499 lines
14 KiB
C++
499 lines
14 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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//=============================================================================//
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// nav.h
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// Data structures and constants for the Navigation Mesh system
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// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
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#ifndef _NAV_H_
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#define _NAV_H_
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#include "modelentities.h" // for CFuncBrush
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#include "doors.h"
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/**
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* Below are several constants used by the navigation system.
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* @todo Move these into TheNavMesh singleton.
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*/
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const float GenerationStepSize = 25.0f; // (30) was 20, but bots can't fit always fit
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const float JumpHeight = 41.8f; // if delta Z is less than this, we can jump up on it
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#if defined(CSTRIKE_DLL)
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const float JumpCrouchHeight = 58.0f; // (48) if delta Z is less than or equal to this, we can jumpcrouch up on it
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#else
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const float JumpCrouchHeight = 64.0f; // (48) if delta Z is less than or equal to this, we can jumpcrouch up on it
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#endif
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// There are 3 different definitions of StepHeight throughout the code, waiting to produce bugs if the 18.0 is ever changed.
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const float StepHeight = 18.0f; // if delta Z is greater than this, we have to jump to get up
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// TERROR: Increased DeathDrop from 200, since zombies don't take falling damage
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#if defined(CSTRIKE_DLL)
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const float DeathDrop = 200.0f; // (300) distance at which we will die if we fall - should be about 600, and pay attention to fall damage during pathfind
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#else
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const float DeathDrop = 400.0f; // (300) distance at which we will die if we fall - should be about 600, and pay attention to fall damage during pathfind
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#endif
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#if defined(CSTRIKE_DLL)
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const float ClimbUpHeight = JumpCrouchHeight; // CSBots assume all jump up links are reachable
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#else
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const float ClimbUpHeight = 200.0f; // height to check for climbing up
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#endif
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const float CliffHeight = 300.0f; // height which we consider a significant cliff which we would not want to fall off of
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// TERROR: Converted these values to use the same numbers as the player bounding boxes etc
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#define HalfHumanWidth 16
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#define HalfHumanHeight 35.5
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#define HumanHeight 71
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#define HumanEyeHeight 62
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#define HumanCrouchHeight 55
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#define HumanCrouchEyeHeight 37
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#define NAV_MAGIC_NUMBER 0xFEEDFACE // to help identify nav files
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/**
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* A place is a named group of navigation areas
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*/
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typedef unsigned int Place;
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#define UNDEFINED_PLACE 0 // ie: "no place"
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#define ANY_PLACE 0xFFFF
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enum NavErrorType
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{
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NAV_OK,
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NAV_CANT_ACCESS_FILE,
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NAV_INVALID_FILE,
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NAV_BAD_FILE_VERSION,
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NAV_FILE_OUT_OF_DATE,
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NAV_CORRUPT_DATA,
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NAV_OUT_OF_MEMORY,
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};
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enum NavAttributeType
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{
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NAV_MESH_INVALID = 0,
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NAV_MESH_CROUCH = 0x00000001, // must crouch to use this node/area
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NAV_MESH_JUMP = 0x00000002, // must jump to traverse this area (only used during generation)
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NAV_MESH_PRECISE = 0x00000004, // do not adjust for obstacles, just move along area
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NAV_MESH_NO_JUMP = 0x00000008, // inhibit discontinuity jumping
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NAV_MESH_STOP = 0x00000010, // must stop when entering this area
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NAV_MESH_RUN = 0x00000020, // must run to traverse this area
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NAV_MESH_WALK = 0x00000040, // must walk to traverse this area
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NAV_MESH_AVOID = 0x00000080, // avoid this area unless alternatives are too dangerous
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NAV_MESH_TRANSIENT = 0x00000100, // area may become blocked, and should be periodically checked
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NAV_MESH_DONT_HIDE = 0x00000200, // area should not be considered for hiding spot generation
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NAV_MESH_STAND = 0x00000400, // bots hiding in this area should stand
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NAV_MESH_NO_HOSTAGES = 0x00000800, // hostages shouldn't use this area
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NAV_MESH_STAIRS = 0x00001000, // this area represents stairs, do not attempt to climb or jump them - just walk up
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NAV_MESH_NO_MERGE = 0x00002000, // don't merge this area with adjacent areas
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NAV_MESH_OBSTACLE_TOP = 0x00004000, // this nav area is the climb point on the tip of an obstacle
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NAV_MESH_CLIFF = 0x00008000, // this nav area is adjacent to a drop of at least CliffHeight
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NAV_MESH_FIRST_CUSTOM = 0x00010000, // apps may define custom app-specific bits starting with this value
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NAV_MESH_LAST_CUSTOM = 0x04000000, // apps must not define custom app-specific bits higher than with this value
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NAV_MESH_FUNC_COST = 0x20000000, // area has designer specified cost controlled by func_nav_cost entities
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NAV_MESH_HAS_ELEVATOR = 0x40000000, // area is in an elevator's path
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NAV_MESH_NAV_BLOCKER = 0x80000000 // area is blocked by nav blocker ( Alas, needed to hijack a bit in the attributes to get within a cache line [7/24/2008 tom])
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};
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extern NavAttributeType NameToNavAttribute( const char *name );
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enum NavDirType
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{
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NORTH = 0,
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EAST = 1,
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SOUTH = 2,
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WEST = 3,
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NUM_DIRECTIONS
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};
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/**
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* Defines possible ways to move from one area to another
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*/
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enum NavTraverseType
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{
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// NOTE: First 4 directions MUST match NavDirType
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GO_NORTH = 0,
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GO_EAST,
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GO_SOUTH,
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GO_WEST,
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GO_LADDER_UP,
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GO_LADDER_DOWN,
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GO_JUMP,
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GO_ELEVATOR_UP,
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GO_ELEVATOR_DOWN,
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NUM_TRAVERSE_TYPES
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};
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enum NavCornerType
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{
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NORTH_WEST = 0,
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NORTH_EAST = 1,
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SOUTH_EAST = 2,
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SOUTH_WEST = 3,
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NUM_CORNERS
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};
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enum NavRelativeDirType
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{
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FORWARD = 0,
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RIGHT,
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BACKWARD,
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LEFT,
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UP,
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DOWN,
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NUM_RELATIVE_DIRECTIONS
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};
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struct Extent
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{
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Vector lo, hi;
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void Init( void )
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{
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lo.Init();
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hi.Init();
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}
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void Init( CBaseEntity *entity )
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{
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entity->CollisionProp()->WorldSpaceSurroundingBounds( &lo, &hi );
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}
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float SizeX( void ) const { return hi.x - lo.x; }
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float SizeY( void ) const { return hi.y - lo.y; }
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float SizeZ( void ) const { return hi.z - lo.z; }
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float Area( void ) const { return SizeX() * SizeY(); }
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// Increase bounds to contain the given point
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void Encompass( const Vector &pos )
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{
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for ( int i=0; i<3; ++i )
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{
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if ( pos[i] < lo[i] )
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{
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lo[i] = pos[i];
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}
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else if ( pos[i] > hi[i] )
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{
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hi[i] = pos[i];
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}
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}
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}
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// Increase bounds to contain the given extent
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void Encompass( const Extent &extent )
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{
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Encompass( extent.lo );
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Encompass( extent.hi );
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}
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// return true if 'pos' is inside of this extent
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bool Contains( const Vector &pos ) const
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{
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return (pos.x >= lo.x && pos.x <= hi.x &&
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pos.y >= lo.y && pos.y <= hi.y &&
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pos.z >= lo.z && pos.z <= hi.z);
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}
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// return true if this extent overlaps the given one
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bool IsOverlapping( const Extent &other ) const
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{
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return (lo.x <= other.hi.x && hi.x >= other.lo.x &&
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lo.y <= other.hi.y && hi.y >= other.lo.y &&
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lo.z <= other.hi.z && hi.z >= other.lo.z);
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}
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// return true if this extent completely contains the given one
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bool IsEncompassing( const Extent &other, float tolerance = 0.0f ) const
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{
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return (lo.x <= other.lo.x + tolerance && hi.x >= other.hi.x - tolerance &&
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lo.y <= other.lo.y + tolerance && hi.y >= other.hi.y - tolerance &&
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lo.z <= other.lo.z + tolerance && hi.z >= other.hi.z - tolerance);
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}
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};
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struct Ray
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{
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Vector from, to;
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};
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class CNavArea;
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class CNavNode;
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//--------------------------------------------------------------------------------------------------------------
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inline NavDirType OppositeDirection( NavDirType dir )
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{
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switch( dir )
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{
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case NORTH: return SOUTH;
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case SOUTH: return NORTH;
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case EAST: return WEST;
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case WEST: return EAST;
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default: break;
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}
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return NORTH;
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}
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//--------------------------------------------------------------------------------------------------------------
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inline NavDirType DirectionLeft( NavDirType dir )
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{
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switch( dir )
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{
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case NORTH: return WEST;
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case SOUTH: return EAST;
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case EAST: return NORTH;
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case WEST: return SOUTH;
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default: break;
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}
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return NORTH;
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}
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//--------------------------------------------------------------------------------------------------------------
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inline NavDirType DirectionRight( NavDirType dir )
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{
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switch( dir )
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{
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case NORTH: return EAST;
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case SOUTH: return WEST;
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case EAST: return SOUTH;
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case WEST: return NORTH;
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default: break;
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}
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return NORTH;
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}
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//--------------------------------------------------------------------------------------------------------------
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inline void AddDirectionVector( Vector *v, NavDirType dir, float amount )
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{
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switch( dir )
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{
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case NORTH: v->y -= amount; return;
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case SOUTH: v->y += amount; return;
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case EAST: v->x += amount; return;
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case WEST: v->x -= amount; return;
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default: break;
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}
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}
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//--------------------------------------------------------------------------------------------------------------
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inline float DirectionToAngle( NavDirType dir )
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{
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switch( dir )
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{
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case NORTH: return 270.0f;
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case SOUTH: return 90.0f;
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case EAST: return 0.0f;
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case WEST: return 180.0f;
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default: break;
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}
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return 0.0f;
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}
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//--------------------------------------------------------------------------------------------------------------
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inline NavDirType AngleToDirection( float angle )
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{
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while( angle < 0.0f )
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angle += 360.0f;
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while( angle > 360.0f )
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angle -= 360.0f;
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if (angle < 45 || angle > 315)
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return EAST;
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if (angle >= 45 && angle < 135)
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return SOUTH;
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if (angle >= 135 && angle < 225)
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return WEST;
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return NORTH;
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}
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//--------------------------------------------------------------------------------------------------------------
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inline void DirectionToVector2D( NavDirType dir, Vector2D *v )
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{
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switch( dir )
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{
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default: Assert(0);
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case NORTH: v->x = 0.0f; v->y = -1.0f; break;
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case SOUTH: v->x = 0.0f; v->y = 1.0f; break;
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case EAST: v->x = 1.0f; v->y = 0.0f; break;
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case WEST: v->x = -1.0f; v->y = 0.0f; break;
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}
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}
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//--------------------------------------------------------------------------------------------------------------
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inline void CornerToVector2D( NavCornerType dir, Vector2D *v )
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{
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switch( dir )
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{
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default: Assert(0);
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case NORTH_WEST: v->x = -1.0f; v->y = -1.0f; break;
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case NORTH_EAST: v->x = 1.0f; v->y = -1.0f; break;
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case SOUTH_EAST: v->x = 1.0f; v->y = 1.0f; break;
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case SOUTH_WEST: v->x = -1.0f; v->y = 1.0f; break;
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}
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v->NormalizeInPlace();
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}
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//--------------------------------------------------------------------------------------------------------------
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// Gets the corner types that surround the given direction
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inline void GetCornerTypesInDirection( NavDirType dir, NavCornerType *first, NavCornerType *second )
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{
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switch ( dir )
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{
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default:
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Assert(0);
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case NORTH:
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*first = NORTH_WEST;
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*second = NORTH_EAST;
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break;
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case SOUTH:
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*first = SOUTH_WEST;
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*second = SOUTH_EAST;
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break;
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case EAST:
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*first = NORTH_EAST;
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*second = SOUTH_EAST;
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break;
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case WEST:
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*first = NORTH_WEST;
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*second = SOUTH_WEST;
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break;
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}
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}
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//--------------------------------------------------------------------------------------------------------------
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inline float RoundToUnits( float val, float unit )
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{
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val = val + ((val < 0.0f) ? -unit*0.5f : unit*0.5f);
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return (float)( unit * ( ((int)val) / (int)unit ) );
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Return true if given entity can be ignored when moving
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*/
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#define WALK_THRU_PROP_DOORS 0x01
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#define WALK_THRU_FUNC_DOORS 0x02
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#define WALK_THRU_DOORS (WALK_THRU_PROP_DOORS | WALK_THRU_FUNC_DOORS)
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#define WALK_THRU_BREAKABLES 0x04
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#define WALK_THRU_TOGGLE_BRUSHES 0x08
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#define WALK_THRU_EVERYTHING (WALK_THRU_DOORS | WALK_THRU_BREAKABLES | WALK_THRU_TOGGLE_BRUSHES)
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extern ConVar nav_solid_props;
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inline bool IsEntityWalkable( CBaseEntity *entity, unsigned int flags )
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{
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if (FClassnameIs( entity, "worldspawn" ))
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return false;
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if (FClassnameIs( entity, "player" ))
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return false;
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// if we hit a door, assume its walkable because it will open when we touch it
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if (FClassnameIs( entity, "func_door*" ))
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{
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#ifdef PROBLEMATIC // cp_dustbowl doors dont open by touch - they use surrounding triggers
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if ( !entity->HasSpawnFlags( SF_DOOR_PTOUCH ) )
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{
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// this door is not opened by touching it, if it is closed, the area is blocked
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CBaseDoor *door = (CBaseDoor *)entity;
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return door->m_toggle_state == TS_AT_TOP;
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}
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#endif // _DEBUG
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return (flags & WALK_THRU_FUNC_DOORS) ? true : false;
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}
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if (FClassnameIs( entity, "prop_door*" ))
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{
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return (flags & WALK_THRU_PROP_DOORS) ? true : false;
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}
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// if we hit a clip brush, ignore it if it is not BRUSHSOLID_ALWAYS
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if (FClassnameIs( entity, "func_brush" ))
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{
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CFuncBrush *brush = (CFuncBrush *)entity;
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switch ( brush->m_iSolidity )
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{
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case CFuncBrush::BRUSHSOLID_ALWAYS:
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return false;
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case CFuncBrush::BRUSHSOLID_NEVER:
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return true;
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case CFuncBrush::BRUSHSOLID_TOGGLE:
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return (flags & WALK_THRU_TOGGLE_BRUSHES) ? true : false;
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}
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}
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// if we hit a breakable object, assume its walkable because we will shoot it when we touch it
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if (FClassnameIs( entity, "func_breakable" ) && entity->GetHealth() && entity->m_takedamage == DAMAGE_YES)
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return (flags & WALK_THRU_BREAKABLES) ? true : false;
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if (FClassnameIs( entity, "func_breakable_surf" ) && entity->m_takedamage == DAMAGE_YES)
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return (flags & WALK_THRU_BREAKABLES) ? true : false;
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if ( FClassnameIs( entity, "func_playerinfected_clip" ) == true )
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return true;
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if ( nav_solid_props.GetBool() && FClassnameIs( entity, "prop_*" ) )
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return true;
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return false;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Trace filter that ignores players, NPCs, and objects that can be walked through
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*/
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class CTraceFilterWalkableEntities : public CTraceFilterNoNPCsOrPlayer
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{
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public:
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CTraceFilterWalkableEntities( const IHandleEntity *passentity, int collisionGroup, unsigned int flags )
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: CTraceFilterNoNPCsOrPlayer( passentity, collisionGroup ), m_flags( flags )
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{
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}
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virtual bool ShouldHitEntity( IHandleEntity *pServerEntity, int contentsMask )
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{
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if ( CTraceFilterNoNPCsOrPlayer::ShouldHitEntity(pServerEntity, contentsMask) )
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{
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CBaseEntity *pEntity = EntityFromEntityHandle( pServerEntity );
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return ( !IsEntityWalkable( pEntity, m_flags ) );
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}
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return false;
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}
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private:
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unsigned int m_flags;
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};
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extern bool IsWalkableTraceLineClear( const Vector &from, const Vector &to, unsigned int flags = 0 );
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#endif // _NAV_H_
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