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Differential D1893 Diff 8417 ps/trunk/source/simulation2/components/CCmpUnitMotion.cpp

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ps/trunk/source/simulation2/components/CCmpUnitMotion.cpp

Show First 20 Lines • Show All 786 Lines • ▼ Show 20 Lines if (m_State == STATE_STOPPING)
m_State = STATE_IDLE; m_State = STATE_IDLE;
MoveSucceeded(); MoveSucceeded();
return; return;
} }
if (m_State == STATE_IDLE) if (m_State == STATE_IDLE)
return; return;
switch (m_PathState) if (m_PathState == PATHSTATE_NONE ||
{ m_PathState == PATHSTATE_WAITING_REQUESTING_LONG ||
case PATHSTATE_NONE: m_PathState == PATHSTATE_WAITING_REQUESTING_SHORT)
{
// If we're not pathing, do nothing
return; return;
}
case PATHSTATE_WAITING_REQUESTING_LONG: CmpPtr<ICmpPosition> cmpPosition(GetEntityHandle());
case PATHSTATE_WAITING_REQUESTING_SHORT: if (!cmpPosition || !cmpPosition->IsInWorld())
{
// If we're waiting for a path and don't have one yet, do nothing
return; return;
}
case PATHSTATE_FOLLOWING: CFixedVector2D initialPos = cmpPosition->GetPosition2D();
case PATHSTATE_FOLLOWING_REQUESTING_SHORT:
case PATHSTATE_FOLLOWING_REQUESTING_LONG: // Keep track of the current unit's position during the update
CFixedVector2D pos = initialPos;
bool wasObstructed = false;
if (m_PathState == PATHSTATE_FOLLOWING ||
m_PathState == PATHSTATE_FOLLOWING_REQUESTING_SHORT ||
m_PathState == PATHSTATE_FOLLOWING_REQUESTING_LONG)
{ {
// TODO: there's some asymmetry here when units look at other // TODO: there's some asymmetry here when units look at other
// units' positions - the result will depend on the order of execution. // units' positions - the result will depend on the order of execution.
// Maybe we should split the updates into multiple phases to minimise // Maybe we should split the updates into multiple phases to minimise
// that problem. // that problem.
CmpPtr<ICmpPathfinder> cmpPathfinder(GetSystemEntity()); CmpPtr<ICmpPathfinder> cmpPathfinder(GetSystemEntity());
if (!cmpPathfinder) if (!cmpPathfinder)
return; return;
CmpPtr<ICmpPosition> cmpPosition(GetEntityHandle());
if (!cmpPosition || !cmpPosition->IsInWorld())
return;
CFixedVector2D initialPos = cmpPosition->GetPosition2D();
// If we're chasing a potentially-moving unit and are currently close // If we're chasing a potentially-moving unit and are currently close
// enough to its current position, and we can head in a straight line // enough to its current position, and we can head in a straight line
// to it, then throw away our current path and go straight to it // to it, then throw away our current path and go straight to it
if (m_PathState == PATHSTATE_FOLLOWING) if (m_PathState == PATHSTATE_FOLLOWING)
TryGoingStraightToTargetEntity(initialPos); TryGoingStraightToTargetEntity(initialPos);
// Keep track of the current unit's position during the update
CFixedVector2D pos = initialPos;
fixed basicSpeed = m_Speed; fixed basicSpeed = m_Speed;
// If in formation, run to keep up; otherwise just walk // If in formation, run to keep up; otherwise just walk
if (IsFormationMember()) if (IsFormationMember())
basicSpeed = m_Speed.Multiply(m_RunMultiplier); basicSpeed = m_Speed.Multiply(m_RunMultiplier);
// Find the speed factor of the underlying terrain // Find the speed factor of the underlying terrain
// (We only care about the tile we start on - it doesn't matter if we're moving // (We only care about the tile we start on - it doesn't matter if we're moving
// partially onto a much slower/faster tile) // partially onto a much slower/faster tile)
// TODO: Terrain-dependent speeds are not currently supported // TODO: Terrain-dependent speeds are not currently supported
fixed terrainSpeed = fixed::FromInt(1); fixed terrainSpeed = fixed::FromInt(1);
fixed maxSpeed = basicSpeed.Multiply(terrainSpeed); fixed maxSpeed = basicSpeed.Multiply(terrainSpeed);
bool wasObstructed = false;
// We want to move (at most) maxSpeed*dt units from pos towards the next waypoint // We want to move (at most) maxSpeed*dt units from pos towards the next waypoint
fixed timeLeft = dt; fixed timeLeft = dt;
fixed zero = fixed::Zero(); fixed zero = fixed::Zero();
while (timeLeft > zero) while (timeLeft > zero)
{ {
// If we ran out of path, we have to stop // If we ran out of path, we have to stop
▲ Show 20 Lines • Show All 45 Lines • ▼ Show 20 Lines while (timeLeft > zero)
if (cmpPathfinder->CheckMovement(GetObstructionFilter(), pos.X, pos.Y, target.X, target.Y, m_Clearance, m_PassClass)) if (cmpPathfinder->CheckMovement(GetObstructionFilter(), pos.X, pos.Y, target.X, target.Y, m_Clearance, m_PassClass))
pos = target; pos = target;
else else
wasObstructed = true; // Error - path was obstructed wasObstructed = true; // Error - path was obstructed
break; break;
} }
} }
}
// Update the Position component after our movement (if we actually moved anywhere) // Update the Position component after our movement (if we actually moved anywhere)
if (pos != initialPos) if (pos != initialPos)
{ {
CFixedVector2D offset = pos - initialPos; CFixedVector2D offset = pos - initialPos;
// Face towards the target // Face towards the target
entity_angle_t angle = atan2_approx(offset.X, offset.Y); entity_angle_t angle = atan2_approx(offset.X, offset.Y);
cmpPosition->MoveAndTurnTo(pos.X,pos.Y, angle); cmpPosition->MoveAndTurnTo(pos.X,pos.Y, angle);
// Calculate the mean speed over this past turn. // Calculate the mean speed over this past turn.
m_CurSpeed = cmpPosition->GetDistanceTravelled() / dt; m_CurSpeed = cmpPosition->GetDistanceTravelled() / dt;
} }
if (wasObstructed) if (wasObstructed)
{ {
// Oops, we hit something (very likely another unit). // Oops, we hit something (very likely another unit).
// This is when we might easily get stuck wrongly. // This is when we might easily get stuck wrongly.
// check if we've arrived. // check if we've arrived.
if (CloseEnoughFromDestinationToStop(pos)) if (CloseEnoughFromDestinationToStop(pos))
{ {
MoveSucceeded(); MoveSucceeded();
return; return;
} }
// If we still have long waypoints, try and compute a short path // If we still have long waypoints, try and compute a short path
// This will get us around units, amongst others. // This will get us around units, amongst others.
// However in some cases a long waypoint will be in located in the obstruction of // However in some cases a long waypoint will be in located in the obstruction of
// an idle unit. In that case, we need to scrap that waypoint or we might never be able to reach it. // an idle unit. In that case, we need to scrap that waypoint or we might never be able to reach it.
// I am not sure why this happens but the following code seems to work. // I am not sure why this happens but the following code seems to work.
if (!m_LongPath.m_Waypoints.empty()) if (!m_LongPath.m_Waypoints.empty())
{ {
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSystemEntity()); CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSystemEntity());
if (cmpObstructionManager) if (cmpObstructionManager)
{ {
// create a fake obstruction to represent our waypoint. // create a fake obstruction to represent our waypoint.
ICmpObstructionManager::ObstructionSquare square; ICmpObstructionManager::ObstructionSquare square;
square.hh = m_Clearance; square.hh = m_Clearance;
square.hw = m_Clearance; square.hw = m_Clearance;
square.u = CFixedVector2D(entity_pos_t::FromInt(1),entity_pos_t::FromInt(0)); square.u = CFixedVector2D(entity_pos_t::FromInt(1),entity_pos_t::FromInt(0));
square.v = CFixedVector2D(entity_pos_t::FromInt(0),entity_pos_t::FromInt(1)); square.v = CFixedVector2D(entity_pos_t::FromInt(0),entity_pos_t::FromInt(1));
square.x = m_LongPath.m_Waypoints.back().x; square.x = m_LongPath.m_Waypoints.back().x;
square.z = m_LongPath.m_Waypoints.back().z; square.z = m_LongPath.m_Waypoints.back().z;
std::vector<entity_id_t> unitOnGoal; std::vector<entity_id_t> unitOnGoal;
// don't ignore moving units as those might be units like us, ie not really moving. // don't ignore moving units as those might be units like us, ie not really moving.
cmpObstructionManager->GetUnitsOnObstruction(square, unitOnGoal, GetObstructionFilter(), true); cmpObstructionManager->GetUnitsOnObstruction(square, unitOnGoal, GetObstructionFilter(), true);
if (!unitOnGoal.empty()) if (!unitOnGoal.empty())
m_LongPath.m_Waypoints.pop_back(); m_LongPath.m_Waypoints.pop_back();
} }
if (!m_LongPath.m_Waypoints.empty()) if (!m_LongPath.m_Waypoints.empty())
{ {
PathGoal goal; PathGoal goal;
if (m_LongPath.m_Waypoints.size() > 1 || m_FinalGoal.DistanceToPoint(pos) > LONG_PATH_MIN_DIST) if (m_LongPath.m_Waypoints.size() > 1 || m_FinalGoal.DistanceToPoint(pos) > LONG_PATH_MIN_DIST)
goal = { PathGoal::POINT, m_LongPath.m_Waypoints.back().x, m_LongPath.m_Waypoints.back().z }; goal = { PathGoal::POINT, m_LongPath.m_Waypoints.back().x, m_LongPath.m_Waypoints.back().z };
else else
{ {
UpdateFinalGoal(); UpdateFinalGoal();
goal = m_FinalGoal; goal = m_FinalGoal;
m_LongPath.m_Waypoints.clear(); m_LongPath.m_Waypoints.clear();
CFixedVector2D target = goal.NearestPointOnGoal(pos); CFixedVector2D target = goal.NearestPointOnGoal(pos);
m_LongPath.m_Waypoints.emplace_back(Waypoint{ target.X, target.Y }); m_LongPath.m_Waypoints.emplace_back(Waypoint{ target.X, target.Y });
} }
RequestShortPath(pos, goal, true); RequestShortPath(pos, goal, true);
m_PathState = PATHSTATE_WAITING_REQUESTING_SHORT; m_PathState = PATHSTATE_WAITING_REQUESTING_SHORT;
return; return;
} }
} }
// Else, just entirely recompute // Else, just entirely recompute
UpdateFinalGoal(); UpdateFinalGoal();
BeginPathing(pos, m_FinalGoal); BeginPathing(pos, m_FinalGoal);
// potential TODO: We could switch the short-range pathfinder for something else entirely. // potential TODO: We could switch the short-range pathfinder for something else entirely.
return; return;
} }
// We successfully moved along our path, until running out of // We successfully moved along our path, until running out of
// waypoints or time. // waypoints or time.
if (m_PathState == PATHSTATE_FOLLOWING) if (m_PathState == PATHSTATE_FOLLOWING)
{ {
// If we're not currently computing any new paths: // If we're not currently computing any new paths:
if (m_LongPath.m_Waypoints.empty() && m_ShortPath.m_Waypoints.empty()) if (m_LongPath.m_Waypoints.empty() && m_ShortPath.m_Waypoints.empty())
{ {
if (IsFormationMember()) if (IsFormationMember())
{ {
// We've reached our assigned position. If the controller // We've reached our assigned position. If the controller
// is idle, send a notification in case it should disband, // is idle, send a notification in case it should disband,
// otherwise continue following the formation next turn. // otherwise continue following the formation next turn.
CmpPtr<ICmpUnitMotion> cmpUnitMotion(GetSimContext(), m_MoveRequest.m_Entity); CmpPtr<ICmpUnitMotion> cmpUnitMotion(GetSimContext(), m_MoveRequest.m_Entity);
if (cmpUnitMotion && !cmpUnitMotion->IsMoving()) if (cmpUnitMotion && !cmpUnitMotion->IsMoving())
{ {
CmpPtr<ICmpObstruction> cmpObstruction(GetEntityHandle()); CmpPtr<ICmpObstruction> cmpObstruction(GetEntityHandle());
if (cmpObstruction) if (cmpObstruction)
cmpObstruction->SetMovingFlag(false); cmpObstruction->SetMovingFlag(false);
CMessageMotionChanged msg(false); CMessageMotionChanged msg(false);
GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg); GetSimContext().GetComponentManager().PostMessage(GetEntityId(), msg);
return;
} }
} }
else else
{ {
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSystemEntity()); CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSystemEntity());
CmpPtr<ICmpUnitMotion> cmpUnitMotion(GetSimContext(), m_MoveRequest.m_Entity); CmpPtr<ICmpUnitMotion> cmpUnitMotion(GetSimContext(), m_MoveRequest.m_Entity);
if (!cmpUnitMotion || cmpObstructionManager->IsInTargetRange(GetEntityId(), m_MoveRequest.m_Entity, m_MoveRequest.m_MinRange, m_MoveRequest.m_MaxRange, false)) if (!cmpUnitMotion || cmpObstructionManager->IsInTargetRange(GetEntityId(), m_MoveRequest.m_Entity, m_MoveRequest.m_MinRange, m_MoveRequest.m_MaxRange, false))
{ {
m_State = STATE_IDLE; m_State = STATE_IDLE;
MoveSucceeded(); MoveSucceeded();
if (m_FacePointAfterMove) if (m_FacePointAfterMove)
FaceTowardsPointFromPos(pos, m_FinalGoal.x, m_FinalGoal.z); FaceTowardsPointFromPos(pos, m_FinalGoal.x, m_FinalGoal.z);
// TODO: if the goal was a square building, we ought to point towards the // TODO: if the goal was a square building, we ought to point towards the
// nearest point on the square, not towards its center // nearest point on the square, not towards its center
} }
} }
} }
// If we have a target entity, and we're not miles away from the end of // If we have a target entity, and we're not miles away from the end of
// our current path, and the target moved enough, then recompute our // our current path, and the target moved enough, then recompute our
// whole path // whole path
if (IsFormationMember()) if (IsFormationMember())
CheckTargetMovement(pos, CHECK_TARGET_MOVEMENT_MIN_DELTA_FORMATION); CheckTargetMovement(pos, CHECK_TARGET_MOVEMENT_MIN_DELTA_FORMATION);
else else
CheckTargetMovement(pos, CHECK_TARGET_MOVEMENT_MIN_DELTA); CheckTargetMovement(pos, CHECK_TARGET_MOVEMENT_MIN_DELTA);
} }
} }
}
}
bool CCmpUnitMotion::ComputeTargetPosition(CFixedVector2D& out) const bool CCmpUnitMotion::ComputeTargetPosition(CFixedVector2D& out) const
{ {
if (m_MoveRequest.m_Entity == INVALID_ENTITY) if (m_MoveRequest.m_Entity == INVALID_ENTITY)
return false; return false;
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), m_MoveRequest.m_Entity); CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), m_MoveRequest.m_Entity);
if (!cmpPosition || !cmpPosition->IsInWorld()) if (!cmpPosition || !cmpPosition->IsInWorld())
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