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CSCE 590E Spring 2007
AI
By Jijun Tang
Announcements
April 16th/18th: demos Show progress/difficulties/change of
plans USC Times will have reporters in the
class High school outreach
Anyone can contact their high school admin to arrange direct talks to students
Of course, in SC only
Homework
P 655 questions 1 and 2 5 points total Due April 16th
Motion Extraction
Moving the Game Instance Linear Motion Extraction Composite Motion Extraction Variable Delta Extraction The Synthetic Root Bone Animation Without Rendering
Moving the Game Instance
Game instance is where the game thinks the object (character) is
Usually just pos, orientation and bounding box
Used for everything except rendering Collision detection Movement It’s what the game is!
Must move according to animations
Linear Motion Extraction
Find position on last frame of animation Subtract position on first frame of animation Divide by duration Subtract this motion from animation frames During animation playback, add this delta
velocity to instance position Animation is preserved and instance moves Do same for orientation
Composite Motion Extraction
Approximates motion with circular arc Pre-processing algorithm finds:
Axis of rotation (vector) Speed of rotation (radians/sec) Linear speed along arc (metres/sec) Speed along axis of rotation (metres/sec)
e.g. walking up a spiral staircase
Variable Delta Extraction
Uses root bone motion directly Sample root bone motion each frame Find delta from last frame Apply to instance pos+orn Root bone is ignored when rendering
Instance pos+orn is the root bone
The Synthetic Root Bone
All three methods use the root bone But what is the root bone? Where the character “thinks” they are
Defined by animators and coders Does not match any physical bone
Can be animated completely independently Therefore, “synthetic root bone” or SRB
Animation Without Rendering
Not all objects in the world are visible But all must move according to anims Make sure motion extraction and replay
is independent of rendering Must run on all objects at all times
Needs to be cheap! Use LME & CME when possible VDA when needed for complex animations
Mesh Deformation
Find Bones in World Space Find Delta from Rest Pose Deform Vertex Positions Deform Vertex Normals
Example
Find Delta from Rest Pose
Mesh is created in a pose Often the “da Vinci man” pose for humans Called the “rest pose”
Must un-transform by that pose first Then transform by new pose
Multiply new pose transforms by inverse of rest pose transforms
Inverse of rest pose calculated at mesh load time
Gives “delta” transform for each bone
Deform Vertex Positions
Each vertex has several bones affect it (the number is generally set to <=4). Vertices each have n bones n is usually 4
4 bone indices 4 bone weights 0-1 Weights must sum to 1
Deformation usually performed on GPU Delta transforms fed to GPU
Usually stored in “constant” space
Deform Vertex Normals
Normals are important for shading and are done similarly to positions
When transformed, normals must be transformed by the inverse transpose of the transform matrix Translations are ignored For pure rotations, inverse(A)=transpose(A) So inverse(transpose(A)) = A For scale or shear, they are different
Normals can use fewer bones per vertex Just one or two is common
Inverse Kinematics
FK & IK Single Bone IK Multi-Bone IK Cyclic Coordinate Descent Two-Bone IK IK by Interpolation
Single Bone IK
Orient a bone in given direction Eyeballs Cameras
Find desired aim vector Find current aim vector Find rotation from one to the other
Cross-product gives axis Dot-product gives angle
Transform object by that rotation
Multi-Bone IK
One bone must get to a target position Bone is called the “end effector”
Can move some or all of its parents May be told which it should move first
Move elbow before moving shoulders May be given joint constraints
Cannot bend elbow backwards
Two-Bone IK
Direct method, not iterative Always finds correct solution
If one exists Allows simple constraints
Knees, elbows Restricted to two rigid bones with a rotation
joint between them Knees, elbows!
Can be used in a cyclic coordinate descent
IK by Interpolation
Animator supplies multiple poses Each pose has a reference direction
e.g. direction of aim of gun Game has a direction to aim in Blend poses together to achieve it Source poses can be realistic
As long as interpolation makes sense Result looks far better than algorithmic IK with
simple joint limits
Network and Multiplayer
Multiplayer Modes:Event Timing
Turn-Based Easy to implement Any connection type
Real-Time Difficult to implement Latency sensitive
Protocol Stack: Open System Interconnect
R outer
Sender R eceiver
Ne two rk
D a ta L in k
Physica l
Ne two rk
D a ta L in k
Physica l
App lica tio n
Pre se n ta tio n
Session
T ra nspo rt
Ne two rk
D a ta L in k
Physica l
App lica tio n
Pre se n ta tio n
Session
T ra nspo rt
Ne two rk
D a ta L in k
Physica l
G am e E vents
G am e P ac k et iz at ion
Connec t ion & Data E x c hange
Input UpdatesS tate Updates
S eria liz at ionB uffering
S oc k ets
TCPUDP
IP
E thernet (M A C)
W ired (C5, Cable)F iber O pt ic sW ire les s
Real-Time Communications:Peer to Peer vs. Client/Server
Broadcast Peer/Peer Client/Server
Connections 0Client = 1Server = N
N = Number of players
Broadcast Peer/Peer Client/Server
Send 1 N-1Client = 1 Server = N
Receive N-1 N-1Client = 1Server = N
1
1
N
x
x
P 1 P 2
P 1
P 2 P 3
P 1 P 4
P 2 P 3
P 1
P 2 P 5
P 3 P 4
2 p lay er s1 c o n n ec tio n
3 p lay er s3 c o n n ec tio n s
4 p lay er s6 c o n n ec tio n s
5 p lay er s1 0 c o n n ec tio n s
Security:Encryption Methods
Keyed Public Key Private Key Ciphers
Message Digest Certificates IPSec
Security:Copy Protection
Disk Copy Protection Costly Mastering, delay copies to ensure
first several months’ sale Invalid/Special Sector Read
Code Sheets Ask code from a line in a large manual
Watermarking
Privacy
Critical data should be kept secret and strong encrypted: Real name Password Address/phone/email Billing Age (especially for minors)
Using public key for transforming user name and password
Artificial Intelligence:Agents, Architecture, and Techniques
Book Material
The book CD has a lot of material in the chapter content
A state machine language for example Please try it
Artificial Intelligence
Intelligence embodied in a man-made device
Human level AI still unobtainable The difficulty is comprehension
Game Artificial Intelligence:What is considered Game AI?
Is it any NPC (non-player character) behavior? A single “if” statement? Scripted behavior?
Pathfinding? Animation selection? Automatically generated environment? Best shot at a definition of game AI?
Possible Game AIDefinition
Inclusive view of game AI:
“Game AI is anything that contributes to the perceived intelligence of an entity, regardless of what’s under the hood.”
Goals of anAI Game Programmer
Different than academic or defense industry
1. AI must be intelligent, yet purposely flawed2. AI must have no unintended weaknesses3. AI must perform within the constraints4. AI must be configurable by game designers
or players5. AI must not keep the game from shipping
Specialization ofGame AI Developer
No one-size fits all solution to game AI Results in dramatic specialization
Strategy Games Battlefield analysis Long term planning and strategy
First-Person Shooter Games One-on-one tactical analysis Intelligent movement at footstep level
Real-Time Strategy games the most demanding, with as many as three full-time AI game programmers
Game Agents
May act as an Opponent Ally Neutral character
Continually loops through the
Sense-Think-Act cycle Optional learning or remembering step
Sense-Think-Act Cycle:Sensing
Agent can have access to perfect information of the game world May be expensive/difficult to tease out
useful info Game World Information
Complete terrain layout Location and state of every game object Location and state of player
But isn’t this cheating???
Sensing:Enforcing Limitations
Human limitations? Limitations such as
Not knowing about unexplored areas Not seeing through walls Not knowing location or state of player
Can only know about things seen, heard, or told about
Must create a sensing model
Sensing:Human Vision Model for Agents
Get a list of all objects or agents; for each:1. Is it within the viewing distance of the agent?
How far can the agent see? What does the code look like?
2. Is it within the viewing angle of the agent? What is the agent’s viewing angle? What does the code look like?
3. Is it unobscured by the environment? Most expensive test, so it is purposely last What does the code look like?
Sensing:Vision Model
Isn’t vision more than just detecting the existence of objects?
What about recognizing interesting terrain features? What would be interesting to an agent?
Sensing:Human Hearing Model
Humans can hear sounds Can recognize sounds
Knows what emits each sound Can sense volume
Indicates distance of sound Can sense pitch
Sounds muffled through walls have more bass Can sense location
Where sound is coming from
Sensing:Modeling Hearing
How do you model hearing efficiently? Do you model how sounds reflect off
every surface? How should an agent know about
sounds?
Sensing:Modeling Hearing Efficiently
Event-based approach When sound is emitted, it alerts
interested agents Use distance and zones to determine
how far sound can travel
Sensing:Communication
Agents might talk amongst themselves! Guards might alert other guards Agents witness player location and spread
the word Model sensed knowledge through
communication Event-driven when agents within vicinity of
each other
Sensing:Reaction Times
Agents shouldn’t see, hear, communicate instantaneously
Players notice! Build in artificial reaction times
Vision: ¼ to ½ second Hearing: ¼ to ½ second Communication: > 2 seconds
Sense-Think-Act Cycle: Thinking
Sensed information gathered Must process sensed information Two primary methods
Process using pre-coded expert knowledge
Use search to find an optimal solution
Thinking:Expert Knowledge
Many different systems Finite-state machines Production systems Decision trees Logical inference
Encoding expert knowledge is appealing because it’s relatively easy Can ask just the right questions As simple as if-then statements
Problems with expert knowledge Not very scalable
Finite-state machine (FSM)
Production systems
Consists primarily of a set of rules about behavior
Productions consist of two parts: a sensory precondition (or "IF" statement) and an action (or "THEN")
A production system also contains a database about current state and knowledge, as well as a rule interpreter
Decision trees
Logical inference
Process of derive a conclusion solely based on what one already knows
Prolog (programming in logic)
mortal(X) :- man(X). man(socrates).
?- mortal(socrates). Yes
Thinking:Search
Employs search algorithm to find an optimal or near-optimal solution Branch-and-bound Depth-first Breadth-first
A* pathfinding common use of search Kind of mixed
Depth and breadth-first
Thinking:Machine Learning
If imparting expert knowledge and search are both not reasonable/possible, then machine learning might work
Examples: Reinforcement learning Neural networks Decision tree learning
Not often used by game developers Why?
Thinking:Flip-Flopping Decisions
Must prevent flip-flopping of decisions Reaction times might help keep it from
happening every frame Must make a decision and stick with it
Until situation changes enough Until enough time has passed
Sense-Think-Act Cycle:Acting
Sensing and thinking steps invisible to player
Acting is how player witnesses intelligence Numerous agent actions, for example:
Change locations Pick up object Play animation Play sound effect Converse with player Fire weapon
Acting:Showing Intelligence
Adeptness and subtlety of actions impact perceived level of intelligence
Enormous burden on asset generation Agent can only express intelligence in terms
of vocabulary of actions Current games have huge sets of
animations/assets Must use scalable solutions to make selections
Extra Step in Cycle:Learning and Remembering
Optional 4th step Not necessary in many games
Agents don’t live long enough Game design might not desire it
Learning
Remembering outcomes and generalizing to future situations
Simplest approach: gather statistics If 80% of time player attacks from left Then expect this likely event
Adapts to player behavior
Remembering
Remember hard facts Observed states, objects, or players
For example Where was the player last seen? What weapon did the player have? Where did I last see a health pack?
Memories should fade Helps keep memory requirements lower Simulates poor, imprecise, selective human
memory
Rememberingwithin the World
All memory doesn’t need to be stored in the agent – can be stored in the world
For example: Agents get slaughtered in a certain area Area might begin to “smell of death” Agent’s path planning will avoid the area Simulates group memory
Making Agents Stupid
Sometimes very easy to trounce player Make agents faster, stronger, more accurate
Sometimes necessary to dumb down agents, for example: Make shooting less accurate Make longer reaction times Engage player only one at a time Change locations to make self more vulnerable
Agent Cheating
Players don’t like agent cheating When agent given unfair advantage in speed,
strength, or knowledge Sometimes necessary
For highest difficultly levels For CPU computation reasons For development time reasons
Don’t let the player catch you cheating! Consider letting the player know upfront
Finite-State Machine (FSM)
Abstract model of computation Formally:
Set of states A starting state An input vocabulary A transition function that maps inputs and
the current state to a next state
FSM
In Game Development
Deviate from formal definition1. States define behaviors (containing code)
Wander, Attack, Flee
2. Transition function divided among states Keeps relation clear
3. Blur between Moore (within state) and Mealy machines (transitions)
4. Leverage randomness
5. Extra state information, for example, health
Good and Bad
Most common game AI software pattern Natural correspondence between states and
behaviors Easy to diagram Easy to program Easy to debug Completely general to any problem
Problems Explosion of states Often created with ad hoc structure
Finite-State Machine:UML Diagram
W an d er Attac k
F lee
S ee E n em y
L ow HealthN o E n em
y
N o E n em y
Approaches
Three approaches Hardcoded (switch statement) Scripted Hybrid Approach
Hardcoded FSM
void RunLogic( int * state ) { switch( state ) { case 0: //Wander Wander(); if( SeeEnemy() ) { *state = 1; } break; case 1: //Attack Attack(); if( LowOnHealth() ) { *state = 2; } if( NoEnemy() ) { *state = 0; } break;
case 2: //Flee Flee(); if( NoEnemy() ) { *state = 0; } break; }}
Problems with switch FSM
1. Code is ad hoc Language doesn’t enforce structure
2. Transitions result from polling Inefficient – event-driven sometimes better
3. Can’t determine 1st time state is entered4. Can’t be edited or specified by game
designers or players
Scripted with alternative language
AgentFSM{ State( STATE_Wander ) OnUpdate Execute( Wander ) if( SeeEnemy ) SetState( STATE_Attack ) OnEvent( AttackedByEnemy ) SetState( Attack ) State( STATE_Attack ) OnEnter Execute( PrepareWeapon ) OnUpdate Execute( Attack ) if( LowOnHealth ) SetState( STATE_Flee ) if( NoEnemy ) SetState( STATE_Wander ) OnExit Execute( StoreWeapon ) State( STATE_Flee ) OnUpdate Execute( Flee ) if( NoEnemy ) SetState( STATE_Wander )}
Scripting Advantages
1. Structure enforced
2. Events can be handed as well as polling
3. OnEnter and OnExit concept exists
4. Can be authored by game designers Easier learning curve than straight C/C++
Scripting Disadvantages
Not trivial to implement Several months of development
Custom compiler With good compile-time error feedback
Bytecode interpreter With good debugging hooks and support
Scripting languages often disliked by users Can never approach polish and robustness of co
mmercial compilers/debuggers
Hybrid Approach
Use a class and C-style macros to approximate a scripting language
Allows FSM to be written completely in C++ leveraging existing compiler/debugger
Capture important features/extensions OnEnter, OnExit Timers Handle events Consistent regulated structure Ability to log history Modular, flexible, stack-based Multiple FSMs, Concurrent FSMs
Can’t be edited by designers or players
Extensions
Many possible extensions to basic FSM OnEnter, OnExit Timers Global state, substates Stack-Based (states or entire FSMs) Multiple concurrent FSMs Messaging
Common Game AI Techniques
A* Pathfinding Command Hierarchy Dead Reckoning Emergent Behavior Flocking Formations Influence Mapping …
A* Pathfinding
Directed search algorithm used for finding an optimal path through the game world
Used knowledge about the destination to direct the search
A* is regarded as the best Guaranteed to find a path if one exists Will find the optimal path Very efficient and fast
Command Hierarchy
Strategy for dealing with decisions at different levels From the general down to the foot soldier
Modeled after military hierarchies General directs high-level strategy Foot soldier concentrates on combat
US Military Chain of Command
Dead Reckoning
Method for predicting object’s future position based on current position, velocity and acceleration
Works well since movement is generally close to a straight line over short time periods
Can also give guidance to how far object could have moved
Example: shooting game to estimate the leading distance
Emergent Behavior
Behavior that wasn’t explicitly programmed
Emerges from the interaction of simpler behaviors or rules Rules: seek food, avoid walls Can result in unanticipated individual or
group behavior
Flocking
Example of emergent behavior Simulates flocking birds, schooling fish
Developed by Craig Reynolds 1987 SIGGRAPH paper
Three classic rules1. Separation – avoid local flockmates2. Alignment – steer toward average heading3. Cohesion – steer toward average position
Formations
Group movement technique Mimics military formations
Similar to flocking, but actually distinct Each unit guided toward formation
position Flocking doesn’t dictate goal positions
Flocking/Formation
Influence Mapping
Method for viewing/abstracting distribution of power within game world
Typically 2D grid superimposed on land Unit influence is summed into each grid cell
Unit influences neighboring cells with falloff Facilitates decisions
Can identify the “front” of the battle Can identify unguarded areas Plan attacks Sim-city: influence of police around the city
Mapping Example
Level-of-Detail AI
Optimization technique like graphical LOD Only perform AI computations if player will
notice For example
Only compute detailed paths for visible agents Off-screen agents don’t think as often
Manager Task Assignment
Manager organizes cooperation between agents Manager may be invisible in game Avoids complicated negotiation and
communication between agents Manager identifies important tasks and
assigns them to agents For example, a coach in an AI football team
Obstacle Avoidance
Paths generated from pathfinding algorithm consider only static terrain, not moving obstacles
Given a path, agent must still avoid moving obstacles Requires trajectory prediction Requires various steering behaviors
Scripting
Scripting specifies game data or logic outside of the game’s source language
Scripting influence spectrumLevel 0: Everything hardcoded
Level 1: Data in files specify stats/locations
Level 2: Scripted cut-scenes (non-interactive)
Level 3: Lightweight logic, like trigger system
Level 4: Heavy logic in scripts
Level 5: Everything coded in scripts
Scripting Pros and Cons
Pros Scripts changed without recompiling game Designers empowered Players can tinker with scripts
Cons More difficult to debug Nonprogrammers required to program Time commitment for tools
State Machine
Most common game AI software pattern Set of states and transitions, with only one
state active at a time Easy to program, debug, understand
Stack-Based State Machine
Also referred to as push-down automata
Remembers past states Allows for diversions, later returning to
previous behaviors
Subsumption Architecture
Popularized by the work of Rodney Brooks Separates behaviors into concurrently running
finite-state machines Well suited for character-based games where
moving and sensing co-exist Lower layers
Rudimentary behaviors (like obstacle avoidance) Higher layers
Goal determination and goal seeking Lower layers have priority
System stays robust
Terrain Analysis
Analyzes world terrain to identify strategic locations
Identify Resources Choke points Ambush points Sniper points Cover points
Trigger System
Highly specialized scripting system Uses if/then rules
If condition, then response Simple for designers/players to
understand and create More robust than general scripting Tool development simpler than general
scripting
Promising AI Techniques
Show potential for future Generally not used for games
May not be well known May be hard to understand May have limited use May require too much development time May require too many resources
Bayesian Networks
Performs humanlike reasoning when faced with uncertainty
Potential for modeling what an AI should know about the player Alternative to cheating
RTS Example AI can infer existence or nonexistence of
player build units
Example
Blackboard Architecture
Complex problem is posted on a shared communication space Agents propose solutions Solutions scored and selected Continues until problem is solved
Alternatively, use concept to facilitate communication and cooperation
Decision Tree Learning
Constructs a decision tree based on observed measurements from game world
Best known game use: Black & White Creature would learn and form “opinions” Learned what to eat in the world based
on feedback from the player and world
Filtered Randomness
Filters randomness so that it appears random to players over short term
Removes undesirable events Like coin coming up heads 8 times in a row
Statistical randomness is largely preserved without gross peculiarities
Example: In an FPS, opponents should randomly spawn
from different locations (and never spawn from the same location more than 2 times in a row).
Genetic Algorithms
Technique for search and optimization that uses evolutionary principles
Good at finding a solution in complex or poorly understood search spaces
Typically done offline before game ships Example:
Game may have many settings for the AI, but interaction between settings makes it hard to find an optimal combination
Flowchat
N-Gram Statistical Prediction
Technique to predict next value in a sequence
In the sequence 18181810181, it would predict 8 as being the next value
Example In street fighting game, player just did
Low Kick followed by Low Punch Predict their next move and expect it
Neural Networks
Complex non-linear functions that relate one or more inputs to an output
Must be trained with numerous examples Training is computationally expensive making th
em unsuited for in-game learning Training can take place before game ships
Once fixed, extremely cheap to compute
Example
Planning
Planning is a search to find a series of actions that change the current world state into a desired world state
Increasingly desirable as game worlds become more rich and complex
Requires Good planning algorithm Good world representation Appropriate set of actions
Player Modeling
Build a profile of the player’s behavior Continuously refine during gameplay Accumulate statistics and events
Player model then used to adapt the AI Make the game easier: player is not good at
handling some weapons, then avoid Make the game harder: player is not good at
handling some weapons, exploit this weakness
Production (Expert) Systems
Formal rule-based system Database of rules Database of facts Inference engine to decide which rules trigger –
resolves conflicts between rules Example
Soar used experiment with Quake 2 bots Upwards of 800 rules for competent opponent
Reinforcement Learning
Machine learning technique Discovers solutions through trial and erro
r Must reward and punish at appropriate ti
mes Can solve difficult or complex problems li
ke physical control problems Useful when AI’s effects are uncertain
or delayed
Reputation System
Models player’s reputation within the game world
Agents learn new facts by watching player or from gossip from other agents
Based on what an agent knows Might be friendly toward player Might be hostile toward player
Affords new gameplay opportunities “Play nice OR make sure there are no
witnesses”
Smart Terrain
Put intelligence into inanimate objects Agent asks object how to use it: how to
open the door, how to set clock, etc Agents can use objects for which they
weren’t originally programmed for Allows for expansion packs or user created
objects, like in The Sims Enlightened by Affordance Theory
Objects by their very design afford a very specific type of interaction
Speech Recognition
Players can speak into microphone to control some aspect of gameplay
Limited recognition means only simple commands possible
Problems with different accents, different genders, different ages (child vs adult)
Text-to-Speech
Turns ordinary text into synthesized speech Cheaper than hiring voice actors Quality of speech is still a problem
Not particularly natural sounding Intonation problems Algorithms not good at “voice acting”: the mouth
needs to be animated based on the text Large disc capacities make recording human
voices not that big a problem No need to resort to worse sounding solution
Promising AI Techniques:Weakness Modification Learning
General strategy to keep the AI from losing to the player in the same way every time
Two main steps1. Record a key gameplay state that precedes a
failure
2. Recognize that state in the future and change something about the AI behavior AI might not win more often or act more intelligently,
but won’t lose in the same way every time Keeps “history from repeating itself”