Some improvements to the walkers' AI
This commit is contained in:
parent
02cb709afa
commit
0773c6694f
|
@ -11,25 +11,142 @@
|
|||
#include "WheeledVehicleMovementComponent.h"
|
||||
|
||||
#ifdef CARLA_AI_WALKERS_EXTRA_LOG
|
||||
# define LOG_AI_WALKER(Verbosity, Text) UE_LOG(LogCarla, Verbosity, Text, *GetPawn()->GetName());
|
||||
# include <DrawDebugHelpers.h>
|
||||
# define LOG_AI_WALKER(Verbosity, Text) UE_LOG(LogCarla, Verbosity, TEXT("Walker %s " Text), *GetPawn()->GetName());
|
||||
# define EXTRA_LOG_ONLY(predicate) predicate
|
||||
#else
|
||||
# define LOG_AI_WALKER(Verbosity, Text)
|
||||
# define EXTRA_LOG_ONLY(predicate)
|
||||
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
||||
|
||||
static constexpr float UPDATE_TIME_IN_SECONDS = 10.0f;
|
||||
static constexpr float PREVISION_TIME_IN_SECONDS = 5.0f;
|
||||
static constexpr float WALKER_SIGHT_RADIUS = 500.0f;
|
||||
static constexpr float WALKER_PERIPHERAL_VISION_ANGLE_IN_DEGREES = 90.0f;
|
||||
static constexpr float VEHICLE_SAFETY_RADIUS = 400.0f;
|
||||
|
||||
// =============================================================================
|
||||
// -- PawnPath -----------------------------------------------------------------
|
||||
// =============================================================================
|
||||
|
||||
class PawnPath {
|
||||
private:
|
||||
|
||||
static FVector GetLocation(const AActor &Actor)
|
||||
{
|
||||
const FVector &Location = Actor.GetActorLocation();
|
||||
return {Location.X, Location.Y, 0.0f};
|
||||
}
|
||||
|
||||
static FVector GetForwardVector(const AActor &Actor)
|
||||
{
|
||||
return Actor.GetTransform().GetRotation().GetForwardVector();
|
||||
}
|
||||
|
||||
static float GetForwardSpeed(const AWheeledVehicle &Vehicle)
|
||||
{
|
||||
const auto *MovementComponent = Vehicle.GetVehicleMovementComponent();
|
||||
check(nullptr != MovementComponent);
|
||||
return MovementComponent->GetForwardSpeed();
|
||||
}
|
||||
|
||||
#ifdef CARLA_AI_WALKERS_EXTRA_LOG
|
||||
static FVector GetPointForDrawing(const FVector &Location)
|
||||
{
|
||||
return {Location.X, Location.Y, 50.0f};
|
||||
}
|
||||
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
||||
|
||||
/// Helper constructor for vehicles.
|
||||
explicit PawnPath(const FVector &Location, const FVector &ForwardDirection, const float Speed) :
|
||||
Start(Location - ForwardDirection * VEHICLE_SAFETY_RADIUS),
|
||||
End(Location + ForwardDirection * (VEHICLE_SAFETY_RADIUS + Speed * PREVISION_TIME_IN_SECONDS)) {}
|
||||
|
||||
private:
|
||||
|
||||
explicit PawnPath(const APawn &Walker) :
|
||||
Start(GetLocation(Walker)),
|
||||
End(GetLocation(Walker) + GetForwardVector(Walker) * WALKER_SIGHT_RADIUS) {}
|
||||
|
||||
explicit PawnPath(const AWheeledVehicle &Vehicle) :
|
||||
PawnPath(GetLocation(Vehicle), GetForwardVector(Vehicle), GetForwardSpeed(Vehicle)) {}
|
||||
|
||||
static bool Intersect(const PawnPath &Lhs, const PawnPath &Rhs, UWorld* EXTRA_LOG_ONLY(World))
|
||||
{
|
||||
EXTRA_LOG_ONLY(Lhs.DrawDebugArrow(World));
|
||||
EXTRA_LOG_ONLY(Rhs.DrawDebugArrow(World));
|
||||
FVector IntersectionPoint;
|
||||
const bool bIntersect = FMath::SegmentIntersection2D(
|
||||
Lhs.Start, Lhs.End,
|
||||
Rhs.Start, Rhs.End,
|
||||
IntersectionPoint);
|
||||
|
||||
#ifdef CARLA_AI_WALKERS_EXTRA_LOG
|
||||
if (bIntersect) {
|
||||
DrawDebugPoint(World, GetPointForDrawing(IntersectionPoint), 10.0f, FColor::Red, false, 2.0f);
|
||||
}
|
||||
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
||||
return bIntersect;
|
||||
}
|
||||
|
||||
#ifdef CARLA_AI_WALKERS_EXTRA_LOG
|
||||
void DrawDebugArrow(UWorld *World) const
|
||||
{
|
||||
DrawDebugDirectionalArrow(World, GetPointForDrawing(Start), GetPointForDrawing(End), 60.0f, FColor::Red, false, 1.0f);
|
||||
}
|
||||
#endif // CARLA_AI_WALKERS_EXTRA_LOG
|
||||
|
||||
public:
|
||||
|
||||
/// Check if the paths of @a Walker and @a Vehicle intersect.
|
||||
///
|
||||
/// It checks if within the update time the vehicle will cross the straight
|
||||
/// line of @a Walker sight radius on its forward direction.
|
||||
static bool Intersect(const APawn &Walker, const AWheeledVehicle &Vehicle)
|
||||
{
|
||||
return Intersect(PawnPath(Walker), PawnPath(Vehicle), Walker.GetWorld());
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
FVector Start;
|
||||
|
||||
FVector End;
|
||||
};
|
||||
|
||||
// =============================================================================
|
||||
// -- Other static functions ---------------------------------------------------
|
||||
// =============================================================================
|
||||
|
||||
static bool IntersectsWithVehicle(const APawn &Self, const TArray<AActor *> &Actors)
|
||||
{
|
||||
for (auto *Actor : Actors) {
|
||||
const auto *Vehicle = Cast<AWheeledVehicle>(Actor);
|
||||
if ((Vehicle != nullptr) && PawnPath::Intersect(Self, *Vehicle)) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
// -- AWalkerAIController ------------------------------------------------------
|
||||
// =============================================================================
|
||||
|
||||
AWalkerAIController::AWalkerAIController(const FObjectInitializer& ObjectInitializer)
|
||||
: Super(ObjectInitializer.SetDefaultSubobjectClass<UCrowdFollowingComponent>(TEXT("PathFollowingComponent")))
|
||||
{
|
||||
PrimaryActorTick.bCanEverTick = true;
|
||||
PrimaryActorTick.TickInterval = 5.0f; // seconds.
|
||||
PrimaryActorTick.TickInterval = UPDATE_TIME_IN_SECONDS;
|
||||
|
||||
auto Perception = CreateDefaultSubobject<UAIPerceptionComponent>(TEXT("AIPerception Component"));
|
||||
check(Perception != nullptr);
|
||||
SetPerceptionComponent(*Perception);
|
||||
|
||||
SightConfiguration = CreateDefaultSubobject<UAISenseConfig_Sight>(TEXT("SightConfiguration"));
|
||||
SightConfiguration->SightRadius = 800.0f;
|
||||
SightConfiguration->LoseSightRadius = (SightConfiguration->SightRadius + 100.0f);
|
||||
SightConfiguration->PeripheralVisionAngleDegrees = 90.0f;
|
||||
SightConfiguration->SightRadius = WALKER_SIGHT_RADIUS;
|
||||
SightConfiguration->LoseSightRadius = (WALKER_SIGHT_RADIUS + 100.0f);
|
||||
SightConfiguration->PeripheralVisionAngleDegrees = WALKER_PERIPHERAL_VISION_ANGLE_IN_DEGREES;
|
||||
SightConfiguration->DetectionByAffiliation.bDetectEnemies = true;
|
||||
SightConfiguration->DetectionByAffiliation.bDetectNeutrals = true;
|
||||
SightConfiguration->DetectionByAffiliation.bDetectFriendlies = true;
|
||||
|
@ -39,85 +156,107 @@ AWalkerAIController::AWalkerAIController(const FObjectInitializer& ObjectInitial
|
|||
Perception->OnPerceptionUpdated.AddDynamic(this, &AWalkerAIController::SenseActors);
|
||||
}
|
||||
|
||||
|
||||
void AWalkerAIController::Possess(APawn *aPawn)
|
||||
{
|
||||
Super::Possess(aPawn);
|
||||
check(aPawn != nullptr);
|
||||
aPawn->OnTakeAnyDamage.AddDynamic(this, &AWalkerAIController::OnPawnTookDamage);
|
||||
}
|
||||
|
||||
void AWalkerAIController::Tick(float DeltaSeconds)
|
||||
{
|
||||
Super::Tick(DeltaSeconds);
|
||||
|
||||
if (Status != EWalkerStatus::RunOver) {
|
||||
switch (GetMoveStatus()) {
|
||||
case EPathFollowingStatus::Idle:
|
||||
case EPathFollowingStatus::Waiting:
|
||||
LOG_AI_WALKER(Warning, TEXT("Walker %s is stuck!"));
|
||||
bIsStuck = true;
|
||||
LOG_AI_WALKER(Warning, "is stuck!");
|
||||
Status = EWalkerStatus::Stuck;
|
||||
break;
|
||||
case EPathFollowingStatus::Paused:
|
||||
LOG_AI_WALKER(Log, TEXT("Walker %s is paused"));
|
||||
bIsPaused = true;
|
||||
LOG_AI_WALKER(Log, "is paused");
|
||||
TryResumeMovement();
|
||||
break;
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
FPathFollowingRequestResult AWalkerAIController::MoveTo(
|
||||
const FAIMoveRequest& MoveRequest,
|
||||
FNavPathSharedPtr* OutPath)
|
||||
{
|
||||
bIsStuck = false;
|
||||
LOG_AI_WALKER(Log, TEXT("Walker %s requested to move"));
|
||||
LOG_AI_WALKER(Log, "requested to move");
|
||||
Status = EWalkerStatus::Moving;
|
||||
return Super::MoveTo(MoveRequest, OutPath);
|
||||
}
|
||||
|
||||
static bool VehicleIsMoving(const AWheeledVehicle *Vehicle)
|
||||
void AWalkerAIController::OnMoveCompleted(
|
||||
const FAIRequestID RequestID,
|
||||
const FPathFollowingResult &Result)
|
||||
{
|
||||
const auto *MovementComponent =
|
||||
(Vehicle != nullptr ? Vehicle->GetVehicleMovementComponent() : nullptr);
|
||||
return
|
||||
(MovementComponent != nullptr) &&
|
||||
(FMath::Abs(MovementComponent->GetForwardSpeed()) > 0.0f);
|
||||
}
|
||||
|
||||
static bool ContainsAMovingVehicle(const TArray<AActor *> &Actors)
|
||||
{
|
||||
for (auto *Actor : Actors) {
|
||||
if (VehicleIsMoving(Cast<AWheeledVehicle>(Actor))) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
Super::OnMoveCompleted(RequestID, Result);
|
||||
LOG_AI_WALKER(Log, "completed move");
|
||||
Status = EWalkerStatus::MoveCompleted;
|
||||
}
|
||||
|
||||
void AWalkerAIController::SenseActors(const TArray<AActor *> Actors)
|
||||
{
|
||||
if (!bIsPaused && ContainsAMovingVehicle(Actors)) {
|
||||
const auto *aPawn = GetPawn();
|
||||
if ((aPawn != nullptr) && IntersectsWithVehicle(*aPawn, Actors)) {
|
||||
TryPauseMovement();
|
||||
} else if (Status == EWalkerStatus::Paused) {
|
||||
TryResumeMovement();
|
||||
}
|
||||
}
|
||||
|
||||
void AWalkerAIController::TryResumeMovement()
|
||||
{
|
||||
if (Status != EWalkerStatus::Moving) {
|
||||
auto MoveRequestID = GetCurrentMoveRequestID();
|
||||
if (MoveRequestID == FAIRequestID()) { // equals invalid request.
|
||||
LOG_AI_WALKER(Error, TEXT("Walker %s: Invalid move ID"));
|
||||
LOG_AI_WALKER(Error, "has invalid move ID");
|
||||
} else {
|
||||
if (!ResumeMove(MoveRequestID)) {
|
||||
LOG_AI_WALKER(Error, TEXT("Unable to resume walker %s move"));
|
||||
LOG_AI_WALKER(Error, "is unable to resume movement");
|
||||
} else {
|
||||
LOG_AI_WALKER(Log, TEXT("Resume walker %s's move"));
|
||||
bIsPaused = false;
|
||||
LOG_AI_WALKER(Log, "resuming movement");
|
||||
Status = EWalkerStatus::Moving;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void AWalkerAIController::TryPauseMovement()
|
||||
void AWalkerAIController::TryPauseMovement(const bool bItWasRunOver)
|
||||
{
|
||||
if ((Status != EWalkerStatus::Paused) && (Status != EWalkerStatus::RunOver)) {
|
||||
auto MoveRequestID = GetCurrentMoveRequestID();
|
||||
if (MoveRequestID == FAIRequestID()) { // equals invalid request.
|
||||
LOG_AI_WALKER(Error, TEXT("Walker %s: Invalid move ID"));
|
||||
LOG_AI_WALKER(Error, "has invalid move ID");
|
||||
} else {
|
||||
if (!PauseMove(MoveRequestID)) {
|
||||
LOG_AI_WALKER(Error, TEXT("Unable to pause walker %s move"));
|
||||
LOG_AI_WALKER(Error, "is unable to pause movement");
|
||||
} else {
|
||||
LOG_AI_WALKER(Log, TEXT("Pause walker %s's move"));
|
||||
bIsPaused = true;
|
||||
LOG_AI_WALKER(Log, "paused");
|
||||
Status = (bItWasRunOver ? EWalkerStatus::RunOver : EWalkerStatus::Paused);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void AWalkerAIController::OnPawnTookDamage(
|
||||
AActor *DamagedActor,
|
||||
float Damage,
|
||||
const UDamageType *DamageType,
|
||||
AController *InstigatedBy,
|
||||
AActor *DamageCauser)
|
||||
{
|
||||
LOG_AI_WALKER(Warning, "has been run over");
|
||||
constexpr bool bItWasRunOver = true;
|
||||
TryPauseMovement(bItWasRunOver);
|
||||
Status = EWalkerStatus::RunOver;
|
||||
}
|
||||
|
||||
#undef EXTRA_LOG_ONLY
|
||||
#undef LOG_AI_WALKER
|
||||
|
|
|
@ -7,6 +7,17 @@
|
|||
|
||||
class UAISenseConfig_Sight;
|
||||
|
||||
UENUM(BlueprintType)
|
||||
enum class EWalkerStatus : uint8 {
|
||||
Moving UMETA(DisplayName = "Walker Is Moving"),
|
||||
Paused UMETA(DisplayName = "Walker Movement Is Paused"),
|
||||
MoveCompleted UMETA(DisplayName = "Walker Completed Move"),
|
||||
Stuck UMETA(DisplayName = "Walker Is Stuck"),
|
||||
RunOver UMETA(DisplayName = "Walker Has Been Run Over"),
|
||||
Invalid UMETA(DisplayName = "Walker Is Invalid"),
|
||||
Unknown UMETA(DisplayName = "Unknown"),
|
||||
};
|
||||
|
||||
UCLASS()
|
||||
class CARLA_API AWalkerAIController : public AAIController
|
||||
{
|
||||
|
@ -16,32 +27,36 @@ public:
|
|||
|
||||
AWalkerAIController(const FObjectInitializer& ObjectInitializer);
|
||||
|
||||
virtual void Possess(APawn *aPawn) override;
|
||||
|
||||
virtual void Tick(float DeltaSeconds) override;
|
||||
|
||||
virtual FPathFollowingRequestResult MoveTo(
|
||||
const FAIMoveRequest& MoveRequest,
|
||||
FNavPathSharedPtr* OutPath = nullptr) override;
|
||||
|
||||
virtual void OnMoveCompleted(FAIRequestID RequestID, const FPathFollowingResult &Result) override;
|
||||
|
||||
UFUNCTION(BlueprintCallable)
|
||||
void SenseActors(TArray<AActor *> Actors);
|
||||
|
||||
bool WalkerIsStuck() const
|
||||
EWalkerStatus GetWalkerStatus() const
|
||||
{
|
||||
return bIsStuck;
|
||||
return Status;
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
void TryResumeMovement();
|
||||
|
||||
void TryPauseMovement();
|
||||
void TryPauseMovement(bool bItWasRunOver = false);
|
||||
|
||||
UFUNCTION()
|
||||
void OnPawnTookDamage(AActor *DamagedActor, float Damage, const UDamageType *DamageType, AController *InstigatedBy, AActor *DamageCauser);
|
||||
|
||||
UPROPERTY(Category = "Walker AI Controller", VisibleAnywhere)
|
||||
UAISenseConfig_Sight *SightConfiguration;
|
||||
|
||||
UPROPERTY(VisibleAnywhere)
|
||||
bool bIsPaused = false;
|
||||
|
||||
UPROPERTY(VisibleAnywhere)
|
||||
bool bIsStuck = false;
|
||||
EWalkerStatus Status = EWalkerStatus::Unknown;
|
||||
};
|
||||
|
|
|
@ -14,7 +14,7 @@
|
|||
// -- Static local methods -----------------------------------------------------
|
||||
// =============================================================================
|
||||
|
||||
static bool WalkerIsValid(ACharacter *Walker)
|
||||
static bool WalkerIsValid(const ACharacter *Walker)
|
||||
{
|
||||
return ((Walker != nullptr) && !Walker->IsPendingKill());
|
||||
}
|
||||
|
@ -34,6 +34,12 @@ static float GetDistance(const AActor &Actor0, const AActor &Actor1)
|
|||
return GetDistance(Actor0.GetActorLocation(), Actor1.GetActorLocation());
|
||||
}
|
||||
|
||||
static EWalkerStatus GetWalkerStatus(ACharacter *Walker)
|
||||
{
|
||||
const auto *Controller = GetController(Walker);
|
||||
return (Controller == nullptr ? EWalkerStatus::Invalid : Controller->GetWalkerStatus());
|
||||
}
|
||||
|
||||
// =============================================================================
|
||||
// -- Constructor and destructor -----------------------------------------------
|
||||
// =============================================================================
|
||||
|
@ -109,11 +115,10 @@ void AWalkerSpawnerBase::Tick(float DeltaTime)
|
|||
// If still stuck in the black list, just kill it.
|
||||
const int32 Index = (++CurrentIndexToCheck % WalkersBlackList.Num());
|
||||
auto Walker = WalkersBlackList[Index];
|
||||
auto Controller = GetController(Walker);
|
||||
if ((Controller == nullptr) ||
|
||||
(Controller->WalkerIsStuck())) {
|
||||
const auto Status = GetWalkerStatus(Walker);
|
||||
if (Status != EWalkerStatus::Moving) {
|
||||
WalkersBlackList.RemoveAtSwap(Index);
|
||||
if (Walker != nullptr) {
|
||||
if ((Walker != nullptr) && (Status != EWalkerStatus::RunOver)) {
|
||||
Walker->Destroy();
|
||||
}
|
||||
}
|
||||
|
@ -123,13 +128,19 @@ void AWalkerSpawnerBase::Tick(float DeltaTime)
|
|||
// Check one walker, if fails black-list it or kill it.
|
||||
const int32 Index = (++CurrentIndexToCheck % Walkers.Num());
|
||||
auto Walker = Walkers[Index];
|
||||
auto Controller = GetController(Walker);
|
||||
if (Controller == nullptr) {
|
||||
const auto Status = GetWalkerStatus(Walker);
|
||||
|
||||
if ((Status == EWalkerStatus::MoveCompleted) ||
|
||||
(Status == EWalkerStatus::Invalid) ||
|
||||
(Status == EWalkerStatus::RunOver)) {
|
||||
// Kill it.
|
||||
Walkers.RemoveAtSwap(Index);
|
||||
if (Walker != nullptr) {
|
||||
// If it was run over will self-destroy.
|
||||
if ((Walker != nullptr) && (Status != EWalkerStatus::RunOver)) {
|
||||
Walker->Destroy();
|
||||
}
|
||||
} else if (Controller->WalkerIsStuck()) {
|
||||
} else if (Status == EWalkerStatus::Stuck) {
|
||||
// Black-list it.
|
||||
TrySetDestination(*Walker);
|
||||
WalkersBlackList.Add(Walker);
|
||||
Walkers.RemoveAtSwap(Index);
|
||||
|
|
|
@ -129,8 +129,7 @@ static bool SendAndReadSceneValues(
|
|||
for (auto i = 0u; i < sceneValues.possible_positions.size(); ++i) {
|
||||
auto *StartSpot = AvailableStartSpots[i];
|
||||
check(StartSpot != nullptr);
|
||||
const FVector &Location = StartSpot->GetActorLocation();
|
||||
sceneValues.possible_positions[i] = {Location.X, Location.Y};
|
||||
Set(sceneValues.possible_positions[i], StartSpot->GetActorLocation());
|
||||
}
|
||||
// Send the positions.
|
||||
UE_LOG(LogCarlaServer, Log, TEXT("Sending %d available start positions"), sceneValues.possible_positions.size());
|
||||
|
|
Loading…
Reference in New Issue