Torque3D/Engine/source/T3D/aiPlayer.cpp

//-----------------------------------------------------------------------------
// Copyright (c) 2012 GarageGames, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//-----------------------------------------------------------------------------

#include "platform/platform.h"
#include "T3D/aiPlayer.h"

#include "console/consoleInternal.h"
#include "math/mMatrix.h"
#include "T3D/gameBase/moveManager.h"
#include "console/engineAPI.h"

static U32 sAIPlayerLoSMask = TerrainObjectType | StaticShapeObjectType | StaticObjectType;

IMPLEMENT_CO_NETOBJECT_V1(AIPlayer);

ConsoleDocClass( AIPlayer,
	"@brief A Player object not controlled by conventional input, but by an AI engine.\n\n"

	"The AIPlayer provides a Player object that may be controlled from script.  You control "
   "where the player moves and how fast.  You may also set where the AIPlayer is aiming at "
   "-- either a location or another game object.\n\n"

   "The AIPlayer class does not have a datablock of its own.  It makes use of the PlayerData "
   "datablock to define how it looks, etc.  As the AIPlayer is an extension of the Player class "
   "it can mount objects and fire weapons, or mount vehicles and drive them.\n\n"

   "While the PlayerData datablock is used, there are a number of additional callbacks that are "
   "implemented by AIPlayer on the datablock.  These are listed here:\n\n"

   "void onReachDestination(AIPlayer obj) \n"
   "Called when the player has reached its set destination using the setMoveDestination() method.  "
   "The actual point at which this callback is called is when the AIPlayer is within the mMoveTolerance "
   "of the defined destination.\n\n"

   "void onMoveStuck(AIPlayer obj) \n"
   "While in motion, if an AIPlayer has moved less than moveStuckTolerance within a single tick, this "
   "callback is called.  From here you could choose an alternate destination to get the AIPlayer moving "
   "again.\n\n"

   "void onTargetEnterLOS(AIPlayer obj) \n"
   "When an object is being aimed at (following a call to setAimObject()) and the targeted object enters "
   "the AIPlayer's line of sight, this callback is called.  The LOS test is a ray from the AIPlayer's eye "
   "position to the center of the target's bounding box.  The LOS ray test only checks against interiors, "
   "statis shapes, and terrain.\n\n"

   "void onTargetExitLOS(AIPlayer obj) \n"
   "When an object is being aimed at (following a call to setAimObject()) and the targeted object leaves "
   "the AIPlayer's line of sight, this callback is called.  The LOS test is a ray from the AIPlayer's eye "
   "position to the center of the target's bounding box.  The LOS ray test only checks against interiors, "
   "statis shapes, and terrain.\n\n"

	"@tsexample\n"
	"// Create the demo player object\n"
	"%player = new AiPlayer()\n"
	"{\n"
	"	dataBlock = DemoPlayer;\n"
	"	path = \"\";\n"
	"};\n"
	"@endtsexample\n\n"

	"@see Player for a list of all inherited functions, variables, and base description\n"

	"@ingroup AI\n"
	"@ingroup gameObjects\n");
/**
 * Constructor
 */
AIPlayer::AIPlayer()
{
   mMoveDestination.set( 0.0f, 0.0f, 0.0f );
   mMoveSpeed = 1.0f;
   mMoveTolerance = 0.25f;
   mMoveStuckTolerance = 0.01f;
   mMoveStuckTestDelay = 30;
   mMoveStuckTestCountdown = 0;
   mMoveSlowdown = true;
   mMoveState = ModeStop;

   mAimObject = 0;
   mAimLocationSet = false;
   mTargetInLOS = false;
   mAimOffset = Point3F(0.0f, 0.0f, 0.0f);

   mIsAiControlled = true;
}

/**
 * Destructor
 */
AIPlayer::~AIPlayer()
{
}

void AIPlayer::initPersistFields()
{
   addGroup( "AI" );

      addField( "mMoveTolerance", TypeF32, Offset( mMoveTolerance, AIPlayer ), 
         "@brief Distance from destination before stopping.\n\n"
         "When the AIPlayer is moving to a given destination it will move to within "
         "this distance of the destination and then stop.  By providing this tolerance "
         "it helps the AIPlayer from never reaching its destination due to minor obstacles, "
         "rounding errors on its position calculation, etc.  By default it is set to 0.25.\n");

      addField( "moveStuckTolerance", TypeF32, Offset( mMoveStuckTolerance, AIPlayer ), 
         "@brief Distance tolerance on stuck check.\n\n"
         "When the AIPlayer is moving to a given destination, if it ever moves less than "
         "this tolerance during a single tick, the AIPlayer is considered stuck.  At this point "
         "the onMoveStuck() callback is called on the datablock.\n");

      addField( "moveStuckTestDelay", TypeS32, Offset( mMoveStuckTestDelay, AIPlayer ), 
         "@brief The number of ticks to wait before testing if the AIPlayer is stuck.\n\n"
         "When the AIPlayer is asked to move, this property is the number of ticks to wait "
         "before the AIPlayer starts to check if it is stuck.  This delay allows the AIPlayer "
         "to accelerate to full speed without its initial slow start being considered as stuck.\n"
         "@note Set to zero to have the stuck test start immediately.\n");

   endGroup( "AI" );

   Parent::initPersistFields();
}

bool AIPlayer::onAdd()
{
   if (!Parent::onAdd())
      return false;

   // Use the eye as the current position (see getAIMove)
   MatrixF eye;
   getEyeTransform(&eye);
   mLastLocation = eye.getPosition();

   return true;
}

/**
 * Sets the speed at which this AI moves
 *
 * @param speed Speed to move, default player was 10
 */
void AIPlayer::setMoveSpeed( F32 speed )
{
   mMoveSpeed = getMax(0.0f, getMin( 1.0f, speed ));
}

/**
 * Stops movement for this AI
 */
void AIPlayer::stopMove()
{
   mMoveState = ModeStop;
}

/**
 * Sets how far away from the move location is considered
 * "on target"
 *
 * @param tolerance Movement tolerance for error
 */
void AIPlayer::setMoveTolerance( const F32 tolerance )
{
   mMoveTolerance = getMax( 0.1f, tolerance );
}

/**
 * Sets the location for the bot to run to
 *
 * @param location Point to run to
 */
void AIPlayer::setMoveDestination( const Point3F &location, bool slowdown )
{
   mMoveDestination = location;
   mMoveState = ModeMove;
   mMoveSlowdown = slowdown;
   mMoveStuckTestCountdown = mMoveStuckTestDelay;
}

/**
 * Sets the object the bot is targeting
 *
 * @param targetObject The object to target
 */
void AIPlayer::setAimObject( GameBase *targetObject )
{
   mAimObject = targetObject;
   mTargetInLOS = false;
   mAimOffset = Point3F(0.0f, 0.0f, 0.0f);
}

/**
 * Sets the object the bot is targeting and an offset to add to target location
 *
 * @param targetObject The object to target
 * @param offset       The offest from the target location to aim at
 */
void AIPlayer::setAimObject( GameBase *targetObject, Point3F offset )
{
   mAimObject = targetObject;
   mTargetInLOS = false;
   mAimOffset = offset;
}

/**
 * Sets the location for the bot to aim at
 *
 * @param location Point to aim at
 */
void AIPlayer::setAimLocation( const Point3F &location )
{
   mAimObject = 0;
   mAimLocationSet = true;
   mAimLocation = location;
   mAimOffset = Point3F(0.0f, 0.0f, 0.0f);
}

/**
 * Clears the aim location and sets it to the bot's
 * current destination so he looks where he's going
 */
void AIPlayer::clearAim()
{
   mAimObject = 0;
   mAimLocationSet = false;
   mAimOffset = Point3F(0.0f, 0.0f, 0.0f);
}

/**
 * This method calculates the moves for the AI player
 *
 * @param movePtr Pointer to move the move list into
 */
bool AIPlayer::getAIMove(Move *movePtr)
{
   *movePtr = NullMove;

   // Use the eye as the current position.
   MatrixF eye;
   getEyeTransform(&eye);
   Point3F location = eye.getPosition();
   Point3F rotation = getRotation();

   // Orient towards the aim point, aim object, or towards
   // our destination.
   if (mAimObject || mAimLocationSet || mMoveState != ModeStop) 
   {
      // Update the aim position if we're aiming for an object
      if (mAimObject)
         mAimLocation = mAimObject->getPosition() + mAimOffset;
      else
         if (!mAimLocationSet)
            mAimLocation = mMoveDestination;

      F32 xDiff = mAimLocation.x - location.x;
      F32 yDiff = mAimLocation.y - location.y;

      if (!mIsZero(xDiff) || !mIsZero(yDiff)) 
      {
         // First do Yaw
         // use the cur yaw between -Pi and Pi
         F32 curYaw = rotation.z;
         while (curYaw > M_2PI_F)
            curYaw -= M_2PI_F;
         while (curYaw < -M_2PI_F)
            curYaw += M_2PI_F;

         // find the yaw offset
         F32 newYaw = mAtan2( xDiff, yDiff );
         F32 yawDiff = newYaw - curYaw;

         // make it between 0 and 2PI
         if( yawDiff < 0.0f )
            yawDiff += M_2PI_F;
         else if( yawDiff >= M_2PI_F )
            yawDiff -= M_2PI_F;

         // now make sure we take the short way around the circle
         if( yawDiff > M_PI_F )
            yawDiff -= M_2PI_F;
         else if( yawDiff < -M_PI_F )
            yawDiff += M_2PI_F;

         movePtr->yaw = yawDiff;

         // Next do pitch.
         if (!mAimObject && !mAimLocationSet) 
         {
            // Level out if were just looking at our next way point.
            Point3F headRotation = getHeadRotation();
            movePtr->pitch = -headRotation.x;
         }
         else 
         {
            // This should be adjusted to run from the
            // eye point to the object's center position. Though this
            // works well enough for now.
            F32 vertDist = mAimLocation.z - location.z;
            F32 horzDist = mSqrt(xDiff * xDiff + yDiff * yDiff);
            F32 newPitch = mAtan2( horzDist, vertDist ) - ( M_PI_F / 2.0f );
            if (mFabs(newPitch) > 0.01f) 
            {
               Point3F headRotation = getHeadRotation();
               movePtr->pitch = newPitch - headRotation.x;
            }
         }
      }
   }
   else 
   {
      // Level out if we're not doing anything else
      Point3F headRotation = getHeadRotation();
      movePtr->pitch = -headRotation.x;
   }

   // Move towards the destination
   if (mMoveState != ModeStop) 
   {
      F32 xDiff = mMoveDestination.x - location.x;
      F32 yDiff = mMoveDestination.y - location.y;

      // Check if we should mMove, or if we are 'close enough'
      if (mFabs(xDiff) < mMoveTolerance && mFabs(yDiff) < mMoveTolerance) 
      {
         mMoveState = ModeStop;
         throwCallback("onReachDestination");
      }
      else 
      {
         // Build move direction in world space
         if (mIsZero(xDiff))
            movePtr->y = (location.y > mMoveDestination.y) ? -1.0f : 1.0f;
         else
            if (mIsZero(yDiff))
               movePtr->x = (location.x > mMoveDestination.x) ? -1.0f : 1.0f;
            else
               if (mFabs(xDiff) > mFabs(yDiff)) 
               {
                  F32 value = mFabs(yDiff / xDiff);
                  movePtr->y = (location.y > mMoveDestination.y) ? -value : value;
                  movePtr->x = (location.x > mMoveDestination.x) ? -1.0f : 1.0f;
               }
               else 
               {
                  F32 value = mFabs(xDiff / yDiff);
                  movePtr->x = (location.x > mMoveDestination.x) ? -value : value;
                  movePtr->y = (location.y > mMoveDestination.y) ? -1.0f : 1.0f;
               }

         // Rotate the move into object space (this really only needs
         // a 2D matrix)
         Point3F newMove;
         MatrixF moveMatrix;
         moveMatrix.set(EulerF(0.0f, 0.0f, -(rotation.z + movePtr->yaw)));
         moveMatrix.mulV( Point3F( movePtr->x, movePtr->y, 0.0f ), &newMove );
         movePtr->x = newMove.x;
         movePtr->y = newMove.y;

         // Set movement speed.  We'll slow down once we get close
         // to try and stop on the spot...
         if (mMoveSlowdown) 
         {
            F32 speed = mMoveSpeed;
            F32 dist = mSqrt(xDiff*xDiff + yDiff*yDiff);
            F32 maxDist = 5.0f;
            if (dist < maxDist)
               speed *= dist / maxDist;
            movePtr->x *= speed;
            movePtr->y *= speed;

            mMoveState = ModeSlowing;
         }
         else 
         {
            movePtr->x *= mMoveSpeed;
            movePtr->y *= mMoveSpeed;

            mMoveState = ModeMove;
         }

         if (mMoveStuckTestCountdown > 0)
            --mMoveStuckTestCountdown;
         else
         {
            // We should check to see if we are stuck...
            F32 locationDelta = (location - mLastLocation).len();
            if (locationDelta < mMoveStuckTolerance && mDamageState == Enabled) 
            {
               // If we are slowing down, then it's likely that our location delta will be less than
               // our move stuck tolerance. Because we can be both slowing and stuck
               // we should TRY to check if we've moved. This could use better detection.
               if ( mMoveState != ModeSlowing || locationDelta == 0 )
               {
                  mMoveState = ModeStuck;
                  throwCallback("onMoveStuck");
               }
            }
         }
      }
   }

   // Test for target location in sight if it's an object. The LOS is
   // run from the eye position to the center of the object's bounding,
   // which is not very accurate.
   if (mAimObject)
   {
      if (checkInLos(mAimObject.getPointer()))
      {
         if (!mTargetInLOS)
         {
            throwCallback("onTargetEnterLOS");
            mTargetInLOS = true;
         }
      }
      else if (mTargetInLOS)
      {
         throwCallback("onTargetExitLOS");
         mTargetInLOS = false;
      }
   }

   // Replicate the trigger state into the move so that
   // triggers can be controlled from scripts.
   for( U32 i = 0; i < MaxMountedImages; i++ )
      movePtr->trigger[i] = getImageTriggerState(i);

   mLastLocation = location;

   return true;
}

/**
 * Utility function to throw callbacks. Callbacks always occure
 * on the datablock class.
 *
 * @param name Name of script function to call
 */
void AIPlayer::throwCallback( const char *name )
{
   Con::executef(getDataBlock(), name, getIdString());
}


// --------------------------------------------------------------------------------------------
// Console Functions
// --------------------------------------------------------------------------------------------

DefineEngineMethod( AIPlayer, stop, void, ( ),,
   "@brief Tells the AIPlayer to stop moving.\n\n")
{
   object->stopMove();
}

DefineEngineMethod( AIPlayer, clearAim, void, ( ),,
   "@brief Use this to stop aiming at an object or a point.\n\n"
   
   "@see setAimLocation()\n"
   "@see setAimObject()\n")
{
   object->clearAim();
}

DefineEngineMethod( AIPlayer, setMoveSpeed, void, ( F32 speed ),,
   "@brief Sets the move speed for an AI object.\n\n"

   "@param speed A speed multiplier between 0.0 and 1.0.  "
   "This is multiplied by the AIPlayer's base movement rates (as defined in "
   "its PlayerData datablock)\n\n"
   
   "@see getMoveDestination()\n")
{
	object->setMoveSpeed(speed);
}

DefineEngineMethod( AIPlayer, getMoveSpeed, F32, ( ),,
   "@brief Gets the move speed of an AI object.\n\n"

   "@return A speed multiplier between 0.0 and 1.0.\n\n"

   "@see setMoveSpeed()\n")
{
   return object->getMoveSpeed();
}

DefineEngineMethod( AIPlayer, setMoveDestination, void, ( Point3F goal, bool slowDown ), ( true ),
   "@brief Tells the AI to move to the location provided\n\n"

   "@param goal Coordinates in world space representing location to move to.\n"
   "@param slowDown A boolean value. If set to true, the bot will slow down "
   "when it gets within 5-meters of its move destination. If false, the bot "
   "will stop abruptly when it reaches the move destination. By default, this is true.\n\n"

   "@note Upon reaching a move destination, the bot will clear its move destination and "
   "calls to getMoveDestination will return \"0 0 0\"."
   
   "@see getMoveDestination()\n")
{
   object->setMoveDestination( goal, slowDown);
}

DefineEngineMethod( AIPlayer, getMoveDestination, Point3F, (),,
   "@brief Get the AIPlayer's current destination.\n\n"

   "@return Returns a point containing the \"x y z\" position "
   "of the AIPlayer's current move destination. If no move destination "
   "has yet been set, this returns \"0 0 0\"."
   
   "@see setMoveDestination()\n")
{
	return object->getMoveDestination();
}

DefineEngineMethod( AIPlayer, setAimLocation, void, ( Point3F target ),,
   "@brief Tells the AIPlayer to aim at the location provided.\n\n"

   "@param target An \"x y z\" position in the game world to target.\n\n"
   
   "@see getAimLocation()\n")
{
	object->setAimLocation(target);
}

DefineEngineMethod( AIPlayer, getAimLocation, Point3F, (),,
   "@brief Returns the point the AIPlayer is aiming at.\n\n"

   "This will reflect the position set by setAimLocation(), "
   "or the position of the object that the bot is now aiming at.  "
   "If the bot is not aiming at anything, this value will "
   "change to whatever point the bot's current line-of-sight intercepts."

   "@return World space coordinates of the object AI is aiming at. Formatted as \"X Y Z\".\n\n"
   
   "@see setAimLocation()\n"
   "@see setAimObject()\n")
{
	return object->getAimLocation();
}

ConsoleDocFragment _setAimObject(
   "@brief Sets the AIPlayer's target object.  May optionally set an offset from target location\n\n"

   "@param targetObject The object to target\n"
   "@param offset Optional three-element offset vector which will be added to the position of the aim object.\n\n"

   "@tsexample\n"
   "// Without an offset\n"
   "%ai.setAimObject(%target);\n\n"
   "// With an offset\n"
   "// Cause our AI object to aim at the target\n"
   "// offset (0, 0, 1) so you don't aim at the target's feet\n"
   "%ai.setAimObject(%target, \"0 0 1\");\n"
   "@endtsexample\n\n"
   
   "@see getAimLocation()\n"
   "@see getAimObject()\n"
   "@see clearAim()\n",

   "AIPlayer",
   "void setAimObject(GameBase targetObject, Point3F offset);"
);

DefineConsoleMethod( AIPlayer, setAimObject, void, ( const char * objName, Point3F offset ), (Point3F::Zero), "( GameBase obj, [Point3F offset] )"
              "Sets the bot's target object. Optionally set an offset from target location."
			  "@hide")
{

   // Find the target
   GameBase *targetObject;
   if( Sim::findObject( objName, targetObject ) )
   {

      object->setAimObject( targetObject, offset );
   }
   else
      object->setAimObject( 0, offset );
}

DefineEngineMethod( AIPlayer, getAimObject, S32, (),,
   "@brief Gets the object the AIPlayer is targeting.\n\n"

   "@return Returns -1 if no object is being aimed at, "
   "or the SimObjectID of the object the AIPlayer is aiming at.\n\n"
   
   "@see setAimObject()\n")
{
	GameBase* obj = object->getAimObject();
   return obj? obj->getId(): -1;
}

bool AIPlayer::checkInLos(GameBase* target, bool _useMuzzle, bool _checkEnabled)
{
   if (!isServerObject()) return false;
   if (!target)
   {
      target = mAimObject.getPointer();
      if (!target)
         return false;
   }
   if (_checkEnabled)
   {
       if (target->getTypeMask() & ShapeBaseObjectType)
       {
           ShapeBase *shapeBaseCheck = static_cast<ShapeBase *>(target);
           if (shapeBaseCheck)
               if (shapeBaseCheck->getDamageState() != Enabled) return false;
       }
       else
           return false;
   }

   RayInfo ri;

   disableCollision();

   S32 mountCount = target->getMountedObjectCount();
   for (S32 i = 0; i < mountCount; i++)
   {
      target->getMountedObject(i)->disableCollision();
   }

   Point3F checkPoint ;
   if (_useMuzzle)
      getMuzzlePointAI(0, &checkPoint );
   else
   {
      MatrixF eyeMat;
      getEyeTransform(&eyeMat);
      eyeMat.getColumn(3, &checkPoint );
   }

   bool hit = !gServerContainer.castRay(checkPoint, target->getBoxCenter(), sAIPlayerLoSMask, &ri);
   enableCollision();

   for (S32 i = 0; i < mountCount; i++)
   {
      target->getMountedObject(i)->enableCollision();
   }
   return hit;
}

DefineEngineMethod(AIPlayer, checkInLos, bool, (ShapeBase* obj,  bool useMuzzle, bool checkEnabled),(NULL, false, false),
   "@brief Check whether an object is in line of sight.\n"
   "@obj Object to check. (If blank, it will check the current target).\n"
   "@useMuzzle Use muzzle position. Otherwise use eye position. (defaults to false).\n"
   "@checkEnabled check whether the object can take damage and if so is still alive.(Defaults to false)\n")
{
   return object->checkInLos(obj, useMuzzle, checkEnabled);
}

bool AIPlayer::checkInFoV(GameBase* target, F32 camFov, bool _checkEnabled)
{
   if (!isServerObject()) return false;
   if (!target)
   {
      target = mAimObject.getPointer();
      if (!target)
         return false;
   }
   if (_checkEnabled)
   {
       if (target->getTypeMask() & ShapeBaseObjectType)
       {
           ShapeBase *shapeBaseCheck = static_cast<ShapeBase *>(target);
           if (shapeBaseCheck)
               if (shapeBaseCheck->getDamageState() != Enabled) return false;
       }
       else
           return false;
   }

   MatrixF cam = getTransform();
   Point3F camPos;
   VectorF camDir;

   cam.getColumn(3, &camPos);
   cam.getColumn(1, &camDir);

   camFov = mDegToRad(camFov) / 2;

   Point3F shapePos = target->getBoxCenter();
   VectorF shapeDir = shapePos - camPos;
   // Test to see if it's within our viewcone, this test doesn't
   // actually match the viewport very well, should consider
   // projection and box test.
   shapeDir.normalize();
   F32 dot = mDot(shapeDir, camDir);
   return (dot > mCos(camFov));
}

DefineEngineMethod(AIPlayer, checkInFoV, bool, (ShapeBase* obj, F32 fov, bool checkEnabled), (NULL, 45.0f, false),
   "@brief Check whether an object is within a specified veiw cone.\n"
   "@obj Object to check. (If blank, it will check the current target).\n"
   "@fov view angle in degrees.(Defaults to 45)\n"
   "@checkEnabled check whether the object can take damage and if so is still alive.(Defaults to false)\n")
{
   return object->checkInFoV(obj, fov, checkEnabled);
}