752 lines
24 KiB
C++
752 lines
24 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
|
|
//
|
|
// Purpose:
|
|
//
|
|
// $NoKeywords: $
|
|
//=============================================================================//
|
|
|
|
#ifndef AI_NAVIGATOR_H
|
|
#define AI_NAVIGATOR_H
|
|
|
|
#ifdef _WIN32
|
|
#pragma once
|
|
#endif
|
|
|
|
#include "simtimer.h"
|
|
#include "ai_component.h"
|
|
#include "ai_navgoaltype.h"
|
|
#include "ai_navtype.h"
|
|
#include "ai_motor.h"
|
|
|
|
class CAI_BaseNPC;
|
|
class CAI_Motor;
|
|
class CAI_Route;
|
|
class CAI_Path;
|
|
class CAI_Pathfinder;
|
|
class CAI_LocalNavigator;
|
|
struct AI_Waypoint_t;
|
|
class CAI_WaypointList;
|
|
class CAI_Network;
|
|
struct AIMoveTrace_t;
|
|
struct AILocalMoveGoal_t;
|
|
typedef int AI_TaskFailureCode_t;
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// Debugging tools
|
|
//-----------------------------------------------------------------------------
|
|
|
|
#define DEBUG_AI_NAVIGATION 1
|
|
#ifdef DEBUG_AI_NAVIGATION
|
|
extern ConVar ai_debug_nav;
|
|
#define DbgNav() ai_debug_nav.GetBool()
|
|
#define DbgNavMsg( pAI, pszMsg ) \
|
|
do \
|
|
{ \
|
|
if (DbgNav()) \
|
|
DevMsg( pAI, "[Nav] %s", static_cast<const char *>(pszMsg) ); \
|
|
} while (0)
|
|
#define DbgNavMsg1( pAI, pszMsg, a ) DbgNavMsg( pAI, CFmtStr(static_cast<const char *>(pszMsg), (a) ) )
|
|
#define DbgNavMsg2( pAI, pszMsg, a, b ) DbgNavMsg( pAI, CFmtStr(static_cast<const char *>(pszMsg), (a), (b) ) )
|
|
#else
|
|
#define DbgNav() false
|
|
#define DbgNavMsg( pAI, pszMsg ) ((void)0)
|
|
#define DbgNavMsg1( pAI, pszMsg, a ) ((void)0)
|
|
#define DbgNavMsg2( pAI, pszMsg, a, b ) ((void)0)
|
|
#endif
|
|
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// STRUCTURES & ENUMERATIONS
|
|
//-----------------------------------------------------------------------------
|
|
|
|
DECLARE_POINTER_HANDLE( AI_PathNode_t );
|
|
|
|
//-------------------------------------
|
|
// Purpose: Constants used to specify the properties of a requested navigation
|
|
// goal.
|
|
//-------------------------------------
|
|
|
|
// Navigator should use the default or previously set tolerance
|
|
const float AIN_DEF_TOLERANCE = -1.0;
|
|
|
|
// Navigator should use the hull size as the tolerance
|
|
const float AIN_HULL_TOLERANCE = -2.0;
|
|
|
|
// Goal does not specify a new activity
|
|
const Activity AIN_DEF_ACTIVITY = ACT_INVALID;
|
|
|
|
// Goal has no target
|
|
CBaseEntity * const AIN_NO_TARGET = NULL;
|
|
|
|
// Goal does not specify a new target, use the existing one, if any
|
|
CBaseEntity * const AIN_DEF_TARGET = (AIN_NO_TARGET + 1);
|
|
|
|
// Goal does not specify a vector location
|
|
extern const Vector AIN_NO_DEST;
|
|
|
|
// Goal does not specify a node location
|
|
#define AIN_NO_NODE ((AI_PathNode_t)-1)
|
|
|
|
|
|
//-------------------------------------
|
|
|
|
enum AI_NavGoalFlags_t
|
|
{
|
|
// While navigating, try to face the destination point
|
|
AIN_YAW_TO_DEST = 0x01,
|
|
|
|
// If I'm a goal of type GOALTYPE_TARGETENT, update my goal position every time I think
|
|
AIN_UPDATE_TARGET_POS = 0x02,
|
|
|
|
// If navigating on a designer placed path, don't use pathfinder between waypoints, just do it
|
|
AIN_NO_PATHCORNER_PATHFINDING = 0x04,
|
|
|
|
AIN_DEF_FLAGS = 0,
|
|
};
|
|
|
|
//-------------------------------------
|
|
|
|
enum AI_NavSetGoalFlags_t
|
|
{
|
|
// Reset the navigator's navigation to the default state
|
|
AIN_CLEAR_PREVIOUS_STATE = 0x01,
|
|
|
|
// Clear out the target entity, while retaining other settings
|
|
AIN_CLEAR_TARGET = 0x02,
|
|
|
|
// If the navigate fails, return navigation to the default state
|
|
AIN_DISCARD_IF_FAIL = 0x04,
|
|
|
|
// Don't signal TaskFail() if the pathfind fails, just return the result
|
|
AIN_NO_PATH_TASK_FAIL = 0x08,
|
|
};
|
|
|
|
//-------------------------------------
|
|
|
|
enum AI_NpcBlockHandling_t
|
|
{
|
|
AISF_BLOCK,
|
|
AISF_AVOID,
|
|
AISF_IGNORE,
|
|
};
|
|
|
|
//-------------------------------------
|
|
|
|
enum AI_NavPathProgress_t
|
|
{
|
|
AINPP_NO_CHANGE,
|
|
AINPP_ADVANCED,
|
|
AINPP_COMPLETE,
|
|
AINPP_BLOCKED,
|
|
};
|
|
|
|
//-------------------------------------
|
|
// Purpose: Describes a navigation request. The various constructors simply
|
|
// allow ease of use in the common cases.
|
|
//-------------------------------------
|
|
|
|
struct AI_NavGoal_t
|
|
{
|
|
// Goal is unspecifed, or not a specific location
|
|
AI_NavGoal_t( GoalType_t type = GOALTYPE_INVALID,
|
|
Activity activity = AIN_DEF_ACTIVITY,
|
|
float tolerance = AIN_DEF_TOLERANCE,
|
|
unsigned flags = AIN_DEF_FLAGS,
|
|
CBaseEntity * pTarget = AIN_DEF_TARGET);
|
|
|
|
// Goal is a specific location, and GOALTYPE_LOCATION
|
|
AI_NavGoal_t( const Vector &dest,
|
|
Activity activity = AIN_DEF_ACTIVITY,
|
|
float tolerance = AIN_DEF_TOLERANCE,
|
|
unsigned flags = AIN_DEF_FLAGS,
|
|
CBaseEntity * pTarget = AIN_DEF_TARGET);
|
|
|
|
// Goal is a specific location and goal type
|
|
AI_NavGoal_t( GoalType_t type,
|
|
const Vector &dest,
|
|
Activity activity = AIN_DEF_ACTIVITY,
|
|
float tolerance = AIN_DEF_TOLERANCE,
|
|
unsigned flags = AIN_DEF_FLAGS,
|
|
CBaseEntity * pTarget = AIN_DEF_TARGET);
|
|
|
|
// Goal is a specific node, and GOALTYPE_LOCATION
|
|
AI_NavGoal_t( AI_PathNode_t destNode,
|
|
Activity activity = AIN_DEF_ACTIVITY,
|
|
float tolerance = AIN_DEF_TOLERANCE,
|
|
unsigned flags = AIN_DEF_FLAGS,
|
|
CBaseEntity * pTarget = AIN_DEF_TARGET);
|
|
|
|
// Goal is a specific location and goal type
|
|
AI_NavGoal_t( GoalType_t type,
|
|
AI_PathNode_t destNode,
|
|
Activity activity = AIN_DEF_ACTIVITY,
|
|
float tolerance = AIN_DEF_TOLERANCE,
|
|
unsigned flags = AIN_DEF_FLAGS,
|
|
CBaseEntity * pTarget = AIN_DEF_TARGET);
|
|
|
|
//----------------------------------
|
|
|
|
// What type of goal is this
|
|
GoalType_t type;
|
|
|
|
// The destination, either as a vector, or as a path node
|
|
Vector dest;
|
|
AI_PathNode_t destNode;
|
|
|
|
// The activity to use, or none if a previosly set activity should be used
|
|
Activity activity;
|
|
|
|
// The predicted activity used after arrival
|
|
Activity arrivalActivity;
|
|
int arrivalSequence;
|
|
|
|
// The tolerance of success, or none if a previosly set tolerance should be used
|
|
float tolerance;
|
|
|
|
// How far to permit an initial simplification of path
|
|
// (will use default if this value is less than the default)
|
|
float maxInitialSimplificationDist;
|
|
|
|
// Optional flags specifying
|
|
unsigned flags;
|
|
|
|
// The target of the navigation, primarily used to ignore the entity in hull and line traces
|
|
CBaseEntity * pTarget;
|
|
};
|
|
|
|
//-------------------------------------
|
|
// Purpose: Used to describe rules for advance on a (fly) path. There's nothing
|
|
// specifically "flying" about it, other than it came from an attempte
|
|
// to consolodate duplicated code in the various fliers. It may serve
|
|
// a more general purpose in the future. The constructor takes those
|
|
// arguments that can usually be specified just once (as in a
|
|
// local static constructor)
|
|
//-------------------------------------
|
|
|
|
struct AI_ProgressFlyPathParams_t
|
|
{
|
|
AI_ProgressFlyPathParams_t( unsigned _collisionMask,
|
|
float _strictPointTolerance = 32.0, float _blockTolerance = 0.0,
|
|
float _waypointTolerance = 100, float _goalTolerance = 12,
|
|
AI_NpcBlockHandling_t _blockHandling = AISF_BLOCK )
|
|
: collisionMask( _collisionMask ),
|
|
strictPointTolerance( _strictPointTolerance ),
|
|
blockTolerance( _blockTolerance ),
|
|
waypointTolerance( _waypointTolerance ),
|
|
goalTolerance( _goalTolerance ),
|
|
blockHandling( _blockHandling ),
|
|
pTarget( NULL ),
|
|
bTrySimplify( true )
|
|
{
|
|
}
|
|
|
|
void SetCurrent( const CBaseEntity *pNewTarget, bool bNewTrySimplify = true )
|
|
{
|
|
pTarget = pNewTarget;
|
|
bTrySimplify = bNewTrySimplify;
|
|
}
|
|
|
|
//----------------------------------
|
|
|
|
// Fields that tend to stay constant
|
|
unsigned collisionMask;
|
|
float strictPointTolerance;
|
|
float blockTolerance; // @TODO (toml 07-03-02): rename "blockTolerance". This is specifically the "simplify" block tolerance. See SimplifyFlyPath()
|
|
float waypointTolerance;
|
|
float goalTolerance; // @TODO (toml 07-03-02): goalTolerance appears to have come into existence because
|
|
// noone had set a good tolerance in the path itself. It is therefore redundant,
|
|
// and more than likely should be excised
|
|
AI_NpcBlockHandling_t blockHandling; // @TODO (toml 07-03-02): rename "blockHandling". This is specifically the "simplify" block handling. See SimplifyFlyPath()
|
|
|
|
// Fields that tend to change
|
|
const CBaseEntity * pTarget;
|
|
bool bTrySimplify;
|
|
};
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// CAI_Navigator
|
|
//
|
|
// Purpose: Implements pathing and path navigaton logic
|
|
//-----------------------------------------------------------------------------
|
|
|
|
class CAI_Navigator : public CAI_Component,
|
|
public CAI_DefMovementSink
|
|
{
|
|
typedef CAI_Component BaseClass;
|
|
public:
|
|
// --------------------------------
|
|
|
|
CAI_Navigator(CAI_BaseNPC *pOuter);
|
|
virtual ~CAI_Navigator();
|
|
|
|
virtual void Init( CAI_Network *pNetwork );
|
|
|
|
// --------------------------------
|
|
|
|
void SetPathcornerPathfinding( bool fNewVal) { m_bNoPathcornerPathfinds = !fNewVal; }
|
|
void SetRememberStaleNodes( bool fNewVal) { m_fRememberStaleNodes = fNewVal; }
|
|
void SetValidateActivitySpeed( bool bValidateActivitySpeed ) { m_bValidateActivitySpeed = bValidateActivitySpeed; }
|
|
void SetLocalSucceedOnWithinTolerance( bool fNewVal ) { m_bLocalSucceedOnWithinTolerance = fNewVal; }
|
|
|
|
// --------------------------------
|
|
|
|
void Save( ISave &save );
|
|
void Restore( IRestore &restore );
|
|
|
|
// --------------------------------
|
|
// Methods to issue movement directives
|
|
// --------------------------------
|
|
|
|
// Simple pathfind
|
|
virtual bool SetGoal( const AI_NavGoal_t &goal, unsigned flags = 0 );
|
|
|
|
// Change the target of the path
|
|
virtual bool SetGoalTarget( CBaseEntity *pEntity, const Vector &offset );
|
|
|
|
// Fancy pathing
|
|
bool SetRadialGoal( const Vector &destination, const Vector ¢er, float radius, float arc, float stepDist, bool bClockwise, bool bAirRoute = false );
|
|
bool SetRandomGoal( float minPathLength, const Vector &dir = vec3_origin );
|
|
bool SetRandomGoal( const Vector &from, float minPathLength, const Vector &dir = vec3_origin );
|
|
bool SetDirectGoal( const Vector &goalPos, Navigation_t navType = NAV_GROUND );
|
|
|
|
bool SetWanderGoal( float minRadius, float maxRadius );
|
|
bool SetVectorGoal( const Vector &dir, float targetDist, float minDist = 0, bool fShouldDeflect = false );
|
|
bool SetVectorGoalFromTarget( const Vector &goalPos, float minDist = 0, bool fShouldDeflect = false );
|
|
|
|
bool FindVectorGoal( Vector *pResult, const Vector &dir, float targetDist, float minDist = 0, bool fShouldDeflect = false );
|
|
|
|
// Path manipulation
|
|
bool PrependLocalAvoidance( float distObstacle, const AIMoveTrace_t &directTrace );
|
|
void PrependWaypoint( const Vector &newPoint, Navigation_t navType, unsigned waypointFlags = 0 );
|
|
|
|
// Query or change the movement activity
|
|
Activity GetMovementActivity() const;
|
|
Activity SetMovementActivity(Activity activity);
|
|
int GetMovementSequence();
|
|
void SetMovementSequence( int sequence );
|
|
|
|
// Query or change the Arrival activity
|
|
Activity GetArrivalActivity() const;
|
|
void SetArrivalActivity( Activity activity );
|
|
int GetArrivalSequence( int curSequence );
|
|
void SetArrivalSequence( int sequence );
|
|
|
|
// Set the facing direction at arrival
|
|
void SetArrivalDirection( const Vector &goalDirection );
|
|
void SetArrivalDirection( const QAngle &goalAngle );
|
|
void SetArrivalDirection( CBaseEntity *pTarget );
|
|
Vector GetArrivalDirection( );
|
|
|
|
// Set the speed to reach at arrival (
|
|
void SetArrivalSpeed( float flSpeed );
|
|
float GetArrivalSpeed();
|
|
|
|
// Set the estimated distance to stop before the actual goal
|
|
void SetArrivalDistance( float flDistance );
|
|
float GetArrivalDistance( ) const;
|
|
|
|
// Query or change the goal tolerance
|
|
float GetGoalTolerance() const;
|
|
void SetGoalTolerance(float tolerance);
|
|
|
|
GoalType_t GetGoalType() const;
|
|
const Vector & GetGoalPos() const;
|
|
CBaseEntity * GetGoalTarget();
|
|
int GetGoalFlags() const;
|
|
|
|
const Vector & GetCurWaypointPos() const;
|
|
int GetCurWaypointFlags() const;
|
|
|
|
bool CurWaypointIsGoal() const;
|
|
|
|
bool GetPointAlongPath( Vector *pResult, float distance, bool fReducibleOnly = false );
|
|
|
|
float GetPathDistanceToGoal();
|
|
float GetPathTimeToGoal();
|
|
|
|
// Query if there is a current goal
|
|
bool IsGoalSet() const;
|
|
|
|
// Query if the current goal is active, meaning the navigator has a path in can progress on
|
|
bool IsGoalActive() const;
|
|
|
|
// Update the goal position to reflect current conditions
|
|
bool RefindPathToGoal( bool fSignalTaskStatus = true, bool bDontIgnoreBadLinks = false );
|
|
bool UpdateGoalPos( const Vector & );
|
|
|
|
// Wrap up current locomotion
|
|
void StopMoving( bool bImmediate = true );
|
|
|
|
// Discard the current goal, use StopMoving() if just executing a normal stop
|
|
bool ClearGoal();
|
|
|
|
// --------------------------------
|
|
|
|
void SetAllowBigStep( CBaseEntity *pEntToStepOff ) { if ( !pEntToStepOff || !pEntToStepOff->IsWorld() ) m_hBigStepGroundEnt = pEntToStepOff; }
|
|
|
|
// --------------------------------
|
|
bool SetGoalFromStoppingPath();
|
|
void IgnoreStoppingPath();
|
|
|
|
// --------------------------------
|
|
// Navigation mode
|
|
// --------------------------------
|
|
Navigation_t GetNavType() const { return m_navType; }
|
|
void SetNavType( Navigation_t navType );
|
|
|
|
bool IsInterruptable() const { return ( m_navType != NAV_CLIMB && m_navType != NAV_JUMP ); }
|
|
|
|
// --------------------------------
|
|
// Pathing
|
|
// --------------------------------
|
|
|
|
AI_NavPathProgress_t ProgressFlyPath( const AI_ProgressFlyPathParams_t ¶ms); // note: will not return "blocked"
|
|
|
|
AI_PathNode_t GetNearestNode();
|
|
Vector GetNodePos( AI_PathNode_t );
|
|
|
|
CAI_Network * GetNetwork() { return m_pAINetwork; }
|
|
const CAI_Network * GetNetwork() const { return m_pAINetwork; }
|
|
void SetNetwork( CAI_Network *pNetwork ) { m_pAINetwork = pNetwork; }
|
|
|
|
CAI_Path * GetPath() { return m_pPath; }
|
|
const CAI_Path * GetPath() const { return m_pPath; }
|
|
|
|
void AdvancePath();
|
|
|
|
virtual bool SimplifyPath( bool bFirstForPath = false, float maxDist = -1 );
|
|
void SimplifyFlyPath( unsigned collisionMask, const CBaseEntity *pTarget,
|
|
float strictPointTolerance = 32.0, float blockTolerance = 0.0,
|
|
AI_NpcBlockHandling_t blockHandling = AISF_BLOCK);
|
|
bool SimplifyFlyPath( const AI_ProgressFlyPathParams_t ¶ms );
|
|
|
|
bool CanFitAtNode(int nodeNum, unsigned int collisionMask = MASK_NPCSOLID_BRUSHONLY);
|
|
float MovementCost( int moveType, Vector &vecStart, Vector &vecEnd );
|
|
|
|
bool CanFitAtPosition( const Vector &vStartPos, unsigned int collisionMask, bool bIgnoreTransients = false, bool bAllowPlayerAvoid = true );
|
|
bool IsOnNetwork() const { return !m_bNotOnNetwork; }
|
|
|
|
void SetMaxRouteRebuildTime(float time) { m_timePathRebuildMax = time; }
|
|
|
|
// --------------------------------
|
|
void DrawDebugRouteOverlay( void );
|
|
|
|
// --------------------------------
|
|
// Miscellany
|
|
// --------------------------------
|
|
|
|
float CalcYawSpeed();
|
|
float GetStepDownMultiplier();
|
|
CBaseEntity * GetNextPathcorner( CBaseEntity *pPathCorner );
|
|
virtual void OnScheduleChange();
|
|
|
|
// --------------------------------
|
|
|
|
// See comments at CAI_BaseNPC::Move()
|
|
virtual bool Move( float flInterval = 0.1 );
|
|
|
|
// --------------------------------
|
|
|
|
CBaseEntity * GetBlockingEntity() { return m_hLastBlockingEnt; }
|
|
|
|
protected:
|
|
// --------------------------------
|
|
//
|
|
// Common services provided by CAI_BaseNPC
|
|
//
|
|
CBaseEntity * GetNavTargetEntity();
|
|
void TaskMovementComplete();
|
|
float MaxYawSpeed();
|
|
void SetSpeed( float );
|
|
|
|
// --------------------------------
|
|
|
|
CAI_Motor * GetMotor() { return m_pMotor; }
|
|
const CAI_Motor * GetMotor() const { return m_pMotor; }
|
|
|
|
CAI_MoveProbe * GetMoveProbe() { return m_pMoveProbe; }
|
|
const CAI_MoveProbe *GetMoveProbe() const { return m_pMoveProbe; }
|
|
|
|
CAI_LocalNavigator *GetLocalNavigator() { return m_pLocalNavigator; }
|
|
const CAI_LocalNavigator *GetLocalNavigator() const { return m_pLocalNavigator; }
|
|
|
|
CAI_Pathfinder * GetPathfinder();
|
|
const CAI_Pathfinder *GetPathfinder() const;
|
|
|
|
virtual void OnClearPath(void);
|
|
|
|
// --------------------------------
|
|
|
|
virtual void OnNewGoal();
|
|
virtual void OnNavComplete();
|
|
void OnNavFailed( bool bMovement = false );
|
|
void OnNavFailed( AI_TaskFailureCode_t code, bool bMovement = false );
|
|
void OnNavFailed( const char *pszGeneralFailText, bool bMovement = false );
|
|
|
|
// --------------------------------
|
|
|
|
virtual AIMoveResult_t MoveNormal();
|
|
|
|
// Navigation execution
|
|
virtual AIMoveResult_t MoveClimb();
|
|
virtual AIMoveResult_t MoveJump();
|
|
|
|
// --------------------------------
|
|
|
|
virtual AIMoveResult_t MoveEnact( const AILocalMoveGoal_t &baseMove );
|
|
|
|
protected:
|
|
// made this virtual so strider can implement hover behavior with a navigator
|
|
virtual void MoveCalcBaseGoal( AILocalMoveGoal_t *pMoveGoal);
|
|
|
|
private:
|
|
virtual bool OnCalcBaseMove( AILocalMoveGoal_t *pMoveGoal, float distClear, AIMoveResult_t *pResult );
|
|
virtual bool OnObstructionPreSteer( AILocalMoveGoal_t *pMoveGoal, float distClear, AIMoveResult_t *pResult );
|
|
virtual bool OnFailedSteer( AILocalMoveGoal_t *pMoveGoal, float distClear, AIMoveResult_t *pResult );
|
|
virtual bool OnFailedLocalNavigation( AILocalMoveGoal_t *pMoveGoal, float distClear, AIMoveResult_t *pResult );
|
|
virtual bool OnInsufficientStopDist( AILocalMoveGoal_t *pMoveGoal, float distClear, AIMoveResult_t *pResult );
|
|
virtual bool OnMoveStalled( const AILocalMoveGoal_t &move );
|
|
virtual bool OnMoveExecuteFailed( const AILocalMoveGoal_t &move, const AIMoveTrace_t &trace, AIMotorMoveResult_t fMotorResult, AIMoveResult_t *pResult );
|
|
virtual bool OnMoveBlocked( AIMoveResult_t *pResult );
|
|
|
|
void ResetCalculations();
|
|
|
|
// Methods shared between ground and fly movement
|
|
bool PreMove();
|
|
virtual bool MoveUpdateWaypoint( AIMoveResult_t *pResult );
|
|
bool IsMovingOutOfWay( const AILocalMoveGoal_t &moveGoal, float distClear );
|
|
bool DelayNavigationFailure( const AIMoveTrace_t &trace );
|
|
|
|
static void CalculateDeflection( const Vector &start, const Vector &dir, const Vector &normal, Vector *pResult );
|
|
|
|
// --------------------------------
|
|
// Pathfinding
|
|
// --------------------------------
|
|
|
|
public:
|
|
float GetPathDistToCurWaypoint() const;
|
|
float GetPathDistToGoal() const;
|
|
float BuildAndGetPathDistToGoal();
|
|
|
|
// --------------------------------
|
|
|
|
int GetNavFailCounter() const;
|
|
void ClearNavFailCounter();
|
|
float GetLastNavFailTime() const;
|
|
bool TeleportAlongPath();
|
|
|
|
private:
|
|
bool DoFindPath( void ); // Find a route
|
|
bool DoFindPathToPathcorner( CBaseEntity *pPathCorner );
|
|
|
|
protected:
|
|
virtual bool DoFindPathToPos(void);
|
|
virtual bool ShouldOptimizeInitialPathSegment( AI_Waypoint_t * ) { return true; }
|
|
|
|
private:
|
|
void ClearPath(void);
|
|
void SaveStoppingPath( void );
|
|
|
|
protected:
|
|
virtual bool GetStoppingPath( CAI_WaypointList *pClippedWaypoints );
|
|
|
|
private:
|
|
bool FindPath( const AI_NavGoal_t &goal, unsigned flags );
|
|
bool FindPath( bool fSignalTaskStatus = true, bool bDontIgnoreBadLinks = false );
|
|
bool MarkCurWaypointFailedLink( void ); // Call when route fails
|
|
|
|
struct SimplifyForwardScanParams
|
|
{
|
|
float scanDist;
|
|
float radius;
|
|
float increment;
|
|
int maxSamples;
|
|
};
|
|
|
|
bool ShouldAttemptSimplifyTo( const Vector &pos );
|
|
bool ShouldSimplifyTo( bool passedDetour, const Vector &pos );
|
|
bool SimplifyPathForwardScan( const CAI_Navigator::SimplifyForwardScanParams ¶ms );
|
|
bool SimplifyPathForwardScan( const SimplifyForwardScanParams ¶ms, AI_Waypoint_t *pCurWaypoint, const Vector &curPoint, float distRemaining, bool skip, bool passedDetour, int *pTestCount );
|
|
bool SimplifyPathForward( float maxDist = -1 );
|
|
bool SimplifyPathBacktrack();
|
|
bool SimplifyPathQuick();
|
|
void SimplifyPathInsertSimplification( AI_Waypoint_t *pSegmentStart, const Vector &point );
|
|
|
|
// ---------------------------------
|
|
|
|
static bool ActivityIsLocomotive( Activity );
|
|
|
|
// ---------------------------------
|
|
|
|
Navigation_t m_navType; // My current navigation type (walk,fly)
|
|
bool m_fNavComplete;
|
|
bool m_bLastNavFailed;
|
|
|
|
// Cached pointers to other components, for efficiency
|
|
CAI_Motor * m_pMotor;
|
|
CAI_MoveProbe * m_pMoveProbe;
|
|
CAI_LocalNavigator *m_pLocalNavigator;
|
|
|
|
// ---------------------------------
|
|
|
|
CAI_Network* m_pAINetwork; // My current AINetwork
|
|
CAI_Path* m_pPath; // My current route
|
|
|
|
CAI_WaypointList * m_pClippedWaypoints;
|
|
float m_flTimeClipped;
|
|
Activity m_PreviousMoveActivity;
|
|
Activity m_PreviousArrivalActivity;
|
|
|
|
bool m_bValidateActivitySpeed;
|
|
bool m_bCalledStartMove;
|
|
|
|
bool m_bNotOnNetwork; // This NPC has no reachable nodes!
|
|
|
|
float m_flNextSimplifyTime; // next time we should try to simplify our route
|
|
bool m_bForcedSimplify;
|
|
float m_flLastSuccessfulSimplifyTime;
|
|
|
|
float m_flTimeLastAvoidanceTriangulate;
|
|
|
|
// --------------
|
|
|
|
float m_timePathRebuildMax; // How long to try rebuilding path before failing task
|
|
float m_timePathRebuildDelay; // How long to wait before trying to rebuild again
|
|
|
|
float m_timePathRebuildFail; // Current global time when should fail building path
|
|
float m_timePathRebuildNext; // Global time to try rebuilding again
|
|
|
|
// --------------
|
|
|
|
bool m_fRememberStaleNodes;
|
|
bool m_bNoPathcornerPathfinds;
|
|
bool m_bLocalSucceedOnWithinTolerance;
|
|
|
|
// --------------
|
|
|
|
bool m_fPeerMoveWait;
|
|
EHANDLE m_hPeerWaitingOn;
|
|
CSimTimer m_PeerWaitMoveTimer;
|
|
CSimTimer m_PeerWaitClearTimer;
|
|
|
|
CSimTimer m_NextSidestepTimer;
|
|
|
|
// --------------
|
|
|
|
EHANDLE m_hBigStepGroundEnt;
|
|
EHANDLE m_hLastBlockingEnt;
|
|
|
|
// --------------
|
|
|
|
Vector m_vPosBeginFailedSteer;
|
|
float m_timeBeginFailedSteer;
|
|
|
|
// --------------
|
|
|
|
int m_nNavFailCounter;
|
|
float m_flLastNavFailTime;
|
|
public:
|
|
DECLARE_SIMPLE_DATADESC();
|
|
};
|
|
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// AI_NavGoal_t inline methods
|
|
//-----------------------------------------------------------------------------
|
|
|
|
inline AI_NavGoal_t::AI_NavGoal_t( GoalType_t type,
|
|
Activity activity,
|
|
float tolerance,
|
|
unsigned flags,
|
|
CBaseEntity *pTarget)
|
|
: type(type),
|
|
dest(AIN_NO_DEST),
|
|
destNode(AIN_NO_NODE),
|
|
activity(activity),
|
|
tolerance(tolerance),
|
|
maxInitialSimplificationDist(-1),
|
|
flags(flags),
|
|
pTarget(pTarget),
|
|
arrivalActivity( AIN_DEF_ACTIVITY ),
|
|
arrivalSequence( ACT_INVALID )
|
|
{
|
|
}
|
|
|
|
inline AI_NavGoal_t::AI_NavGoal_t( const Vector &dest,
|
|
Activity activity,
|
|
float tolerance,
|
|
unsigned flags,
|
|
CBaseEntity *pTarget)
|
|
: type(GOALTYPE_LOCATION),
|
|
dest(dest),
|
|
destNode(AIN_NO_NODE),
|
|
activity(activity),
|
|
tolerance(tolerance),
|
|
maxInitialSimplificationDist(-1),
|
|
flags(flags),
|
|
pTarget(pTarget),
|
|
arrivalActivity( AIN_DEF_ACTIVITY ),
|
|
arrivalSequence( ACT_INVALID )
|
|
{
|
|
}
|
|
|
|
inline AI_NavGoal_t::AI_NavGoal_t( GoalType_t type,
|
|
const Vector &dest,
|
|
Activity activity,
|
|
float tolerance,
|
|
unsigned flags,
|
|
CBaseEntity *pTarget)
|
|
: type(type),
|
|
dest(dest),
|
|
destNode(AIN_NO_NODE),
|
|
activity(activity),
|
|
tolerance(tolerance),
|
|
maxInitialSimplificationDist(-1),
|
|
flags(flags),
|
|
pTarget(pTarget),
|
|
arrivalActivity( AIN_DEF_ACTIVITY ),
|
|
arrivalSequence( ACT_INVALID )
|
|
{
|
|
}
|
|
|
|
inline AI_NavGoal_t::AI_NavGoal_t( AI_PathNode_t destNode,
|
|
Activity activity,
|
|
float tolerance,
|
|
unsigned flags,
|
|
CBaseEntity * pTarget)
|
|
: type(GOALTYPE_LOCATION),
|
|
dest(AIN_NO_DEST),
|
|
destNode(destNode),
|
|
activity(activity),
|
|
tolerance(tolerance),
|
|
maxInitialSimplificationDist(-1),
|
|
flags(flags),
|
|
pTarget(pTarget),
|
|
arrivalActivity( AIN_DEF_ACTIVITY ),
|
|
arrivalSequence( ACT_INVALID )
|
|
{
|
|
}
|
|
|
|
inline AI_NavGoal_t::AI_NavGoal_t( GoalType_t type,
|
|
AI_PathNode_t destNode,
|
|
Activity activity,
|
|
float tolerance,
|
|
unsigned flags,
|
|
CBaseEntity * pTarget)
|
|
: type(type),
|
|
dest(AIN_NO_DEST),
|
|
destNode(destNode),
|
|
activity(activity),
|
|
tolerance(tolerance),
|
|
maxInitialSimplificationDist(-1),
|
|
flags(flags),
|
|
pTarget(pTarget),
|
|
arrivalActivity( AIN_DEF_ACTIVITY ),
|
|
arrivalSequence( ACT_INVALID )
|
|
{
|
|
}
|
|
|
|
//-----------------------------------------------------------------------------
|
|
|
|
#endif // AI_NAVIGATOR_H
|