Another enemy AI Problem - GameCreators Forum

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Madscientist

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Posted: 12th Mar 2010 22:02 Edited at: 12th Mar 2010 22:06

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I'm making a waypoint system for my game but this is a problem I can't seem to solve. I need it so that the program looks for the next logical waypoint for the object to move to by comparing the distances between the waypoints,objects, and waypoints to objects. For some reason it skipps certain waypoints and then goes into a loop moving between the same waypoints over and over again.
This is my entire waypoint movement function

O_O2 is the distance between the target object and the moving object
O_WP is the distance between the moving object and the waypoint
O2_WP is the distance between the waypoint and target object

Function WP_MoveObjToObj(obj,obj2,Speed#)
	t=15
	For Waypoint = 1 to TotalWP
		Waypoint(Waypoint).O_O2X=Abs(Object Position X(obj)-Object Position X(obj2))
		Waypoint(Waypoint).O_O2Y=Abs(Object Position Y(obj)-Object Position Y(obj2))
		Waypoint(Waypoint).O_O2Z=Abs(Object Position Z(obj)-Object Position Z(obj2))

Waypoint(Waypoint).O_WPX=Abs(Object Position X(obj)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O_WPY=Abs(Object Position Y(obj)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O_WPZ=Abs(Object Position Z(obj)-Waypoint(Waypoint).Z)
		
		Waypoint(Waypoint).O2_WPX=Abs(Object Position X(obj2)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O2_WPY=Abs(Object Position Y(obj2)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O2_WPZ=Abs(Object Position Z(obj2)-Waypoint(Waypoint).Z)	
		
		Waypoint(Waypoint).O_WPDist=sqrt((Waypoint(Waypoint).O_WPX^2)+(Waypoint(Waypoint).O_WPZ^2))
		
		Waypoint(Waypoint).O_O2Dist=sqrt((Waypoint(Waypoint).O_O2X^2)+(Waypoint(Waypoint).O_O2Z^2))
		
		Waypoint(Waypoint).O2_WPDist=sqrt((Waypoint(Waypoint).O2_WPX^2)+(Waypoint(Waypoint).O2_WPZ^2))
		
		Waypoint(Waypoint).DistTotal=Waypoint(Waypoint).O_WPDist+Waypoint(Waypoint).O_O2Dist

`*************Problem Starts Here***************

If Waypoint(Priority).Order=0
			For Waypoint2 = 1 to TotalWP
				If Waypoint<>Waypoint2
					If Waypoint(Waypoint).O_WPDist<Waypoint(Waypoint2).O_WPDist and Waypoint(Waypoint).O2_WPDist<Waypoint(Waypoint2).O2_WPDist and Waypoint(Waypoint).Order>0
						Priority=Waypoint
					else
						if Waypoint(Waypoint).O_WPDist<Waypoint(Waypoint2).O_WPDist and Waypoint(Waypoint).Order>0
							Priority=Waypoint
						else 						
							if Waypoint(Waypoint).O2_WPDist<Waypoint(Waypoint2).O2_WPDist and Waypoint(Waypoint).Order>0
								Priority=Waypoint
							else 				
								if Waypoint(Waypoint2).O_WPDist<Waypoint(Waypoint).O_WPDist and Waypoint(Waypoint2).Order>0
									Priority=Waypoint2
								else 						
									if Waypoint(Waypoint2).O2_WPDist<Waypoint(Waypoint).O2_WPDist and Waypoint(Waypoint2).Order>0
										Priority=Waypoint2
									endif
								endif
							endif
						endif
						Priority=0										
					Endif
				endif
			Next Waypoint2
		endif
		
	next Waypoint
	
	If Object Position X(Obj)>(Waypoint(Priority).X-0.1) and Object Position X(Obj)<(Waypoint(Priority).X+0.1)
		if Object Position Y(Obj)>(Waypoint(Priority).Y-0.1) and Object Position Y(Obj)<(Waypoint(Priority).Y+0.1)
			if Object Position Z(Obj)>(Waypoint(Priority).Z-0.1) and Object Position Z(Obj)<(Waypoint(Priority).Z+0.1)
			 	Waypoint(Priority).Order=0
			 	
			 	For WP = 1 to TotalWP
			 		If WP<>Priority
			 			Waypoint(WP).order=1
			 		endif
				NEXT TotalWP
				
			ENDIF
		ENDIF
	ENDIF
			
	Point object obj,Waypoint(Priority).X,Waypoint(Priority).Y,Waypoint(Priority).Z
	move object obj,speed#
ENDFUNCTION

+ Code Snippet

Function WP_MoveObjToObj(obj,obj2,Speed#)
	t=15
	For Waypoint = 1 to TotalWP
		Waypoint(Waypoint).O_O2X=Abs(Object Position X(obj)-Object Position X(obj2))
		Waypoint(Waypoint).O_O2Y=Abs(Object Position Y(obj)-Object Position Y(obj2))
		Waypoint(Waypoint).O_O2Z=Abs(Object Position Z(obj)-Object Position Z(obj2))

		Waypoint(Waypoint).O_WPX=Abs(Object Position X(obj)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O_WPY=Abs(Object Position Y(obj)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O_WPZ=Abs(Object Position Z(obj)-Waypoint(Waypoint).Z)
		
		Waypoint(Waypoint).O2_WPX=Abs(Object Position X(obj2)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O2_WPY=Abs(Object Position Y(obj2)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O2_WPZ=Abs(Object Position Z(obj2)-Waypoint(Waypoint).Z)	
		
		Waypoint(Waypoint).O_WPDist=sqrt((Waypoint(Waypoint).O_WPX^2)+(Waypoint(Waypoint).O_WPZ^2))
		
		Waypoint(Waypoint).O_O2Dist=sqrt((Waypoint(Waypoint).O_O2X^2)+(Waypoint(Waypoint).O_O2Z^2))
		
		Waypoint(Waypoint).O2_WPDist=sqrt((Waypoint(Waypoint).O2_WPX^2)+(Waypoint(Waypoint).O2_WPZ^2))
		
		Waypoint(Waypoint).DistTotal=Waypoint(Waypoint).O_WPDist+Waypoint(Waypoint).O_O2Dist

		`*************Problem Starts Here***************

		If Waypoint(Priority).Order=0
			For Waypoint2 = 1 to TotalWP
				If Waypoint<>Waypoint2
					If Waypoint(Waypoint).O_WPDist<Waypoint(Waypoint2).O_WPDist and Waypoint(Waypoint).O2_WPDist<Waypoint(Waypoint2).O2_WPDist and Waypoint(Waypoint).Order>0
						Priority=Waypoint
					else
						if Waypoint(Waypoint).O_WPDist<Waypoint(Waypoint2).O_WPDist and Waypoint(Waypoint).Order>0
							Priority=Waypoint
						else 						
							if Waypoint(Waypoint).O2_WPDist<Waypoint(Waypoint2).O2_WPDist and Waypoint(Waypoint).Order>0
								Priority=Waypoint
							else 				
								if Waypoint(Waypoint2).O_WPDist<Waypoint(Waypoint).O_WPDist and Waypoint(Waypoint2).Order>0
									Priority=Waypoint2
								else 						
									if Waypoint(Waypoint2).O2_WPDist<Waypoint(Waypoint).O2_WPDist and Waypoint(Waypoint2).Order>0
										Priority=Waypoint2
									endif
								endif
							endif
						endif
						Priority=0										
					Endif
				endif
			Next Waypoint2
		endif
		
	next Waypoint
	
	If Object Position X(Obj)>(Waypoint(Priority).X-0.1) and Object Position X(Obj)<(Waypoint(Priority).X+0.1)
		if Object Position Y(Obj)>(Waypoint(Priority).Y-0.1) and Object Position Y(Obj)<(Waypoint(Priority).Y+0.1)
			if Object Position Z(Obj)>(Waypoint(Priority).Z-0.1) and Object Position Z(Obj)<(Waypoint(Priority).Z+0.1)
			 	Waypoint(Priority).Order=0
			 	
			 	For WP = 1 to TotalWP
			 		If WP<>Priority
			 			Waypoint(WP).order=1
			 		endif
				NEXT TotalWP
				
			ENDIF
		ENDIF
	ENDIF
			
	Point object obj,Waypoint(Priority).X,Waypoint(Priority).Y,Waypoint(Priority).Z
	move object obj,speed#
ENDFUNCTION

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Hawkblood

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Posted: 18th Mar 2010 17:57

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Too much code to digest by looking at it so I'll point stuff out from my own experiences:

You should have a "destination" waypoint.
Each waypoint will need a list of all the other waypoints and "Nodes" for which it is connected to the ones nearest it.
Each "Node" has it's own list of the waypoints:

+ Code Snippet

 dim NumberOfJumps(NumOfWaypoints,4) as integer

(I'm assuming no Waypoint will have more than 4 others attached to it.... the "4" is the number of nodes)
Each "Node" will have a number of jumps to "whatever" waypoint. So you can see that some "paths" are shorter than others. As long as when the object is "at a waypoint" it will make a decision to find the "shortest" path to the "destination" and go to the next waypoint until it's at the "destination".

You can make the NumberOfJumps(,) a BYTE or a short to take up less memory....

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Posted: 18th Mar 2010 22:25 Edited at: 18th Mar 2010 22:43

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Well I first off made my code a lot easier to read but anyways, I know that I have to store all of the possible waypoint paths from the object but how would I add together the distances without having to type every possibility?
This is what I have to calculate the paths.

+ Code Snippet

For Waypoint2 = 1 to TotalWP
    If Waypoint<>Waypoint2
					
	WPDist(Waypoint,Waypoint2)=Abs(((Waypoint(Waypoint).X^2)-(Waypoint(Waypoint).Z^2))-((Waypoint(Waypoint2).X^2)-(Waypoint(Waypoint2).Z^2)))	
					
	For X=1 to TotalWP
	     For Y=1 to TotalWP
		WPPath(Waypoint,Waypoint2)=WPPath(Waypoint,Waypoint2)+WPDist(X,Y)
	     Next Y
	Next X
					
	For Waypoint3=1 to totalWP
	      For Waypoint4=1 to totalWP
		   If Waypoint<>Waypoint3 or Waypoint2<>Waypoint4
		         If WPPath(Waypoint,Waypoint2)>WPPath(Waypoint3,Waypoint4)
		               WPPathBool=0
		         else WPPathBool=1
     		         endif
	           endif
	      Next Waypoint4
	Next Waypoint3
    endif
next Waypoint

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Hawkblood

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Posted: 19th Mar 2010 00:54 Edited at: 19th Mar 2010 00:55

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The way I did it was I made a nested loop. There may be some way to do it better, but I'm not sure how.
psudocode:

+ Code Snippet

dim NumberOfJumps(NumOfWaypoints,NumOfWaypoints,4) as integer `yes, I misstated earlier; you need 3 diminsions
dim Nodes(NumOfWaypoints,4) as integer `this points to the 4 adjacent waypoints (if attached)
for x=0 to 10
 for n=0 to NumberOfWaypoints
  if x=0
  `since each waypoint already knows the waypoints connected to it make the value start out at 1 
for the node that the adjacent wp is attached to
  else `not the initial loop
   for n2=0 to 4
    for wp=0 to NumberOfWaypoints
     if wp<>n then NumberOfJumps(n,wp,n2)=NumberOfJumps(Nodes(n,n2),wp,n2)+1
    next wp
   next n2
  endif
 next n
next x

I hope this gets you going in the right direction. Your post has reminded me that I have not yet made a waypoint plugin..... I should do so soon.

EDIT:
I just read your above post! You are doing something like what I just wrote.....

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Hawkblood

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Posted: 19th Mar 2010 04:16 Edited at: 19th Mar 2010 04:27

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Ok. Try this out....

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Madscientist

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Posted: 19th Mar 2010 22:55

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Well I'm trying to code my own waypoint system but I can't figure out for that code how I would go from each waypoint to waypoint based on distance and how the their attached through each node.

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Hawkblood

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Posted: 19th Mar 2010 23:43

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The Nodes(WP,Node) refers to the attached waypoint; so that if you had waypoint#1 attached to waypoint#2 then one of the nodes ( Nodes(WP,Node) ) on each waypoint would point to the other waypoint...... I hope you understand what I'm saying.

Here's a scheme to accomplish that:

-make some waypoints using MakeWaypoint(x,y,z)
-attach them togather using AttachWaypointToWaypoint(WP1,WP2). You only have to make a single connection using WP1,WP2 or WP2,WP1. It doesn't matter the order.
-if your NPC is at a waypoint (we'll call it WP1) and he wants to go to WP9, then you call FindShortestPath(WP1,WP9) and the return value is the Node that the NPC will go thru (while on WP1) to get to the next waypoint on it's way to WP9. So you could point it at WaypointLocation(Nodes(WP1,FindShortestPath(WP1,WP9))). You would have to use each value (x,y,z) to do the pointing.
-when your NPC gets to the next waypoint simply repeat the process above using the waypoint the NPC is currently on and the destination is still WP9.

Perhapse a look at this code will help:
I think I simplified it with showing a path.

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Posted: 19th Mar 2010 23:52 Edited at: 19th Mar 2010 23:52

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Thanks for clearing that up. I'll post here if I have any more questions.

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Posted: 22nd Mar 2010 02:08 Edited at: 22nd Mar 2010 02:51

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Okay now I got nodes set up but it still doesn't work. The object that is supossed to move stays on one waypoint and can't find the node to go to.

Function WP_Setup(Amount)		
	Global TotalWP as integer = Amount
	Global Dim Waypoint(TotalWP) as Waypoint
	Global Dim WPDist(TotalWP,TotalWP)
	Global Dim WPCon(TotalWP,4)
	Global Priority as integer
	Global WPSolution as integer = 0
Endfunction

Function WP_MakeWaypoint(Waypoint,Xpos#,Ypos#,Zpos#)
	Waypoint(Waypoint).WPNum=Waypoint
	Waypoint(Waypoint).X=Xpos#
	Waypoint(Waypoint).Y=Ypos#
	Waypoint(Waypoint).Z=Zpos#
	Waypoint(Waypoint).Order=1
ENDFUNCTION

Function WP_ConnectWaypoints(WP1,WP2)
	Node=1
	While WPCon(WP1,Node)>0
		inc Node
	ENDWHILE
	WPCon(WP1,Node)=WP2
	
	Node=1
	While WPCon(WP2,Node)>0
		inc Node
	ENDWHILE
	WPCon(WP2,Node)=WP1
ENDFUNCTION

Function WP_MoveObjToObj(obj,obj2,Speed#)
	For Waypoint = 1 to TotalWP
		Waypoint(Waypoint).O_WPX=Abs(Object Position X(obj)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O_WPY=Abs(Object Position Y(obj)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O_WPZ=Abs(Object Position Z(obj)-Waypoint(Waypoint).Z)
		
		Waypoint(Waypoint).O2_WPX=Abs(Object Position X(obj2)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O2_WPY=Abs(Object Position Y(obj2)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O2_WPZ=Abs(Object Position Z(obj2)-Waypoint(Waypoint).Z)
				
		Waypoint(Waypoint).O_WPDist=sqrt((Waypoint(Waypoint).O_WPX^2)+(Waypoint(Waypoint).O_WPZ^2))		
		Waypoint(Waypoint).O2_WPDist=sqrt((Waypoint(Waypoint).O2_WPX^2)+(Waypoint(Waypoint).O2_WPZ^2))		
		Waypoint(Waypoint).DistTotal=Waypoint(Waypoint).O_WPDist+Waypoint(Waypoint).O2_WpDist
		
		If Waypoint(Waypoint).O_WPDist<0.1 then AtPosition=1 else AtPosition=0
	Next Waypoint

If AtPosition=1 then Priority=Node_Dest()
	
	Point object obj,Waypoint(Priority).X,Waypoint(Priority).Y,Waypoint(Priority).Z
	move object obj,speed#
ENDFUNCTION

Function Waypoint_Pos()
	dim Dist(TotalWP+1)
	dim DistOrg(TotalWP+1)
		
	For WP = 1 to TotalWP
		Dist(WP)=Waypoint(WP).O_WPDist
		DistOrg(WP)=Waypoint(WP).O_WPDist
	Next WP
	
	For Redo=1 to TotalWP+(TotalWP-1)
		For WP=1 to TotalWP
			If (WP+1)<TotalWP+1
				If Dist(WP)>Dist(WP+1)
					Temp=Dist(WP+1)
					Dist(WP+1)=Dist(WP)
					Dist(WP)=Temp
				endif
			endif
		NEXT WP
	NEXT Redo
	
	For WP = 1 to TotalWP
		if DistOrg(WP)=Dist(1) then WPPos=WP
	Next WP
	
	WaypointToObjectPos=WPPos
endfunction WaypointToObjectPos

Function Node_Dest()	
	WP=Waypoint_Pos()
	
	dim Dist(5)
	dim DistOrg(5)
		
	For Node = 1 to 4
		If WPCon(WP,Node)>0
			Dist(Node)=Waypoint(WPCon(WP,Node)).O2_WPDist
			DistOrg(Node)=Dist(Node)
		endif
	Next Node
	
	For Redo=1 to 7
		For Node=1 to 4
			If (Node+1)<5
				If Dist(Node)>Dist(Node+1)
					Temp=Dist(Node+1)
					Dist(Node+1)=Dist(Node)
					Dist(Node)=Temp
				endif
			endif
		NEXT Node
	NEXT Redo
	
	If Dist(1)=0
		Dist(1)=Dist(2)
		If Dist(2)=0
			Dist(1)=Dist(3)
			If Dist(3)=0
				Dist(1)=Dist(4)	
			endif
		endif 		
	ENDIF

For Node = 1 to 4
		if DistOrg(Node)=Dist(1) then NodeDest=Node
	Next Node
	
	NodeToObjectDest=WPCon(Waypoint_Pos(),NodeDest)
endfunction NodeToObjectDest

+ Code Snippet

Function WP_Setup(Amount)		
	Global TotalWP as integer = Amount
	Global Dim Waypoint(TotalWP) as Waypoint
	Global Dim WPDist(TotalWP,TotalWP)
	Global Dim WPCon(TotalWP,4)
	Global Priority as integer
	Global WPSolution as integer = 0
Endfunction

Function WP_MakeWaypoint(Waypoint,Xpos#,Ypos#,Zpos#)
	Waypoint(Waypoint).WPNum=Waypoint
	Waypoint(Waypoint).X=Xpos#
	Waypoint(Waypoint).Y=Ypos#
	Waypoint(Waypoint).Z=Zpos#
	Waypoint(Waypoint).Order=1
ENDFUNCTION

Function WP_ConnectWaypoints(WP1,WP2)
	Node=1
	While WPCon(WP1,Node)>0
		inc Node
	ENDWHILE
	WPCon(WP1,Node)=WP2
	
	Node=1
	While WPCon(WP2,Node)>0
		inc Node
	ENDWHILE
	WPCon(WP2,Node)=WP1
ENDFUNCTION

Function WP_MoveObjToObj(obj,obj2,Speed#)
	For Waypoint = 1 to TotalWP
		Waypoint(Waypoint).O_WPX=Abs(Object Position X(obj)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O_WPY=Abs(Object Position Y(obj)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O_WPZ=Abs(Object Position Z(obj)-Waypoint(Waypoint).Z)
		
		Waypoint(Waypoint).O2_WPX=Abs(Object Position X(obj2)-Waypoint(Waypoint).X)
		Waypoint(Waypoint).O2_WPY=Abs(Object Position Y(obj2)-Waypoint(Waypoint).Y)
		Waypoint(Waypoint).O2_WPZ=Abs(Object Position Z(obj2)-Waypoint(Waypoint).Z)
				
		Waypoint(Waypoint).O_WPDist=sqrt((Waypoint(Waypoint).O_WPX^2)+(Waypoint(Waypoint).O_WPZ^2))		
		Waypoint(Waypoint).O2_WPDist=sqrt((Waypoint(Waypoint).O2_WPX^2)+(Waypoint(Waypoint).O2_WPZ^2))		
		Waypoint(Waypoint).DistTotal=Waypoint(Waypoint).O_WPDist+Waypoint(Waypoint).O2_WpDist
		
		If Waypoint(Waypoint).O_WPDist<0.1 then AtPosition=1 else AtPosition=0
	Next Waypoint

	If AtPosition=1 then Priority=Node_Dest()
	
	Point object obj,Waypoint(Priority).X,Waypoint(Priority).Y,Waypoint(Priority).Z
	move object obj,speed#
ENDFUNCTION

Function Waypoint_Pos()
	dim Dist(TotalWP+1)
	dim DistOrg(TotalWP+1)
		
	For WP = 1 to TotalWP
		Dist(WP)=Waypoint(WP).O_WPDist
		DistOrg(WP)=Waypoint(WP).O_WPDist
	Next WP
	
	For Redo=1 to TotalWP+(TotalWP-1)
		For WP=1 to TotalWP
			If (WP+1)<TotalWP+1
				If Dist(WP)>Dist(WP+1)
					Temp=Dist(WP+1)
					Dist(WP+1)=Dist(WP)
					Dist(WP)=Temp
				endif
			endif
		NEXT WP
	NEXT Redo
	
	For WP = 1 to TotalWP
		if DistOrg(WP)=Dist(1) then WPPos=WP
	Next WP
	
	WaypointToObjectPos=WPPos
endfunction WaypointToObjectPos

Function Node_Dest()	
	WP=Waypoint_Pos()
	
	dim Dist(5)
	dim DistOrg(5)
		
	For Node = 1 to 4
		If WPCon(WP,Node)>0
			Dist(Node)=Waypoint(WPCon(WP,Node)).O2_WPDist
			DistOrg(Node)=Dist(Node)
		endif
	Next Node
	
	For Redo=1 to 7
		For Node=1 to 4
			If (Node+1)<5
				If Dist(Node)>Dist(Node+1)
					Temp=Dist(Node+1)
					Dist(Node+1)=Dist(Node)
					Dist(Node)=Temp
				endif
			endif
		NEXT Node
	NEXT Redo
	
	If Dist(1)=0
		Dist(1)=Dist(2)
		If Dist(2)=0
			Dist(1)=Dist(3)
			If Dist(3)=0
				Dist(1)=Dist(4)	
			endif
		endif 		
	ENDIF

	For Node = 1 to 4
		if DistOrg(Node)=Dist(1) then NodeDest=Node
	Next Node
	
	NodeToObjectDest=WPCon(Waypoint_Pos(),NodeDest)
endfunction NodeToObjectDest

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Hawkblood

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Posted: 22nd Mar 2010 15:23 Edited at: 22nd Mar 2010 15:31

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Did you try emplimenting my utility? It seems as though you just made one yourself. I'll look at the code to see if I can figure out the problem. Just try my code in your app; you might like it.

EDIT:
I don't see where you translate all the distances to each waypoint from each waypoint.

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Posted: 22nd Mar 2010 22:07

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I only translated the distance from the node waypoint to destination waypoint. I want to try to write my own code because it will help me learn more.

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Hawkblood

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Posted: 23rd Mar 2010 01:04

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Quote: "I want to try to write my own code because it will help me learn more."

That's the way I like it too.

Ok.
For your object to navigate from pointA to pointZ, it has to go through all the ones in between, so it's important to have distances and "direction" to make it work. The "direction" is the node on a waypoint. Think of a node as a connecting line between waypoints. This node stores only which waypoint it is connected to.
BTW all of this that I am talking about is the same stuff you would learn when dealing with networks-- except that they don't deal in distance; they deal with number of jumps to determine the "shortest path".
Now that you have the "connection" info, you need to know the distance from each node connected to each node.
You have most of this already. Now check out my UpdateWaypoints() function-- this is the most important function. This is the "nested loop" I refered to earlier. What it does is it takes each existing waypoint one at a time. For each waypoint, it looks at each attached waypoints info (each destination to each waypoint) and adds the distance to it's distance from to that waypoint and then stores that info..... Hope you are following me. You may understand it by studying that function, or you can read up on network paths.

I had a network class that I took the principle from. Good luck! And let me know if you still have trouble. I love to share the knowlege.

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