From: terencehill Date: Sat, 26 May 2018 21:40:25 +0000 (+0200) Subject: Bot AI: smooth walk direction instead of aim direction when bot crosses a waypoint... X-Git-Tag: xonotic-v0.8.5~1923^2~47 X-Git-Url: https://git.rm.cloudns.org/?a=commitdiff_plain;h=52988eea404a510fa1dd7193535fbe33bf9aeb8c;p=xonotic%2Fxonotic-data.pk3dir.git Bot AI: smooth walk direction instead of aim direction when bot crosses a waypoint, for a more natural and controlled movement. Avoid smoothing and shortening path if there is an obstacle that requires a jump; it greatly improves bot movement on paths with a U turn and a climb --- diff --git a/qcsrc/server/bot/default/aim.qc b/qcsrc/server/bot/default/aim.qc index 5d74a8f06..a742071c4 100644 --- a/qcsrc/server/bot/default/aim.qc +++ b/qcsrc/server/bot/default/aim.qc @@ -180,6 +180,8 @@ void bot_aimdir(entity this, vector v, float maxfiredeviation) float dist, delta_t, blend; vector desiredang, diffang; + this.bot_aimdir_executed = true; + //dprint("aim ", this.netname, ": old:", vtos(this.v_angle)); // make sure v_angle is sane first this.v_angle_y = this.v_angle.y - floor(this.v_angle.y / 360) * 360; diff --git a/qcsrc/server/bot/default/aim.qh b/qcsrc/server/bot/default/aim.qh index b8b35f1c2..1eb71bc7f 100644 --- a/qcsrc/server/bot/default/aim.qh +++ b/qcsrc/server/bot/default/aim.qh @@ -59,6 +59,7 @@ vector shotdir; .vector lag5_vec3; .vector lag5_vec4; +.bool bot_aimdir_executed; .float bot_badaimtime; .float bot_aimthinktime; .float bot_prevaimtime; diff --git a/qcsrc/server/bot/default/havocbot/havocbot.qc b/qcsrc/server/bot/default/havocbot/havocbot.qc index 26ded65e3..1aa305ab3 100644 --- a/qcsrc/server/bot/default/havocbot/havocbot.qc +++ b/qcsrc/server/bot/default/havocbot/havocbot.qc @@ -104,6 +104,9 @@ void havocbot_ai(entity this) } havocbot_aim(this); lag_update(this); + + this.bot_aimdir_executed = false; + if (this.bot_aimtarg) { this.aistatus |= AI_STATUS_ATTACKING; @@ -140,48 +143,17 @@ void havocbot_ai(entity this) { this.aistatus |= AI_STATUS_ROAMING; this.aistatus &= ~AI_STATUS_ATTACKING; - - vector now, next; - float aimdistance,skillblend,distanceblend,blend; - - vector v = get_closer_dest(this.goalcurrent, this.origin); - if(this.goalcurrent.wpisbox) - { - // avoid a glitch when bot is teleported but teleport waypoint isn't removed yet - if(this.goalstack02 && this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT - && this.lastteleporttime > 0 && time - this.lastteleporttime < 0.15) - v = (this.goalstack02.absmin + this.goalstack02.absmax) * 0.5; - // aim to teleport origin if bot is inside teleport waypoint but hasn't touched the real teleport yet - else if(boxesoverlap(this.goalcurrent.absmin, this.goalcurrent.absmax, this.origin, this.origin)) - v = this.goalcurrent.origin; - } - next = now = v - (this.origin + this.view_ofs); - aimdistance = vlen(now); - - //dprint(this.goalstack01.classname,etos(this.goalstack01),"\n"); - if( - this.goalstack01 != this && this.goalstack01 && !wasfreed(this.goalstack01) && ((this.aistatus & AI_STATUS_RUNNING) == 0) && - !(this.goalcurrent.wpflags & WAYPOINTFLAG_TELEPORT) - ) - next = ((this.goalstack01.absmin + this.goalstack01.absmax) * 0.5) - (this.origin + this.view_ofs); - - skillblend=bound(0,(skill+this.bot_moveskill-2.5)*0.5,1); //lower skill player can't preturn - distanceblend=bound(0,aimdistance/autocvar_bot_ai_keyboard_distance,1); - blend = skillblend * (1-distanceblend); - //v = (now * (distanceblend) + next * (1-distanceblend)) * (skillblend) + now * (1-skillblend); - //v = now * (distanceblend) * (skillblend) + next * (1-distanceblend) * (skillblend) + now * (1-skillblend); - //v = now * ((1-skillblend) + (distanceblend) * (skillblend)) + next * (1-distanceblend) * (skillblend); - v = now + blend * (next - now); - //dprint(etos(this), " "); - //dprint(vtos(now), ":", vtos(next), "=", vtos(v), " (blend ", ftos(blend), ")\n"); - //v = now * (distanceblend) + next * (1-distanceblend); - if (this.waterlevel < WATERLEVEL_SWIMMING) - v.z = 0; - //dprint("walk at:", vtos(v), "\n"); - //te_lightning2(NULL, this.origin, this.goalcurrent.origin); - bot_aimdir(this, v, -1); } + havocbot_movetogoal(this); + if (!this.bot_aimdir_executed && this.goalcurrent) + { + // Heading + vector dir = get_closer_dest(this.goalcurrent, this.origin); + dir -= this.origin + this.view_ofs; + dir.z = 0; + bot_aimdir(this, dir, -1); + } // if the bot is not attacking, consider reloading weapons if (!(this.aistatus & AI_STATUS_ATTACKING)) @@ -488,6 +460,7 @@ void havocbot_movetogoal(entity this) vector flatdir; vector evadeobstacle; vector evadelava; + float dodge_enemy_factor = 1; float maxspeed; //float dist; vector dodge; @@ -939,14 +912,18 @@ void havocbot_movetogoal(entity this) // jump if going toward an obstacle that doesn't look like stairs we // can walk up directly vector deviation = '0 0 0'; - if (this.velocity) + float current_speed = vlen(vec2(this.velocity)); + if (current_speed < maxspeed * 0.2) + current_speed = maxspeed * 0.2; + else { deviation = vectoangles(diff) - vectoangles(this.velocity); while (deviation.y < -180) deviation.y += 360; while (deviation.y > 180) deviation.y -= 360; } + float turning = false; vector flat_diff = vec2(diff); - offset = max(32, vlen(vec2(this.velocity)) * cos(deviation.y * DEG2RAD) * 0.2) * flatdir; + offset = max(32, current_speed * cos(deviation.y * DEG2RAD) * 0.3) * flatdir; vector actual_destorg = this.origin + offset; if (!this.goalstack01 || this.goalcurrent.wpflags & (WAYPOINTFLAG_TELEPORT | WAYPOINTFLAG_LADDER)) { @@ -973,31 +950,44 @@ void havocbot_movetogoal(entity this) else actual_destorg = vec2(destorg) + dist * next_dir; actual_destorg.z = this.origin.z; - + turning = true; } - tracebox(this.origin, this.mins, this.maxs, actual_destorg, false, this); - if (trace_fraction < 1) - if (trace_plane_normal.z < 0.7) + LABEL(jump_check); + dir = flatdir = normalize(actual_destorg - this.origin); + + if (turning || fabs(deviation.y) < 50) // don't even try to jump if deviation is too high { - s = trace_fraction; - tracebox(this.origin + stepheightvec, this.mins, this.maxs, actual_destorg + stepheightvec, false, this); - if (trace_fraction < s + 0.01) - if (trace_plane_normal.z < 0.7) + tracebox(this.origin, this.mins, this.maxs, actual_destorg, false, this); + if (trace_fraction < 1 && trace_plane_normal.z < 0.7) { s = trace_fraction; - // don't artificially reduce max jump height in real-time - // (jumpstepheightvec is reduced a bit to make the jumps easy in tracewalk) - vector jump_height = (IS_ONGROUND(this)) ? stepheightvec + jumpheight_vec : jumpstepheightvec; - tracebox(this.origin + jump_height, this.mins, this.maxs, actual_destorg + jump_height, false, this); - if (trace_fraction > s) - PHYS_INPUT_BUTTON_JUMP(this) = true; - else + tracebox(this.origin + stepheightvec, this.mins, this.maxs, actual_destorg + stepheightvec, false, this); + if (trace_fraction < s + 0.01 && trace_plane_normal.z < 0.7) { - jump_height = stepheightvec + jumpheight_vec / 2; + // found an obstacle + if (turning && fabs(deviation.y) > 5) + { + // check if the obstacle is still there without turning + actual_destorg = destorg; + turning = false; + this.bot_tracewalk_time = time + 0.25; + goto jump_check; + } + s = trace_fraction; + // don't artificially reduce max jump height in real-time + // (jumpstepheightvec is reduced a bit to make the jumps easy in tracewalk) + vector jump_height = (IS_ONGROUND(this)) ? stepheightvec + jumpheight_vec : jumpstepheightvec; tracebox(this.origin + jump_height, this.mins, this.maxs, actual_destorg + jump_height, false, this); if (trace_fraction > s) PHYS_INPUT_BUTTON_JUMP(this) = true; + else + { + jump_height = stepheightvec + jumpheight_vec / 2; + tracebox(this.origin + jump_height, this.mins, this.maxs, actual_destorg + jump_height, false, this); + if (trace_fraction > s) + PHYS_INPUT_BUTTON_JUMP(this) = true; + } } } } @@ -1109,33 +1099,57 @@ void havocbot_movetogoal(entity this) dodge = havocbot_dodge(this); if (dodge) dodge *= bound(0, 0.5 + (skill + this.bot_dodgeskill) * 0.1, 1); + dodge += evadeobstacle + evadelava; evadelava = evadelava * bound(1,3-(skill+this.bot_dodgeskill),3); //Noobs fear lava a lot and take more distance from it if (this.enemy) { traceline(this.origin, (this.enemy.absmin + this.enemy.absmax) * 0.5, true, NULL); if (IS_PLAYER(trace_ent)) - dir = dir * bound(0, (skill + this.bot_dodgeskill) / 7, 1); + dodge_enemy_factor = bound(0, (skill + this.bot_dodgeskill) / 7, 1); } - - dir = normalize(dir + dodge + evadeobstacle + evadelava); // this.bot_dodgevector = dir; // this.bot_dodgevector_jumpbutton = PHYS_INPUT_BUTTON_JUMP(this); } + float ladder_zdir = 0; if(time < this.ladder_time) { if(this.goalcurrent.origin.z + this.goalcurrent.mins.z > this.origin.z + this.mins.z) { if(this.origin.z + this.mins.z < this.ladder_entity.origin.z + this.ladder_entity.maxs.z) - dir.z = 1; + ladder_zdir = 1; } else { if(this.origin.z + this.mins.z > this.ladder_entity.origin.z + this.ladder_entity.mins.z) - dir.z = -1; + ladder_zdir = -1; + } + if (ladder_zdir) + { + dir.z = ladder_zdir * 1.3; + dir = normalize(dir); } } + if (this.goalcurrent.wpisbox + && boxesoverlap(this.goalcurrent.absmin, this.goalcurrent.absmax, this.origin, this.origin)) + { + // bot is inside teleport waypoint but hasn't touched the real teleport yet + // head to teleport origin + dir = (this.goalcurrent.origin - this.origin); + dir.z = 0; + dir = normalize(dir); + } + + if (!this.bot_aimdir_executed) + bot_aimdir(this, dir, -1); + + if (!ladder_zdir) + { + dir *= dodge_enemy_factor; + dir = normalize(dir + dodge); + } + //dir = this.bot_dodgevector; //if (this.bot_dodgevector_jumpbutton) // PHYS_INPUT_BUTTON_JUMP(this) = true; @@ -1489,15 +1503,19 @@ float havocbot_moveto(entity this, vector pos) if(autocvar_bot_debug_goalstack) debuggoalstack(this); - // Heading - vector dir = get_closer_dest(this.goalcurrent, this.origin); - dir = dir - (this.origin + this.view_ofs); - dir.z = 0; - bot_aimdir(this, dir, -1); // Go! havocbot_movetogoal(this); + if (!this.bot_aimdir_executed && this.goalcurrent) + { + // Heading + vector dir = get_closer_dest(this.goalcurrent, this.origin); + dir -= this.origin + this.view_ofs; + dir.z = 0; + bot_aimdir(this, dir, -1); + } + if(this.aistatus & AI_STATUS_WAYPOINT_PERSONAL_REACHED) { // Step 5: Waypoint reached