645 lines
18 KiB
C++
645 lines
18 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
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//
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// Purpose: Base combat character with no AI
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//
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// $Workfile: $
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// $Date: $
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// $NoKeywords: $
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//=============================================================================//
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#include "cbase.h"
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#include "ai_network.h"
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#include "ai_node.h"
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#include "ai_basenpc.h"
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#include "ai_link.h"
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#include "ai_navigator.h"
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#include "world.h"
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#include "ai_moveprobe.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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ConVar ai_no_node_cache( "ai_no_node_cache", "0" );
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extern float MOVE_HEIGHT_EPSILON;
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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// For now we just have one AINetwork called "BigNet". At some
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// later point we will probabaly have multiple AINetworkds per level
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CAI_Network* g_pBigAINet;
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//-----------------------------------------------------------------------------
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abstract_class INodeListFilter
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{
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public:
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virtual bool NodeIsValid( CAI_Node &node ) = 0;
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virtual float NodeDistanceSqr( CAI_Node &node ) = 0;
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};
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//-------------------------------------
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// Purpose: Filters nodes for an NPC
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//-------------------------------------
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class CNodeFilter : public INodeListFilter
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{
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public:
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CNodeFilter( CAI_BaseNPC *pNPC, const Vector &pos ) : m_pNPC(pNPC), m_pos(pos)
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{
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if ( m_pNPC )
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m_capabilities = m_pNPC->CapabilitiesGet();
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}
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CNodeFilter( const Vector &pos ) : m_pNPC(NULL), m_pos(pos)
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{
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}
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virtual bool NodeIsValid( CAI_Node &node )
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{
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if ( node.GetType() == NODE_DELETED )
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return false;
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if ( !m_pNPC )
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return true;
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if ( m_pNPC->GetNavType() == NAV_FLY && node.GetType() != NODE_AIR )
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return false;
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// Check that node is of proper type for this NPC's navigation ability
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if ((node.GetType() == NODE_AIR && !(m_capabilities & bits_CAP_MOVE_FLY)) ||
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(node.GetType() == NODE_GROUND && !(m_capabilities & bits_CAP_MOVE_GROUND)) )
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return false;
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if ( m_pNPC->IsUnusableNode( node.GetId(), node.GetHint() ) )
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return false;
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return true;
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}
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virtual float NodeDistanceSqr( CAI_Node &node )
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{
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// UNDONE: This call to Position() really seems excessive here. What is the real
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// error % relative to 800 units (MAX_NODE_LINK_DIST) ?
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if ( m_pNPC )
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return (node.GetPosition(m_pNPC->GetHullType()) - m_pos).LengthSqr();
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else
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return (node.GetOrigin() - m_pos).LengthSqr();
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}
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const Vector &m_pos;
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CAI_BaseNPC *m_pNPC;
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int m_capabilities; // cache this
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};
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//-----------------------------------------------------------------------------
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// CAI_Network
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//-----------------------------------------------------------------------------
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// for searching for the nearest node
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// PERFORMANCE: Tune this number
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#define MAX_NEAR_NODES 10 // Trace to 10 nodes at most
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//-----------------------------------------------------------------------------
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CAI_Network::CAI_Network()
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{
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m_iNumNodes = 0; // Number of nodes in this network
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m_pAInode = NULL; // Array of all nodes in this network
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m_iNearestCacheNext = NEARNODE_CACHE_SIZE - 1;
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// Force empty node caches to be rebuild
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for (int node=0;node<NEARNODE_CACHE_SIZE;node++)
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{
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m_NearestCache[node].hull = HULL_NONE;
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m_NearestCache[node].expiration = FLT_MIN;
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}
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#ifdef AI_NODE_TREE
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m_pNodeTree = NULL;
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#endif
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}
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//-----------------------------------------------------------------------------
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CAI_Network::~CAI_Network()
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{
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#ifdef AI_NODE_TREE
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if ( m_pNodeTree )
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{
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engine->DestroySpatialPartition( m_pNodeTree );
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m_pNodeTree = NULL;
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}
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#endif
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if ( m_pAInode )
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{
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for ( int node = 0; node < m_iNumNodes; node++ )
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{
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CAI_Node *pNode = m_pAInode[node];
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Assert( pNode && pNode->m_iID == node );
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for ( int link = 0; link < pNode->NumLinks(); link++ )
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{
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CAI_Link *pLink = pNode->m_Links[link];
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if ( pLink )
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{
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int destID = pLink->DestNodeID( node );
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Assert( destID > node && destID < m_iNumNodes );
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if ( destID > node && destID < m_iNumNodes )
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{
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CAI_Node *pDestNode = m_pAInode[destID];
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Assert( pDestNode );
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for ( int destLink = 0; destLink < pDestNode->NumLinks(); destLink++ )
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{
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if ( pDestNode->m_Links[destLink] == pLink )
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{
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pDestNode->m_Links[destLink] = NULL;
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}
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}
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}
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delete pLink;
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}
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}
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delete pNode;
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}
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}
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delete[] m_pAInode;
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m_pAInode = NULL;
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}
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//-----------------------------------------------------------------------------
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// Purpose: Given an bitString and float array of size array_size, return the
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// index of the smallest number in the array whose it is set
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//-----------------------------------------------------------------------------
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int CAI_Network::FindBSSmallest(CVarBitVec *bitString, float *float_array, int array_size)
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{
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int winIndex = -1;
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float winSize = FLT_MAX;
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for (int i=0;i<array_size;i++)
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{
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if (bitString->IsBitSet(i) && (float_array[i]<winSize))
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{
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winIndex = i;
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winSize = float_array[i];
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}
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}
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return winIndex;
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}
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//-----------------------------------------------------------------------------
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// Purpose: Build a list of nearby nodes sorted by distance
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// Input : &list -
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// maxListCount -
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// *pFilter -
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// Output : int - count of list
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//-----------------------------------------------------------------------------
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int CAI_Network::ListNodesInBox( CNodeList &list, int maxListCount, const Vector &mins, const Vector &maxs, INodeListFilter *pFilter )
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{
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CNodeList result;
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result.SetLessFunc( CNodeList::RevIsLowerPriority );
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// NOTE: maxListCount must be > 0 or this will crash
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bool full = false;
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float flClosest = 1000000.0 * 1000000;
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int closest = 0;
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// UNDONE: Store the nodes in a tree and query the tree instead of the entire list!!!
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for ( int node = 0; node < m_iNumNodes; node++ )
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{
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CAI_Node *pNode = m_pAInode[node];
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const Vector &origin = pNode->GetOrigin();
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// in box?
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if ( origin.x < mins.x || origin.x > maxs.x ||
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origin.y < mins.y || origin.y > maxs.y ||
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origin.z < mins.z || origin.z > maxs.z )
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continue;
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if ( !pFilter->NodeIsValid(*pNode) )
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continue;
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float flDist = pFilter->NodeDistanceSqr(*pNode);
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if ( flDist < flClosest )
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{
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closest = node;
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flClosest = flDist;
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}
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if ( !full || (flDist < result.ElementAtHead().dist) )
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{
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if ( full )
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result.RemoveAtHead();
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result.Insert( AI_NearNode_t(node, flDist) );
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full = (result.Count() == maxListCount);
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}
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}
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list.RemoveAll();
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while ( result.Count() )
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{
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list.Insert( result.ElementAtHead() );
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result.RemoveAtHead();
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}
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return list.Count();
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}
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//-----------------------------------------------------------------------------
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// Purpose: Return ID of node nearest of vecOrigin for pNPC with the given
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// tolerance distance. If a route is required to get to the node
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// node_route is set.
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//-----------------------------------------------------------------------------
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int CAI_Network::NearestNodeToPoint( CAI_BaseNPC *pNPC, const Vector &vecOrigin, bool bCheckVisibility, INearestNodeFilter *pFilter )
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{
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AI_PROFILE_SCOPE( CAI_Network_NearestNodeToNPCAtPoint );
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// --------------------------------
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// Check if network has no nodes
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// --------------------------------
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if (m_iNumNodes == 0)
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return NO_NODE;
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// ----------------------------------------------------------------
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// First check cached nearest node positions
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// ----------------------------------------------------------------
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int cachePos;
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int cachedNode = GetCachedNearestNode( vecOrigin, pNPC, &cachePos );
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if ( cachedNode != NO_NODE )
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{
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if ( bCheckVisibility )
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{
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trace_t tr;
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Vector vTestLoc = ( pNPC ) ?
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m_pAInode[cachedNode]->GetPosition(pNPC->GetHullType()) + pNPC->GetViewOffset() :
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m_pAInode[cachedNode]->GetOrigin();
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CTraceFilterNav traceFilter( pNPC, true, pNPC, COLLISION_GROUP_NONE );
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AI_TraceLine ( vecOrigin, vTestLoc, MASK_NPCSOLID_BRUSHONLY, &traceFilter, &tr );
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if ( tr.fraction != 1.0 )
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cachedNode = NO_NODE;
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}
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if ( cachedNode != NO_NODE && ( !pFilter || pFilter->IsValid( m_pAInode[cachedNode] ) ) )
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{
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m_NearestCache[cachePos].expiration = gpGlobals->curtime + NEARNODE_CACHE_LIFE;
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return cachedNode;
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}
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}
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// ---------------------------------------------------------------
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// First get nodes distances and eliminate those that are beyond
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// the maximum allowed distance for local movements
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// ---------------------------------------------------------------
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CNodeFilter filter( pNPC, vecOrigin );
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#ifdef AI_PERF_MON
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m_nPerfStatNN++;
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#endif
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AI_NearNode_t *pBuffer = (AI_NearNode_t *)stackalloc( sizeof(AI_NearNode_t) * MAX_NEAR_NODES );
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CNodeList list( pBuffer, MAX_NEAR_NODES );
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// OPTIMIZE: If not flying, this box should be smaller in Z (2 * height?)
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Vector ext(MAX_NODE_LINK_DIST, MAX_NODE_LINK_DIST, MAX_NODE_LINK_DIST);
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// If the NPC can fly, check further
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if ( pNPC && ( pNPC->CapabilitiesGet() & bits_CAP_MOVE_FLY ) )
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{
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ext.Init( MAX_AIR_NODE_LINK_DIST, MAX_AIR_NODE_LINK_DIST, MAX_AIR_NODE_LINK_DIST );
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}
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ListNodesInBox( list, MAX_NEAR_NODES, vecOrigin - ext, vecOrigin + ext, &filter );
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// --------------------------------------------------------------
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// Now find a reachable node searching the close nodes first
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// --------------------------------------------------------------
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//int smallestVisibleID = NO_NODE;
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for( ;list.Count(); list.RemoveAtHead() )
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{
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int smallest = list.ElementAtHead().nodeIndex;
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// Check not already rejected above
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if ( smallest == cachedNode )
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continue;
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// Check that this node is usable by the current hull size
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if ( pNPC && !pNPC->GetNavigator()->CanFitAtNode(smallest))
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continue;
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if ( bCheckVisibility )
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{
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trace_t tr;
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Vector vTestLoc = ( pNPC ) ?
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m_pAInode[smallest]->GetPosition(pNPC->GetHullType()) + pNPC->GetNodeViewOffset() :
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m_pAInode[smallest]->GetOrigin();
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Vector vecVisOrigin = vecOrigin + Vector(0,0,1);
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CTraceFilterNav traceFilter( pNPC, true, pNPC, COLLISION_GROUP_NONE );
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AI_TraceLine ( vecVisOrigin, vTestLoc, MASK_NPCSOLID_BRUSHONLY, &traceFilter, &tr );
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if ( tr.fraction != 1.0 )
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continue;
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}
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if ( pFilter )
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{
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if ( !pFilter->IsValid( m_pAInode[smallest] ) )
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{
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if ( !pFilter->ShouldContinue() )
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break;
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continue;
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}
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}
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SetCachedNearestNode( vecOrigin, smallest, (pNPC) ? pNPC->GetHullType() : HULL_NONE );
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return smallest;
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}
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// Store inability to reach in cache for later use
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SetCachedNearestNode( vecOrigin, NO_NODE, (pNPC) ? pNPC->GetHullType() : HULL_NONE );
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return NO_NODE;
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}
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//-----------------------------------------------------------------------------
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// Purpose: Find the nearest node to an entity without regard to how whether
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// the node can be reached
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//-----------------------------------------------------------------------------
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int CAI_Network::NearestNodeToPoint(const Vector &vPosition, bool bCheckVisibility )
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{
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return NearestNodeToPoint( NULL, vPosition, bCheckVisibility );
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}
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//-----------------------------------------------------------------------------
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// Purpose: Check nearest node cache for checkPos and return cached nearest
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// node if it exists in the cache. Doesn't care about reachability,
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// only if the node is visible
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//-----------------------------------------------------------------------------
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int CAI_Network::GetCachedNode(const Vector &checkPos, Hull_t nHull, int *pCachePos )
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{
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if ( ai_no_node_cache.GetBool() )
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return NOT_CACHED;
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// Walk from newest to oldest.
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int iNewest = m_iNearestCacheNext + 1;
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for ( int i = 0; i < NEARNODE_CACHE_SIZE; i++ )
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{
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int iCurrent = ( iNewest + i ) % NEARNODE_CACHE_SIZE;
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if ( m_NearestCache[iCurrent].hull == nHull && m_NearestCache[iCurrent].expiration > gpGlobals->curtime )
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{
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if ( (m_NearestCache[iCurrent].vTestPosition - checkPos).LengthSqr() < Square(24.0) )
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{
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if ( pCachePos )
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*pCachePos = iCurrent;
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return m_NearestCache[iCurrent].node;
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}
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}
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}
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if ( pCachePos )
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*pCachePos = -1;
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return NOT_CACHED;
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}
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//-----------------------------------------------------------------------------
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int CAI_Network::GetCachedNearestNode(const Vector &checkPos, CAI_BaseNPC *pNPC, int *pCachePos )
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{
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if ( pNPC )
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{
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CNodeFilter filter( pNPC, checkPos );
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int nodeID = GetCachedNode( checkPos, pNPC->GetHullType(), pCachePos );
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if ( nodeID >= 0 )
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{
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if ( filter.NodeIsValid( *m_pAInode[nodeID] ) && pNPC->GetNavigator()->CanFitAtNode(nodeID) )
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return nodeID;
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}
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}
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return NO_NODE;
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}
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//-----------------------------------------------------------------------------
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// Purpose: Update nearest node cache with new data
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// if nHull == HULL_NONE, reachability of this node wasn't checked
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//-----------------------------------------------------------------------------
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void CAI_Network::SetCachedNearestNode(const Vector &checkPos, int nodeID, Hull_t nHull)
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{
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if ( ai_no_node_cache.GetBool() )
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return;
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m_NearestCache[m_iNearestCacheNext].vTestPosition = checkPos;
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m_NearestCache[m_iNearestCacheNext].node = nodeID;
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m_NearestCache[m_iNearestCacheNext].hull = nHull;
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m_NearestCache[m_iNearestCacheNext].expiration = gpGlobals->curtime + NEARNODE_CACHE_LIFE;
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m_iNearestCacheNext--;
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if ( m_iNearestCacheNext < 0 )
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{
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m_iNearestCacheNext = NEARNODE_CACHE_SIZE - 1;
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}
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}
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//-----------------------------------------------------------------------------
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Vector CAI_Network::GetNodePosition( Hull_t hull, int nodeID )
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{
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if ( !m_pAInode )
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{
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Assert( 0 );
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return vec3_origin;
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}
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if ( ( nodeID < 0 ) || ( nodeID > m_iNumNodes ) )
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{
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Assert( 0 );
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return vec3_origin;
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}
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return m_pAInode[nodeID]->GetPosition( hull );
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}
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//-----------------------------------------------------------------------------
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Vector CAI_Network::GetNodePosition( CBaseCombatCharacter *pNPC, int nodeID )
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{
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if ( pNPC == NULL )
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{
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Assert( 0 );
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return vec3_origin;
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}
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return GetNodePosition( pNPC->GetHullType(), nodeID );
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}
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//-----------------------------------------------------------------------------
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float CAI_Network::GetNodeYaw( int nodeID )
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{
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if ( !m_pAInode )
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{
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Assert( 0 );
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return 0.0f;
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}
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if ( ( nodeID < 0 ) || ( nodeID > m_iNumNodes ) )
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{
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Assert( 0 );
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return 0.0f;
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}
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return m_pAInode[nodeID]->GetYaw();
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}
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//-----------------------------------------------------------------------------
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// Purpose: Adds an ainode to the network
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//-----------------------------------------------------------------------------
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CAI_Node *CAI_Network::AddNode( const Vector &origin, float yaw )
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{
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// ---------------------------------------------------------------------
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// When loaded from a file will know the number of nodes from
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// the start. Otherwise init MAX_NODES of them if not initialized
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// ---------------------------------------------------------------------
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if (!m_pAInode || !m_pAInode[0])
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{
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if ( m_pAInode )
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delete [] m_pAInode;
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m_pAInode = new CAI_Node*[MAX_NODES];
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}
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if (m_iNumNodes >= MAX_NODES)
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{
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DevMsg( "ERROR: too many nodes in map, deleting last node.\n" );
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m_iNumNodes--;
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}
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m_pAInode[m_iNumNodes] = new CAI_Node( m_iNumNodes, origin, yaw );
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#ifdef AI_NODE_TREE
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if ( !m_pNodeTree )
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{
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Vector worldMins, worldMaxs;
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GetWorldEntity()->GetWorldBounds( worldMins, worldMaxs );
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m_pNodeTree = engine->CreateSpatialPartition( worldMins, worldMaxs );
|
|
}
|
|
|
|
m_pNodeTree->CreateHandle( (IHandleEntity *)m_iNumNodes, PARTITION_NODE, origin, origin ); // ignore result for now as we'll never move or remove
|
|
#endif
|
|
|
|
m_iNumNodes++;
|
|
|
|
return m_pAInode[m_iNumNodes-1];
|
|
};
|
|
|
|
//-----------------------------------------------------------------------------
|
|
//-----------------------------------------------------------------------------
|
|
|
|
CAI_Link *CAI_Network::CreateLink( int srcID, int destID, CAI_DynamicLink *pDynamicLink )
|
|
{
|
|
CAI_Node *pSrcNode = g_pBigAINet->GetNode( srcID );
|
|
CAI_Node *pDestNode = g_pBigAINet->GetNode( destID );
|
|
|
|
Assert( pSrcNode && pDestNode && pSrcNode != pDestNode );
|
|
|
|
if ( !pSrcNode || !pDestNode )
|
|
{
|
|
DevMsg( "Attempted to create link to node that doesn't exist\n" );
|
|
return NULL;
|
|
}
|
|
|
|
if ( pSrcNode == pDestNode )
|
|
{
|
|
DevMsg( "Attempted to link a node to itself\n" );
|
|
return NULL;
|
|
}
|
|
|
|
if ( pSrcNode->NumLinks() == AI_MAX_NODE_LINKS )
|
|
{
|
|
DevMsg( "Node %d has too many links\n", srcID );
|
|
return NULL;
|
|
}
|
|
|
|
if ( pDestNode->NumLinks() == AI_MAX_NODE_LINKS )
|
|
{
|
|
DevMsg( "Node %d has too many links\n", destID );
|
|
return NULL;
|
|
}
|
|
|
|
CAI_Link *pLink = new CAI_Link;
|
|
|
|
pLink->m_iSrcID = srcID;
|
|
pLink->m_iDestID = destID;
|
|
pLink->m_pDynamicLink = pDynamicLink;
|
|
|
|
pSrcNode->AddLink(pLink);
|
|
pDestNode->AddLink(pLink);
|
|
|
|
return pLink;
|
|
}
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// Purpose: Returns true is two nodes are connected by the network graph
|
|
//-----------------------------------------------------------------------------
|
|
|
|
bool CAI_Network::IsConnected(int srcID, int destID)
|
|
{
|
|
if (srcID > m_iNumNodes || destID > m_iNumNodes)
|
|
{
|
|
DevMsg("IsConnected called with invalid node IDs!\n");
|
|
return false;
|
|
}
|
|
|
|
if ( srcID == destID )
|
|
return true;
|
|
|
|
int srcZone = m_pAInode[srcID]->GetZone();
|
|
int destZone = m_pAInode[destID]->GetZone();
|
|
|
|
if ( srcZone == AI_NODE_ZONE_SOLO || destZone == AI_NODE_ZONE_SOLO )
|
|
return false;
|
|
|
|
if ( srcZone == AI_NODE_ZONE_UNIVERSAL || destZone == AI_NODE_ZONE_UNIVERSAL ) // only happens in WC edit case
|
|
return true;
|
|
|
|
#ifdef DEBUG
|
|
if ( srcZone == AI_NODE_ZONE_UNKNOWN || destZone == AI_NODE_ZONE_UNKNOWN )
|
|
{
|
|
DevMsg( "Warning: Node found in unknown zone\n" );
|
|
return true;
|
|
}
|
|
#endif
|
|
|
|
return ( srcZone == destZone );
|
|
}
|
|
|
|
//-----------------------------------------------------------------------------
|
|
|
|
IterationRetval_t CAI_Network::EnumElement( IHandleEntity *pHandleEntity )
|
|
{
|
|
#ifdef AI_NODE_TREE
|
|
m_GatheredNodes.AddToTail( (int)pHandleEntity );
|
|
#endif
|
|
return ITERATION_CONTINUE;
|
|
}
|
|
|
|
//=============================================================================
|