383 lines
10 KiB
C++
383 lines
10 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
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//
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// Purpose: Base class for many flying NPCs
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//
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// $NoKeywords: $
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//=============================================================================//
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#include "cbase.h"
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#include "ai_basenpc_physicsflyer.h"
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#include "ai_route.h"
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#include "ai_navigator.h"
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#include "ai_motor.h"
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#include "physics_saverestore.h"
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// memdbgon must be the last include file in a .cpp file!!!
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#include "tier0/memdbgon.h"
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BEGIN_DATADESC( CAI_BasePhysicsFlyingBot )
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DEFINE_FIELD( m_vCurrentVelocity, FIELD_VECTOR),
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DEFINE_FIELD( m_vCurrentBanking, FIELD_VECTOR),
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DEFINE_FIELD( m_vNoiseMod, FIELD_VECTOR),
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DEFINE_FIELD( m_fHeadYaw, FIELD_FLOAT),
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DEFINE_FIELD( m_vLastPatrolDir, FIELD_VECTOR),
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DEFINE_PHYSPTR( m_pMotionController ),
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END_DATADESC()
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//------------------------------------------------------------------------------
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// Purpose : Override to return correct velocity
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// Input :
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// Output :
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//------------------------------------------------------------------------------
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void CAI_BasePhysicsFlyingBot::GetVelocity(Vector *vVelocity, AngularImpulse *vAngVelocity)
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{
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Assert( GetMoveType() == MOVETYPE_VPHYSICS );
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if ( VPhysicsGetObject() )
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{
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VPhysicsGetObject()->GetVelocity( vVelocity, vAngVelocity );
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}
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else
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{
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if ( vVelocity )
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{
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vVelocity->Init();
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}
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if ( vAngVelocity )
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{
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vAngVelocity->Init();
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}
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}
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}
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//-----------------------------------------------------------------------------
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// Purpose: Turn head yaw into facing direction
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// Input :
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// Output :
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//-----------------------------------------------------------------------------
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QAngle CAI_BasePhysicsFlyingBot::BodyAngles()
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{
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return QAngle(0,m_fHeadYaw,0);
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}
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//-----------------------------------------------------------------------------
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// Purpose:
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// Input :
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// Output :
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//-----------------------------------------------------------------------------
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void CAI_BasePhysicsFlyingBot::TurnHeadToTarget(float flInterval, const Vector &MoveTarget )
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{
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float desYaw = UTIL_AngleDiff(VecToYaw(MoveTarget - GetLocalOrigin()), 0 );
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m_fHeadYaw = desYaw;
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return;
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// If I've flipped completely around, reverse angles
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float fYawDiff = m_fHeadYaw - desYaw;
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if (fYawDiff > 180)
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{
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m_fHeadYaw -= 360;
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}
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else if (fYawDiff < -180)
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{
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m_fHeadYaw += 360;
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}
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// RIGHT NOW, this affects every flying bot. This rate should be member data that individuals
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// can manipulate. THIS change for MANHACKS E3 2003 (sjb)
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float iRate = 0.8;
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// Make frame rate independent
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float timeToUse = flInterval;
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while (timeToUse > 0)
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{
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m_fHeadYaw = (iRate * m_fHeadYaw) + (1-iRate)*desYaw;
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timeToUse -= 0.1;
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}
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while( m_fHeadYaw > 360 )
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{
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m_fHeadYaw -= 360.0f;
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}
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while( m_fHeadYaw < 0 )
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{
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m_fHeadYaw += 360.f;
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}
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// SetBoneController( 0, m_fHeadYaw );
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}
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//------------------------------------------------------------------------------
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// Purpose :
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// Input :
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// Output :
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//------------------------------------------------------------------------------
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float CAI_BasePhysicsFlyingBot::MinGroundDist(void)
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{
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return 0;
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}
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//------------------------------------------------------------------------------
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// Purpose :
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// Input :
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// Output :
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//------------------------------------------------------------------------------
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Vector CAI_BasePhysicsFlyingBot::VelocityToAvoidObstacles(float flInterval)
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{
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// --------------------------------
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// Avoid banging into stuff
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// --------------------------------
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trace_t tr;
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Vector vTravelDir = m_vCurrentVelocity*flInterval;
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Vector endPos = GetAbsOrigin() + vTravelDir;
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AI_TraceEntity( this, GetAbsOrigin(), endPos, MASK_NPCSOLID|CONTENTS_WATER, &tr);
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if (tr.fraction != 1.0)
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{
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// Bounce off in normal
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Vector vBounce = tr.plane.normal * 0.5 * m_vCurrentVelocity.Length();
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return (vBounce);
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}
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// --------------------------------
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// Try to remain above the ground.
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// --------------------------------
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float flMinGroundDist = MinGroundDist();
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AI_TraceLine(GetAbsOrigin(), GetAbsOrigin() + Vector(0, 0, -flMinGroundDist),
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MASK_NPCSOLID_BRUSHONLY|CONTENTS_WATER, this, COLLISION_GROUP_NONE, &tr);
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if (tr.fraction < 1)
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{
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// Clamp veloctiy
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if (tr.fraction < 0.1)
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{
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tr.fraction = 0.1;
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}
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return Vector(0, 0, 50/tr.fraction);
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}
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return vec3_origin;
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}
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//------------------------------------------------------------------------------
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// Purpose :
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// Input :
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// Output :
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//------------------------------------------------------------------------------
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void CAI_BasePhysicsFlyingBot::StartTask( const Task_t *pTask )
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{
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switch (pTask->iTask)
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{
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// Skip as done via bone controller
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case TASK_FACE_ENEMY:
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{
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TaskComplete();
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break;
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}
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// Activity is just idle (have no run)
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case TASK_RUN_PATH:
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{
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GetNavigator()->SetMovementActivity(ACT_IDLE);
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TaskComplete();
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break;
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}
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// Don't check for run/walk activity
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case TASK_SCRIPT_RUN_TO_TARGET:
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case TASK_SCRIPT_WALK_TO_TARGET:
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{
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if (GetTarget() == NULL)
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{
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TaskFail(FAIL_NO_TARGET);
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}
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else
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{
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if (!GetNavigator()->SetGoal( GOALTYPE_TARGETENT ) )
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{
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TaskFail(FAIL_NO_ROUTE);
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GetNavigator()->ClearGoal();
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}
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}
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TaskComplete();
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break;
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}
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// Override to get more to get a directional path
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case TASK_GET_PATH_TO_RANDOM_NODE:
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{
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if ( GetNavigator()->SetRandomGoal( pTask->flTaskData, m_vLastPatrolDir ) )
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TaskComplete();
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else
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TaskFail(FAIL_NO_REACHABLE_NODE);
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break;
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}
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default:
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{
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BaseClass::StartTask(pTask);
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}
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}
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}
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//------------------------------------------------------------------------------
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void CAI_BasePhysicsFlyingBot::MoveToTarget(float flInterval, const Vector &MoveTarget)
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{
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Assert(0); // This must be overridden in the leaf classes
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}
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//------------------------------------------------------------------------------
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AI_NavPathProgress_t CAI_BasePhysicsFlyingBot::ProgressFlyPath(
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float flInterval,
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const CBaseEntity *pNewTarget,
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unsigned collisionMask,
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bool bNewTrySimplify,
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float strictPointTolerance)
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{
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AI_ProgressFlyPathParams_t params( collisionMask );
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params.strictPointTolerance = strictPointTolerance;
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params.SetCurrent( pNewTarget, bNewTrySimplify );
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AI_NavPathProgress_t progress = GetNavigator()->ProgressFlyPath( params );
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switch ( progress )
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{
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case AINPP_NO_CHANGE:
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case AINPP_ADVANCED:
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{
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MoveToTarget(flInterval, GetNavigator()->GetCurWaypointPos());
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break;
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}
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case AINPP_COMPLETE:
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{
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TaskMovementComplete();
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break;
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}
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case AINPP_BLOCKED: // function is not supposed to test blocking, just simple path progression
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default:
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{
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AssertMsg( 0, ( "Unexpected result" ) );
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break;
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}
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}
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return progress;
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}
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//------------------------------------------------------------------------------
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// Purpose :
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// Input :
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// Output :
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//------------------------------------------------------------------------------
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CAI_BasePhysicsFlyingBot::CAI_BasePhysicsFlyingBot()
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{
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#ifdef _DEBUG
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m_vCurrentVelocity.Init();
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m_vCurrentBanking.Init();
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m_vLastPatrolDir.Init();
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#endif
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}
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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CAI_BasePhysicsFlyingBot::~CAI_BasePhysicsFlyingBot( void )
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{
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physenv->DestroyMotionController( m_pMotionController );
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}
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//-----------------------------------------------------------------------------
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// Purpose:
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//
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//
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//-----------------------------------------------------------------------------
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bool CAI_BasePhysicsFlyingBot::CreateVPhysics( void )
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{
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// Create the object in the physics system
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IPhysicsObject *pPhysicsObject = VPhysicsInitNormal( SOLID_BBOX, FSOLID_NOT_STANDABLE, false );
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m_pMotionController = physenv->CreateMotionController( this );
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m_pMotionController->AttachObject( pPhysicsObject, true );
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return true;
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}
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//-----------------------------------------------------------------------------
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// Purpose:
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// Input : *pTarget -
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// &chasePosition -
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//-----------------------------------------------------------------------------
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void CAI_BasePhysicsFlyingBot::TranslateNavGoal( CBaseEntity *pTarget, Vector &chasePosition )
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{
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Assert( pTarget != NULL );
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if ( pTarget == NULL )
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{
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chasePosition = vec3_origin;
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return;
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}
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// Chase their eyes
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chasePosition = pTarget->GetAbsOrigin() + pTarget->GetViewOffset();
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}
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//-----------------------------------------------------------------------------
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// Purpose:
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// Input : *pController -
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// *pObject -
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// deltaTime -
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// &linear -
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// &angular -
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// Output : IMotionEvent::simresult_e
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//-----------------------------------------------------------------------------
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IMotionEvent::simresult_e CAI_BasePhysicsFlyingBot::Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular )
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{
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static int count;
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IPhysicsObject *pPhysicsObject = VPhysicsGetObject();
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// Assert( pPhysicsObject );
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if (!pPhysicsObject)
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return SIM_NOTHING;
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// move
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Vector actualVelocity;
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AngularImpulse actualAngularVelocity;
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pPhysicsObject->GetVelocity( &actualVelocity, &actualAngularVelocity );
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linear = (m_vCurrentVelocity - actualVelocity) * (0.1 / deltaTime) * 10.0;
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/*
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DevMsg("Sim %d : %5.1f %5.1f %5.1f\n", count++,
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m_vCurrentVelocity.x - actualVelocity.x,
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m_vCurrentVelocity.y - actualVelocity.y,
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m_vCurrentVelocity.z - actualVelocity.z );
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*/
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// do angles.
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Vector actualPosition;
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QAngle actualAngles;
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pPhysicsObject->GetPosition( &actualPosition, &actualAngles );
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// FIXME: banking currently disabled, forces simple upright posture
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angular.x = (UTIL_AngleDiff( m_vCurrentBanking.z, actualAngles.z ) - actualAngularVelocity.x) * (1 / deltaTime);
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angular.y = (UTIL_AngleDiff( m_vCurrentBanking.x, actualAngles.x ) - actualAngularVelocity.y) * (1 / deltaTime);
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// turn toward target
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angular.z = UTIL_AngleDiff( m_fHeadYaw, actualAngles.y + actualAngularVelocity.z * 0.1 ) * (1 / deltaTime);
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// angular = m_vCurrentAngularVelocity - actualAngularVelocity;
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// DevMsg("Sim %d : %.1f %.1f %.1f (%.1f)\n", count++, actualAngles.x, actualAngles.y, actualAngles.z, m_fHeadYaw );
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// FIXME: remove the stuff from MoveExecute();
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// FIXME: check MOVE?
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ClampMotorForces( linear, angular );
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return SIM_GLOBAL_ACCELERATION; // on my local axis. SIM_GLOBAL_ACCELERATION
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}
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