205 lines
7.6 KiB
C++
205 lines
7.6 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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// $NoKeywords: $
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//=============================================================================//
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#ifndef AI_PATHFINDER_H
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#define AI_PATHFINDER_H
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#include "ai_component.h"
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#include "ai_navtype.h"
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#if defined( _WIN32 )
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#pragma once
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#endif
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struct AIMoveTrace_t;
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struct OverlayLine_t;
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struct AI_Waypoint_t;
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class CAI_Link;
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class CAI_Network;
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class CAI_Node;
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//-----------------------------------------------------------------------------
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// The type of route to build
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enum RouteBuildFlags_e
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{
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bits_BUILD_GROUND = 0x00000001, //
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bits_BUILD_JUMP = 0x00000002, //
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bits_BUILD_FLY = 0x00000004, //
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bits_BUILD_CLIMB = 0x00000008, //
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bits_BUILD_GIVEWAY = 0x00000010, //
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bits_BUILD_TRIANG = 0x00000020, //
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bits_BUILD_IGNORE_NPCS = 0x00000040, // Ignore collisions with NPCs
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bits_BUILD_COLLIDE_NPCS = 0x00000080, // Use collisions with NPCs (redundant for argument clarity)
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bits_BUILD_GET_CLOSE = 0x00000100, // the route will be built even if it can't reach the destination
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};
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//-----------------------------------------------------------------------------
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// CAI_Pathfinder
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//
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// Purpose: Executes pathfinds through an associated network.
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//
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//-----------------------------------------------------------------------------
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class CAI_Pathfinder : public CAI_Component
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{
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public:
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CAI_Pathfinder( CAI_BaseNPC *pOuter )
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: CAI_Component(pOuter),
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m_flLastStaleLinkCheckTime( 0 ),
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m_pNetwork( NULL )
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{
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}
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void Init( CAI_Network *pNetwork );
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//---------------------------------
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int NearestNodeToNPC();
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int NearestNodeToPoint( const Vector &vecOrigin );
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AI_Waypoint_t* FindBestPath (int startID, int endID);
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AI_Waypoint_t* FindShortRandomPath (int startID, float minPathLength, const Vector &vDirection = vec3_origin);
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// --------------------------------
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bool IsLinkUsable(CAI_Link *pLink, int startID);
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// --------------------------------
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AI_Waypoint_t *BuildRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity *pTarget, float goalTolerance, Navigation_t curNavType = NAV_NONE, bool bLocalSucceedOnWithinTolerance = false );
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void UnlockRouteNodes( AI_Waypoint_t * );
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// --------------------------------
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void SetIgnoreBadLinks() { m_bIgnoreStaleLinks = true; } // lasts only for the next pathfind
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// --------------------------------
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virtual AI_Waypoint_t *BuildNodeRoute( const Vector &vStart, const Vector &vEnd, int buildFlags, float goalTolerance );
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virtual AI_Waypoint_t *BuildLocalRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float goalTolerance);
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virtual AI_Waypoint_t *BuildRadialRoute( const Vector &vStartPos, const Vector &vCenterPos, const Vector &vGoalPos, float flRadius, float flArc, float flStepDist, bool bClockwise, float goalTolerance, bool bAirRoute );
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virtual AI_Waypoint_t *BuildTriangulationRoute( const Vector &vStart,
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const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID,
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float flYaw, float flDistToBlocker, Navigation_t navType);
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virtual AI_Waypoint_t *BuildOBBAvoidanceRoute( const Vector &vStart, const Vector &vEnd,
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const CBaseEntity *pObstruction, const CBaseEntity *pTarget,
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Navigation_t navType );
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// --------------------------------
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bool Triangulate( Navigation_t navType, const Vector &vecStart, const Vector &vecEnd,
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float flDistToBlocker, CBaseEntity const *pTargetEnt, Vector *pApex );
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// --------------------------------
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void DrawDebugGeometryOverlays( int m_debugOverlays );
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protected:
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virtual bool CanUseLocalNavigation() { return true; }
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private:
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friend class CPathfindNearestNodeFilter;
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//---------------------------------
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AI_Waypoint_t* RouteToNode(const Vector &vecOrigin, int buildFlags, int nodeID, float goalTolerance);
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AI_Waypoint_t* RouteFromNode(const Vector &vecOrigin, int buildFlags, int nodeID, float goalTolerance);
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AI_Waypoint_t * BuildNearestNodeRoute( const Vector &vGoal, bool bToNode, int buildFlags, float goalTolerance, int *pNearestNode );
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//---------------------------------
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AI_Waypoint_t* MakeRouteFromParents(int *parentArray, int endID);
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AI_Waypoint_t* CreateNodeWaypoint( Hull_t hullType, int nodeID, int nodeFlags = 0 );
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AI_Waypoint_t* BuildRouteThroughPoints( Vector *vecPoints, int nNumPoints, int nDirection, int nStartIndex, int nEndIndex, Navigation_t navType, CBaseEntity *pTarget );
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bool IsLinkStillStale(int moveType, CAI_Link *nodeLink);
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// --------------------------------
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// Builds a simple route (no triangulation, no making way)
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AI_Waypoint_t *BuildSimpleRoute( Navigation_t navType, const Vector &vStart, const Vector &vEnd,
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const CBaseEntity *pTarget, int endFlags, int nodeID, int nodeTargetType, float flYaw);
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// Builds a complex route (triangulation, making way)
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AI_Waypoint_t *BuildComplexRoute( Navigation_t navType, const Vector &vStart,
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const Vector &vEnd, const CBaseEntity *pTarget, int endFlags, int nodeID,
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int buildFlags, float flYaw, float goalTolerance, float maxLocalNavDistance );
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AI_Waypoint_t *BuildGroundRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw, float goalTolerance );
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AI_Waypoint_t *BuildFlyRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw, float goalTolerance );
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AI_Waypoint_t *BuildJumpRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw );
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AI_Waypoint_t *BuildClimbRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw );
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// Computes the link type
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Navigation_t ComputeWaypointType( CAI_Node **ppNodes, int parentID, int destID );
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// --------------------------------
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bool TestTriangulationRoute( Navigation_t navType, const Vector& vecStart,
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const Vector &vecApex, const Vector &vecEnd, const CBaseEntity *pTargetEnt, AIMoveTrace_t *pStartTrace );
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// --------------------------------
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bool CheckStaleRoute( const Vector &vStart, const Vector &vEnd, int moveTypes);
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bool CheckStaleNavTypeRoute( Navigation_t navType, const Vector &vStart, const Vector &vEnd );
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// --------------------------------
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bool CanGiveWay( const Vector& vStart, const Vector& vEnd, CBaseEntity *pNPCBlocker );
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// --------------------------------
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bool UseStrongOptimizations();
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// --------------------------------
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// Debugging fields and functions
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class CTriDebugOverlay
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{
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public:
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CTriDebugOverlay()
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: m_debugTriOverlayLine( NULL )
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{
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}
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void AddTriOverlayLines( const Vector &vecStart, const Vector &vecApex, const Vector &vecEnd, const AIMoveTrace_t &startTrace, const AIMoveTrace_t &endTrace, bool bPathClear );
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void ClearTriOverlayLines(void);
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void FadeTriOverlayLines(void);
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void Draw(int npcDebugOverlays);
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private:
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void AddTriOverlayLine(const Vector &origin, const Vector &dest, int r, int g, int b, bool noDepthTest);
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OverlayLine_t **m_debugTriOverlayLine;
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};
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CTriDebugOverlay m_TriDebugOverlay;
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//---------------------------------
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float m_flLastStaleLinkCheckTime; // Last time I check for a stale link
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bool m_bIgnoreStaleLinks;
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//---------------------------------
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CAI_Network *GetNetwork() { return m_pNetwork; }
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const CAI_Network *GetNetwork() const { return m_pNetwork; }
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CAI_Network *m_pNetwork;
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public:
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DECLARE_SIMPLE_DATADESC();
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};
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//-----------------------------------------------------------------------------
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#endif // AI_PATHFINDER_H
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