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https://gitlab.com/veloren/veloren.git
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Convert rtsim pathfinding logic to a FSM
This commit is contained in:
Louis Pearson
parent
99c6e57c1f
commit
7f9ec9e19b
@ -132,30 +132,30 @@ impl Entity {
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}
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pub fn tick(&mut self, time: &Time, terrain: &TerrainGrid, world: &World, index: &IndexRef) {
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let mut next_pos_calculated = false;
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let tgt_site = self.brain.tgt.or_else(|| {
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world
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.civs()
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.sites
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.iter()
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.filter(|s| match self.get_body() {
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comp::Body::Humanoid(_) => s.1.is_settlement() | s.1.is_castle(),
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comp::Body::Ship(_) => s.1.is_settlement(),
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_ => s.1.is_dungeon(),
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})
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.filter(|_| thread_rng().gen_range(0i32..4) == 0)
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.min_by_key(|(_, site)| {
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let wpos = site.center * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let dist = wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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dist + if dist < 96 { 100_000 } else { 0 }
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})
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.map(|(id, _)| id)
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});
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self.brain.tgt = tgt_site;
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if self.get_body().is_humanoid() {
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let begin_site_id = self.brain.begin.or_else(|| {
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world
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self.brain.route = match self.brain.route {
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Travel::Lost => {
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if !self.get_body().is_humanoid() {
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if let Some(target_id) = world
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.civs()
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.sites
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.iter()
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.filter(|s| match self.get_body() {
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comp::Body::Ship(_) => s.1.is_settlement(),
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_ => s.1.is_dungeon(),
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})
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.filter(|_| thread_rng().gen_range(0i32..4) == 0)
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.min_by_key(|(_, site)| {
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let wpos = site.center * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let dist = wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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dist + if dist < 96 { 100_000 } else { 0 }
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})
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.map(|(id, _)| id)
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{
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Travel::Direct { target_id }
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} else {
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Travel::Lost
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}
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} else if let Some(nearest_site_id) = world
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.civs()
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.sites
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.iter()
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@ -164,77 +164,69 @@ impl Entity {
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wpos.map(|e| e as f32).distance(self.pos.xy()) as u32
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})
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.map(|(id, _)| id)
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});
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self.brain.begin = begin_site_id;
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if !self.brain.track_computed {
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begin_site_id
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.zip(tgt_site)
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.map(|(begin_site_id, tgt_site)| {
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let begin_site = &world.civs().sites[begin_site_id];
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let begin_pos =
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begin_site.center * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let begin_dist = begin_pos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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if begin_dist < 64 {
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let track = self
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.brain
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.track
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.or_else(|| world.civs().track_between(begin_site_id, tgt_site));
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self.brain.track = track;
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self.brain.track_progress = 0;
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self.brain.track_computed = true;
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{
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let nearest_site = &world.civs().sites[nearest_site_id];
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let site_wpos = nearest_site.center * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let dist = site_wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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if dist < 32 {
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Travel::InSite {
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site_id: nearest_site_id,
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}
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});
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}
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if self.brain.track_computed && self.brain.track.is_some() && tgt_site.is_some() {
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let track_id = self
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.brain
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.track
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.expect("Track id is none after is_some check"); // track checked above
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let track = &world.civs().tracks.get(track_id);
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let site =
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&world.civs().sites[tgt_site.expect("Target site is none after is_some check")]; // tgt_site checked above
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} else {
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Travel::Direct {
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target_id: nearest_site_id,
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}
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}
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} else {
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// Somehow no nearest site could be found
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// Logically this should never happen, but if it does the rtsim entity will just
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// sit tight
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Travel::Lost
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}
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},
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Travel::InSite { site_id } => {
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if !self.get_body().is_humanoid() {
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// Non humanoids don't care if they start at a site
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Travel::Lost
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} else if let Some(target_id) = world
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.civs()
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.sites
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.iter()
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.filter(|s| s.1.is_settlement() | s.1.is_castle())
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.filter(|_| thread_rng().gen_range(0i32..4) == 0)
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.min_by_key(|(_, site)| {
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let wpos = site.center * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let dist = wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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dist + if dist < 96 { 100_000 } else { 0 }
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})
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.map(|(id, _)| id)
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{
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if let Some(track_id) = world.civs().track_between(site_id, target_id) {
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Travel::Path {
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target_id,
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track_id,
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progress: 0,
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reversed: false,
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}
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} else {
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Travel::Direct { target_id }
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}
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} else {
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Travel::InSite { site_id }
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}
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},
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Travel::Direct { target_id } => {
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let site = &world.civs().sites[target_id];
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let destination_name = site
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.site_tmp
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.map_or("".to_string(), |id| index.sites[id].name().to_string());
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if let Some(sim_pos) = track.path().iter().nth(self.brain.track_progress) {
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let chunkpos = sim_pos * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let wpos = if let Some(pathdata) = world.sim().get_nearest_path(chunkpos) {
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pathdata.1.map(|e| e as i32)
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} else {
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chunkpos
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};
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let dist = wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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if dist < 32 {
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if !self.brain.track_reversed {
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self.brain.track_progress += 1;
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if self.brain.track_progress > track.path().len() {
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self.brain.track = None;
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self.brain.track_reversed = false;
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}
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}
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if self.brain.track_progress == 0 {
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self.brain.track = None;
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self.brain.track_reversed = false;
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} else {
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self.brain.track_progress -= 1;
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}
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}
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if self.brain.track_progress == 0 && dist > 128 {
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if !self.brain.track_reversed {
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self.brain.track_reversed = true;
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} else {
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self.brain.track = None;
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self.brain.track_reversed = false;
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}
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}
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let wpos = site.center * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let dist = wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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if dist < 64 {
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Travel::InSite { site_id: target_id }
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} else {
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let travel_to = self.pos.xy()
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+ Vec3::from(
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(wpos.map(|e| e as f32 + 0.5) - self.pos.xy())
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@ -253,51 +245,98 @@ impl Entity {
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))
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.map(|e| e as f32)
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+ Vec3::new(0.5, 0.5, 0.0);
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self.controller.travel_to = Some((travel_to, destination_name));
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self.controller.speed_factor = 0.70;
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next_pos_calculated = true;
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Travel::Direct { target_id }
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}
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}
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}
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},
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Travel::Path {
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target_id,
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track_id,
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progress,
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reversed,
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} => {
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let track = &world.civs().tracks.get(track_id);
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let site = &world.civs().sites[target_id];
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let destination_name = site
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.site_tmp
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.map_or("".to_string(), |id| index.sites[id].name().to_string());
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let nth = if reversed {
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track.path().len() - progress
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} else {
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progress
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};
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if !next_pos_calculated && tgt_site.is_some() {
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let site =
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&world.civs().sites[tgt_site.expect("Target site is None after is_some check")];
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let destination_name = site
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.site_tmp
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.map_or("".to_string(), |id| index.sites[id].name().to_string());
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if let Some(sim_pos) = track.path().iter().nth(nth) {
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let chunkpos = sim_pos * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let wpos = if let Some(pathdata) = world.sim().get_nearest_path(chunkpos) {
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pathdata.1.map(|e| e as i32)
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} else {
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chunkpos
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};
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let dist = wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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let wpos = site.center * TerrainChunk::RECT_SIZE.map(|e| e as i32);
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let dist = wpos.map(|e| e as f32).distance(self.pos.xy()) as u32;
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if dist < 64 {
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self.brain.tgt = None;
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self.brain.begin = None;
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self.brain.track_computed = false;
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}
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let travel_to = self.pos.xy()
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+ Vec3::from(
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(wpos.map(|e| e as f32 + 0.5) - self.pos.xy())
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.try_normalized()
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.unwrap_or_else(Vec2::zero),
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) * 64.0;
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let travel_to_alt = world
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.sim()
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.get_alt_approx(travel_to.map(|e| e as i32))
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.unwrap_or(0.0) as i32;
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let travel_to = terrain
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.find_space(Vec3::new(
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travel_to.x as i32,
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travel_to.y as i32,
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travel_to_alt,
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))
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.map(|e| e as f32)
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+ Vec3::new(0.5, 0.5, 0.0);
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self.controller.travel_to = Some((travel_to, destination_name));
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self.controller.speed_factor = 0.70;
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}
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match dist {
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d if d < 32 => {
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if progress + 1 > track.path().len() {
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Travel::InSite { site_id: target_id }
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} else {
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Travel::Path {
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target_id,
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track_id,
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progress: progress + 1,
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reversed,
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}
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}
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},
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d if d > 256 => {
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if !reversed && progress == 0 {
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Travel::Path {
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target_id,
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track_id,
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progress: 0,
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reversed: true,
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}
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} else {
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Travel::Direct { target_id }
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}
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},
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_ => {
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let travel_to = self.pos.xy()
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+ Vec3::from(
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(wpos.map(|e| e as f32 + 0.5) - self.pos.xy())
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.try_normalized()
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.unwrap_or_else(Vec2::zero),
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) * 64.0;
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let travel_to_alt = world
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.sim()
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.get_alt_approx(travel_to.map(|e| e as i32))
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.unwrap_or(0.0)
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as i32;
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let travel_to = terrain
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.find_space(Vec3::new(
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travel_to.x as i32,
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travel_to.y as i32,
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travel_to_alt,
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))
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.map(|e| e as f32)
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+ Vec3::new(0.5, 0.5, 0.0);
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self.controller.travel_to = Some((travel_to, destination_name));
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self.controller.speed_factor = 0.70;
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Travel::Path {
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target_id,
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track_id,
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progress,
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reversed,
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}
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},
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}
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} else {
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Travel::Lost
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}
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},
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};
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// Forget old memories
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self.brain
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@ -306,14 +345,31 @@ impl Entity {
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}
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}
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enum Travel {
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Lost,
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InSite {
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site_id: Id<Site>,
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},
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Direct {
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target_id: Id<Site>,
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},
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Path {
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target_id: Id<Site>,
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track_id: Id<Track>,
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progress: usize,
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reversed: bool,
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},
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}
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impl Default for Travel {
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fn default() -> Self { Self::Lost }
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}
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#[derive(Default)]
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pub struct Brain {
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begin: Option<Id<Site>>,
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tgt: Option<Id<Site>>,
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track: Option<Id<Track>>,
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track_progress: usize,
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track_computed: bool,
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track_reversed: bool,
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route: Travel,
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memories: Vec<Memory>,
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}
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