From 39ed87570bdb2f86969d4be821c94b722dc71179 Mon Sep 17 00:00:00 2001 From: Joe Ludwig Date: Wed, 26 Jun 2013 15:22:04 -0700 Subject: First version of the SOurce SDK 2013 --- mp/src/game/server/ai_movesolver.cpp | 410 +++++++++++++++++++++++++++++++++++ 1 file changed, 410 insertions(+) create mode 100644 mp/src/game/server/ai_movesolver.cpp (limited to 'mp/src/game/server/ai_movesolver.cpp') diff --git a/mp/src/game/server/ai_movesolver.cpp b/mp/src/game/server/ai_movesolver.cpp new file mode 100644 index 00000000..63d2a7d1 --- /dev/null +++ b/mp/src/game/server/ai_movesolver.cpp @@ -0,0 +1,410 @@ +//========= Copyright Valve Corporation, All rights reserved. ============// +// +// Purpose: +// +// $NoKeywords: $ +//=============================================================================// + +#include "cbase.h" + +#include "ai_movesolver.h" +#include "ndebugoverlay.h" + +// memdbgon must be the last include file in a .cpp file!!! +#include "tier0/memdbgon.h" + +//----------------------------------------------------------------------------- + +inline float round( float f ) +{ + return (float)( (int)( f + 0.5 ) ); +} + +//----------------------------------------------------------------------------- +// CAI_MoveSolver +//----------------------------------------------------------------------------- + +// The epsilon used by the solver +const float AIMS_EPS = 0.01; + + +//----------------------------------------------------------------------------- +// Visualization +//----------------------------------------------------------------------------- +void CAI_MoveSolver::VisualizeRegulations( const Vector& origin ) +{ + if ( m_Regulations.Count() ) + { + CAI_MoveSuggestions regulations; + regulations.AddVectorToTail( m_Regulations ); + NormalizeSuggestions( ®ulations[0], (®ulations[0]) + regulations.Count() ); + + Vector side1, mid, side2; + for (int i = regulations.Count(); --i >= 0; ) + { + // Compute the positions of the angles... + float flMinAngle = regulations[i].arc.center - regulations[i].arc.span * 0.5f; + float flMaxAngle = regulations[i].arc.center + regulations[i].arc.span * 0.5f; + + side1 = UTIL_YawToVector( flMinAngle ); + side2 = UTIL_YawToVector( flMaxAngle ); + mid = UTIL_YawToVector( regulations[i].arc.center ); + + // Stronger weighted ones are bigger + if ( regulations[i].weight < 0 ) + { + float flLength = 10 + 40 * ( regulations[i].weight * -1.0); + side1 *= flLength; + side2 *= flLength; + mid *= flLength; + + side1 += origin; + side2 += origin; + mid += origin; + + NDebugOverlay::Triangle(origin, mid, side1, 255, 0, 0, 48, true, 0.1f ); + NDebugOverlay::Triangle(origin, side2, mid, 255, 0, 0, 48, true, 0.1f ); + } + } + } +} + + +//------------------------------------- +// Purpose: The actual solver function. Reweights according to type and sums +// all the suggestions, identifying the best. +//------------------------------------- +bool CAI_MoveSolver::Solve( const AI_MoveSuggestion_t *pSuggestions, int nSuggestions, AI_MoveSolution_t *pResult) +{ + //--------------------------------- + // + // Quick out + // + if ( !nSuggestions ) + return false; + + if ( nSuggestions == 1 && m_Regulations.Count() == 0 && pSuggestions->type == AIMST_MOVE ) + { + pResult->dir = pSuggestions->arc.center; + return true; + } + + //--------------------------------- + // + // Setup + // + CAI_MoveSuggestions suggestions; + + suggestions.EnsureCapacity( m_Regulations.Count() + nSuggestions ); + + suggestions.CopyArray( pSuggestions, nSuggestions); + suggestions.AddVectorToTail( m_Regulations ); + + // Initialize the solver + const int NUM_SOLUTIONS = 120; + const int SOLUTION_ANG = 360 / NUM_SOLUTIONS; + + COMPILE_TIME_ASSERT( ( 360 % NUM_SOLUTIONS ) == 0 ); + + struct Solution_t + { + // The sum bias + float bias; + float highBias; + AI_MoveSuggestion_t *pHighSuggestion; + }; + + Solution_t solutions[NUM_SOLUTIONS] = { 0 }; + + //--------------------------------- + + // The first thing we do is reweight and normalize the weights into a range of [-1..1], where + // a negative weight is a repulsion. This becomes a bias for the solver. + // @TODO (toml 06-18-02): this can be made sligtly more optimal by precalculating regulation adjusted weights + Assert( suggestions.Count() >= 1 ); + NormalizeSuggestions( &suggestions[0], (&suggestions[0]) + suggestions.Count() ); + + // + // Add the biased suggestions to the solutions + // + for ( int iSuggestion = 0; iSuggestion < suggestions.Count(); ++iSuggestion ) + { + AI_MoveSuggestion_t ¤t = suggestions[iSuggestion]; + + // Convert arc values to solution indices relative to right post. Right is angle down, left is angle up. + float halfSpan = current.arc.span * 0.5; + int center = round( ( halfSpan * NUM_SOLUTIONS ) / 360 ); + int left = ( current.arc.span * NUM_SOLUTIONS ) / 360; + + float angRight = current.arc.center - halfSpan; + + if (angRight < 0.0) + angRight += 360; + + int base = ( angRight * NUM_SOLUTIONS ) / 360; + + // Sweep from left to right, summing the bias. For positive suggestions, + // the bias is further weighted to favor the center of the arc. + const float positiveDegradePer180 = 0.05; // i.e., lose 5% of weight by the time hit 180 degrees off center + const float positiveDegrade = ( positiveDegradePer180 / ( NUM_SOLUTIONS * 0.5 ) ); + + for ( int i = 0; i < left + 1; ++i ) + { + float bias = 0.0; + + if ( current.weight > 0) + { + int iOffset = center - i; + float degrade = abs( iOffset ) * positiveDegrade; + + if ( ( (current.flags & AIMS_FAVOR_LEFT ) && i > center ) || + ( (current.flags & AIMS_FAVOR_RIGHT) && i < center ) ) + { + degrade *= 0.9; + } + + bias = current.weight - ( current.weight * degrade ); + } + else + bias = current.weight; + + int iCurSolution = (base + i) % NUM_SOLUTIONS; + + solutions[iCurSolution].bias += bias; + if ( bias > solutions[iCurSolution].highBias ) + { + solutions[iCurSolution].highBias = bias; + solutions[iCurSolution].pHighSuggestion = ¤t; + } + } + } + + // + // Find the best solution + // + int best = -1; + float biasBest = 0; + + for ( int i = 0; i < NUM_SOLUTIONS; ++i ) + { + if ( solutions[i].bias > biasBest ) + { + best = i; + biasBest = solutions[i].bias; + } + } + + if ( best == -1 ) + return false; // no solution + + // + // Construct the results + // + float result = best * SOLUTION_ANG; + + // If the matching suggestion is within the solution, use that as the result, + // as it is valid and more precise. + const float suggestionCenter = solutions[best].pHighSuggestion->arc.center; + + if ( suggestionCenter > result && suggestionCenter <= result + SOLUTION_ANG ) + result = suggestionCenter; + + pResult->dir = result; + + return true; +} + +//------------------------------------- +// Purpose: Adjusts the suggestion weights according to the type of the suggestion, +// apply the appropriate sign, ensure values are in expected ranges +//------------------------------------- + +struct AI_MoveSuggWeights +{ + float min; + float max; +}; + +static AI_MoveSuggWeights g_AI_MoveSuggWeights[] = // @TODO (toml 06-18-02): these numbers need tuning +{ + { 0.20, 1.00 }, // AIMST_MOVE + { -0.00, -0.25 }, // AIMST_AVOID_DANGER + { -0.00, -0.25 }, // AIMST_AVOID_OBJECT + { -0.00, -0.25 }, // AIMST_AVOID_NPC + { -0.00, -0.25 }, // AIMST_AVOID_WORLD + { -1.00, -1.00 }, // AIMST_NO_KNOWLEDGE + { -0.60, -0.60 }, // AIMST_OSCILLATION_DETERRANCE + { 0.00, 0.00 }, // AIMST_INVALID +}; + +void CAI_MoveSolver::NormalizeSuggestions( AI_MoveSuggestion_t *pBegin, AI_MoveSuggestion_t *pEnd ) +{ + while ( pBegin != pEnd ) + { + const float min = g_AI_MoveSuggWeights[pBegin->type].min; + const float max = g_AI_MoveSuggWeights[pBegin->type].max; + + Assert( pBegin->weight >= -AIMS_EPS && pBegin->weight <= 1.0 + AIMS_EPS ); + + if ( pBegin->weight < AIMS_EPS ) // zero normalizes to zero + pBegin->weight = 0.0; + else + pBegin->weight = ( ( max - min ) * pBegin->weight ) + min; + + while (pBegin->arc.center < 0) + pBegin->arc.center += 360; + + while (pBegin->arc.center >= 360) + pBegin->arc.center -= 360; + + ++pBegin; + } +} + +//------------------------------------- + +bool CAI_MoveSolver::HaveRegulationForObstacle( CBaseEntity *pEntity) +{ + for ( int i = 0; i < m_Regulations.Count(); ++i ) + { + if ( m_Regulations[i].hObstacleEntity != NULL && + pEntity == m_Regulations[i].hObstacleEntity.Get() ) + { + return true; + } + } + return false; +} + +//----------------------------------------------------------------------------- +// +// Commands and tests +// + +#ifdef DEBUG +CON_COMMAND(ai_test_move_solver, "Tests the AI move solver system") +{ +#ifdef DEBUG + const float EPS = 0.001; +#endif + DevMsg( "Beginning move solver tests...\n" ); + + CAI_MoveSolver solver; + AI_MoveSolution_t solution; + int i; + + // + // Value in, no regulations, should yield value out + // + { + DevMsg( "Simple... " ); + + for (i = 0; i < 360; ++i) + { + Assert( solver.Solve( AI_MoveSuggestion_t( AIMST_MOVE, 1, i, 180 ), &solution ) ); + Assert( solution.dir == (float)i ); + + } + + DevMsg( "pass.\n" ); + solver.ClearRegulations(); + } + + // + // Two values in, should yield the first + // + { + DevMsg( "Two positive... " ); + + AI_MoveSuggestion_t suggestions[2]; + + suggestions[0].Set( AIMST_MOVE, 1.0, 180, 100 ); + suggestions[1].Set( AIMST_MOVE, 0.5, 0, 100 ); + + Assert( solver.Solve( suggestions, 2, &solution ) ); + Assert( solution.dir == (float)suggestions[0].arc.center ); + + + DevMsg( "pass.\n" ); + solver.ClearRegulations(); + } + + // + // Two values in, first regulated, should yield the second + // + { + DevMsg( "Avoid one of two... " ); + + AI_MoveSuggestion_t suggestions[2]; + + solver.AddRegulation(AI_MoveSuggestion_t( AIMST_AVOID_OBJECT, 1, 260, 60 ) ); + + suggestions[0].Set( AIMST_MOVE, 1.0, 270, 45 ); + suggestions[1].Set( AIMST_MOVE, 1.0, 0, 45 ); + + Assert( solver.Solve( suggestions, 2, &solution ) ); + Assert( solution.dir == (float)suggestions[1].arc.center ); + + + DevMsg( "pass.\n" ); + solver.ClearRegulations(); + } + + // + // No solution + // + { + DevMsg( "No solution... " ); + + AI_MoveSuggestion_t suggestions[2]; + + suggestions[0].Set( AIMST_MOVE, 1.0, 270, 90 ); + suggestions[1].Set( AIMST_AVOID_OBJECT, 1.0, 260, 180 ); + + Assert( !solver.Solve( suggestions, 2, &solution ) ); + + DevMsg( "pass.\n" ); + solver.ClearRegulations(); + } + + // + // Nearest solution, in tolerance + // + { + DevMsg( "Nearest solution, in tolerance... " ); + + AI_MoveSuggestion_t suggestions[2]; + + suggestions[0].Set( AIMST_MOVE, 1.0, 278, 90 ); + suggestions[1].Set( AIMST_AVOID_OBJECT, 1.0, 260, 24 ); + + Assert( solver.Solve( suggestions, 2, &solution ) ); + Assert( solution.dir == (float)suggestions[0].arc.center ); + + DevMsg( "pass.\n" ); + solver.ClearRegulations(); + } + + // + // Nearest solution + // + { + DevMsg( "Nearest solution... " ); + + AI_MoveSuggestion_t suggestions[2]; + + suggestions[0].Set( AIMST_MOVE, 1.0, 270, 90 ); + suggestions[1].Set( AIMST_AVOID_OBJECT, 1.0, 260, 40 ); + + Assert( solver.Solve( suggestions, 2, &solution ) ); + Assert( solution.dir - 282 < EPS ); // given 60 solutions + + DevMsg( "pass.\n" ); + solver.ClearRegulations(); + } + +} +#endif + +//============================================================================= + -- cgit v1.2.3