CharacterMove.cpp

/*
 * Copyright (C) 2006-2010 - Frictional Games
 *
 * This file is part of Penumbra Overture.
 *
 * Penumbra Overture is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Penumbra Overture is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Penumbra Overture.  If not, see <http://www.gnu.org/licenses/>.
 */
#include "StdAfx.h"
#include "CharacterMove.h"

#include "GameEntity.h"
#include "EffectHandler.h"

//////////////////////////////////////////////////////////////////////////
// A STAR CALLBHCK
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

cCharacterAStarCallback::cCharacterAStarCallback(cCharacterMove *apMove)
{
	mbCheckDynamic = false;

	mpMove = apMove;
}

//-----------------------------------------------------------------------

bool cCharacterAStarCallback::CanAddNode(cAINode *apParentNode,cAINode *apChildNode)
{
	if(mbCheckDynamic==false && mpMove->GetMaxDoorToughness()==-1) return true;

	bool bRet = mpMove->GetNodeContainer()->FreePath(apParentNode->GetPosition(),apChildNode->GetPosition(),
												1,0,this);
	//Log("Checking %s -> %s, ret: %d \n",apParentNode->GetName().c_str(), 
	//									apChildNode->GetName().c_str(),bRet?1:0);

	return bRet;
}

//-----------------------------------------------------------------------

bool cCharacterAStarCallback::Intersects(iPhysicsBody *pBody,cPhysicsRayParams *apParams)
{
	//if(pBody->GetCollide()==false) return false;
	
	if(pBody->IsCharacter()) return false;
	if(pBody->GetCollideCharacter()==false) return false;
	
	if(pBody->GetMass() == 0) return false;
	
	iGameEntity *pEntity = static_cast<iGameEntity*>(pBody->GetUserData());
    
	if(pEntity && pEntity->GetType() == eGameEntityType_SwingDoor)
	{
		if(pEntity->GetToughness() >= mpMove->GetMaxDoorToughness()
			&& mpMove->GetMaxDoorToughness() >=0)
		{
			//Log("Door was too strong!\n T: %d Max: %d\n",pEntity->GetToughness(),mpMove->GetMaxDoorToughness());
			return true;
		}

		return false;
	}
	else
	{
		if(pBody->GetMass() < mpMove->mfMaxPushMass) return false;
	}
	

	return true;
}

//-----------------------------------------------------------------------

//////////////////////////////////////////////////////////////////////////
// RAY CALLBHCK
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

void cMoverRayCallback::Reset()
{
	mbIntersection = false;
}

bool cMoverRayCallback::BeforeIntersect(iPhysicsBody *pBody)
{
	if(	pBody->IsCharacter() || pBody->GetCollide()==false || pBody->GetCollideCharacter()==false ||
		pBody->GetMass()>0)
	{
		return false;
	}

	return true;
}

bool cMoverRayCallback::OnIntersect(iPhysicsBody *pBody,cPhysicsRayParams *apParams)
{
	if(	pBody->IsCharacter() || pBody->GetCollide()==false || pBody->GetCollideCharacter()==false ||
		pBody->GetMass()>0)
	{
		return true;
	}

	mbIntersection = true;

	return false;
}


//-----------------------------------------------------------------------


//////////////////////////////////////////////////////////////////////////
// CONSTRUCTORS
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

cCharacterMove::cCharacterMove(cInit *apInit)
{
	mpAStar = NULL;
	mpCharBody = NULL;
	mpContainer = NULL;

	mpInit = apInit;

	mfMaxTurnSpeed = 9999.0f; //The maximum speed the enemy will turn in.
	mfAngleDistTurnMul = 1.0f; //Multiplied with angle distance to determine turn speed.

	mfMinBreakAngle = cMath::ToRad(20.0f); //Minimum angle distance at which break start.
	mfBreakAngleMul = 1.0f; //Multiplied with angle distance to determine break force.

	mbMoving = false;
	mbTurning = false;

	mfTurnSpeed =0;

	mfStuckLimit = 0.3f;
	mfStuckCounter =0;

	mfMaxPushMass = 5;

	mbMoveToNewNode = false;

	mpAStarCallback = hplNew( cCharacterAStarCallback, (this) );

	mvTempStart = 0;
	mvTempEnd =0;

	mlMaxDoorToughness = -1;

	mlMaxNodeDistances = 150;
	mfNodeDistAvg =0;
}

//-----------------------------------------------------------------------

cCharacterMove::~cCharacterMove()
{
	if(mpAStarCallback) hplDelete( mpAStarCallback );
}

//-----------------------------------------------------------------------


//////////////////////////////////////////////////////////////////////////
// PUBLIC METHODS
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

void cCharacterMove::Update(float afTimeStep)
{
	if(mpCharBody->IsActive()==false) return;

	////////////////////////////////////
	//Update Movement
	if(mbMoving)
	{
		cAINode *pCurrentNode = NULL;
		cVector3f vGoal;
		cVector3f vPos = mpCharBody->GetPosition(); 
		
		/////////////////////////////////////////
		//Get the postion to move towards and current node if there is any.
		if(mlstNodes.empty())
		{
			vGoal = mvGoalPos;
		}
		else{
			pCurrentNode = mlstNodes.back();
			vGoal = pCurrentNode->GetPosition();
		}
	
		/////////////////////////////////////////
		//Check if the newer node is reachable
		if(mbMoveToNewNode)
		{
			mbMoveToNewNode = false;

			//if(mpContainer->FreePath(mpCharBody->GetFeetPosition()+cVector3f(0,0.1f,0),
			//						vGoal,1,0,mpAStarCallback)==false)
			/*if(mpContainer->FreePath(mpCharBody->GetFeetPosition()+cVector3f(0,0.1f,0),
									vGoal,-1,0,mpAStarCallback)==false)
			{
				//Do nothing here right now, might wanna remove the path from the two connected
				//Nodes, but that might turn out pretty hard, leave for now, this takes too much cpu.
				//------------------------
				//mpInit->mpEffectHandler->GetSubTitle()->Add("Path was blocked!\n",2.0f,true);
				mbMoving = false;
				mlstNodes.clear();

				//Log("-- Begin Dynamic path find !\n");
				mpAStarCallback->mbCheckDynamic = true;
				MoveToPos(mvGoalPos);
				mpAStarCallback->mbCheckDynamic = false;
				//Log("-- End Dynamic path find !\n");
				
			}*/
		}

		
		float fGoalAngle = -cMath::GetAngleFromPoints2D(cVector2f(vPos.x, vPos.z), cVector2f(vGoal.x, vGoal.z));
		TurnToAngle(fGoalAngle);
		mpCharBody->SetPitch(0);
		
		mpCharBody->Move(eCharDir_Forward,1.0f, afTimeStep);

		////////////////////////////////
		//Update bounding volume
		mBoundingVolume.SetPosition(vPos);
		mBoundingVolume.UpdateSize();
		
		bool bStuckAtNode = false;
		float fNodeDist = cMath::Vector3DistSqr(vGoal,mpCharBody->GetFeetPosition());
		mlstNodeDistances.push_back(fNodeDist);
		if((int)mlstNodeDistances.size() > mlMaxNodeDistances)
		{
			mlstNodeDistances.pop_front();
			mfNodeDistAvg=0;
			
			std::list<float>::iterator it = mlstNodeDistances.begin();
			float fPreviousDistance = *it;
			++it;
			for(; it != mlstNodeDistances.end();++it)
			{
				float fChange = *it - fPreviousDistance;
				mfNodeDistAvg += fChange;
			}

			if(	mfNodeDistAvg > 0 &&
				fNodeDist < mpCharBody->GetSize().x * 1.5f)
			{
				bStuckAtNode = true;
			}
		}
				
		////////////////////////////////
		//Check if node is reached:
		if(bStuckAtNode || cMath::PointBVCollision(vGoal, mBoundingVolume))
		{
			if(mlstNodes.empty())
			{
				mbMoving = false;
			}
			else
			{
				mlstNodes.pop_back(); //Go to next node next update.
			}
			mbMoveToNewNode = true;
			mlstNodeDistances.clear();
		}
	}


	////////////////////////////////////
	//Update turning
	if(mbTurning)
	{
		float fAngleDist = cMath::GetAngleDistanceRad(mpCharBody->GetYaw(), mfGoalAngle);
		
		/////////////////
		//Rotate the body
		if(std::abs(fAngleDist) < 0.001f){
			mbTurning = false;
			mfTurnSpeed =0;
		}
		if(mbTurning)
		{
			mfTurnSpeed = cMath::Min(mfAngleDistTurnMul * std::abs(fAngleDist), mfMaxTurnSpeed);
			
			if(fAngleDist < 0)	mpCharBody->AddYaw(-mfTurnSpeed * afTimeStep);
			else				mpCharBody->AddYaw(mfTurnSpeed * afTimeStep);

			//////////////////////
			//Break when making short turns
			if(std::abs(fAngleDist) >= mfMinBreakAngle && mpCharBody->GetMoveSpeed(eCharDir_Forward)>0.15f)
			{
				float fBreakAcc = -mfBreakAngleMul * std::abs(fAngleDist);
				mpCharBody->Move(eCharDir_Forward,fBreakAcc,afTimeStep);

				mfCurrentBreak = fBreakAcc;
			}
			else
			{
				mfCurrentBreak =0;
			}
		}
	}

	//////////////////////////////////////
	/// Update stuck counter
	float fWantedSpeed = mpCharBody->GetMoveSpeed(eCharDir_Forward);
	float fRealSpeed = cMath::Vector3Dist(mpCharBody->GetPosition(), mpCharBody->GetLastPosition());
	fRealSpeed = fRealSpeed / afTimeStep;

	cVector3f vWantedDir = mpCharBody->GetForward();
	cVector3f vRealDir = mpCharBody->GetPosition() - mpCharBody->GetLastPosition();
	vRealDir.Normalise();

	float fCos = cMath::Vector3Dot(vWantedDir,vRealDir);

    if( fRealSpeed/fWantedSpeed < mfStuckLimit || 
		(std::abs(fCos) < 0.3f && fWantedSpeed > 0.001f))
	{
		mfStuckCounter += afTimeStep;
		//mpInit->mpEffectHandler->GetSubTitle()->Add(_W("ADD!\n"),1.0f/60.0f,false);
	}
	else
	{
		//mpInit->mpEffectHandler->GetSubTitle()->Add(_W("NEG!\n"),1.0f/60.0f,false);
		mfStuckCounter -= afTimeStep;
		if(mfStuckCounter<0)mfStuckCounter =0;
	}
}


//-----------------------------------------------------------------------

bool cCharacterMove::MoveToPos(const cVector3f &avPos)
{
	if(mpAStar==NULL) return false;

	//Log(" Moving to %s\n",avPos.ToString().c_str());

	//mpInit->mpEffectHandler->GetSubTitle()->Add("Get newer path!\n",2.0f,true);
	
	//Get the start and goal position
	cVector3f vStartPos = mpCharBody->GetPosition();
	cVector3f vGoalPos = avPos;
	if(mpContainer->GetNodeIsAtCenter()==false)
	{
		vStartPos -= cVector3f(0,mpCharBody->GetSize().y/2.0f,0);
	}
	
	//Get the nodes to be following
	mlstNodes.clear();
	//Log(" Getting path!\n");
	bool bRet = mpAStar->GetPath(vStartPos,vGoalPos,&mlstNodes);
	
	if(bRet==false)
	{
		//Log("Did NOT find path\n");
		//mpInit->mpEffectHandler->GetSubTitle()->Add(_W("Did not find path!\n"),2,false);
	}

	mvGoalPos = vGoalPos;
	
	mbMoving = true;
	mlstNodeDistances.clear();

	return bRet;
}

//-----------------------------------------------------------------------

void cCharacterMove::MoveDirectToPos(const cVector3f &avFeetPos, float afTimeStep)
{
	TurnToPos(avFeetPos);
	GetCharBody()->Move(eCharDir_Forward,1.0f,afTimeStep);
}

//-----------------------------------------------------------------------

void cCharacterMove::TurnToAngle(float afAngle)
{
	mbTurning = true;

	mfGoalAngle = afAngle;
}

void cCharacterMove::TurnToPos(const cVector3f &avPos)
{
	cVector3f vStartPos = mpCharBody->GetPosition(); 

	float fGoalAngle = -cMath::GetAngleFromPoints2D(cVector2f(vStartPos.x, vStartPos.z), 
													cVector2f(avPos.x, avPos.z));
	TurnToAngle(fGoalAngle);
}

//-----------------------------------------------------------------------

void cCharacterMove::Stop()
{
	mbMoving = false;
	mlstNodes.clear();
	mlstNodeDistances.clear();
}

//-----------------------------------------------------------------------

bool cCharacterMove::FreeDirectPathToChar(iCharacterBody *apBody)
{
	float fHeight = fabs(GetCharBody()->GetFeetPosition().y - apBody->GetFeetPosition().y);

	if(fHeight > 0.8f) return false;
	
	return mpContainer->FreePath(	GetCharBody()->GetFeetPosition()+cVector3f(0,0.05f,0),
		apBody->GetFeetPosition()+cVector3f(0,0.05f,0),
		-1,eAIFreePathFlag_SkipDynamic);
}

//-----------------------------------------------------------------------

float cCharacterMove::DistanceToChar(iCharacterBody *apBody)
{
	return cMath::Vector3Dist(mpCharBody->GetFeetPosition(), apBody->GetFeetPosition());
}

float cCharacterMove::DistanceToChar2D(iCharacterBody *apBody)
{
	cVector3f vStart = mpCharBody->GetFeetPosition();
	cVector3f vEnd = apBody->GetFeetPosition();
	vStart.y =0;
	vEnd.y =0;

	return cMath::Vector3Dist(vStart,vEnd);
}


//-----------------------------------------------------------------------

cAINode* cCharacterMove::GetAINodeInRange(float afMinDistance, float afMaxDistance)
{
	float fMaxDistSqr = afMaxDistance * afMaxDistance;
	float fMinDistSqr = afMinDistance * afMinDistance;
	
	int i = cMath::RandRectl(0, mpContainer->GetNodeNum()-1);
	int lCount=0;

	//Log("StartNode i: %d\n",i);
	
	while(lCount< mpContainer->GetNodeNum())
	{
		cAINode* pNode = mpContainer->GetNode(i);
		//Log("Testing node: %d '%s'\n",i,pNode->GetName().c_str());

		float fDistSqr = cMath::Vector3DistSqr(pNode->GetPosition(), mpCharBody->GetFeetPosition());
		if(fDistSqr <= fMaxDistSqr && fDistSqr >= fMinDistSqr)
		{
			return pNode;
		}

		++lCount;
		++i;
		if(i >= mpContainer->GetNodeNum()) i=0;
	}

	return NULL;

	/*for(int i=0; i<mpContainer->GetNodeNum(); ++i)
	{
		cAINode* pNode = mpContainer->GetNode(i);

		MoveToPos(pNode->GetPosition());
	}
	return NULL;*/
}

//-----------------------------------------------------------------------

cAINode* cCharacterMove::GetAINodeAtPosInRange(const cVector3f &avPos,float afMinDistance,float afMaxDistance,
												bool abRayCheck, float afEndOffset)
{
	float fMaxDistSqr = afMaxDistance * afMaxDistance;
	float fMinDistSqr = afMinDistance * afMinDistance;

	int i = cMath::RandRectl(0, mpContainer->GetNodeNum()-1);
	int lCount=0;

	iPhysicsWorld* pPhysicsWorld =  mpInit->mpGame->GetScene()->GetWorld3D()->GetPhysicsWorld();

	while(lCount< mpContainer->GetNodeNum())
	{
		cAINode* pNode = mpContainer->GetNode(i);

		float fDistSqr = cMath::Vector3DistSqr(pNode->GetPosition(), avPos);
		if(fDistSqr <= fMaxDistSqr && fDistSqr >= fMinDistSqr)
		{
			if(abRayCheck)
			{
				mRayCallback.Reset();
				
				cVector3f vStart = pNode->GetPosition();
				
				//Calculate a postion offset closer to the node.
				float fDist = cMath::Vector3Dist(vStart,avPos);
				fDist = fDist - afEndOffset;
				if(fDist< 0)fDist =0;
				cVector3f vDir = cMath::Vector3Normalize(avPos - vStart);
				
				cVector3f vEnd = vStart + vDir * fDist;

				pPhysicsWorld->CastRay(&mRayCallback,vStart,vEnd,false,false,false);

				if(mRayCallback.mbIntersection == false)
				{
					mvTempStart =vStart;
					mvTempEnd = vEnd;

					return pNode;
				}
			}
			else
			{
				return pNode;
			}
		}

		++lCount;
		++i;
		if(i >= mpContainer->GetNodeNum()) i=0;
	}

	return NULL;
}

//-----------------------------------------------------------------------

void cCharacterMove::SetCharBody(iCharacterBody *apCharBody)
{
	mpCharBody = apCharBody;

	cVector3f vSize = mpCharBody->GetSize();
	vSize.y *= 2.5f;
	mBoundingVolume.SetSize(vSize);
}

void cCharacterMove::SetNodeContainer(cAINodeContainer* apContainer)
{
	mpContainer = apContainer;
}

void cCharacterMove::SetAStar(cAStarHandler *apAStar)
{
	mpAStar = apAStar;
	mpAStar->SetCallback(mpAStarCallback);
}

//-----------------------------------------------------------------------

void cCharacterMove::OnDraw(cInit *apInit)
{
	//return;

	//apInit->mpDefaultFont->Draw(cVector3f(5,64,100),14,cColor(1,1,1,1),eFontAlign_Left,
	//	"StuckCount %f",mfStuckCounter);
	
	/*apInit->mpDefaultFont->Draw(cVector3f(5,64,100),14,cColor(1,1,1,1),eFontAlign_Left,
		"Speed: %f",mpCharBody->GetMoveSpeed(eCharDir_Forward));
	apInit->mpDefaultFont->Draw(cVector3f(5,79,100),14,cColor(1,1,1,1),eFontAlign_Left,
		"Break: %f",mfCurrentBreak);*/

	if(mbMoving)
	apInit->mpDefaultFont->Draw(cVector3f(5,79,100),14,cColor(1,1,1,1),eFontAlign_Left,
								_W("NodeDistAvg: %f"),mfNodeDistAvg);

	/*apInit->mpDefaultFont->Draw(cVector3f(5,64,100),14,cColor(1,1,1,1),eFontAlign_Left,
		"Yaw: %f Pitch %f",cMath::ToDeg(mpCharBody->GetYaw()), cMath::ToDeg(mpCharBody->GetPitch()));
	
	apInit->mpDefaultFont->Draw(cVector3f(5,79,100),14,cColor(1,1,1,1),eFontAlign_Left,
		"Speed: %f",mpCharBody->GetMoveSpeed(eCharDir_Forward));
	
	apInit->mpDefaultFont->Draw(cVector3f(5,94,100),14,cColor(1,1,1,1),eFontAlign_Left,
		"Fwd: %s",mpCharBody->GetForward().ToString().c_str());

	apInit->mpDefaultFont->Draw(cVector3f(5,110,100),14,cColor(1,1,1,1),eFontAlign_Left,
		"Moving: %d",mbMoving?1:0);*/
}

//-----------------------------------------------------------------------

void cCharacterMove::OnPostSceneDraw(iLowLevelGraphics *apLowLevelGfx)
{
	apLowLevelGfx->SetDepthTestActive(true);

	for(int i=0; i<mpContainer->GetNodeNum(); ++i)
	{
		cAINode *pNode = mpContainer->GetNode(i);

		apLowLevelGfx->DrawSphere(pNode->GetPosition(),0.15f,cColor(0.6f,0.6f,0.6f,1));

		for(int j=0; j < pNode->GetEdgeNum(); ++j)
		{
			cAINodeEdge *pEdge = pNode->GetEdge(j);

			apLowLevelGfx->DrawLine(pNode->GetPosition(),pEdge->mpNode->GetPosition(),cColor(0.4f,0.4f,0.4f,1));
		}
	}

	mpCharBody->GetBody()->RenderDebugGeometry(apLowLevelGfx,cColor(1,1,1,1));

	//return;
	if(mbMoving==false) return;


	//////////////////////////////
	//GoalPos
	cVector3f vGoalPos = mvGoalPos;
	if(mpContainer->GetNodeIsAtCenter()==false){
		vGoalPos += cVector3f(0,mpContainer->GetCollideSize().y/2, 0);
	}

	apLowLevelGfx->DrawSphere(vGoalPos,0.2f, cColor(1,0,1));
	cVector3f vLastVec = vGoalPos;

	//////////////////////////////
	//Nodes
	tAINodeListIt it = mlstNodes.begin();
	for(; it != mlstNodes.end(); ++it)
	{
		cAINode *pNode = *it;

		cVector3f vNodePos = pNode->GetPosition();
		if(mpContainer->GetNodeIsAtCenter()==false){
			vNodePos += cVector3f(0,mpContainer->GetCollideSize().y/2, 0);
		}

		apLowLevelGfx->DrawSphere(vNodePos,0.2f, cColor(1,0,1));
		apLowLevelGfx->DrawLine(vLastVec, vNodePos,cColor(1,0,1));

		vLastVec = vNodePos;
	}

	//////////////////////////////
	//Start pos
	cVector3f vStartPos = mpCharBody->GetPosition();
	//if(mpContainer->GetNodeIsAtCenter()==false){
		//vStartPos += cVector3f(0,mpContainer->GetCollideSize().y/2, 0);
	//}
	apLowLevelGfx->DrawSphere(vStartPos,0.2f,cColor(1,0,1));
	apLowLevelGfx->DrawLine(vLastVec, vStartPos,cColor(1,0,1));

	apLowLevelGfx->DrawSphere(mvTempStart,0.2f,cColor(0,1,1));
	apLowLevelGfx->DrawSphere(mvTempEnd,0.2f,cColor(0,1,1));
	apLowLevelGfx->DrawLine(mvTempStart, mvTempEnd,cColor(0,1,1));
}

//-----------------------------------------------------------------------

///////////////////////////////////////////////////////////////////////////
// SAVE OBJECT STUFF
//////////////////////////////////////////////////////////////////////////

//-----------------------------------------------------------------------

//-----------------------------------------------------------------------