago)

Author:

tfahrni

Message:

 

Location:

branches/ai/src

Files:

• ai/Makefile.am (modified) (2 diffs)
• ai/ai_engine.cc (modified) (5 diffs)
• ai/ai_engine.h (modified) (1 diff)
• ai/ai_module.cc (modified) (1 diff)
• ai/ai_module.h (modified) (1 diff)
• ai/ai_swarm.cc (modified) (4 diffs)
• ai/ai_swarm.h (modified) (2 diffs)
• ai/ai_team.cc (modified) (3 diffs)
• ai/ai_team.h (modified) (1 diff)
• ai/movement_module.cc (modified) (9 diffs)
• ai/movement_module.h (modified) (2 diffs)
• world_entities/npcs/npc_test.cc (modified) (1 diff)

branches/ai/src/ai/Makefile.am

@@ -11 +11 @@
                         ai_team_member.cc \
                         movement_module.cc \
-                        shooting_module.cc
+                        shooting_module.cc \
+                        attack_module.cc
 
 noinst_HEADERS =        \
@@ -20 +21 @@
                         ai_team_member.h \
                         movement_module.h \
-                        shooting_module.h
+                        shooting_module.h \
+                        attack_module.h

branches/ai/src/ai/ai_engine.cc

@@ -27 +27 @@
         std::map<int,AITeam*>::iterator it;
         std::vector<WorldEntity*>* enemyList=new std::vector<WorldEntity*>;
-        
+
         for (it=teams.begin(); it!= teams.end(); it++ )
         {
@@ -33 +33 @@
                 for(ObjectList<NPC2>::const_iterator npc = NPC2::objectList().begin(); npc != NPC2::objectList().end(); ++npc)
                         if((*npc)->getTeam() != it->first)enemyList->push_back(*npc);
-                
+
                 //add player to enemys (player belongs to team 0)
                 if(it->first!=0){
@@ -40 +40 @@
                         if(pl != NULL)enemyList->push_back(pl->getPlayable());
                 }
-                
+
                 //process the team
                 it->second->setEnemyList(enemyList);
@@ -46 +46 @@
                 enemyList->clear();
         }
-        
+
         delete enemyList;
 }
 
-void AIEngine::addAI(int teamNumber, int swarmNumber, AIModule* aiModule)
+void AIEngine::addAI(int teamNumber, int swarmNumber, WorldEntity* npc)
 {
         std::pair<std::map<int,AITeam*>::iterator,bool> p;
@@ -56 +56 @@
         p=teams.insert(std::make_pair(teamNumber,newTeam));
         if(!p.second)delete newTeam;
-        p.first->second->addAI(swarmNumber, aiModule);
+        p.first->second->addAI(swarmNumber, npc);
 }
 
-void AIEngine::removeAI(int teamNumber, int swarmNumber, AIModule* aiModule)
+void AIEngine::removeAI(int teamNumber, int swarmNumber, WorldEntity* npc)
 {
         std::map<int,AITeam*>::iterator it = teams.find(swarmNumber);
         if(it==teams.end())return;
-        it->second->removeAI(swarmNumber,aiModule);
+        it->second->removeAI(swarmNumber,npc);
         if(it->second->getTeamSize()==0){
                 delete it->second;

branches/ai/src/ai/ai_engine.h

@@ -14 +14 @@
 
    void tick(float dt);
-        void addAI(int teamNumber, int swarmNumber, AIModule* aiModule);
-        void removeAI(int teamNumber, int swarmNumber, AIModule* aiModule);
-        
+        void addAI(int teamNumber, int swarmNumber, WorldEntity* npc);
+        void removeAI(int teamNumber, int swarmNumber, WorldEntity* npc);
+
  private:
         AIEngine(){}

branches/ai/src/ai/ai_module.cc

@@ -18 +18 @@
 #include "ai_module.h"
 #include "debug.h"
+#include "aabb.h"
+
+float AIModule::getRadius(WorldEntity* object)
+{
+        AABB* aabb = object->getModelAABB();
+        if( aabb == NULL)return -1;
+
+        float a = aabb->halfLength[0];
+        float b = aabb->halfLength[1];
+        float c = aabb->halfLength[2];
+
+        if(a>b){
+                return (c>a)?c:a;
+        }else{
+                return (c>b)?c:b;
+        }
+}
+
+void AIModule::getAttributesFrom(AIModule* other)
+{
+        this->view = other->getView();
+        this->movement = other->getMovement();
+        this->npc = other->getNPC();
+        this->target = other->getTarget();
+        this->weight = other->getWeight();
+        this->speedMax = other->getMaxSpeed();
+        this->accelerationMax = other->getMaxAcceleration();
+}

branches/ai/src/ai/ai_module.h

@@ -7 +7 @@
 class AIModule {
  public:
-   AIModule(){}
+        AIModule(){}
    virtual ~AIModule(){}
    virtual void process(float dt){}
 
-   void setDifficulty(int newDifficulty);
-        inline void setEnemyList(std::vector<WorldEntity*>* enemyList){this->enemyList=enemyList;}
-        inline Vector getPosition(){return myWorldEntity->getAbsCoor();}
-        inline Vector getMovement(){return movement;}
         inline void setDestination(Vector destination){this->destination=destination;}
         inline void setDestinationMovement(Vector destinationMovement){this->destinationMovement=destinationMovement;}
         inline void setWeight(int weight){this->weight=weight;}
         inline void setTarget(WorldEntity* target){this->target=target;}
+        inline void setNPC(WorldEntity* npc){this->npc=npc;}
+
+        inline Vector getPosition(){return npc->getAbsCoor();}
+        inline Vector getMovement(){return movement;}
+        inline Vector getView(){return view;}
+        inline WorldEntity* getNPC(){return npc;}
+        inline WorldEntity* getTarget(){return target;}
+        inline float getWeight(){return weight;}
+        inline float getMaxAcceleration(){return accelerationMax;}
+        inline float getMaxSpeed(){return speedMax;}
+
+        void getAttributesFrom(AIModule* oldModule);
 
  protected:
-   NPC2* myNPC;
-        WorldEntity* myWorldEntity;
-        std::vector<WorldEntity*>* enemyList;
+        float getRadius(WorldEntity* object);
 
         Vector destination;
         Vector destinationMovement;
+        Vector destinationView;
+
+
         Vector movement;
+        Vector view;
+
+        WorldEntity* npc;
+        WorldEntity* target;
 
         float weight;
         float speedMax;
-
-        WorldEntity* target;
+        float accelerationMax;
 };
 

branches/ai/src/ai/ai_swarm.cc

@@ -15 +15 @@
 #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_AI
 #include "ai_swarm.h"
+#include "ai_module.h"
+#include "movement_module.h"
+#include "attack_module.h"
 #include "debug.h"
 #include <stdio.h>
+#include "aabb.h"
 
 AISwarm::AISwarm()
@@ -27 +31 @@
 void AISwarm::process(float dt)
 {
-        if(tickCount>=randomFreq && movement.len()<60){
+        std::map<WorldEntity*,AIModule*>::iterator it;
+
+        Vector swarmPosition=this->getPosition();
+        Vector targetPosition=target->getAbsCoor();
+        float distanceToTarget=(swarmPosition-targetPosition).len();
+
+        float aMax=70.0f;
+        float vMax=1000.0f;
+        float deltaDistance=30;
+        float attackDistance=100;
+
+
+
+        if(distanceToTarget+deltaDistance<=attackDistance && status!=ATTACKING){
+                for (it= members.begin(); it!= members.end(); it++ ){
+                        AIModule* oldAI = it->second;
+                        AIModule* newAI = new AttackModule();
+                        newAI->getAttributesFrom(oldAI);
+                        it->second=newAI;
+                        delete oldAI;
+                        status=ATTACKING;
+                }
+        }else if(distanceToTarget-deltaDistance>=attackDistance && status!=MOVING){
+                for (it= members.begin(); it!= members.end(); it++ ){
+                        AIModule* oldAI = it->second;
+                        AIModule* newAI = new MovementModule();
+                        newAI->getAttributesFrom(oldAI);
+                        it->second=newAI;
+                        delete oldAI;
+                        status=MOVING;
+                }
+        }
+
+
+
+        if(status!=ATTACKING && tickCount>=randomFreq){
                 tickCount=0;
-                int x = (rand()%141)+10;                                //10-150
+                //int x = (rand()%141)+10;                              //10-150
+                int x = (rand()%241)-120;                       //-120-120
                 int z = (rand()%241)-120;                       //-120-120
                 randomVector=Vector(x,0,z);
 
-                std::cout << "change to: ||" << randomVector.x << "   ==" << randomVector.z << "\n";
+                //std::cout << "change to: ||" << randomVector.x << "   ==" << randomVector.z << "\n";
         }
         tickCount++;
 
 
-        std::set<AIModule*>::iterator it;
-        Vector swarmPosition=this->getPosition();
-        //std::cout << swarmPosition.x << " " << swarmPosition.z << "\n";
-
-        float aMax=70.0f;
-        float vMax=1000.0f;
 
         Vector correction=(destination+randomVector-swarmPosition)-movement;
@@ -58 +92 @@
 
 
-        for (it= swarmMembers.begin(); it!= swarmMembers.end(); it++ ){
-                (*it)->setDestination(swarmPosition);
-                (*it)->setDestinationMovement(movement);
-                (*it)->setEnemyList(enemyList);
-                (*it)->process(dt);
+
+        for (it= members.begin(); it!= members.end(); it++ ){
+                it->second->setDestination(swarmPosition);
+                it->second->setDestinationMovement(movement);
+                it->second->setTarget(target);
+                it->second->process(dt);
         }
 }
 
 
-void AISwarm::addAI(AIModule* aiModule)
+
+void AISwarm::addAI(WorldEntity* npc)
 {
-        swarmMembers.insert(aiModule);
+        std::pair< std::map<WorldEntity*,AIModule*>::iterator , bool > p;
+        AIModule* newAIModule=new MovementModule(npc);
+        p=members.insert(std::make_pair(npc,newAIModule));
+        if(!p.second)delete newAIModule;
 }
 
 
-void AISwarm::removeAI(AIModule* aiModule)
+void AISwarm::removeAI(WorldEntity* npc)
 {
-        std::set<AIModule*>::iterator it=swarmMembers.find(aiModule);
-        if(it==swarmMembers.end())return;
-        delete (*it);
+        std::map<WorldEntity*,AIModule*>::iterator it = members.find(npc);
+        if(it==members.end())return;            //npc not found
+        delete it->second;                                      //delete AIModule
+        members.erase(it);                                      //remove AIModule from members
 }
 
@@ -84 +124 @@
 {
         Vector center=Vector(0,0,0);
-        std::set<AIModule*>::iterator it;
-        for (it= swarmMembers.begin(); it!= swarmMembers.end(); it++ )
-                center=center+(*it)->getPosition();
+        std::map<WorldEntity*,AIModule*>::iterator it;
+        for (it= members.begin(); it!= members.end(); it++ )
+                center=center+it->second->getPosition();
 
-        return center/swarmMembers.size();
+        return center/members.size();
 }
+
+float AISwarm::getRadius(WorldEntity* object)
+{
+        AABB* aabb = object->getModelAABB();
+        if( aabb == NULL)return -1;
+
+        float a = aabb->halfLength[0];
+        float b = aabb->halfLength[1];
+        float c = aabb->halfLength[2];
+
+        if(a>b){
+                return (c>a)?c:a;
+        }else{
+                return (c>b)?c:b;
+        }
+}

branches/ai/src/ai/ai_swarm.h

@@ -6 +6 @@
 #include "ai_module.h"
 
+
+
 class AISwarm{
         public:
@@ -11 +13 @@
                 ~AISwarm(){}
                 void process(float dt);
-                void addAI(AIModule* newMember);
-                void removeAI(AIModule* oldMember);
-                inline int getSwarmSize(){return swarmMembers.size();}
-                inline void setEnemyList(std::vector<WorldEntity*>* enemyList){this->enemyList=enemyList;}
+                void addAI(WorldEntity*);
+                void removeAI(WorldEntity*);
+
+                inline int getSwarmSize(){return members.size();}
                 inline void setDestination(Vector destination){this->destination=destination;}
+                inline void setTarget(WorldEntity* target){this->target=target;}
                 Vector getPosition();
+
+                enum statusType{ATTACKING,MOVING,WAITING};
+
         private:
+                float getRadius(WorldEntity* object);
+
+
                 Vector destination;
                 Vector movement;
-                std::vector<WorldEntity*>* enemyList;
-                std::set<AIModule*> swarmMembers;
+                WorldEntity* target;
+                statusType status;
+
+                std::map<WorldEntity*,AIModule*> members;
+
                 int tickCount;
                 int randomFreq;

branches/ai/src/ai/ai_team.cc

@@ -21 +21 @@
         std::map<int,AISwarm*>::iterator it;
         for (it= swarms.begin(); it!= swarms.end(); it++ ){
-
-                it->second->setEnemyList(enemyList);
-                if(enemyList->size()>0)
+                if(enemyList->size()>0){
+                        it->second->setTarget(enemyList->at(0));
                         it->second->setDestination(enemyList->at(0)->getAbsCoor());
+                }
                 it->second->process(dt);
         }
@@ -30 +30 @@
 
 
-void AITeam::addAI(int swarmNumber, AIModule* aiModule)
+void AITeam::addAI(int swarmNumber, WorldEntity* npc)
 {
         std::pair<std::map<int,AISwarm*>::iterator,bool> p;
@@ -36 +36 @@
         p=swarms.insert(std::make_pair(swarmNumber,newSwarm));
         if(!p.second)delete newSwarm;
-        p.first->second->addAI(aiModule);
+        p.first->second->addAI(npc);
 }
 
 
-void AITeam::removeAI(int swarmNumber, AIModule* aiModule)
+void AITeam::removeAI(int swarmNumber, WorldEntity* npc)
 {
         std::map<int,AISwarm*>::iterator it = swarms.find(swarmNumber);
         if(it==swarms.end())return;
-        it->second->removeAI(aiModule);
+        it->second->removeAI(npc);
         if(it->second->getSwarmSize()==0){
                 delete it->second;

branches/ai/src/ai/ai_team.h

@@ -11 +11 @@
         std::vector<WorldEntity*>* getEnemyList();
         void process(float dt);
-        void addAI(int swarmNumber, AIModule* aiModule);
-        void removeAI(int swarmNumber, AIModule* aiModule);
+        void addAI(int swarmNumber, WorldEntity* npc);
+        void removeAI(int swarmNumber, WorldEntity* npc);
         inline int getTeamSize(){ return swarms.size(); }
         inline void setEnemyList(std::vector<WorldEntity*>* enemyList){this->enemyList=enemyList;}

branches/ai/src/ai/movement_module.cc

@@ -21 +21 @@
 #include "player.h"
 #include "playable.h"
-#include "aabb.h"
 #include "npcs/npc_test.h"
 
@@ -50 +49 @@
 
 
-
-float MovementModule::getRadius(WorldEntity* object)
-{
-        AABB* aabb = object->getModelAABB();
-        if( aabb == NULL)return -1;
-
-        float a = aabb->halfLength[0];
-        float b = aabb->halfLength[1];
-        float c = aabb->halfLength[2];
-
-        if(a>b){
-                return (c>a)?c:a;
-        }else{
-                return (c>b)?c:b;
-        }
-}
-
-
 void MovementModule::process(float dt)
 {
-        if(myNPC == NULL)return;
+        if(npc == NULL)return;
 
         Vector tmpVector;
@@ -76 +57 @@
         Vector npcCollision;
         Vector playerCollision;
-        bool autoRotate=true;
-        target=enemyList->at(0);
 
         weight=1;
-        speedMax=1000.0f;
 
 
@@ -91 +69 @@
 
         //get information about myself
-        Vector myPosition = myNPC->getAbsCoor();
-        float myRadius = getRadius(myNPC);
+        Vector myPosition = npc->getAbsCoor();
+        float myRadius = getRadius(npc);
+
+
+        float aMax=maxAccleration;
+        float vMax=800.0f/myRadius;
 
 
@@ -106 +88 @@
         for(ObjectList<WorldEntity>::const_iterator it = WorldEntity::objectList().begin(); it != WorldEntity::objectList().end(); ++it)
         {
-                if(*it==myNPC)continue;
+                if(*it==npc)continue;
 
                 tmpVector=myPosition-(*it)->getAbsCoor();
@@ -115 +97 @@
 
                 npcCollision=npcCollision+tmpVector;
-        }
-
-
-        //random movement
-        //randomFreq=testValue2;
-        if(++tickCount>=randomFreq && movement.len()<60){
-                tickCount=0;
-                int x = (rand()%101)-50;                        //-50-50
-                int z = (rand()%101)-50;                        //-50-50
-                randomVector=Vector(x,0,z);
-                randomFreq=(rand()%81)+70;                      //70-150 Ticks
         }
 
@@ -138 +109 @@
                                                                 +       (vectorToDestination-movement)*3;
 
-        if(movement.len()<testValue2){
-        //if(testValue2){
-                correction=correction + randomVector * testValue;
-                autoRotate=false;
-        }
-
         correction.y=0;
 
@@ -149 +114 @@
         //limit accleration
         float correctionLen=correction.len();
-        if(correctionLen>maxAccleration*dt)correction=correction/correctionLen*maxAccleration*dt;
+        if(correctionLen>aMax*dt)correction=correction/correctionLen*aMax*dt;
         movement+=correction;
 
@@ -155 +120 @@
         //limit speed
         float movementLen=movement.len();
-        if(movementLen>speedMax)movement=movement/movementLen*speedMax;
+        if(movementLen>vMax)movement=movement/movementLen*vMax;
 
 
         //move NPC...
-        myNPC->shiftCoor(movement * dt);
+        npc->shiftCoor(movement * dt);
 
 
         //rotate NPC
-        Vector view;
-        if(autoRotate){
-                view = movement.cross( Vector(0,1,0) ).getNormalized();
-        }else{
-                view = target->getAbsCoor()-myPosition;
-                view = view.cross( Vector(0,1,0) ).getNormalized();
-        }
-        myNPC->setAbsDirSoft( Quaternion( view, Vector(0,1,0)),3);
+        view = movement.cross( Vector(0,1,0) ).getNormalized();
+        npc->setAbsDirSoft( Quaternion( view, Vector(0,1,0)),3);
 
 }

branches/ai/src/ai/movement_module.h

@@ -14 +14 @@
         public:
                 MovementModule();
-                inline MovementModule(NPC2* object){ this->myNPC=object; this->myWorldEntity=(WorldEntity*)object;}
+                inline MovementModule(WorldEntity* object){this->npc=object;}
                 virtual ~MovementModule(){}
                 virtual void process(float dt);
@@ -29 +29 @@
                 float myMaxSpeed;
 
-                float getRadius(WorldEntity* object);
-
                 static float maxAccleration;
                 static float distanceToPlayer;

branches/ai/src/world_entities/npcs/npc_test.cc

@@ -51 +51 @@
         std::cout << "Team Number: " << teamNumber << "\n";
         std::cout << "Swarm Number:" << swarmNumber << "\n";
-        aiModule=new MovementModule(this);
-        AIEngine::getInstance()->addAI(teamNumber,swarmNumber,aiModule);
+        //aiModule=new MovementModule(this);
+        //AIEngine::getInstance()->addAI(teamNumber,swarmNumber,aiModule);
+        AIEngine::getInstance()->addAI(teamNumber,swarmNumber,(WorldEntity*)this);
 }
 
 NPC2::~NPC2()
 {
-        AIEngine::getInstance()->removeAI(teamNumber,swarmNumber,aiModule);
+        AIEngine::getInstance()->removeAI(teamNumber,swarmNumber,(WorldEntity*)this);
 }