1905 lines
51 KiB
C++
1905 lines
51 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
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//
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// Purpose:
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//
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//=============================================================================//
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#include "cbase.h"
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#include "movevars_shared.h"
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#include "ai_blended_movement.h"
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#include "ai_route.h"
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#include "ai_navigator.h"
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#include "ai_moveprobe.h"
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#include "KeyValues.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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//-----------------------------------------------------------------------------
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//
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// class CAI_BlendedMotor
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//
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BEGIN_SIMPLE_DATADESC( CAI_BlendedMotor )
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// DEFINE_FIELD( m_bDeceleratingToGoal, FIELD_BOOLEAN ),
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// DEFINE_FIELD( m_iPrimaryLayer, FIELD_INTEGER ),
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// DEFINE_FIELD( m_iSecondaryLayer, FIELD_INTEGER ),
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// DEFINE_FIELD( m_nPrimarySequence, FIELD_INTEGER ),
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// DEFINE_FIELD( m_nSecondarySequence, FIELD_INTEGER ),
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// DEFINE_FIELD( m_flSecondaryWeight, FIELD_FLOAT ),
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// DEFINE_CUSTOM_FIELD( m_nSavedGoalActivity, ActivityDataOps() ),
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// DEFINE_CUSTOM_FIELD( m_nSavedTranslatedGoalActivity, ActivityDataOps() ),
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// DEFINE_FIELD( m_nGoalSequence, FIELD_INTEGER ),
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// DEFINE_FIELD( m_nPrevMovementSequence, FIELD_INTEGER ),
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// DEFINE_FIELD( m_nInteriorSequence, FIELD_INTEGER ),
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// DEFINE_FIELD( m_flCurrRate, FIELD_FLOAT ),
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// DEFINE_FIELD( m_flStartCycle, FIELD_FLOAT ),
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// m_scriptMove
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// m_scriptTurn
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// DEFINE_FIELD( m_flNextTurnGesture, FIELD_TIME ),
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// DEFINE_FIELD( m_prevYaw, FIELD_FLOAT ),
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// DEFINE_FIELD( m_doTurn, FIELD_FLOAT ),
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// DEFINE_FIELD( m_doLeft, FIELD_FLOAT ),
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// DEFINE_FIELD( m_doRight, FIELD_FLOAT ),
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// DEFINE_FIELD( m_flNextTurnAct, FIELD_TIME ),
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// DEFINE_FIELD( m_flPredictiveSpeedAdjust, FIELD_FLOAT ),
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// DEFINE_FIELD( m_flReactiveSpeedAdjust, FIELD_FLOAT ),
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// DEFINE_FIELD( m_vecPrevOrigin1, FIELD_POSITION ),
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// DEFINE_FIELD( m_vecPrevOrigin2, FIELD_POSITION ),
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END_DATADESC()
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//-------------------------------------
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void CAI_BlendedMotor::ResetMoveCalculations()
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{
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BaseClass::ResetMoveCalculations();
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m_scriptMove.RemoveAll();
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m_scriptTurn.RemoveAll();
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}
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//-------------------------------------
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void CAI_BlendedMotor::MoveStart()
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{
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AI_PROFILE_SCOPE(CAI_BlendedMotor_MoveStart);
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if (m_nPrimarySequence == -1)
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{
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m_nPrimarySequence = GetSequence();
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m_flStartCycle = GetCycle();
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m_flCurrRate = 0.4;
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// Assert( !GetOuter()->HasMovement( m_nStartSequence ) );
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m_nSecondarySequence = -1;
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m_iPrimaryLayer = AddLayeredSequence( m_nPrimarySequence, 0 );
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SetLayerWeight( m_iPrimaryLayer, 0.0 );
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SetLayerPlaybackRate( m_iPrimaryLayer, 0.0 );
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SetLayerNoRestore( m_iPrimaryLayer, true );
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SetLayerCycle( m_iPrimaryLayer, m_flStartCycle, m_flStartCycle );
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m_flSecondaryWeight = 0.0;
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}
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else
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{
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// suspect that MoveStop() wasn't called when the previous route finished
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// Assert( 0 );
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}
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if (m_nGoalSequence == ACT_INVALID)
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{
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ResetGoalSequence();
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}
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m_vecPrevOrigin2 = GetAbsOrigin();
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m_vecPrevOrigin1 = GetAbsOrigin();
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m_bDeceleratingToGoal = false;
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}
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//-----------------------------------------------------------------------------
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// Purpose:
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//-----------------------------------------------------------------------------
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void CAI_BlendedMotor::ResetGoalSequence( void )
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{
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m_nSavedGoalActivity = GetNavigator()->GetArrivalActivity( );
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if (m_nSavedGoalActivity == ACT_INVALID)
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{
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m_nSavedGoalActivity = GetOuter()->GetStoppedActivity();
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}
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m_nSavedTranslatedGoalActivity = GetOuter()->NPC_TranslateActivity( m_nSavedGoalActivity );
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m_nGoalSequence = GetNavigator()->GetArrivalSequence( m_nPrimarySequence );
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// Msg("Start %s end %s\n", GetOuter()->GetSequenceName( m_nPrimarySequence ), GetOuter()->GetSequenceName( m_nGoalSequence ) );
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m_nGoalSequence = GetInteriorSequence( m_nPrimarySequence );
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Assert( m_nGoalSequence != ACT_INVALID );
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}
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//-----------------------------------------------------------------------------
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// Purpose:
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//-----------------------------------------------------------------------------
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void CAI_BlendedMotor::MoveStop()
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{
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AI_PROFILE_SCOPE(CAI_BlendedMotor_MoveStop);
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CAI_Motor::MoveStop();
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if (m_iPrimaryLayer != -1)
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{
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RemoveLayer( m_iPrimaryLayer, 0.2, 0.1 );
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m_iPrimaryLayer = -1;
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}
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if (m_iSecondaryLayer != -1)
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{
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RemoveLayer( m_iSecondaryLayer, 0.2, 0.1 );
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m_iSecondaryLayer = -1;
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}
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m_nPrimarySequence = ACT_INVALID;
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m_nSecondarySequence = ACT_INVALID;
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m_nPrevMovementSequence = ACT_INVALID;
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m_nInteriorSequence = ACT_INVALID;
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// int nNextSequence = FindTransitionSequence(GetSequence(), m_nIdealSequence, NULL);
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}
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void CAI_BlendedMotor::MovePaused()
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{
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CAI_Motor::MovePaused();
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SetMoveScriptAnim( 0.0 );
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}
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void CAI_BlendedMotor::MoveContinue()
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{
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AI_PROFILE_SCOPE(CAI_BlendedMotor_MoveContinue);
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m_nPrimarySequence = GetInteriorSequence( ACT_INVALID );
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m_nGoalSequence = m_nPrimarySequence;
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Assert( m_nPrimarySequence != ACT_INVALID );
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if (m_nPrimarySequence == ACT_INVALID)
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return;
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m_flStartCycle = 0.0;
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m_iPrimaryLayer = AddLayeredSequence( m_nPrimarySequence, 0 );
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SetLayerWeight( m_iPrimaryLayer, 0.0 );
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SetLayerPlaybackRate( m_iPrimaryLayer, 0.0 );
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SetLayerNoRestore( m_iPrimaryLayer, true );
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SetLayerCycle( m_iPrimaryLayer, m_flStartCycle, m_flStartCycle );
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m_bDeceleratingToGoal = false;
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}
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//-----------------------------------------------------------------------------
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// Purpose: for the MoveInterval, interpolate desired speed, calc actual distance traveled
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//-----------------------------------------------------------------------------
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float CAI_BlendedMotor::GetMoveScriptDist( float &flNewSpeed )
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{
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AI_PROFILE_SCOPE(CAI_BlendedMotor_GetMoveScriptDist);
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int i;
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float flTotalDist = 0;
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float t = GetMoveInterval();
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Assert( m_scriptMove.Count() > 1);
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flNewSpeed = 0;
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for (i = 0; i < m_scriptMove.Count()-1; i++)
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{
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if (t < m_scriptMove[i].flTime)
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{
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// get new velocity
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float a = t / m_scriptMove[i].flTime;
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flNewSpeed = m_scriptMove[i].flMaxVelocity * (1 - a) + m_scriptMove[i+1].flMaxVelocity * a;
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// get distance traveled over this entry
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flTotalDist += (m_scriptMove[i].flMaxVelocity + flNewSpeed) * 0.5 * t;
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break;
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}
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else
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{
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// used all of entries time, get entries total movement
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flNewSpeed = m_scriptMove[i+1].flMaxVelocity;
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flTotalDist += m_scriptMove[i].flDist;
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t -= m_scriptMove[i].flTime;
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}
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}
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return flTotalDist;
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}
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//-----------------------------------------------------------------------------
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// Purpose: return the total time that the move script covers
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//-----------------------------------------------------------------------------
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float CAI_BlendedMotor::GetMoveScriptTotalTime()
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{
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float flDist = GetNavigator()->GetArrivalDistance();
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int i = m_scriptMove.Count() - 1;
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if (i < 0)
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return -1;
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while (i > 0 && flDist > 1)
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{
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flDist -= m_scriptMove[i].flDist;
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i--;
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}
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return m_scriptMove[i].flElapsedTime;
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}
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//-----------------------------------------------------------------------------
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// Purpose: for the MoveInterval, interpolate desired angle
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//-----------------------------------------------------------------------------
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float CAI_BlendedMotor::GetMoveScriptYaw( void )
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{
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int i;
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// interpolate desired angle
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float flNewYaw = GetAbsAngles().y;
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float t = GetMoveInterval();
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for (i = 0; i < m_scriptTurn.Count()-1; i++)
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{
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if (t < m_scriptTurn[i].flTime)
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{
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// get new direction
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float a = t / m_scriptTurn[i].flTime;
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float deltaYaw = UTIL_AngleDiff( m_scriptTurn[i+1].flYaw, m_scriptTurn[i].flYaw );
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flNewYaw = UTIL_AngleMod( m_scriptTurn[i].flYaw + a * deltaYaw );
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break;
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}
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else
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{
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t -= m_scriptTurn[i].flTime;
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}
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}
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return flNewYaw;
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}
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//-----------------------------------------------------------------------------
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// Purpose: blend in the "idle" or "arrival" animation depending on speed
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//-----------------------------------------------------------------------------
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void CAI_BlendedMotor::SetMoveScriptAnim( float flNewSpeed )
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{
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AI_PROFILE_SCOPE(CAI_BlendedMotor_SetMoveScriptAnim);
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// don't bother if the npc is dead
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if (!GetOuter()->IsAlive())
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return;
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// insert ideal layers
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// FIXME: needs full transitions, as well as starting vs stopping sequences, leaning, etc.
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CAI_Navigator *pNavigator = GetNavigator();
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SetPlaybackRate( m_flCurrRate );
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// calc weight of idle animation layer that suppresses the run animation
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float flWeight = 0.0f;
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if (GetIdealSpeed() > 0.0f)
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{
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flWeight = 1.0f - (flNewSpeed / (GetIdealSpeed() * GetPlaybackRate()));
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}
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if (flWeight < 0.0f)
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{
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m_flCurrRate = flNewSpeed / GetIdealSpeed();
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m_flCurrRate = clamp( m_flCurrRate, 0.0f, 1.0f );
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SetPlaybackRate( m_flCurrRate );
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flWeight = 0.0;
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}
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// Msg("weight %.3f rate %.3f\n", flWeight, m_flCurrRate );
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m_flCurrRate = MIN( m_flCurrRate + (1.0 - m_flCurrRate) * 0.8f, 1.0f );
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if (m_nSavedGoalActivity == ACT_INVALID)
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{
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ResetGoalSequence();
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}
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// detect state change
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Activity activity = GetOuter()->NPC_TranslateActivity( m_nSavedGoalActivity );
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if ( activity != m_nSavedTranslatedGoalActivity )
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{
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m_nSavedTranslatedGoalActivity = activity;
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m_nInteriorSequence = ACT_INVALID;
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m_nGoalSequence = pNavigator->GetArrivalSequence( m_nPrimarySequence );
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}
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if (m_bDeceleratingToGoal)
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{
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// find that sequence to play when at goal
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m_nGoalSequence = pNavigator->GetArrivalSequence( m_nPrimarySequence );
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if (m_nGoalSequence == ACT_INVALID)
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{
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m_nGoalSequence = GetInteriorSequence( m_nPrimarySequence );
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}
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Assert( m_nGoalSequence != ACT_INVALID );
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}
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if (m_flSecondaryWeight == 1.0 || (m_iSecondaryLayer != -1 && m_nPrimarySequence == m_nSecondarySequence))
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{
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// secondary layer at full strength last time, delete the primary and shift down
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RemoveLayer( m_iPrimaryLayer, 0.0, 0.0 );
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m_iPrimaryLayer = m_iSecondaryLayer;
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m_nPrimarySequence = m_nSecondarySequence;
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m_iSecondaryLayer = -1;
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m_nSecondarySequence = ACT_INVALID;
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m_flSecondaryWeight = 0.0;
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}
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// look for transition sequence if needed
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if (m_nSecondarySequence == ACT_INVALID)
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{
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if (!m_bDeceleratingToGoal && m_nGoalSequence != GetInteriorSequence( m_nPrimarySequence ))
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{
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// strob interior sequence in case it changed
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m_nGoalSequence = GetInteriorSequence( m_nPrimarySequence );
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}
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if (m_nGoalSequence != ACT_INVALID && m_nPrimarySequence != m_nGoalSequence)
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{
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// Msg("From %s to %s\n", GetOuter()->GetSequenceName( m_nPrimarySequence ), GetOuter()->GetSequenceName( m_nGoalSequence ) );
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m_nSecondarySequence = GetOuter()->FindTransitionSequence(m_nPrimarySequence, m_nGoalSequence, NULL);
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if (m_nSecondarySequence == ACT_INVALID)
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m_nSecondarySequence = m_nGoalSequence;
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}
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}
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// set blending for
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if (m_nSecondarySequence != ACT_INVALID)
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{
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if (m_iSecondaryLayer == -1)
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{
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m_iSecondaryLayer = AddLayeredSequence( m_nSecondarySequence, 0 );
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SetLayerWeight( m_iSecondaryLayer, 0.0 );
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if (m_nSecondarySequence == m_nGoalSequence)
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{
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SetLayerPlaybackRate( m_iSecondaryLayer, 0.0 );
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}
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else
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{
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SetLayerPlaybackRate( m_iSecondaryLayer, 1.0 );
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}
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SetLayerNoRestore( m_iSecondaryLayer, true );
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m_flSecondaryWeight = 0.0;
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}
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m_flSecondaryWeight = MIN( m_flSecondaryWeight + 0.3, 1.0 );
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if (m_flSecondaryWeight < 1.0)
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{
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SetLayerWeight( m_iPrimaryLayer, (flWeight - m_flSecondaryWeight * flWeight) / (1.0f - m_flSecondaryWeight * flWeight) );
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SetLayerWeight( m_iSecondaryLayer, flWeight * m_flSecondaryWeight );
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}
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else
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{
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SetLayerWeight( m_iPrimaryLayer, 0.0f );
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SetLayerWeight( m_iSecondaryLayer, flWeight );
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}
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}
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else
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{
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// recreate layer if missing
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if (m_iPrimaryLayer == -1)
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{
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MoveContinue();
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}
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// try to catch a stale layer
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if (m_iSecondaryLayer != -1)
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{
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// secondary layer at full strength last time, delete the primary and shift down
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RemoveLayer( m_iSecondaryLayer, 0.0, 0.0 );
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m_iSecondaryLayer = -1;
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m_nSecondarySequence = ACT_INVALID;
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m_flSecondaryWeight = 0.0;
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}
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// debounce
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// flWeight = flWeight * 0.5 + 0.5 * GetOuter()->GetLayerWeight( m_iPrimaryLayer );
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SetLayerWeight( m_iPrimaryLayer, flWeight );
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}
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}
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//-----------------------------------------------------------------------------
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// Purpose: get the "idle" animation to play as the compliment to the movement animation
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//-----------------------------------------------------------------------------
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int CAI_BlendedMotor::GetInteriorSequence( int fromSequence )
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{
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AI_PROFILE_SCOPE(CAI_BlendedMotor_GetInteriorSequence);
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// FIXME: add interior activity to path, just like arrival activity.
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int sequence = GetNavigator()->GetMovementSequence();
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if (m_nInteriorSequence != ACT_INVALID && sequence == m_nPrevMovementSequence)
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{
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return m_nInteriorSequence;
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}
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m_nPrevMovementSequence = sequence;
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KeyValues *seqKeyValues = GetOuter()->GetSequenceKeyValues( sequence );
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// Msg("sequence %d : %s (%d)\n", sequence, GetOuter()->GetSequenceName( sequence ), seqKeyValues != NULL );
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if (seqKeyValues)
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{
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KeyValues *pkvInterior = seqKeyValues->FindKey("interior");
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if (pkvInterior)
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{
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const char *szActivity = pkvInterior->GetString();
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Activity activity = ( Activity )GetOuter()->LookupActivity( szActivity );
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if ( activity != ACT_INVALID )
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{
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m_nInteriorSequence = GetOuter()->SelectWeightedSequence( GetOuter()->TranslateActivity( activity ), fromSequence );
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}
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else
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{
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activity = (Activity)GetOuter()->GetActivityID( szActivity );
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if ( activity != ACT_INVALID )
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{
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m_nInteriorSequence = GetOuter()->SelectWeightedSequence( GetOuter()->TranslateActivity( activity ), fromSequence );
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}
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}
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if (activity == ACT_INVALID || m_nInteriorSequence == ACT_INVALID)
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{
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m_nInteriorSequence = GetOuter()->LookupSequence( szActivity );
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}
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}
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}
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if (m_nInteriorSequence == ACT_INVALID)
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{
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Activity activity = GetNavigator()->GetMovementActivity();
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if (activity == ACT_WALK_AIM || activity == ACT_RUN_AIM)
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{
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activity = ACT_IDLE_ANGRY;
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}
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else
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{
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activity = ACT_IDLE;
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}
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m_nInteriorSequence = GetOuter()->SelectWeightedSequence( GetOuter()->TranslateActivity( activity ), fromSequence );
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Assert( m_nInteriorSequence != ACT_INVALID );
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}
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return m_nInteriorSequence;
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}
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//-----------------------------------------------------------------------------
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// Purpose: Move the npc to the next location on its route.
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//-----------------------------------------------------------------------------
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AIMotorMoveResult_t CAI_BlendedMotor::MoveGroundExecute( const AILocalMoveGoal_t &move, AIMoveTrace_t *pTraceResult )
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{
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AI_PROFILE_SCOPE(CAI_BlendedMotor_MoveGroundExecute);
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if ( move.curExpectedDist < 0.001 )
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{
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AIMotorMoveResult_t result = BaseClass::MoveGroundExecute( move, pTraceResult );
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// Msg(" BaseClass::MoveGroundExecute() - remaining %.2f\n", GetMoveInterval() );
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SetMoveScriptAnim( 0.0 );
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return result;
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}
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BuildMoveScript( move, pTraceResult );
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float flNewSpeed = GetCurSpeed();
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float flTotalDist = GetMoveScriptDist( flNewSpeed );
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Assert( move.maxDist < 0.01 || flTotalDist > 0.0 );
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// --------------------------------------------
|
|
// turn in the direction of movement
|
|
// --------------------------------------------
|
|
|
|
float flNewYaw = GetMoveScriptYaw( );
|
|
|
|
// get facing based on movement yaw
|
|
AILocalMoveGoal_t move2 = move;
|
|
move2.facing = UTIL_YawToVector( flNewYaw );
|
|
|
|
// turn in the direction needed
|
|
MoveFacing( move2 );
|
|
|
|
// reset actual "sequence" ground speed based current movement sequence, orientation
|
|
|
|
// FIXME: this should be based on
|
|
|
|
GetOuter()->m_flGroundSpeed = GetSequenceGroundSpeed( GetSequence());
|
|
|
|
|
|
|
|
/*
|
|
if (1 || flNewSpeed > GetIdealSpeed())
|
|
{
|
|
// DevMsg( "%6.2f : Speed %.1f : %.1f (%.1f) : %d\n", gpGlobals->curtime, flNewSpeed, move.maxDist, move.transitionDist, GetOuter()->m_pHintNode != NULL );
|
|
// DevMsg( "%6.2f : Speed %.1f : %.1f\n", gpGlobals->curtime, flNewSpeed, GetIdealSpeed() );
|
|
}
|
|
*/
|
|
|
|
SetMoveScriptAnim( flNewSpeed );
|
|
|
|
/*
|
|
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
|
|
{
|
|
DevMsg( "%6.2f : Speed %.1f : %.1f : %.2f\n", gpGlobals->curtime, flNewSpeed, GetIdealSpeed(), flNewSpeed / GetIdealSpeed() );
|
|
}
|
|
*/
|
|
|
|
AIMotorMoveResult_t result = MoveGroundExecuteWalk( move, flNewSpeed, flTotalDist, pTraceResult );
|
|
|
|
return result;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
AIMotorMoveResult_t CAI_BlendedMotor::MoveFlyExecute( const AILocalMoveGoal_t &move, AIMoveTrace_t *pTraceResult )
|
|
{
|
|
AI_PROFILE_SCOPE(CAI_BlendedMotor_MoveFlyExecute);
|
|
|
|
if ( move.curExpectedDist < 0.001 )
|
|
return BaseClass::MoveFlyExecute( move, pTraceResult );
|
|
|
|
BuildMoveScript( move, pTraceResult );
|
|
|
|
float flNewSpeed = GetCurSpeed();
|
|
float flTotalDist = GetMoveScriptDist( flNewSpeed );
|
|
|
|
Assert( move.maxDist < 0.01 || flTotalDist > 0.0 );
|
|
|
|
// --------------------------------------------
|
|
// turn in the direction of movement
|
|
// --------------------------------------------
|
|
|
|
float flNewYaw = GetMoveScriptYaw( );
|
|
|
|
// get facing based on movement yaw
|
|
AILocalMoveGoal_t move2 = move;
|
|
move2.facing = UTIL_YawToVector( flNewYaw );
|
|
|
|
// turn in the direction needed
|
|
MoveFacing( move2 );
|
|
|
|
GetOuter()->m_flGroundSpeed = GetSequenceGroundSpeed( GetSequence());
|
|
|
|
SetMoveScriptAnim( flNewSpeed );
|
|
|
|
// DevMsg( "%6.2f : Speed %.1f : %.1f\n", gpGlobals->curtime, flNewSpeed, GetIdealSpeed() );
|
|
|
|
// reset actual "sequence" ground speed based current movement sequence, orientation
|
|
|
|
// FIXME: the above is redundant with MoveGroundExecute, and the below is a mix of MoveGroundExecuteWalk and MoveFlyExecute
|
|
|
|
bool bReachingLocalGoal = ( flTotalDist > move.maxDist );
|
|
|
|
// can I move farther in this interval than I'm supposed to?
|
|
if ( bReachingLocalGoal )
|
|
{
|
|
if ( !(move.flags & AILMG_CONSUME_INTERVAL) )
|
|
{
|
|
// only use a portion of the time interval
|
|
SetMoveInterval( GetMoveInterval() * (1 - move.maxDist / flTotalDist) );
|
|
}
|
|
else
|
|
SetMoveInterval( 0 );
|
|
flTotalDist = move.maxDist;
|
|
}
|
|
else
|
|
{
|
|
// use all the time
|
|
SetMoveInterval( 0 );
|
|
}
|
|
|
|
SetMoveVel( move.dir * flNewSpeed );
|
|
|
|
// orig
|
|
Vector vecStart, vecEnd;
|
|
vecStart = GetLocalOrigin();
|
|
VectorMA( vecStart, flTotalDist, move.dir, vecEnd );
|
|
|
|
AIMoveTrace_t moveTrace;
|
|
GetMoveProbe()->MoveLimit( NAV_FLY, vecStart, vecEnd, MASK_NPCSOLID, NULL, &moveTrace );
|
|
if ( pTraceResult )
|
|
*pTraceResult = moveTrace;
|
|
|
|
// Check for total blockage
|
|
if (fabs(moveTrace.flDistObstructed - flTotalDist) <= 1e-1)
|
|
{
|
|
// But if we bumped into our target, then we succeeded!
|
|
if ( move.pMoveTarget && (moveTrace.pObstruction == move.pMoveTarget) )
|
|
return AIM_PARTIAL_HIT_TARGET;
|
|
|
|
return AIM_FAILED;
|
|
}
|
|
|
|
// The true argument here causes it to touch all triggers
|
|
// in the volume swept from the previous position to the current position
|
|
UTIL_SetOrigin(GetOuter(), moveTrace.vEndPosition, true);
|
|
|
|
return (IsMoveBlocked(moveTrace.fStatus)) ? AIM_PARTIAL_HIT_WORLD : AIM_SUCCESS;
|
|
}
|
|
|
|
|
|
|
|
|
|
float CAI_BlendedMotor::OverrideMaxYawSpeed( Activity activity )
|
|
{
|
|
// Don't do this is we're locked
|
|
if ( IsYawLocked() )
|
|
return 0.0f;
|
|
|
|
switch( activity )
|
|
{
|
|
case ACT_TURN_LEFT:
|
|
case ACT_TURN_RIGHT:
|
|
return 45;
|
|
break;
|
|
default:
|
|
if (GetOuter()->IsMoving())
|
|
{
|
|
return 15;
|
|
}
|
|
return 45; // too fast?
|
|
break;
|
|
}
|
|
return -1;
|
|
}
|
|
|
|
|
|
|
|
void CAI_BlendedMotor::UpdateYaw( int speed )
|
|
{
|
|
// Don't do this is we're locked
|
|
if ( IsYawLocked() )
|
|
return;
|
|
|
|
GetOuter()->UpdateTurnGesture( );
|
|
BaseClass::UpdateYaw( speed );
|
|
}
|
|
|
|
|
|
|
|
void CAI_BlendedMotor::RecalculateYawSpeed()
|
|
{
|
|
// Don't do this is we're locked
|
|
if ( IsYawLocked() )
|
|
{
|
|
SetYawSpeed( 0.0f );
|
|
return;
|
|
}
|
|
|
|
if (GetOuter()->HasMemory( bits_MEMORY_TURNING ))
|
|
return;
|
|
|
|
SetYawSpeed( CalcYawSpeed() );
|
|
}
|
|
|
|
|
|
//-------------------------------------
|
|
|
|
|
|
void CAI_BlendedMotor::MoveClimbStart( const Vector &climbDest, const Vector &climbDir, float climbDist, float yaw )
|
|
{
|
|
// TODO: merge transitions with movement script
|
|
if (m_iPrimaryLayer != -1)
|
|
{
|
|
SetLayerWeight( m_iPrimaryLayer, 0 );
|
|
}
|
|
if (m_iSecondaryLayer != -1)
|
|
{
|
|
SetLayerWeight( m_iSecondaryLayer, 0 );
|
|
}
|
|
|
|
BaseClass::MoveClimbStart( climbDest, climbDir, climbDist, yaw );
|
|
}
|
|
|
|
|
|
//-------------------------------------
|
|
|
|
|
|
void CAI_BlendedMotor::MoveJumpStart( const Vector &velocity )
|
|
{
|
|
// TODO: merge transitions with movement script
|
|
if (m_iPrimaryLayer != -1)
|
|
{
|
|
SetLayerWeight( m_iPrimaryLayer, 0 );
|
|
}
|
|
if (m_iSecondaryLayer != -1)
|
|
{
|
|
SetLayerWeight( m_iSecondaryLayer, 0 );
|
|
}
|
|
|
|
BaseClass::MoveJumpStart( velocity );
|
|
}
|
|
|
|
|
|
//-------------------------------------
|
|
|
|
void CAI_BlendedMotor::BuildMoveScript( const AILocalMoveGoal_t &move, AIMoveTrace_t *pTraceResult )
|
|
{
|
|
m_scriptMove.RemoveAll();
|
|
m_scriptTurn.RemoveAll();
|
|
|
|
BuildVelocityScript( move );
|
|
BuildTurnScript( move );
|
|
|
|
/*
|
|
if (GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT)
|
|
{
|
|
int i;
|
|
#if 1
|
|
|
|
for (i = 1; i < m_scriptMove.Count(); i++)
|
|
{
|
|
NDebugOverlay::Line( m_scriptMove[i-1].vecLocation, m_scriptMove[i].vecLocation, 255,255,255, true, 0.1 );
|
|
|
|
NDebugOverlay::Box( m_scriptMove[i].vecLocation, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 0,255,255, 0, 0.1 );
|
|
|
|
//NDebugOverlay::Line( m_scriptMove[i].vecLocation, m_scriptMove[i].vecLocation + Vector( 0,0,m_scriptMove[i].flMaxVelocity), 0,255,255, true, 0.1 );
|
|
|
|
Vector vecMidway = m_scriptMove[i].vecLocation + ((m_scriptMove[i-1].vecLocation - m_scriptMove[i].vecLocation) * 0.5);
|
|
NDebugOverlay::Text( vecMidway, UTIL_VarArgs( "%d", i ), false, 0.1 );
|
|
}
|
|
#endif
|
|
#if 0
|
|
for (i = 1; i < m_scriptTurn.Count(); i++)
|
|
{
|
|
NDebugOverlay::Line( m_scriptTurn[i-1].vecLocation, m_scriptTurn[i].vecLocation, 255,255,255, true, 0.1 );
|
|
|
|
NDebugOverlay::Box( m_scriptTurn[i].vecLocation, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255,0,0, 0, 0.1 );
|
|
|
|
NDebugOverlay::Line( m_scriptTurn[i].vecLocation + Vector( 0,0,1), m_scriptTurn[i].vecLocation + Vector( 0,0,1) + UTIL_YawToVector( m_scriptTurn[i].flYaw ) * 32, 255,0,0, true, 0.1 );
|
|
}
|
|
#endif
|
|
}
|
|
*/
|
|
}
|
|
|
|
|
|
#define YAWSPEED 150
|
|
|
|
|
|
void CAI_BlendedMotor::BuildTurnScript( const AILocalMoveGoal_t &move )
|
|
{
|
|
AI_PROFILE_SCOPE(CAI_BlendedMotor_BuildTurnScript);
|
|
|
|
int i;
|
|
|
|
AI_Movementscript_t script;
|
|
script.Init();
|
|
|
|
// current location
|
|
script.vecLocation = GetAbsOrigin();
|
|
script.flYaw = GetAbsAngles().y;
|
|
m_scriptTurn.AddToTail( script );
|
|
|
|
//-------------------------
|
|
|
|
// insert default turn parameters, try to turn 80% to goal at all corners before getting there
|
|
int prev = 0;
|
|
for (i = 0; i < m_scriptMove.Count(); i++)
|
|
{
|
|
AI_Waypoint_t *pCurWaypoint = m_scriptMove[i].pWaypoint;
|
|
if (pCurWaypoint)
|
|
{
|
|
script.Init();
|
|
script.vecLocation = pCurWaypoint->vecLocation;
|
|
script.pWaypoint = pCurWaypoint;
|
|
script.flElapsedTime = m_scriptMove[i].flElapsedTime;
|
|
|
|
m_scriptTurn[prev].flTime = script.flElapsedTime - m_scriptTurn[prev].flElapsedTime;
|
|
|
|
if (pCurWaypoint->GetNext())
|
|
{
|
|
Vector d1 = pCurWaypoint->GetNext()->vecLocation - script.vecLocation;
|
|
Vector d2 = script.vecLocation - m_scriptTurn[prev].vecLocation;
|
|
|
|
d1.z = 0;
|
|
VectorNormalize( d1 );
|
|
d2.z = 0;
|
|
VectorNormalize( d2 );
|
|
|
|
float y1 = UTIL_VecToYaw( d1 );
|
|
float y2 = UTIL_VecToYaw( d2 );
|
|
|
|
float deltaYaw = fabs( UTIL_AngleDiff( y1, y2 ) );
|
|
|
|
if (deltaYaw > 0.1)
|
|
{
|
|
// turn to 80% of goal
|
|
script.flYaw = UTIL_ApproachAngle( y1, y2, deltaYaw * 0.8 );
|
|
m_scriptTurn.AddToTail( script );
|
|
// DevMsg("turn waypoint %.1f %.1f %.1f\n", script.vecLocation.x, script.vecLocation.y, script.vecLocation.z );
|
|
prev++;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
Vector vecDir = GetNavigator()->GetArrivalDirection();
|
|
script.flYaw = UTIL_VecToYaw( vecDir );
|
|
m_scriptTurn.AddToTail( script );
|
|
// DevMsg("turn waypoint %.1f %.1f %.1f\n", script.vecLocation.x, script.vecLocation.y, script.vecLocation.z );
|
|
prev++;
|
|
}
|
|
}
|
|
}
|
|
|
|
// propagate ending facing back over any nearby nodes
|
|
// FIXME: this needs to minimize total turning, not just local/end turning.
|
|
// depending on waypoint spacing, complexity, it may turn the wrong way!
|
|
for (i = m_scriptTurn.Count()-1; i > 1; i--)
|
|
{
|
|
float deltaYaw = UTIL_AngleDiff( m_scriptTurn[i-1].flYaw, m_scriptTurn[i].flYaw );
|
|
|
|
float maxYaw = YAWSPEED * m_scriptTurn[i-1].flTime;
|
|
|
|
if (fabs(deltaYaw) > maxYaw)
|
|
{
|
|
m_scriptTurn[i-1].flYaw = UTIL_ApproachAngle( m_scriptTurn[i-1].flYaw, m_scriptTurn[i].flYaw, maxYaw );
|
|
}
|
|
}
|
|
|
|
for (i = 0; i < m_scriptTurn.Count() - 1; )
|
|
{
|
|
i = i + BuildTurnScript( i, i + 1 ) + 1;
|
|
}
|
|
//-------------------------
|
|
}
|
|
|
|
|
|
|
|
int CAI_BlendedMotor::BuildTurnScript( int i, int j )
|
|
{
|
|
AI_PROFILE_SCOPE(CAI_BlendedMotor_BuildTurnScript2);
|
|
|
|
int k;
|
|
|
|
Vector vecDir = m_scriptTurn[j].vecLocation - m_scriptTurn[i].vecLocation;
|
|
float interiorYaw = UTIL_VecToYaw( vecDir );
|
|
|
|
float deltaYaw;
|
|
|
|
deltaYaw = fabs( UTIL_AngleDiff( interiorYaw, m_scriptTurn[i].flYaw ) );
|
|
float t1 = deltaYaw / YAWSPEED;
|
|
|
|
deltaYaw = fabs( UTIL_AngleDiff( m_scriptTurn[j].flYaw, interiorYaw ) );
|
|
float t2 = deltaYaw / YAWSPEED;
|
|
|
|
float totalTime = m_scriptTurn[j].flElapsedTime - m_scriptTurn[i].flElapsedTime;
|
|
|
|
Assert( totalTime > 0 );
|
|
|
|
if (t1 < 0.01)
|
|
{
|
|
if (t2 > totalTime * 0.8)
|
|
{
|
|
// too close, nothing to do
|
|
return 0;
|
|
}
|
|
|
|
// go ahead and force yaw
|
|
m_scriptTurn[i].flYaw = interiorYaw;
|
|
|
|
// we're already aiming close enough to the interior yaw, set the point where we need to blend out
|
|
k = BuildInsertNode( i, totalTime - t2 );
|
|
m_scriptTurn[k].flYaw = interiorYaw;
|
|
|
|
return 1;
|
|
}
|
|
else if (t2 < 0.01)
|
|
{
|
|
if (t1 > totalTime * 0.8)
|
|
{
|
|
// too close, nothing to do
|
|
return 0;
|
|
}
|
|
|
|
// we'll finish up aiming close enough to the interior yaw, set the point where we need to blend in
|
|
k = BuildInsertNode( i, t1 );
|
|
m_scriptTurn[k].flYaw = interiorYaw;
|
|
|
|
return 1;
|
|
}
|
|
else if (t1 + t2 > totalTime)
|
|
{
|
|
// don't bother with interior node
|
|
return 0;
|
|
|
|
// waypoints need to much turning, ignore interior yaw
|
|
float a = (t1 / (t1 + t2));
|
|
t1 = a * totalTime;
|
|
|
|
k = BuildInsertNode( i, t1 );
|
|
|
|
deltaYaw = UTIL_AngleDiff( m_scriptTurn[j].flYaw, m_scriptTurn[i].flYaw );
|
|
m_scriptTurn[k].flYaw = UTIL_ApproachAngle( m_scriptTurn[j].flYaw, m_scriptTurn[i].flYaw, deltaYaw * (1 - a) );
|
|
|
|
return 1;
|
|
}
|
|
else if (t1 + t2 < totalTime * 0.8)
|
|
{
|
|
// turn to face interior, run a ways, then turn away
|
|
k = BuildInsertNode( i, t1 );
|
|
m_scriptTurn[k].flYaw = interiorYaw;
|
|
|
|
k = BuildInsertNode( i, t2 );
|
|
m_scriptTurn[k].flYaw = interiorYaw;
|
|
|
|
return 2;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
int CAI_BlendedMotor::BuildInsertNode( int i, float flTime )
|
|
{
|
|
AI_Movementscript_t script;
|
|
script.Init();
|
|
|
|
Assert( flTime > 0.0 );
|
|
|
|
for (i; i < m_scriptTurn.Count() - 1; i++)
|
|
{
|
|
if (m_scriptTurn[i].flTime < flTime)
|
|
{
|
|
flTime -= m_scriptTurn[i].flTime;
|
|
}
|
|
else
|
|
{
|
|
float a = flTime / m_scriptTurn[i].flTime;
|
|
|
|
script.flTime = (m_scriptTurn[i].flTime - flTime);
|
|
|
|
m_scriptTurn[i].flTime = flTime;
|
|
|
|
script.flElapsedTime = m_scriptTurn[i].flElapsedTime * (1 - a) + m_scriptTurn[i+1].flElapsedTime * a;
|
|
|
|
script.vecLocation = m_scriptTurn[i].vecLocation * (1 - a) + m_scriptTurn[i+1].vecLocation * a;
|
|
|
|
m_scriptTurn.InsertAfter( i, script );
|
|
|
|
return i + 1;
|
|
}
|
|
}
|
|
Assert( 0 );
|
|
return 0;
|
|
}
|
|
|
|
|
|
ConVar ai_path_insert_pause_at_obstruction( "ai_path_insert_pause_at_obstruction", "1" );
|
|
ConVar ai_path_adjust_speed_on_immediate_turns( "ai_path_adjust_speed_on_immediate_turns", "1" );
|
|
ConVar ai_path_insert_pause_at_est_end( "ai_path_insert_pause_at_est_end", "1" );
|
|
|
|
#define MIN_VELOCITY 0.0f
|
|
#define MIN_STEER_DOT 0.0f
|
|
|
|
void CAI_BlendedMotor::BuildVelocityScript( const AILocalMoveGoal_t &move )
|
|
{
|
|
AI_PROFILE_SCOPE(CAI_BlendedMotor_BuildVelocityScript);
|
|
|
|
int i;
|
|
float a;
|
|
|
|
float idealVelocity = GetIdealSpeed();
|
|
if (idealVelocity == 0)
|
|
{
|
|
idealVelocity = 50;
|
|
}
|
|
|
|
float idealAccel = GetIdealAccel();
|
|
if (idealAccel == 0)
|
|
{
|
|
idealAccel = 100;
|
|
}
|
|
|
|
AI_Movementscript_t script;
|
|
|
|
// set current location as start of script
|
|
script.vecLocation = GetAbsOrigin();
|
|
script.flMaxVelocity = GetCurSpeed();
|
|
m_scriptMove.AddToTail( script );
|
|
|
|
//-------------------------
|
|
|
|
extern ConVar npc_height_adjust;
|
|
if (npc_height_adjust.GetBool() && move.bHasTraced && move.directTrace.flTotalDist != move.thinkTrace.flTotalDist)
|
|
{
|
|
float flDist = (move.directTrace.vEndPosition - m_scriptMove[0].vecLocation).Length2D();
|
|
float flHeight = move.directTrace.vEndPosition.z - m_scriptMove[0].vecLocation.z;
|
|
float flDelta;
|
|
|
|
if (flDist > 0)
|
|
{
|
|
flDelta = flHeight / flDist;
|
|
}
|
|
else
|
|
{
|
|
flDelta = 0;
|
|
}
|
|
|
|
m_flPredictiveSpeedAdjust = 1.1 - fabs( flDelta );
|
|
m_flPredictiveSpeedAdjust = clamp( m_flPredictiveSpeedAdjust, (flHeight > 0.0f) ? 0.5f : 0.8f, 1.0f );
|
|
|
|
/*
|
|
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
|
|
{
|
|
Msg("m_flPredictiveSpeedAdjust %.3f %.1f %.1f\n", m_flPredictiveSpeedAdjust, flHeight, flDist );
|
|
NDebugOverlay::Box( move.directTrace.vEndPosition, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 0,255,255, 0, 0.12 );
|
|
}
|
|
*/
|
|
}
|
|
if (npc_height_adjust.GetBool())
|
|
{
|
|
float flDist = (move.thinkTrace.vEndPosition - m_vecPrevOrigin2).Length2D();
|
|
float flHeight = move.thinkTrace.vEndPosition.z - m_vecPrevOrigin2.z;
|
|
float flDelta;
|
|
|
|
if (flDist > 0)
|
|
{
|
|
flDelta = flHeight / flDist;
|
|
}
|
|
else
|
|
{
|
|
flDelta = 0;
|
|
}
|
|
|
|
float newSpeedAdjust = 1.1 - fabs( flDelta );
|
|
newSpeedAdjust = clamp( newSpeedAdjust, (flHeight > 0.0f) ? 0.5f : 0.8f, 1.0f );
|
|
|
|
// debounce speed adjust
|
|
if (newSpeedAdjust < m_flReactiveSpeedAdjust)
|
|
{
|
|
m_flReactiveSpeedAdjust = m_flReactiveSpeedAdjust * 0.2f + newSpeedAdjust * 0.8f;
|
|
}
|
|
else
|
|
{
|
|
m_flReactiveSpeedAdjust = m_flReactiveSpeedAdjust * 0.5f + newSpeedAdjust * 0.5f;
|
|
}
|
|
|
|
// filter through origins
|
|
m_vecPrevOrigin2 = m_vecPrevOrigin1;
|
|
m_vecPrevOrigin1 = GetAbsOrigin();
|
|
|
|
/*
|
|
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
|
|
{
|
|
NDebugOverlay::Box( m_vecPrevOrigin2, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255,0,255, 0, 0.12 );
|
|
NDebugOverlay::Box( move.thinkTrace.vEndPosition, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255,0,255, 0, 0.12 );
|
|
Msg("m_flReactiveSpeedAdjust %.3f %.1f %.1f\n", m_flReactiveSpeedAdjust, flHeight, flDist );
|
|
}
|
|
*/
|
|
}
|
|
|
|
idealVelocity = idealVelocity * MIN( m_flReactiveSpeedAdjust, m_flPredictiveSpeedAdjust );
|
|
|
|
//-------------------------
|
|
|
|
bool bAddedExpected = false;
|
|
|
|
// add all waypoint locations and velocities
|
|
AI_Waypoint_t *pCurWaypoint = GetNavigator()->GetPath()->GetCurWaypoint();
|
|
|
|
// there has to be at least one waypoint
|
|
Assert( pCurWaypoint );
|
|
|
|
while (pCurWaypoint && (pCurWaypoint->NavType() == NAV_GROUND || pCurWaypoint->NavType() == NAV_FLY) /*&& flTotalDist / idealVelocity < 3.0*/) // limit lookahead to 3 seconds
|
|
{
|
|
script.Init();
|
|
AI_Waypoint_t *pNext = pCurWaypoint->GetNext();
|
|
|
|
if (ai_path_adjust_speed_on_immediate_turns.GetBool() && !bAddedExpected)
|
|
{
|
|
// hack in next expected immediate location for move
|
|
script.vecLocation = GetAbsOrigin() + move.dir * move.curExpectedDist;
|
|
bAddedExpected = true;
|
|
pNext = pCurWaypoint;
|
|
}
|
|
else
|
|
{
|
|
script.vecLocation = pCurWaypoint->vecLocation;
|
|
script.pWaypoint = pCurWaypoint;
|
|
}
|
|
|
|
//DevMsg("waypoint %.1f %.1f %.1f\n", script.vecLocation.x, script.vecLocation.y, script.vecLocation.z );
|
|
|
|
if (pNext)
|
|
{
|
|
switch( pNext->NavType())
|
|
{
|
|
case NAV_GROUND:
|
|
case NAV_FLY:
|
|
{
|
|
Vector d1 = pNext->vecLocation - script.vecLocation;
|
|
Vector d2 = script.vecLocation - m_scriptMove[m_scriptMove.Count()-1].vecLocation;
|
|
|
|
// remove very short, non terminal ground links
|
|
// FIXME: is this safe? Maybe just check for co-located ground points?
|
|
if (d1.Length2D() < 1.0)
|
|
{
|
|
/*
|
|
if (m_scriptMove.Count() > 1)
|
|
{
|
|
int i = m_scriptMove.Count() - 1;
|
|
m_scriptMove[i].vecLocation = pCurWaypoint->vecLocation;
|
|
m_scriptMove[i].pWaypoint = pCurWaypoint;
|
|
}
|
|
*/
|
|
pCurWaypoint = pNext;
|
|
continue;
|
|
}
|
|
|
|
d1.z = 0;
|
|
VectorNormalize( d1 );
|
|
d2.z = 0;
|
|
VectorNormalize( d2 );
|
|
|
|
// figure velocity
|
|
float dot = (DotProduct( d1, d2 ) + 0.2);
|
|
if (dot > 0)
|
|
{
|
|
dot = clamp( dot, 0.0f, 1.0f );
|
|
script.flMaxVelocity = idealVelocity * dot;
|
|
}
|
|
else
|
|
{
|
|
script.flMaxVelocity = 0;
|
|
}
|
|
}
|
|
break;
|
|
case NAV_JUMP:
|
|
|
|
// FIXME: information about what the jump should look like isn't stored in the waypoints
|
|
// this'll need to call
|
|
// GetMoveProbe()->MoveLimit( NAV_JUMP, GetLocalOrigin(), GetPath()->CurWaypointPos(), MASK_NPCSOLID, GetNavTargetEntity(), &moveTrace );
|
|
// to get how far/fast the jump will be, but this is also stateless, so it'd call it per frame.
|
|
// So far it's not clear that the moveprobe doesn't also call this.....
|
|
|
|
{
|
|
float minJumpHeight = 0;
|
|
float maxHorzVel = MAX( GetCurSpeed(), 100 );
|
|
float gravity = GetCurrentGravity() * GetOuter()->GetGravity();
|
|
Vector vecApex;
|
|
Vector rawJumpVel = GetMoveProbe()->CalcJumpLaunchVelocity(script.vecLocation, pNext->vecLocation, gravity, &minJumpHeight, maxHorzVel, &vecApex );
|
|
|
|
script.flMaxVelocity = rawJumpVel.Length2D();
|
|
// Msg("%.1f\n", script.flMaxVelocity );
|
|
}
|
|
break;
|
|
case NAV_CLIMB:
|
|
{
|
|
/*
|
|
CAI_Node *pClimbNode = GetNavigator()->GetNetwork()->GetNode(pNext->iNodeID);
|
|
|
|
check: pClimbNode->m_eNodeInfo
|
|
bits_NODE_CLIMB_BOTTOM,
|
|
bits_NODE_CLIMB_ON,
|
|
bits_NODE_CLIMB_OFF_FORWARD,
|
|
bits_NODE_CLIMB_OFF_LEFT,
|
|
bits_NODE_CLIMB_OFF_RIGHT
|
|
*/
|
|
|
|
script.flMaxVelocity = 0;
|
|
}
|
|
break;
|
|
/*
|
|
case NAV_FLY:
|
|
// FIXME: can there be a NAV_GROUND -> NAV_FLY transition?
|
|
script.flMaxVelocity = 0;
|
|
break;
|
|
*/
|
|
}
|
|
}
|
|
else
|
|
{
|
|
script.flMaxVelocity = GetNavigator()->GetArrivalSpeed();
|
|
// Assert( script.flMaxVelocity == 0 );
|
|
}
|
|
|
|
m_scriptMove.AddToTail( script );
|
|
pCurWaypoint = pNext;
|
|
}
|
|
|
|
|
|
//-------------------------
|
|
|
|
// update distances
|
|
float flTotalDist = 0;
|
|
for (i = 0; i < m_scriptMove.Count() - 1; i++ )
|
|
{
|
|
flTotalDist += m_scriptMove[i].flDist = (m_scriptMove[i+1].vecLocation - m_scriptMove[i].vecLocation).Length2D();
|
|
}
|
|
|
|
//-------------------------
|
|
|
|
if ( !m_bDeceleratingToGoal && m_scriptMove.Count() && flTotalDist > 0 )
|
|
{
|
|
float flNeededAccel = DeltaV( m_scriptMove[0].flMaxVelocity, m_scriptMove[m_scriptMove.Count() - 1].flMaxVelocity, flTotalDist );
|
|
m_bDeceleratingToGoal = (flNeededAccel < -idealAccel);
|
|
//Assert( flNeededAccel != idealAccel);
|
|
}
|
|
|
|
//-------------------------
|
|
|
|
// insert slowdown points due to blocking
|
|
if (ai_path_insert_pause_at_obstruction.GetBool() && move.directTrace.pObstruction)
|
|
{
|
|
float distToObstruction = (move.directTrace.vEndPosition - m_scriptMove[0].vecLocation).Length2D();
|
|
|
|
// HACK move obstruction out "stepsize" to account for it being based on stand position and not a trace
|
|
distToObstruction = distToObstruction + 16;
|
|
|
|
InsertSlowdown( distToObstruction, idealAccel, false );
|
|
}
|
|
|
|
if (ai_path_insert_pause_at_est_end.GetBool() && GetNavigator()->GetArrivalDistance() > 0.0)
|
|
{
|
|
InsertSlowdown( flTotalDist - GetNavigator()->GetArrivalDistance(), idealAccel, true );
|
|
}
|
|
|
|
// calc initial velocity based on immediate direction changes
|
|
if ( ai_path_adjust_speed_on_immediate_turns.GetBool() && m_scriptMove.Count() > 1)
|
|
{
|
|
/*
|
|
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
|
|
{
|
|
Vector tmp = m_scriptMove[1].vecLocation - m_scriptMove[0].vecLocation;
|
|
VectorNormalize( tmp );
|
|
NDebugOverlay::Line( m_scriptMove[0].vecLocation + Vector( 0, 0, 10 ), m_scriptMove[0].vecLocation + tmp * 32 + Vector( 0, 0, 10 ), 255,255,255, true, 0.1 );
|
|
|
|
NDebugOverlay::Line( m_scriptMove[0].vecLocation + Vector( 0, 0, 10 ), m_scriptMove[1].vecLocation + Vector( 0, 0, 10 ), 255,0,0, true, 0.1 );
|
|
|
|
tmp = GetCurVel();
|
|
VectorNormalize( tmp );
|
|
NDebugOverlay::Line( m_scriptMove[0].vecLocation + Vector( 0, 0, 10 ), m_scriptMove[0].vecLocation + tmp * 32 + Vector( 0, 0, 10 ), 0,0,255, true, 0.1 );
|
|
}
|
|
*/
|
|
|
|
Vector d1 = m_scriptMove[1].vecLocation - m_scriptMove[0].vecLocation;
|
|
d1.z = 0;
|
|
VectorNormalize( d1 );
|
|
|
|
Vector d2 = GetCurVel();
|
|
d2.z = 0;
|
|
VectorNormalize( d2 );
|
|
|
|
float dot = (DotProduct( d1, d2 ) + MIN_STEER_DOT);
|
|
dot = clamp( dot, 0.0f, 1.0f );
|
|
m_scriptMove[0].flMaxVelocity = m_scriptMove[0].flMaxVelocity * dot;
|
|
}
|
|
|
|
// clamp forward velocities
|
|
for (i = 0; i < m_scriptMove.Count() - 1; i++ )
|
|
{
|
|
// find needed acceleration
|
|
float dv = m_scriptMove[i+1].flMaxVelocity - m_scriptMove[i].flMaxVelocity;
|
|
|
|
if (dv > 0.0)
|
|
{
|
|
// find time, distance to accel to next max vel
|
|
float t1 = dv / idealAccel;
|
|
float d1 = m_scriptMove[i].flMaxVelocity * t1 + 0.5 * (idealAccel) * t1 * t1;
|
|
|
|
// is there enough distance
|
|
if (d1 > m_scriptMove[i].flDist)
|
|
{
|
|
float r1, r2;
|
|
|
|
// clamp the next velocity to the possible accel in the given distance
|
|
if (SolveQuadratic( 0.5 * idealAccel, m_scriptMove[i].flMaxVelocity, -m_scriptMove[i].flDist, r1, r2 ))
|
|
{
|
|
m_scriptMove[i+1].flMaxVelocity = m_scriptMove[i].flMaxVelocity + idealAccel * r1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// clamp decel velocities
|
|
for (i = m_scriptMove.Count() - 1; i > 0; i-- )
|
|
{
|
|
// find needed deceleration
|
|
float dv = m_scriptMove[i].flMaxVelocity - m_scriptMove[i-1].flMaxVelocity;
|
|
|
|
if (dv < 0.0)
|
|
{
|
|
// find time, distance to decal to next max vel
|
|
float t1 = -dv / idealAccel;
|
|
float d1 = m_scriptMove[i].flMaxVelocity * t1 + 0.5 * (idealAccel) * t1 * t1;
|
|
|
|
// is there enough distance
|
|
if (d1 > m_scriptMove[i-1].flDist)
|
|
{
|
|
float r1, r2;
|
|
|
|
// clamp the next velocity to the possible decal in the given distance
|
|
if (SolveQuadratic( 0.5 * idealAccel, m_scriptMove[i].flMaxVelocity, -m_scriptMove[i-1].flDist, r1, r2 ))
|
|
{
|
|
m_scriptMove[i-1].flMaxVelocity = m_scriptMove[i].flMaxVelocity + idealAccel * r1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
for (i = 0; i < m_scriptMove.Count(); i++)
|
|
{
|
|
NDebugOverlay::Text( m_scriptMove[i].vecLocation, (const char *)CFmtStr( "%.2f ", m_scriptMove[i].flMaxVelocity ), false, 0.1 );
|
|
// DevMsg("%.2f ", m_scriptMove[i].flMaxVelocity );
|
|
}
|
|
// DevMsg("\n");
|
|
*/
|
|
|
|
// insert intermediate ideal velocities
|
|
for (i = 0; i < m_scriptMove.Count() - 1;)
|
|
{
|
|
// accel to ideal
|
|
float t1 = (idealVelocity - m_scriptMove[i].flMaxVelocity) / idealAccel;
|
|
float d1 = m_scriptMove[i].flMaxVelocity * t1 + 0.5 * (idealAccel) * t1 * t1;
|
|
|
|
// decel from ideal
|
|
float t2 = (idealVelocity - m_scriptMove[i+1].flMaxVelocity) / idealAccel;
|
|
float d2 = m_scriptMove[i+1].flMaxVelocity * t2 + 0.5 * (idealAccel) * t2 * t2;
|
|
|
|
m_scriptMove[i].flDist = (m_scriptMove[i+1].vecLocation - m_scriptMove[i].vecLocation).Length2D();
|
|
|
|
// is it possible to accel and decal to idealVelocity between next two nodes
|
|
if (d1 + d2 < m_scriptMove[i].flDist)
|
|
{
|
|
Vector start = m_scriptMove[i].vecLocation;
|
|
Vector end = m_scriptMove[i+1].vecLocation;
|
|
float dist = m_scriptMove[i].flDist;
|
|
|
|
// insert the two points needed to end accel and start decel
|
|
if (d1 > 1.0 && t1 > 0.1)
|
|
{
|
|
a = d1 / dist;
|
|
|
|
script.Init();
|
|
script.vecLocation = end * a + start * (1 - a);
|
|
script.flMaxVelocity = idealVelocity;
|
|
m_scriptMove.InsertAfter( i, script );
|
|
i++;
|
|
}
|
|
|
|
if (dist - d2 > 1.0 && t2 > 0.1)
|
|
{
|
|
// DevMsg("%.2f : ", a );
|
|
|
|
a = (dist - d2) / dist;
|
|
|
|
script.Init();
|
|
script.vecLocation = end * a + start * (1 - a);
|
|
script.flMaxVelocity = idealVelocity;
|
|
m_scriptMove.InsertAfter( i, script );
|
|
i++;
|
|
}
|
|
|
|
i++;
|
|
}
|
|
else
|
|
{
|
|
// check to see if the amount of change needed to reach target is less than the ideal acceleration
|
|
float flNeededAccel = fabs( DeltaV( m_scriptMove[i].flMaxVelocity, m_scriptMove[i+1].flMaxVelocity, m_scriptMove[i].flDist ) );
|
|
if (flNeededAccel < idealAccel)
|
|
{
|
|
// if so, they it's possible to get a bit towards the ideal velocity
|
|
float v1 = m_scriptMove[i].flMaxVelocity;
|
|
float v2 = m_scriptMove[i+1].flMaxVelocity;
|
|
float dist = m_scriptMove[i].flDist;
|
|
|
|
// based on solving:
|
|
// v1+A*t1-v2-A*t2=0
|
|
// v1*t1+0.5*A*t1*t1+v2*t2+0.5*A*t2*t2-D=0
|
|
|
|
float tmp = idealAccel*dist+0.5*v1*v1+0.5*v2*v2;
|
|
Assert( tmp >= 0 );
|
|
t1 = (-v1+sqrt( tmp )) / idealAccel;
|
|
t2 = (v1+idealAccel*t1-v2)/idealAccel;
|
|
|
|
// if this assert hits, write down the v1, v2, dist, and idealAccel numbers and send them to me (Ken).
|
|
// go ahead the comment it out, it's safe, but I'd like to know a test case where it's happening
|
|
//Assert( t1 > 0 && t2 > 0 );
|
|
|
|
// check to make sure it's really worth it
|
|
if (t1 > 0.0 && t2 > 0.0)
|
|
{
|
|
d1 = v1 * t1 + 0.5 * idealAccel * t1 * t1;
|
|
|
|
/*
|
|
d2 = v2 * t2 + 0.5 * idealAccel * t2 * t2;
|
|
Assert( fabs( d1 + d2 - dist ) < 0.001 );
|
|
*/
|
|
|
|
float a = d1 / m_scriptMove[i].flDist;
|
|
script.Init();
|
|
script.vecLocation = m_scriptMove[i+1].vecLocation * a + m_scriptMove[i].vecLocation * (1 - a);
|
|
script.flMaxVelocity = m_scriptMove[i].flMaxVelocity + idealAccel * t1;
|
|
|
|
if (script.flMaxVelocity < idealVelocity)
|
|
{
|
|
// DevMsg("insert %.2f %.2f %.2f\n", m_scriptMove[i].flMaxVelocity, script.flMaxVelocity, m_scriptMove[i+1].flMaxVelocity );
|
|
m_scriptMove.InsertAfter( i, script );
|
|
i += 1;
|
|
}
|
|
}
|
|
}
|
|
i += 1;
|
|
}
|
|
}
|
|
|
|
// clamp min velocities
|
|
for (i = 0; i < m_scriptMove.Count(); i++)
|
|
{
|
|
m_scriptMove[i].flMaxVelocity = MAX( m_scriptMove[i].flMaxVelocity, MIN_VELOCITY );
|
|
}
|
|
|
|
// rebuild fields
|
|
m_scriptMove[0].flElapsedTime = 0;
|
|
for (i = 0; i < m_scriptMove.Count() - 1; )
|
|
{
|
|
m_scriptMove[i].flDist = (m_scriptMove[i+1].vecLocation - m_scriptMove[i].vecLocation).Length2D();
|
|
|
|
if (m_scriptMove[i].flMaxVelocity == 0 && m_scriptMove[i+1].flMaxVelocity == 0)
|
|
{
|
|
// force a minimum velocity
|
|
Assert( 0 );
|
|
m_scriptMove[i+1].flMaxVelocity = 1.0;
|
|
}
|
|
|
|
float t = m_scriptMove[i].flDist / (0.5 * (m_scriptMove[i].flMaxVelocity + m_scriptMove[i+1].flMaxVelocity));
|
|
m_scriptMove[i].flTime = t;
|
|
|
|
/*
|
|
if (m_scriptMove[i].flDist < 0.01)
|
|
{
|
|
// Assert( m_scriptMove[i+1].pWaypoint == NULL );
|
|
|
|
m_scriptMove.Remove( i + 1 );
|
|
continue;
|
|
}
|
|
*/
|
|
|
|
m_scriptMove[i+1].flElapsedTime = m_scriptMove[i].flElapsedTime + m_scriptMove[i].flTime;
|
|
|
|
i++;
|
|
}
|
|
|
|
/*
|
|
for (i = 0; i < m_scriptMove.Count(); i++)
|
|
{
|
|
DevMsg("(%.2f : %.2f : %.2f)", m_scriptMove[i].flMaxVelocity, m_scriptMove[i].flDist, m_scriptMove[i].flTime );
|
|
// DevMsg("(%.2f:%.2f)", m_scriptMove[i].flTime, m_scriptMove[i].flElapsedTime );
|
|
}
|
|
DevMsg("\n");
|
|
*/
|
|
}
|
|
|
|
|
|
|
|
void CAI_BlendedMotor::InsertSlowdown( float distToObstruction, float idealAccel, bool bAlwaysSlowdown )
|
|
{
|
|
int i;
|
|
AI_Movementscript_t script;
|
|
|
|
if (distToObstruction <= 0.0)
|
|
return;
|
|
|
|
for (i = 0; i < m_scriptMove.Count() - 1; i++)
|
|
{
|
|
if (m_scriptMove[i].flDist > 0 && distToObstruction - m_scriptMove[i].flDist < 0)
|
|
{
|
|
float a = distToObstruction / m_scriptMove[i].flDist;
|
|
Assert( a >= 0 && a <= 1);
|
|
script.vecLocation = (1 - a) * m_scriptMove[i].vecLocation + a * m_scriptMove[i+1].vecLocation;
|
|
|
|
//NDebugOverlay::Line( m_scriptMove[i].vecLocation + Vector( 0, 0, 5 ), script.vecLocation + Vector( 0, 0, 5 ), 0,255,0, true, 0.1 );
|
|
//NDebugOverlay::Line( script.vecLocation + Vector( 0, 0, 5 ), m_scriptMove[i+1].vecLocation + Vector( 0, 0, 5 ), 0,0,255, true, 0.1 );
|
|
|
|
float r1, r2;
|
|
|
|
// clamp the next velocity to the possible accel in the given distance
|
|
if (!bAlwaysSlowdown && SolveQuadratic( -0.5 * idealAccel, m_scriptMove[0].flMaxVelocity, -distToObstruction, r1, r2 ))
|
|
{
|
|
script.flMaxVelocity = MAX( 10, m_scriptMove[0].flMaxVelocity - idealAccel * r1 );
|
|
}
|
|
else
|
|
{
|
|
script.flMaxVelocity = 10.0;
|
|
}
|
|
|
|
script.flMaxVelocity = 1.0; // as much as reasonable
|
|
script.pWaypoint = NULL;
|
|
script.flDist = m_scriptMove[i].flDist - distToObstruction;
|
|
m_scriptMove[i].flDist = distToObstruction;
|
|
m_scriptMove.InsertAfter( i, script );
|
|
break;
|
|
}
|
|
else
|
|
{
|
|
distToObstruction -= m_scriptMove[i].flDist;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// Purpose: issues turn gestures when it detects that the body has turned but the feet haven't compensated
|
|
//-----------------------------------------------------------------------------
|
|
|
|
|
|
void CAI_BlendedMotor::MaintainTurnActivity( void )
|
|
{
|
|
AI_PROFILE_SCOPE(CAI_BlendedMotor_MaintainTurnActivity);
|
|
|
|
if (m_flNextTurnGesture > gpGlobals->curtime || m_flNextTurnAct > gpGlobals->curtime || GetOuter()->IsMoving() )
|
|
{
|
|
// clear out turn detection if currently turing or moving
|
|
m_doTurn = m_doRight = m_doLeft = 0;
|
|
if ( GetOuter()->IsMoving())
|
|
{
|
|
m_flNextTurnAct = gpGlobals->curtime + 0.3;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// detect undirected turns
|
|
if (m_prevYaw != GetAbsAngles().y)
|
|
{
|
|
float diff = UTIL_AngleDiff( m_prevYaw, GetAbsAngles().y );
|
|
if (diff < 0.0)
|
|
{
|
|
m_doLeft += -diff;
|
|
}
|
|
else
|
|
{
|
|
m_doRight += diff;
|
|
}
|
|
m_prevYaw = GetAbsAngles().y;
|
|
}
|
|
// accumulate turn angle, delay response for short turns
|
|
m_doTurn += m_doRight + m_doLeft;
|
|
// accumulate random foot stick clearing
|
|
m_doTurn += random->RandomFloat( 0.4, 0.6 );
|
|
}
|
|
|
|
if (m_doTurn > 15.0f)
|
|
{
|
|
// mostly a foot stick clear
|
|
int iSeq = ACT_INVALID;
|
|
if (m_doLeft > m_doRight)
|
|
{
|
|
iSeq = SelectWeightedSequence( ACT_GESTURE_TURN_LEFT );
|
|
}
|
|
else
|
|
{
|
|
iSeq = SelectWeightedSequence( ACT_GESTURE_TURN_RIGHT );
|
|
}
|
|
m_doLeft = 0;
|
|
m_doRight = 0;
|
|
|
|
if (iSeq != ACT_INVALID)
|
|
{
|
|
int iLayer = GetOuter()->AddGestureSequence( iSeq );
|
|
if (iLayer != -1)
|
|
{
|
|
GetOuter()->SetLayerPriority( iLayer, 100 );
|
|
// increase speed if we're getting behind or they're turning quickly
|
|
float rate = random->RandomFloat( 0.8, 1.2 );
|
|
if (m_doTurn > 90.0)
|
|
{
|
|
rate *= 1.5;
|
|
}
|
|
GetOuter()->SetLayerPlaybackRate( iLayer, rate );
|
|
// disable turing for the duration of the gesture
|
|
m_flNextTurnAct = gpGlobals->curtime + GetOuter()->GetLayerDuration( iLayer );
|
|
}
|
|
else
|
|
{
|
|
// too many active gestures, try again in half a second
|
|
m_flNextTurnAct = gpGlobals->curtime + 0.3;
|
|
}
|
|
}
|
|
m_doTurn = m_doRight = m_doLeft = 0;
|
|
}
|
|
}
|
|
|
|
ConVar scene_flatturn( "scene_flatturn", "1" );
|
|
|
|
bool CAI_BlendedMotor::AddTurnGesture( float flYD )
|
|
{
|
|
|
|
// some funky bug with human turn gestures, disable for now
|
|
return false;
|
|
|
|
// try using a turn gesture
|
|
Activity activity = ACT_INVALID;
|
|
float weight = 1.0;
|
|
float turnCompletion = 1.0;
|
|
|
|
if (m_flNextTurnGesture > gpGlobals->curtime)
|
|
{
|
|
/*
|
|
if ( GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT )
|
|
{
|
|
Msg( "%.1f : [ %.2f ]\n", flYD, m_flNextTurnAct - gpGlobals->curtime );
|
|
}
|
|
*/
|
|
return false;
|
|
}
|
|
|
|
if ( GetOuter()->IsMoving() || GetOuter()->IsCrouching() )
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if (fabs( flYD ) < 15)
|
|
{
|
|
return false;
|
|
}
|
|
else if (flYD < -45)
|
|
{
|
|
activity = ACT_GESTURE_TURN_RIGHT90;
|
|
weight = flYD / -90;
|
|
turnCompletion = 0.36;
|
|
}
|
|
else if (flYD < 0)
|
|
{
|
|
activity = ACT_GESTURE_TURN_RIGHT45;
|
|
weight = flYD / -45;
|
|
turnCompletion = 0.4;
|
|
}
|
|
else if (flYD <= 45)
|
|
{
|
|
activity = ACT_GESTURE_TURN_LEFT45;
|
|
weight = flYD / 45;
|
|
turnCompletion = 0.4;
|
|
}
|
|
else
|
|
{
|
|
activity = ACT_GESTURE_TURN_LEFT90;
|
|
weight = flYD / 90;
|
|
turnCompletion = 0.36;
|
|
}
|
|
|
|
int seq = SelectWeightedSequence( activity );
|
|
|
|
if (scene_flatturn.GetBool() && GetOuter()->IsCurSchedule( SCHED_SCENE_GENERIC ))
|
|
{
|
|
Activity flatactivity = activity;
|
|
|
|
if (activity == ACT_GESTURE_TURN_RIGHT90)
|
|
{
|
|
flatactivity = ACT_GESTURE_TURN_RIGHT90_FLAT;
|
|
}
|
|
else if (activity == ACT_GESTURE_TURN_RIGHT45)
|
|
{
|
|
flatactivity = ACT_GESTURE_TURN_RIGHT45_FLAT;
|
|
}
|
|
else if (activity == ACT_GESTURE_TURN_LEFT90)
|
|
{
|
|
flatactivity = ACT_GESTURE_TURN_LEFT90_FLAT;
|
|
}
|
|
else if (activity == ACT_GESTURE_TURN_LEFT45)
|
|
{
|
|
flatactivity = ACT_GESTURE_TURN_LEFT45_FLAT;
|
|
}
|
|
|
|
if (flatactivity != activity)
|
|
{
|
|
int newseq = SelectWeightedSequence( flatactivity );
|
|
if (newseq != ACTIVITY_NOT_AVAILABLE)
|
|
{
|
|
seq = newseq;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (seq != ACTIVITY_NOT_AVAILABLE)
|
|
{
|
|
int iLayer = GetOuter()->AddGestureSequence( seq );
|
|
if (iLayer != -1)
|
|
{
|
|
GetOuter()->SetLayerPriority( iLayer, 100 );
|
|
// vary the playback a bit
|
|
SetLayerPlaybackRate( iLayer, 1.0 );
|
|
float actualDuration = GetOuter()->GetLayerDuration( iLayer );
|
|
|
|
float rate = random->RandomFloat( 0.5f, 1.1f );
|
|
float diff = fabs( flYD );
|
|
float speed = (diff / (turnCompletion * actualDuration / rate)) * 0.1f;
|
|
|
|
speed = clamp( speed, 15.f, 35.f );
|
|
speed = MIN( speed, diff );
|
|
|
|
actualDuration = (diff / (turnCompletion * speed)) * 0.1 ;
|
|
|
|
GetOuter()->SetLayerDuration( iLayer, actualDuration );
|
|
|
|
SetLayerWeight( iLayer, weight );
|
|
|
|
SetYawSpeed( speed );
|
|
|
|
Remember( bits_MEMORY_TURNING );
|
|
|
|
// don't overlap the turn portion of the gestures, and don't play them too often
|
|
m_flNextTurnGesture = gpGlobals->curtime + MAX( turnCompletion * actualDuration, 0.3 );
|
|
|
|
/*
|
|
if ( GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT )
|
|
{
|
|
Msg( "%.1f : %.2f %.2f : %.2f (%.2f)\n", flYD, weight, speed, actualDuration, turnCompletion * actualDuration );
|
|
}
|
|
*/
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
return false;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
//-------------------------------------
|
|
|
|
|
|
|
|
#if 0
|
|
Activity CAI_BlendedMotor::GetTransitionActivity( )
|
|
{
|
|
AI_Waypoint_t *waypoint = GetNavigator()->GetPath()->GetTransitionWaypoint();
|
|
|
|
if ( waypoint->Flags() & bits_WP_TO_GOAL )
|
|
{
|
|
if ( waypoint->activity != ACT_INVALID)
|
|
{
|
|
return waypoint->activity;
|
|
}
|
|
|
|
return GetStoppedActivity( );
|
|
}
|
|
|
|
if (waypoint)
|
|
waypoint = waypoint->GetNext();
|
|
|
|
switch(waypoint->NavType() )
|
|
{
|
|
case NAV_JUMP:
|
|
return ACT_JUMP; // are jumps going to get a movement track added to them?
|
|
|
|
case NAV_GROUND:
|
|
return GetNavigator()->GetMovementActivity(); // yuck
|
|
|
|
case NAV_CLIMB:
|
|
return ACT_CLIMB_UP; // depends on specifics of climb node
|
|
|
|
default:
|
|
return ACT_IDLE;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
//-------------------------------------
|
|
// Purpose: return a velocity that should be hit at the end of the interval to match goal
|
|
// Input : flInterval - time interval to consider
|
|
// : flGoalDistance - distance to goal
|
|
// : flGoalVelocity - desired velocity at goal
|
|
// : flCurVelocity - current velocity
|
|
// : flIdealVelocity - velocity to go at if goal is too far away
|
|
// : flAccelRate - maximum acceleration/deceleration rate
|
|
// Output : target velocity at time t+flInterval
|
|
//-------------------------------------
|
|
|
|
float ChangeDistance( float flInterval, float flGoalDistance, float flGoalVelocity, float flCurVelocity, float flIdealVelocity, float flAccelRate, float &flNewDistance, float &flNewVelocity )
|
|
{
|
|
float scale = 1.0;
|
|
if (flGoalDistance < 0)
|
|
{
|
|
flGoalDistance = - flGoalDistance;
|
|
flCurVelocity = -flCurVelocity;
|
|
scale = -1.0;
|
|
}
|
|
|
|
flNewVelocity = flCurVelocity;
|
|
flNewDistance = 0.0;
|
|
|
|
// if I'm too close, just go ahead and set the velocity
|
|
if (flGoalDistance < 0.01)
|
|
{
|
|
return flGoalVelocity * scale;
|
|
}
|
|
|
|
float flGoalAccel = DeltaV( flCurVelocity, flGoalVelocity, flGoalDistance );
|
|
|
|
flNewVelocity = flCurVelocity;
|
|
|
|
// --------------------------------------------
|
|
// if goal is close enough try to match the goal velocity, else try to go ideal velocity
|
|
// --------------------------------------------
|
|
if (flGoalAccel < 0 && flGoalAccel < -flAccelRate)
|
|
{
|
|
// I need to slow down;
|
|
flNewVelocity = flCurVelocity + flGoalAccel * flInterval;
|
|
if (flNewVelocity < 0)
|
|
flNewVelocity = 0;
|
|
}
|
|
else if (flGoalAccel > 0 && flGoalAccel >= flAccelRate)
|
|
{
|
|
// I need to speed up
|
|
flNewVelocity = flCurVelocity + flGoalAccel * flInterval;
|
|
if (flNewVelocity > flGoalVelocity)
|
|
flNewVelocity = flGoalVelocity;
|
|
}
|
|
else if (flNewVelocity < flIdealVelocity)
|
|
{
|
|
// speed up to ideal velocity;
|
|
flNewVelocity = flCurVelocity + flAccelRate * flInterval;
|
|
if (flNewVelocity > flIdealVelocity)
|
|
flNewVelocity = flIdealVelocity;
|
|
// don't overshoot
|
|
if (0.5*(flNewVelocity + flCurVelocity) * flInterval > flGoalDistance)
|
|
{
|
|
flNewVelocity = 0.5 * (2 * flGoalDistance / flInterval - flCurVelocity);
|
|
}
|
|
}
|
|
else if (flNewVelocity > flIdealVelocity)
|
|
{
|
|
// slow down to ideal velocity;
|
|
flNewVelocity = flCurVelocity - flAccelRate * flInterval;
|
|
if (flNewVelocity < flIdealVelocity)
|
|
flNewVelocity = flIdealVelocity;
|
|
}
|
|
|
|
float flDist = 0.5*(flNewVelocity + flCurVelocity) * flInterval;
|
|
|
|
if (flDist > flGoalDistance)
|
|
{
|
|
flDist = flGoalDistance;
|
|
flNewVelocity = flGoalVelocity;
|
|
}
|
|
|
|
flNewVelocity = flNewVelocity * scale;
|
|
|
|
flNewDistance = (flGoalDistance - flDist) * scale;
|
|
|
|
return 0.0;
|
|
}
|
|
|
|
//-----------------------------------------------------------------------------
|