152 lines
6.0 KiB
C++
152 lines
6.0 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
|
|
//
|
|
// Purpose:
|
|
//
|
|
// $NoKeywords: $
|
|
//
|
|
//=============================================================================//
|
|
// nav_node.h
|
|
// Navigation Nodes are used when generating a Navigation Mesh by point sampling the map
|
|
// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
|
|
|
|
#ifndef _NAV_NODE_H_
|
|
#define _NAV_NODE_H_
|
|
|
|
#include "nav.h"
|
|
|
|
// If DEBUG_NAV_NODES is true, nav_show_nodes controls drawing node positions, and
|
|
// nav_show_node_id allows you to show the IDs of nodes that didn't get used to create areas.
|
|
#define DEBUG_NAV_NODES 1
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Navigation Nodes.
|
|
* These Nodes encapsulate world locations, and ways to get from one location to an adjacent one.
|
|
* Note that these links are not necessarily commutative (falling off of a ledge, for example).
|
|
*/
|
|
class CNavNode
|
|
{
|
|
public:
|
|
CNavNode( const Vector &pos, const Vector &normal, CNavNode *parent, bool onDisplacement );
|
|
~CNavNode();
|
|
|
|
static CNavNode *GetNode( const Vector &pos ); ///< return navigation node at the position, or NULL if none exists
|
|
static void CleanupGeneration();
|
|
|
|
CNavNode *GetConnectedNode( NavDirType dir ) const; ///< get navigation node connected in given direction, or NULL if cant go that way
|
|
const Vector *GetPosition( void ) const;
|
|
const Vector *GetNormal( void ) const { return &m_normal; }
|
|
unsigned int GetID( void ) const { return m_id; }
|
|
|
|
static CNavNode *GetFirst( void ) { return m_list; }
|
|
static unsigned int GetListLength( void ) { return m_listLength; }
|
|
CNavNode *GetNext( void ) { return m_next; }
|
|
|
|
void Draw( void );
|
|
|
|
void ConnectTo( CNavNode *node, NavDirType dir, float obstacleHeight, float flObstacleStartDist, float flObstacleEndDist ); ///< create a connection FROM this node TO the given node, in the given direction
|
|
CNavNode *GetParent( void ) const;
|
|
|
|
void MarkAsVisited( NavDirType dir ); ///< mark the given direction as having been visited
|
|
BOOL HasVisited( NavDirType dir ); ///< return TRUE if the given direction has already been searched
|
|
BOOL IsBiLinked( NavDirType dir ) const; ///< node is bidirectionally linked to another node in the given direction
|
|
BOOL IsClosedCell( void ) const; ///< node is the NW corner of a bi-linked quad of nodes
|
|
|
|
void Cover( void ) { m_isCovered = true; } ///< @todo Should pass in area that is covering
|
|
BOOL IsCovered( void ) const { return m_isCovered; } ///< return true if this node has been covered by an area
|
|
|
|
void AssignArea( CNavArea *area ); ///< assign the given area to this node
|
|
CNavArea *GetArea( void ) const; ///< return associated area
|
|
|
|
void SetAttributes( int bits ) { m_attributeFlags = bits; }
|
|
int GetAttributes( void ) const { return m_attributeFlags; }
|
|
float GetGroundHeightAboveNode( NavCornerType cornerType ) const; ///< return ground height above node in given corner direction (NUM_CORNERS for highest in any direction)
|
|
bool IsBlockedInAnyDirection( void) const; ///< return true if the node is blocked in any direction
|
|
|
|
bool IsOnDisplacement( void ) const { return m_isOnDisplacement; }
|
|
|
|
private:
|
|
CNavNode() {} // constructor used only for hash lookup
|
|
friend class CNavMesh;
|
|
|
|
bool TestForCrouchArea( NavCornerType cornerNum, const Vector& mins, const Vector& maxs, float *groundHeightAboveNode );
|
|
void CheckCrouch( void );
|
|
|
|
Vector m_pos; ///< position of this node in the world
|
|
Vector m_normal; ///< surface normal at this location
|
|
CNavNode *m_to[ NUM_DIRECTIONS ]; ///< links to north, south, east, and west. NULL if no link
|
|
float m_obstacleHeight[ NUM_DIRECTIONS ]; ///< obstacle height (delta from nav node z position) that must be climbed to reach next node in this direction
|
|
float m_obstacleStartDist[ NUM_DIRECTIONS ]; ///< distance along this direction to reach the beginning of the obstacle
|
|
float m_obstacleEndDist[ NUM_DIRECTIONS ]; ///< distance along this direction to reach the end of the obstacle
|
|
unsigned int m_id; ///< unique ID of this node
|
|
int m_attributeFlags; ///< set of attribute bit flags (see NavAttributeType)
|
|
|
|
static CNavNode *m_list; ///< the master list of all nodes for this map
|
|
static unsigned int m_listLength;
|
|
static unsigned int m_nextID;
|
|
CNavNode *m_next; ///< next link in master list
|
|
CNavNode *m_nextAtXY; ///< next link at a particular position
|
|
|
|
// below are only needed when generating
|
|
unsigned char m_visited; ///< flags for automatic node generation. If direction bit is clear, that direction hasn't been explored yet.
|
|
CNavNode *m_parent; ///< the node prior to this in the search, which we pop back to when this node's search is done (a stack)
|
|
bool m_isCovered; ///< true when this node is "covered" by a CNavArea
|
|
CNavArea *m_area; ///< the area this node is contained within
|
|
|
|
bool m_isBlocked[ NUM_CORNERS ];
|
|
bool m_crouch[ NUM_CORNERS ];
|
|
float m_groundHeightAboveNode[ NUM_CORNERS ];
|
|
bool m_isOnDisplacement;
|
|
};
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
//
|
|
// Inlines
|
|
//
|
|
|
|
inline CNavNode *CNavNode::GetConnectedNode( NavDirType dir ) const
|
|
{
|
|
return m_to[ dir ];
|
|
}
|
|
|
|
inline const Vector *CNavNode::GetPosition( void ) const
|
|
{
|
|
return &m_pos;
|
|
}
|
|
|
|
inline CNavNode *CNavNode::GetParent( void ) const
|
|
{
|
|
return m_parent;
|
|
}
|
|
|
|
inline void CNavNode::MarkAsVisited( NavDirType dir )
|
|
{
|
|
m_visited |= (1 << dir);
|
|
}
|
|
|
|
inline BOOL CNavNode::HasVisited( NavDirType dir )
|
|
{
|
|
if (m_visited & (1 << dir))
|
|
return true;
|
|
|
|
return false;
|
|
}
|
|
|
|
inline void CNavNode::AssignArea( CNavArea *area )
|
|
{
|
|
m_area = area;
|
|
}
|
|
|
|
inline CNavArea *CNavNode::GetArea( void ) const
|
|
{
|
|
return m_area;
|
|
}
|
|
|
|
inline bool CNavNode::IsBlockedInAnyDirection( void ) const
|
|
{
|
|
return m_isBlocked[ SOUTH_EAST ] || m_isBlocked[ SOUTH_WEST ] || m_isBlocked[ NORTH_EAST ] || m_isBlocked[ NORTH_WEST ];
|
|
}
|
|
|
|
|
|
#endif // _NAV_NODE_H_
|