| 116 | function AIVehicle:collectAIAgentAttachments(aiDrivableVehicle) |
| 117 | local spec = self.spec_aiVehicle |
| 118 | |
| 119 | if #spec.agentAttachments > 0 then |
| 120 | local inputAttacherJointDesc = self:getActiveInputAttacherJoint() |
| 121 | if inputAttacherJointDesc ~= nil then |
| 122 | local jointDesc = self:getAttacherVehicle():getAttacherJointDescFromObject(self) |
| 123 | |
| 124 | local usedExplicitAttachment = false |
| 125 | for i=1, #spec.agentAttachments do |
| 126 | local agentAttachment = spec.agentAttachments[i] |
| 127 | if agentAttachment.jointNode == inputAttacherJointDesc.node then |
| 128 | agentAttachment.attacherVehicleJointNode = jointDesc.jointTransform |
| 129 | self:registerAIAgentAttachment(aiDrivableVehicle, agentAttachment) |
| 130 | usedExplicitAttachment = true |
| 131 | end |
| 132 | end |
| 133 | |
| 134 | if not usedExplicitAttachment then |
| 135 | for i=1, #spec.agentAttachments do |
| 136 | local agentAttachment = spec.agentAttachments[i] |
| 137 | if agentAttachment.isDirectAttachment then |
| 138 | agentAttachment.attacherVehicleJointNode = jointDesc.jointTransform |
| 139 | agentAttachment.jointNodeDynamic = inputAttacherJointDesc.node |
| 140 | self:registerAIAgentAttachment(aiDrivableVehicle, agentAttachment) |
| 141 | break |
| 142 | end |
| 143 | end |
| 144 | end |
| 145 | |
| 146 | for i=1, #spec.agentAttachments do |
| 147 | local agentAttachment = spec.agentAttachments[i] |
| 148 | if not agentAttachment.isDirectAttachment then |
| 149 | self:registerAIAgentAttachment(aiDrivableVehicle, agentAttachment) |
| 150 | end |
| 151 | end |
| 152 | end |
| 153 | end |
| 154 | end |
| 276 | function AIVehicle:drawAIAgentAttachments(agentAttachments) |
| 277 | local spec = self.spec_aiVehicle |
| 278 | agentAttachments = agentAttachments or spec.agentAttachments |
| 279 | for i=1, #agentAttachments do |
| 280 | local agentAttachment = agentAttachments[i] |
| 281 | if agentAttachment.rotCenterNode ~= nil then |
| 282 | spec.debugSizeBox:setColor(0, 1, 0.25) |
| 283 | spec.debugSizeBox:createWithNode(agentAttachment.rotCenterNode, agentAttachment.width*0.5, agentAttachment.height*0.5, agentAttachment.length*0.5, 0, agentAttachment.height*0.5 + agentAttachment.heightOffset, agentAttachment.lengthOffset) |
| 284 | spec.debugSizeBox:draw() |
| 285 | else |
| 286 | spec.debugSizeBox:setColor(0, 0.15, 1) |
| 287 | spec.debugSizeBox:createWithNode(agentAttachment.rootNode, agentAttachment.width*0.5, agentAttachment.height*0.5, agentAttachment.length*0.5, 0, agentAttachment.height*0.5 + agentAttachment.heightOffset, agentAttachment.lengthOffset) |
| 288 | spec.debugSizeBox:draw() |
| 289 | end |
| 290 | |
| 291 | self:drawAIAgentAttachments(agentAttachment.agentAttachments) |
| 292 | end |
| 293 | end |
| 169 | function AIVehicle:loadAIAgentAttachmentsFromXML(xmlFile, baseKey, agentAttachments, loadSubAttachments, requiresJointNode) |
| 170 | xmlFile:iterate(baseKey, function(index, key) |
| 171 | local agentAttachment = {} |
| 172 | agentAttachment.jointNode = xmlFile:getValue(key .. "#jointNode", nil, self.components, self.i3dMappings) |
| 173 | agentAttachment.jointNodeDynamic = nil |
| 174 | |
| 175 | agentAttachment.rotCenterNode = xmlFile:getValue(key .. "#rotCenterNode", nil, self.components, self.i3dMappings) |
| 176 | agentAttachment.rotCenterWheelIndices = xmlFile:getValue(key .. "#rotCenterWheelIndices", nil, true) |
| 177 | agentAttachment.rotCenterPosition = xmlFile:getValue(key .. "#rotCenterPosition", nil, true) |
| 178 | |
| 179 | agentAttachment.width = xmlFile:getValue(key .. "#width", 3) |
| 180 | agentAttachment.height = xmlFile:getValue(key .. "#height", 3) |
| 181 | agentAttachment.heightOffset = xmlFile:getValue(key .. "#heightOffset", 0) |
| 182 | agentAttachment.length = xmlFile:getValue(key .. "#length", 3) |
| 183 | agentAttachment.lengthOffset = xmlFile:getValue(key .. "#lengthOffset", 0) |
| 184 | |
| 185 | agentAttachment.hasCollision = xmlFile:getValue(key .. "#hasCollision", true) |
| 186 | |
| 187 | agentAttachment.isDirectAttachment = false -- direct attachments are directly bound to the input attacher joint - non direct is e.g. another component with open Y rot limit |
| 188 | |
| 189 | agentAttachment.agentAttachments = {} |
| 190 | if loadSubAttachments ~= false then |
| 191 | self:loadAIAgentAttachmentsFromXML(xmlFile, key .. ".agentAttachment", agentAttachment.agentAttachments, false, true) |
| 192 | end |
| 193 | |
| 194 | if requiresJointNode == true then |
| 195 | if agentAttachment.jointNode == nil then |
| 196 | Logging.xmlWarning(xmlFile, "No joint node defined for ai agent sub attachable '%s'!", key) |
| 197 | return |
| 198 | end |
| 199 | end |
| 200 | |
| 201 | table.insert(agentAttachments, agentAttachment) |
| 202 | end) |
| 203 | |
| 204 | if loadSubAttachments == nil and #agentAttachments == 0 then |
| 205 | Logging.xmlWarning(xmlFile, "Missing ai agent attachment definition for attachable vehicle") |
| 206 | end |
| 207 | end |
| 297 | function AIVehicle:raiseAIEvent(eventName, implementName, ...) |
| 298 | local actionController = self.rootVehicle.actionController |
| 299 | for _, vehicle in ipairs(self.rootVehicle.childVehicles) do |
| 300 | if vehicle ~= self then |
| 301 | self:safeRaiseAIEvent(vehicle, implementName, ...) |
| 302 | |
| 303 | if actionController ~= nil then |
| 304 | actionController:onAIEvent(vehicle, implementName) |
| 305 | end |
| 306 | end |
| 307 | end |
| 308 | |
| 309 | self:safeRaiseAIEvent(self, implementName, ...) |
| 310 | if actionController ~= nil then |
| 311 | actionController:onAIEvent(self, implementName) |
| 312 | end |
| 313 | |
| 314 | self:safeRaiseAIEvent(self, eventName, ...) |
| 315 | if actionController ~= nil then |
| 316 | actionController:onAIEvent(self, eventName) |
| 317 | end |
| 318 | end |
| 34 | function AIVehicle.registerAgentAttachmentPaths(schema, basePath, includeSubAttachments) |
| 35 | schema:register(XMLValueType.NODE_INDEX, basePath .. ".agentAttachment(?)#jointNode", "Custom joint node (if not defined the current attacher joint is used)") |
| 36 | |
| 37 | schema:register(XMLValueType.VECTOR_N, basePath .. ".agentAttachment(?)#rotCenterWheelIndices", "The center of these wheel indices define the steering center") |
| 38 | schema:register(XMLValueType.NODE_INDEX, basePath .. ".agentAttachment(?)#rotCenterNode", "Custom node to define the steering center") |
| 39 | schema:register(XMLValueType.VECTOR_2, basePath .. ".agentAttachment(?)#rotCenterPosition", "Offset from root component that defines the steering center") |
| 40 | |
| 41 | schema:register(XMLValueType.FLOAT, basePath .. ".agentAttachment(?)#width", "Agent attachable width", 3) |
| 42 | schema:register(XMLValueType.FLOAT, basePath .. ".agentAttachment(?)#height", "Agent attachable height", 3) |
| 43 | schema:register(XMLValueType.FLOAT, basePath .. ".agentAttachment(?)#heightOffset", "Agent attachable height offset (only for visual debug)", 0) |
| 44 | schema:register(XMLValueType.FLOAT, basePath .. ".agentAttachment(?)#length", "Agent attachable length", 3) |
| 45 | schema:register(XMLValueType.FLOAT, basePath .. ".agentAttachment(?)#lengthOffset", "Agent attachable length offset from rot center", 0) |
| 46 | |
| 47 | schema:register(XMLValueType.BOOL, basePath .. ".agentAttachment(?)#hasCollision", "Agent attachable is doing collision checks", true) |
| 48 | |
| 49 | if includeSubAttachments then |
| 50 | AIVehicle.registerAgentAttachmentPaths(schema, basePath .. ".agentAttachment(?)", false) |
| 51 | end |
| 52 | end |
| 61 | function AIVehicle.registerFunctions(vehicleType) |
| 62 | SpecializationUtil.registerFunction(vehicleType, "collectAIAgentAttachments", AIVehicle.collectAIAgentAttachments) |
| 63 | SpecializationUtil.registerFunction(vehicleType, "registerAIAgentAttachment", AIVehicle.registerAIAgentAttachment) |
| 64 | SpecializationUtil.registerFunction(vehicleType, "loadAIAgentAttachmentsFromXML", AIVehicle.loadAIAgentAttachmentsFromXML) |
| 65 | SpecializationUtil.registerFunction(vehicleType, "validateAIAgentAttachments", AIVehicle.validateAIAgentAttachments) |
| 66 | SpecializationUtil.registerFunction(vehicleType, "drawAIAgentAttachments", AIVehicle.drawAIAgentAttachments) |
| 67 | |
| 68 | SpecializationUtil.registerFunction(vehicleType, "raiseAIEvent", AIVehicle.raiseAIEvent) |
| 69 | SpecializationUtil.registerFunction(vehicleType, "safeRaiseAIEvent", AIVehicle.safeRaiseAIEvent) |
| 70 | SpecializationUtil.registerFunction(vehicleType, "getIsAIReadyToDrive", AIVehicle.getIsAIReadyToDrive) |
| 71 | SpecializationUtil.registerFunction(vehicleType, "getIsAIPreparingToDrive", AIVehicle.getIsAIPreparingToDrive) |
| 72 | end |
| 211 | function AIVehicle:validateAIAgentAttachments(agentAttachments, inputAttacherJoints) |
| 212 | for i=1, #agentAttachments do |
| 213 | local agentAttachment = agentAttachments[i] |
| 214 | |
| 215 | for j=1, #inputAttacherJoints do |
| 216 | if agentAttachment.jointNode == nil or agentAttachment.jointNode == inputAttacherJoints[j].node then |
| 217 | agentAttachment.isDirectAttachment = true |
| 218 | end |
| 219 | end |
| 220 | |
| 221 | if agentAttachment.rotCenterNode == nil then |
| 222 | if agentAttachment.rotCenterPosition ~= nil and #agentAttachment.rotCenterPosition == 2 then |
| 223 | local rotCenterNode = createTransformGroup("aiAgentAttachmentRotCenter"..i) |
| 224 | link(self.components[1].node, rotCenterNode) |
| 225 | setTranslation(rotCenterNode, agentAttachment.rotCenterPosition[1], 0, agentAttachment.rotCenterPosition[2]) |
| 226 | agentAttachment.rotCenterNode = rotCenterNode |
| 227 | elseif agentAttachment.rotCenterWheelIndices ~= nil and #agentAttachment.rotCenterWheelIndices > 0 then |
| 228 | if self.getWheels ~= nil then |
| 229 | local wheels = self:getWheels() |
| 230 | local x, y, z = 0, 0, 0 |
| 231 | local dirX, dirY, dirZ = 0, 0, 0 |
| 232 | local numWheels = 0 |
| 233 | local component = nil |
| 234 | for j=1, #agentAttachment.rotCenterWheelIndices do |
| 235 | local wheelIndex = agentAttachment.rotCenterWheelIndices[j] |
| 236 | local wheel = wheels[wheelIndex] |
| 237 | if wheel ~= nil then |
| 238 | component = component or wheel.node |
| 239 | local wx, wy, wz = localToLocal(wheel.repr, component, 0, -wheel.radius, 0) |
| 240 | local dx, dy, dz = localDirectionToLocal(wheel.driveNode, component, 0, 0, 1) |
| 241 | x, y, z = x+wx, y+wy, z+wz |
| 242 | dirX, dirY, dirZ = dirX+dx, dirY+dy, dirZ+dz |
| 243 | numWheels = numWheels + 1 |
| 244 | else |
| 245 | Logging.xmlWarning(self.xmlFile, "Unknown wheel index '%d' ground in ai agent attachment entry 'vehicle.ai.agentAttachment(%d)'!", wheelIndex, i-1) |
| 246 | end |
| 247 | end |
| 248 | |
| 249 | if numWheels > 0 then |
| 250 | x, y, z = x/numWheels, y/numWheels, z/numWheels |
| 251 | dirX, dirY, dirZ = dirX/numWheels, dirY/numWheels, dirZ/numWheels |
| 252 | end |
| 253 | |
| 254 | local rotCenterNode = createTransformGroup("aiAgentAttachmentRotCenter"..i) |
| 255 | link(component, rotCenterNode) |
| 256 | setTranslation(rotCenterNode, x, y, z) |
| 257 | agentAttachment.rotCenterNode = rotCenterNode |
| 258 | |
| 259 | if numWheels > 0 and MathUtil.vector3Length(dirX, dirY, dirZ) > 0 then |
| 260 | setDirection(rotCenterNode, dirX, dirY, dirZ, 0, 1, 0) |
| 261 | end |
| 262 | end |
| 263 | end |
| 264 | end |
| 265 | |
| 266 | if agentAttachment.rotCenterNode == nil then |
| 267 | agentAttachment.rootNode = self.rootNode |
| 268 | end |
| 269 | |
| 270 | self:validateAIAgentAttachments(agentAttachment.agentAttachments, inputAttacherJoints) |
| 271 | end |
| 272 | end |