313 lines
8.4 KiB
C++
313 lines
8.4 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
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//
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// Purpose: "Force-field" obstacle avoidance & steering
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//
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// @Note (toml 06-18-02): Currently only controls direction. Ultimately could
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// also incorporate body facing (yaw), speed, and translational/rotational
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// acceleration.
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//
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// $NoKeywords: $
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//=============================================================================//
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#ifndef AI_MOVESOLVER_H
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#define AI_MOVESOLVER_H
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#if defined( _WIN32 )
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#pragma once
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#endif
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#include "utlvector.h"
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#include "ai_obstacle_type.h"
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//-----------------------------------------------------------------------------
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inline float NormalizeAngle( float angle )
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{
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if ( angle < 0.0 )
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angle += 360.0;
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else if ( angle >= 360.0 )
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angle -= 360.0;
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return angle;
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}
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//-----------------------------------------------------------------------------
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// ENUMERATIONS
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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// STRUCTURES
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//-----------------------------------------------------------------------------
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//-------------------------------------
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// AI_Arc_t
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//
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// Purpose: Represents an arc.
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//
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//-------------------------------------
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struct AI_Arc_t
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{
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AI_Arc_t()
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: center( 0 ),
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span( 0 )
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{
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}
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// Set by center and span
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void Set( float newCenter, float newSpan );
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// Set by the right and left extremes (coordinates run counter clockwise)
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void SetByLimits( float yawRight, float yawLeft );
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// Center of the arc (as "yaw")
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float center;
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// Span of the arc (in degrees)
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float span;
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};
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//-------------------------------------
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// AI_MoveSuggestion_t
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//
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// Purpose: Suggests a possible move/avoidance, with a range of acceptable alternatives
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//
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// @Note (toml 06-20-02): this probably will eventually want to incorporate facing and
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// destination of the motivating goal.
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//
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//-------------------------------------
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enum AI_MoveSuggestionFlags_t
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{
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AIMS_FAVOR_LEFT = 0x01,
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AIMS_FAVOR_RIGHT = 0x02
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};
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//-----------------
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struct AI_MoveSuggestion_t
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{
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AI_MoveSuggestion_t();
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AI_MoveSuggestion_t( AI_MoveSuggType_t newType, float newWeight, float newDir, float newSpan, CBaseEntity *pEntity = NULL );
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AI_MoveSuggestion_t( AI_MoveSuggType_t newType, float newWeight, const AI_Arc_t &arc, CBaseEntity *pEntity = NULL );
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void Set( AI_MoveSuggType_t newType, float newWeight, float newDir, float newSpan, CBaseEntity *pEntity = NULL );
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void Set( AI_MoveSuggType_t newType, float newWeight, const AI_Arc_t &arc, CBaseEntity *pEntity = NULL );
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//---------------------------------
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// The kind of suggestion
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AI_MoveSuggType_t type;
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// The unadjusted weight of the suggestion [0..1], although [-1..1] within the solver
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float weight;
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// The desired direction to move/avoid
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AI_Arc_t arc;
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// The causing entity, if any
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EHANDLE hObstacleEntity;
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// Flags
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unsigned flags;
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};
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//-----------------
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typedef CUtlVector<AI_MoveSuggestion_t> CAI_MoveSuggestions;
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//-------------------------------------
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// AI_MoveSolution_t
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//
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// Purpose: The result of resolving suggestions
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//
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// @Note (toml 06-18-02): Currently, this is a very dopey little structure.
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// However, it will probably eventually incorporate much of the info
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// passed or calculated piecemeal between Move...() and Move...Execute()
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// functions. Once suggestions incorprate more information, the solution
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// may want to include a copy of the winning suggestion, so that the
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// caller need retain less state. If this is not the case, reduce it to just
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// a yaw.
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//
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//-------------------------------------
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struct AI_MoveSolution_t
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{
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AI_MoveSolution_t()
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: dir(0)
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{
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}
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// The direction to move
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float dir;
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};
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//-----------------------------------------------------------------------------
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// class CAI_MoveSolver
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//
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// Purpose: Given a set of precalculated "regulations" (typically negative),
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// and a set of instantaneous suggestions (usually positive)
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//-----------------------------------------------------------------------------
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class CAI_MoveSolver
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{
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public:
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CAI_MoveSolver();
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//---------------------------------
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// Purpose: A regulation is a suggestion that is kept around as a rule until
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// cleared. They are generally negative suggestions.
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//---------------------------------
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void AddRegulation( const AI_MoveSuggestion_t &suggestion );
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void AddRegulations( const AI_MoveSuggestion_t *pSuggestion, int nSuggestions );
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bool HaveRegulations() const;
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void ClearRegulations();
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//---------------------------------
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// Purpose: Solve the move, picking the best direction from a set of suggestions,
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// after applying the regulations
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//---------------------------------
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bool Solve( const AI_MoveSuggestion_t *pSuggestions, int nSuggestions, AI_MoveSolution_t *pResult );
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bool Solve( const AI_MoveSuggestion_t &suggestion, AI_MoveSolution_t *pResult );
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//---------------------------------
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bool HaveRegulationForObstacle( CBaseEntity *pEntity);
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//---------------------------------
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// Visualization
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void VisualizeRegulations( const Vector& origin );
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private:
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enum
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{
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REGS_RESERVE = 8,
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};
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//---------------------------------
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void NormalizeSuggestions( AI_MoveSuggestion_t *pBegin, AI_MoveSuggestion_t *pEnd );
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//---------------------------------
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CAI_MoveSuggestions m_Regulations;
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};
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//-----------------------------------------------------------------------------
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// AI_Arc_t inline methods
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//-----------------------------------------------------------------------------
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inline void AI_Arc_t::Set( float newCenter, float newSpan )
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{
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center = NormalizeAngle( newCenter );
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span = NormalizeAngle( newSpan );
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}
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//-------------------------------------
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inline void AI_Arc_t::SetByLimits( float yawRight, float yawLeft )
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{
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// Yaw runs counter-clockwise
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span = yawLeft - yawRight;
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if ( span < 0 )
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span += 360;
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center = yawRight + span * 0.5;
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if ( center >= 360 )
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center -= 360;
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}
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//-----------------------------------------------------------------------------
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// AI_MoveSuggestion_t inline methods
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//-----------------------------------------------------------------------------
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inline void AI_MoveSuggestion_t::Set( AI_MoveSuggType_t newType, float newWeight, float newDir, float newSpan, CBaseEntity *pEntity )
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{
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type = newType;
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weight = newWeight;
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hObstacleEntity = pEntity;
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flags = 0;
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arc.Set( newDir, newSpan );
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}
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//-------------------------------------
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inline AI_MoveSuggestion_t::AI_MoveSuggestion_t()
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: type( AIMS_INVALID ),
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weight( 0 ),
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flags( 0 )
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{
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}
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//-------------------------------------
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inline AI_MoveSuggestion_t::AI_MoveSuggestion_t( AI_MoveSuggType_t newType, float newWeight, float newDir, float newSpan, CBaseEntity *pEntity )
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{
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Set( newType, newWeight, newDir, newSpan, pEntity );
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}
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//-------------------------------------
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inline AI_MoveSuggestion_t::AI_MoveSuggestion_t( AI_MoveSuggType_t newType, float newWeight, const AI_Arc_t &arc, CBaseEntity *pEntity )
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{
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Set( newType, newWeight, arc.center, arc.span, pEntity );
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}
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//-------------------------------------
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inline void AI_MoveSuggestion_t::Set( AI_MoveSuggType_t newType, float newWeight, const AI_Arc_t &arc, CBaseEntity *pEntity )
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{
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Set( newType, newWeight, arc.center, arc.span, pEntity );
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}
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//-----------------------------------------------------------------------------
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// CAI_MoveSolver inline methods
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//-----------------------------------------------------------------------------
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inline CAI_MoveSolver::CAI_MoveSolver()
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{
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m_Regulations.EnsureCapacity( REGS_RESERVE );
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}
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//-------------------------------------
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inline void CAI_MoveSolver::AddRegulation( const AI_MoveSuggestion_t &suggestion )
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{
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m_Regulations.AddToTail( suggestion );
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}
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//-------------------------------------
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inline void CAI_MoveSolver::AddRegulations( const AI_MoveSuggestion_t *pSuggestions, int nSuggestions )
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{
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for (int i = 0; i < nSuggestions; ++i)
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{
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m_Regulations.AddToTail( pSuggestions[i] );
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}
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}
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//-------------------------------------
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inline bool CAI_MoveSolver::HaveRegulations() const
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{
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return (m_Regulations.Count() > 0);
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}
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//-------------------------------------
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inline void CAI_MoveSolver::ClearRegulations()
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{
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m_Regulations.RemoveAll();
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}
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//-------------------------------------
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inline bool CAI_MoveSolver::Solve( const AI_MoveSuggestion_t &suggestion, AI_MoveSolution_t *pResult)
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{
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return Solve( &suggestion, 1, pResult);
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}
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//=============================================================================
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#endif // AI_MOVESOLVER_H
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