//=================================================================== // ProcessAI // This treats the helicopter as able to move in any horizontal direction // by tilting in any direction. Yaw control is thus secondary. Throttle // control is also secondary since it is adjusted to maintain or change // the height, and the amount needed depends on the tilt. //=================================================================== ////////////////////////////////////////////////////////////////////////// // NOTE: This function must be thread-safe. Before adding stuff contact MarcoC. void CVehicleMovementHelicopter::ProcessAI(const float deltaTime) { FUNCTION_PROFILER(GetISystem(), PROFILE_GAME); // it's useless to progress further if the engine has yet to be turned on if(!m_isEnginePowered) return; m_movementAction.Clear(); ResetActions(); // Our current state const Vec3 worldPos = m_PhysPos.pos; const Matrix33 worldMat(m_PhysPos.q); const Ang3 worldAngles = Ang3::GetAnglesXYZ(worldMat); const Vec3 currentVel = m_PhysDyn.v; const Vec3 currentVel2D(currentVel.x, currentVel.y, 0.0f); m_velDamp = 0.15f; // +ve direction mean rotation anti-clocwise about the z axis - 0 means along y float currentDir = worldAngles.z; // to avoid singularity const Vec3 vWorldDir = worldMat * FORWARD_DIRECTION; const Vec3 vWorldDir2D = Vec3(vWorldDir.x, vWorldDir.y, 0.0f).GetNormalizedSafe(); // Our inputs const float desiredSpeed = m_aiRequest.HasDesiredSpeed() ? m_aiRequest.GetDesiredSpeed() : 0.0f; const Vec3 desiredMoveDir = m_aiRequest.HasMoveTarget() ? (m_aiRequest.GetMoveTarget() - worldPos).GetNormalizedSafe() : vWorldDir; const Vec3 desiredMoveDir2D = Vec3(desiredMoveDir.x, desiredMoveDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D); const Vec3 desiredVel = desiredMoveDir * desiredSpeed; const Vec3 desiredVel2D(desiredVel.x, desiredVel.y, 0.0f); const Vec3 desiredLookDir = m_aiRequest.HasLookTarget() ? (m_aiRequest.GetLookTarget() - worldPos).GetNormalizedSafe() : desiredMoveDir; const Vec3 desiredLookDir2D = Vec3(desiredLookDir.x, desiredLookDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D); // Calculate the desired 2D velocity change Vec3 desiredVelChange2D = desiredVel2D - currentVel2D; float desiredTiltAngle = m_tiltPerVelDifference * desiredVelChange2D.GetLength(); float powerfactor = desiredSpeed/m_maxSpeed; if(powerfactor < 1.0f) powerfactor = 1.0f; Limit(desiredTiltAngle, -(m_maxTiltAngle*powerfactor), (m_maxTiltAngle*powerfactor)); if(desiredTiltAngle > 0.0001f) { const Vec3 desiredWorldTiltAxis = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f).GetNormalizedSafe(); const Vec3 desiredLocalTiltAxis = worldMat.GetTransposed() * desiredWorldTiltAxis; float desiredPitch = desiredTiltAngle * desiredLocalTiltAxis.x; float desiredRoll = desiredTiltAngle * desiredLocalTiltAxis.y; m_actionPitch += m_pitchActionPerTilt * (desiredPitch - worldAngles.x); m_actionRoll += m_pitchActionPerTilt * (desiredRoll - worldAngles.y); } float desiredDir = atan2f(-desiredLookDir2D.x, desiredLookDir2D.y); while(currentDir < desiredDir - gf_PI) currentDir += 2.0f * gf_PI; while(currentDir > desiredDir + gf_PI) currentDir -= 2.0f * gf_PI; m_actionYaw = (desiredDir - currentDir) * m_yawInputConst; m_actionYaw += m_yawInputDamping * (currentDir - m_lastDir) / deltaTime; m_lastDir = currentDir; Limit(m_actionPitch, -1.0f, 1.0f); Limit(m_actionRoll, -1.0f, 1.0f); Limit(m_actionYaw, -1.0f, 1.0f); Limit(m_hoveringPower, -1.0f, 1.0f); float currentHeight = worldPos.z; if(m_aiRequest.HasMoveTarget()) { m_hoveringPower = m_powerPID.Update(currentVel.z, desiredVel.z, -1.0f, 1.0f); m_liftAction = 0.0f; m_desiredHeight = currentHeight; } else { // to keep hovering at the same place m_hoveringPower = m_powerPID.Update(currentVel.z, m_desiredHeight - currentHeight, -1.0f, 1.0f); m_liftAction = 0.0f; } }
////////////////////////////////////////////////////////////////////////// // NOTE: This function must be thread-safe. Before adding stuff contact MarcoC. void CVehicleMovementVTOL::ProcessAI(const float deltaTime) { FUNCTION_PROFILER( GetISystem(), PROFILE_GAME ); if (!m_isVTOLMovement) { CVehicleMovementHelicopter::ProcessAI(deltaTime); return; } m_velDamp = 0.15f; const float maxDirChange = 15.0f; // it's useless to progress further if the engine has yet to be turned on if (!m_isEnginePowered) return; m_movementAction.Clear(); m_movementAction.isAI = true; ResetActions(); // Our current state const Vec3 worldPos = m_PhysPos.pos; const Matrix33 worldMat( m_PhysPos.q); Ang3 worldAngles = Ang3::GetAnglesXYZ(worldMat); const Vec3 currentVel = m_PhysDyn.v; const Vec3 currentVel2D(currentVel.x, currentVel.y, 0.0f); // +ve direction mean rotation anti-clocwise about the z axis - 0 means along y float currentDir = worldAngles.z; // to avoid singularity const Vec3 vWorldDir = worldMat * FORWARD_DIRECTION; const Vec3 vWorldDir2D = Vec3( vWorldDir.x, vWorldDir.y, 0.0f ).GetNormalizedSafe(); // Our inputs const float desiredSpeed = m_aiRequest.HasDesiredSpeed() ? m_aiRequest.GetDesiredSpeed() : 0.0f; const Vec3 desiredMoveDir = m_aiRequest.HasMoveTarget() ? (m_aiRequest.GetMoveTarget() - worldPos).GetNormalizedSafe() : vWorldDir; const Vec3 desiredMoveDir2D = Vec3(desiredMoveDir.x, desiredMoveDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D); const Vec3 desiredVel = desiredMoveDir * desiredSpeed; const Vec3 desiredVel2D(desiredVel.x, desiredVel.y, 0.0f); const Vec3 desiredLookDir = m_aiRequest.HasLookTarget() ? (m_aiRequest.GetLookTarget() - worldPos).GetNormalizedSafe() : desiredMoveDir; const Vec3 desiredLookDir2D = Vec3(desiredLookDir.x, desiredLookDir.y, 0.0f).GetNormalizedSafe(vWorldDir2D); // Calculate the desired 2D velocity change Vec3 desiredVelChange2D = desiredVel2D - currentVel2D; float velChangeLength = desiredVelChange2D.GetLength2D(); bool isLandingMode = false; if (m_pLandingGears && m_pLandingGears->AreLandingGearsOpen()) isLandingMode = true; bool isHorizontal = (desiredSpeed >= 5.0f) && (desiredMoveDir.GetLength2D() > desiredMoveDir.z); float desiredPitch = 0.0f; float desiredRoll = 0.0f; float desiredDir = atan2f(-desiredLookDir2D.x, desiredLookDir2D.y); while (currentDir < desiredDir - gf_PI) currentDir += 2.0f * gf_PI; while (currentDir > desiredDir + gf_PI) currentDir -= 2.0f * gf_PI; float diffDir = (desiredDir - currentDir); m_actionYaw = diffDir * m_yawInputConst; m_actionYaw += m_yawInputDamping * (currentDir - m_lastDir) / deltaTime; m_lastDir = currentDir; if (isHorizontal && !isLandingMode) { float desiredFwdSpeed = desiredVelChange2D.GetLength(); desiredFwdSpeed *= min(1.0f, diffDir / DEG2RAD(maxDirChange)); if (!iszero(desiredFwdSpeed)) { const Vec3 desiredWorldTiltAxis = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f); const Vec3 desiredLocalTiltAxis = worldMat.GetTransposed() * desiredWorldTiltAxis; m_forwardAction = m_fwdPID.Update(currentVel.y, desiredLocalTiltAxis.GetLength(), -1.0f, 1.0f); float desiredTiltAngle = m_tiltPerVelDifference * desiredVelChange2D.GetLength(); Limit(desiredTiltAngle, -m_maxTiltAngle, m_maxTiltAngle); if (desiredTiltAngle > 0.0001f) { const Vec3 desiredWorldTiltAxis2 = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f).GetNormalizedSafe(); const Vec3 desiredLocalTiltAxis2 = worldMat.GetTransposed() * desiredWorldTiltAxis2; Vec3 vVelLocal = worldMat.GetTransposed() * desiredVel; vVelLocal.NormalizeSafe(); float dotup = vVelLocal.Dot(Vec3( 0.0f,0.0f,1.0f ) ); float currentSpeed = currentVel.GetLength(); desiredPitch = dotup *currentSpeed / 100.0f; desiredRoll = desiredTiltAngle * desiredLocalTiltAxis2.y *currentSpeed/30.0f; } } } else { float desiredTiltAngle = m_tiltPerVelDifference * desiredVelChange2D.GetLength(); Limit(desiredTiltAngle, -m_maxTiltAngle, m_maxTiltAngle); if (desiredTiltAngle > 0.0001f) { const Vec3 desiredWorldTiltAxis = Vec3(-desiredVelChange2D.y, desiredVelChange2D.x, 0.0f).GetNormalizedSafe(); const Vec3 desiredLocalTiltAxis = worldMat.GetTransposed() * desiredWorldTiltAxis; desiredPitch = desiredTiltAngle * desiredLocalTiltAxis.x; desiredRoll = desiredTiltAngle * desiredLocalTiltAxis.y; } } float currentHeight = m_PhysPos.pos.z; if ( m_aiRequest.HasMoveTarget() ) { m_hoveringPower = m_powerPID.Update(currentVel.z, desiredVel.z, -1.0f, 4.0f); //m_hoveringPower = (m_desiredHeight - currentHeight) * m_powerInputConst; //m_hoveringPower += m_powerInputDamping * (currentHeight - m_lastHeight) / deltaTime; if (isHorizontal) { if (desiredMoveDir.z > 0.6f || desiredMoveDir.z < -0.85f) { desiredPitch = max(-0.5f, min(0.5f, desiredMoveDir.z)) * DEG2RAD(35.0f); m_forwardAction += abs(desiredMoveDir.z); } m_liftAction = min(2.0f, max(m_liftAction, m_hoveringPower * 2.0f)); } else { m_liftAction = 0.0f; } } else { // to keep hovering at the same place m_hoveringPower = m_powerPID.Update(currentVel.z, m_desiredHeight - currentHeight, -1.0f, 1.0f); m_liftAction = 0.0f; if (m_pVehicle->GetAltitude() > 10.0f) //TODO: this line is not MTSafe m_liftAction = m_forwardAction; } m_actionPitch += m_pitchActionPerTilt * (desiredPitch - worldAngles.x); m_actionRoll += m_pitchActionPerTilt * (desiredRoll - worldAngles.y); Limit(m_actionPitch, -1.0f, 1.0f); Limit(m_actionRoll, -1.0f, 1.0f); Limit(m_actionYaw, -1.0f, 1.0f); if (m_horizontal > 0.0001f) m_desiredHeight = m_PhysPos.pos.z; Limit(m_forwardAction, -1.0f, 1.0f); }