384 lines
9.3 KiB
C++
384 lines
9.3 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
|
|
//
|
|
// Purpose:
|
|
//
|
|
// $NoKeywords: $
|
|
//
|
|
//=============================================================================//
|
|
// nav_node.cpp
|
|
// AI Navigation Nodes
|
|
// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
|
|
|
|
#include "cbase.h"
|
|
#include "cs_nav_node.h"
|
|
#include "nav_colors.h"
|
|
#include "nav_mesh.h"
|
|
|
|
NavDirType Opposite[ NUM_DIRECTIONS ] = { SOUTH, WEST, NORTH, EAST };
|
|
|
|
CSNavNode *CSNavNode::m_list = NULL;
|
|
unsigned int CSNavNode::m_listLength = 0;
|
|
unsigned int CSNavNode::m_nextID = 1;
|
|
|
|
ConVar nav_show_nodes( "nav_show_nodes", "0" );
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
class LookAtTarget
|
|
{
|
|
public:
|
|
LookAtTarget( const Vector &target )
|
|
{
|
|
m_target = target;
|
|
}
|
|
|
|
bool operator()( CBasePlayer *player )
|
|
{
|
|
QAngle angles;
|
|
Vector to = m_target - player->GetAbsOrigin();
|
|
VectorAngles( to, angles );
|
|
|
|
player->SetLocalAngles( angles );
|
|
player->SnapEyeAngles( angles );
|
|
return true;
|
|
}
|
|
|
|
private:
|
|
Vector m_target;
|
|
};
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Constructor
|
|
*/
|
|
CSNavNode::CSNavNode( const Vector &pos, const Vector &normal, CSNavNode *parent )
|
|
{
|
|
m_pos = pos;
|
|
m_normal = normal;
|
|
|
|
m_id = m_nextID++;
|
|
|
|
int i;
|
|
for( i=0; i<NUM_DIRECTIONS; ++i )
|
|
{
|
|
m_to[ i ] = NULL;
|
|
}
|
|
|
|
for ( i=0; i<NUM_CORNERS; ++i )
|
|
{
|
|
m_crouch[ i ] = false;
|
|
}
|
|
|
|
m_visited = 0;
|
|
m_parent = parent;
|
|
|
|
m_next = m_list;
|
|
m_list = this;
|
|
m_listLength++;
|
|
|
|
m_isCovered = false;
|
|
m_area = NULL;
|
|
|
|
m_attributeFlags = 0;
|
|
|
|
if ( nav_show_nodes.GetBool() )
|
|
{
|
|
NDebugOverlay::Cross3D( m_pos, 10.0f, 128, 128, 128, true, 10.0f );
|
|
NDebugOverlay::Cross3D( m_pos, 10.0f, 255, 255, 255, false, 10.0f );
|
|
|
|
LookAtTarget lookAt( m_pos );
|
|
ForEachPlayer( lookAt );
|
|
}
|
|
}
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
#if DEBUG_NAV_NODES
|
|
ConVar nav_show_node_id( "nav_show_node_id", "0" );
|
|
ConVar nav_test_node( "nav_test_node", "0" );
|
|
ConVar nav_test_node_crouch( "nav_test_node_crouch", "0" );
|
|
ConVar nav_test_node_crouch_dir( "nav_test_node_crouch_dir", "4" );
|
|
#endif // DEBUG_NAV_NODES
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
void CSNavNode::Draw( void )
|
|
{
|
|
#if DEBUG_NAV_NODES
|
|
if ( !nav_show_nodes.GetBool() )
|
|
return;
|
|
|
|
int r = 0, g = 0, b = 0;
|
|
|
|
if ( m_isCovered )
|
|
{
|
|
if ( GetAttributes() & NAV_MESH_CROUCH )
|
|
{
|
|
b = 255;
|
|
}
|
|
else
|
|
{
|
|
r = 255;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if ( GetAttributes() & NAV_MESH_CROUCH )
|
|
{
|
|
b = 255;
|
|
}
|
|
g = 255;
|
|
}
|
|
|
|
NDebugOverlay::Cross3D( m_pos, 2, r, g, b, true, 0.1f );
|
|
|
|
if ( (!m_isCovered && nav_show_node_id.GetBool()) || (m_isCovered && nav_show_node_id.GetInt() < 0) )
|
|
{
|
|
char text[16];
|
|
Q_snprintf( text, sizeof( text ), "%d", m_id );
|
|
NDebugOverlay::Text( m_pos, text, true, 0.1f );
|
|
}
|
|
|
|
if ( (unsigned int)(nav_test_node.GetInt()) == m_id )
|
|
{
|
|
TheNavMesh->TestArea( this, 1, 1 );
|
|
nav_test_node.SetValue( 0 );
|
|
}
|
|
|
|
if ( (unsigned int)(nav_test_node_crouch.GetInt()) == m_id )
|
|
{
|
|
CheckCrouch();
|
|
nav_test_node_crouch.SetValue( 0 );
|
|
}
|
|
|
|
if ( GetAttributes() & NAV_MESH_CROUCH )
|
|
{
|
|
int i;
|
|
for( i=0; i<NUM_CORNERS; i++ )
|
|
{
|
|
if ( m_crouch[i] )
|
|
{
|
|
Vector2D dir;
|
|
CornerToVector2D( (NavCornerType)i, &dir );
|
|
|
|
const float scale = 3.0f;
|
|
Vector scaled( dir.x * scale, dir.y * scale, 0 );
|
|
|
|
NDebugOverlay::HorzArrow( m_pos, m_pos + scaled, 0.5, 0, 0, 255, 255, true, 0.1f );
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // DEBUG_NAV_NODES
|
|
}
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
void CSNavNode::CheckCrouch( void )
|
|
{
|
|
CTraceFilterWalkableEntities filter( NULL, COLLISION_GROUP_PLAYER_MOVEMENT, WALK_THRU_EVERYTHING );
|
|
trace_t tr;
|
|
|
|
// Trace downward from duck height to find the max floor height for the node's surroundings
|
|
Vector mins( -HalfHumanWidth, -HalfHumanWidth, 0 );
|
|
Vector maxs( HalfHumanWidth, HalfHumanWidth, 0 );
|
|
Vector start( m_pos.x, m_pos.y, m_pos.z + VEC_DUCK_HULL_MAX.z - 0.1f );
|
|
UTIL_TraceHull(
|
|
start,
|
|
m_pos,
|
|
mins,
|
|
maxs,
|
|
MASK_PLAYERSOLID_BRUSHONLY,
|
|
&filter,
|
|
&tr );
|
|
|
|
Vector groundPos = tr.endpos;
|
|
|
|
if ( tr.startsolid && !tr.allsolid )
|
|
{
|
|
// Try going down out of the solid and re-check for the floor height
|
|
start.z -= tr.endpos.z - 0.1f;
|
|
|
|
UTIL_TraceHull(
|
|
start,
|
|
m_pos,
|
|
mins,
|
|
maxs,
|
|
MASK_PLAYERSOLID_BRUSHONLY,
|
|
&filter,
|
|
&tr );
|
|
|
|
groundPos = tr.endpos;
|
|
}
|
|
|
|
if ( tr.startsolid )
|
|
{
|
|
// we don't even have duck height clear. try a simple check to find floor height.
|
|
float x, y;
|
|
|
|
// Find the highest floor z - for a player to stand in this area, we need a full
|
|
// VEC_HULL_MAX.z of clearance above this height at all points.
|
|
float maxFloorZ = m_pos.z;
|
|
for( y = -HalfHumanWidth; y <= HalfHumanWidth + 0.1f; y += HalfHumanWidth )
|
|
{
|
|
for( x = -HalfHumanWidth; x <= HalfHumanWidth + 0.1f; x += HalfHumanWidth )
|
|
{
|
|
float floorZ;
|
|
if ( TheNavMesh->GetGroundHeight( m_pos, &floorZ ) )
|
|
{
|
|
maxFloorZ = MAX( maxFloorZ, floorZ + 0.1f );
|
|
}
|
|
}
|
|
}
|
|
|
|
groundPos.Init( m_pos.x, m_pos.y, maxFloorZ );
|
|
}
|
|
|
|
// For each direction, trace upwards from our best ground height to VEC_HULL_MAX.z to see if we have standing room.
|
|
for ( int i=0; i<NUM_CORNERS; ++i )
|
|
{
|
|
#if DEBUG_NAV_NODES
|
|
if ( nav_test_node_crouch_dir.GetInt() != NUM_CORNERS && i != nav_test_node_crouch_dir.GetInt() )
|
|
continue;
|
|
#endif // DEBUG_NAV_NODES
|
|
|
|
NavCornerType corner = (NavCornerType)i;
|
|
Vector2D cornerVec;
|
|
CornerToVector2D( corner, &cornerVec );
|
|
|
|
Vector actualGroundPos = groundPos; // we might need to adjust this if the tracehull failed above and we fell back to m_pos.z
|
|
|
|
// Build a mins/maxs pair for the HumanWidth x HalfHumanWidth box facing the appropriate direction
|
|
mins.Init();
|
|
maxs.Init( cornerVec.x * HalfHumanWidth, cornerVec.y * HalfHumanWidth, 0 );
|
|
|
|
// now make sure that mins is smaller than maxs
|
|
for ( int j=0; j<3; ++j )
|
|
{
|
|
if ( mins[j] > maxs[j] )
|
|
{
|
|
float tmp = mins[j];
|
|
mins[j] = maxs[j];
|
|
maxs[j] = tmp;
|
|
}
|
|
}
|
|
|
|
UTIL_TraceHull(
|
|
actualGroundPos + Vector( 0, 0, 0.1f ),
|
|
actualGroundPos + Vector( 0, 0, VEC_HULL_MAX.z - 0.2f ),
|
|
mins,
|
|
maxs,
|
|
MASK_PLAYERSOLID_BRUSHONLY,
|
|
&filter,
|
|
&tr );
|
|
actualGroundPos.z += tr.fractionleftsolid * VEC_HULL_MAX.z;
|
|
float maxHeight = actualGroundPos.z + VEC_DUCK_HULL_MAX.z;
|
|
for ( ; tr.startsolid && actualGroundPos.z <= maxHeight; actualGroundPos.z += 1.0f )
|
|
{
|
|
// In case we didn't find a good ground pos above, we could start in the ground. Move us up some.
|
|
UTIL_TraceHull(
|
|
actualGroundPos + Vector( 0, 0, 0.1f ),
|
|
actualGroundPos + Vector( 0, 0, VEC_HULL_MAX.z - 0.2f ),
|
|
mins,
|
|
maxs,
|
|
MASK_PLAYERSOLID_BRUSHONLY,
|
|
&filter,
|
|
&tr );
|
|
}
|
|
if (tr.startsolid || tr.fraction != 1.0f)
|
|
{
|
|
SetAttributes( NAV_MESH_CROUCH );
|
|
m_crouch[corner] = true;
|
|
}
|
|
|
|
#if DEBUG_NAV_NODES
|
|
if ( nav_show_nodes.GetBool() )
|
|
{
|
|
if ( nav_test_node_crouch_dir.GetInt() == i || nav_test_node_crouch_dir.GetInt() == NUM_CORNERS )
|
|
{
|
|
if ( tr.startsolid )
|
|
{
|
|
NDebugOverlay::Box( actualGroundPos, mins, maxs+Vector( 0, 0, VEC_HULL_MAX.z), 255, 0, 0, 10, 20.0f );
|
|
}
|
|
else if ( m_crouch[corner] )
|
|
{
|
|
NDebugOverlay::Box( actualGroundPos, mins, maxs+Vector( 0, 0, VEC_HULL_MAX.z), 0, 0, 255, 10, 20.0f );
|
|
}
|
|
else
|
|
{
|
|
NDebugOverlay::Box( actualGroundPos, mins, maxs+Vector( 0, 0, VEC_HULL_MAX.z), 0, 255, 0, 10, 10.0f );
|
|
}
|
|
}
|
|
}
|
|
#endif // DEBUG_NAV_NODES
|
|
}
|
|
}
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Create a connection FROM this node TO the given node, in the given direction
|
|
*/
|
|
void CSNavNode::ConnectTo( CSNavNode *node, NavDirType dir )
|
|
{
|
|
m_to[ dir ] = node;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Return node at given position.
|
|
* @todo Need a hash table to make this lookup fast
|
|
*/
|
|
CSNavNode *CSNavNode::GetNode( const Vector &pos )
|
|
{
|
|
const float tolerance = 0.45f * GenerationStepSize; // 1.0f
|
|
|
|
for( CSNavNode *node = m_list; node; node = node->m_next )
|
|
{
|
|
float dx = fabs( node->m_pos.x - pos.x );
|
|
float dy = fabs( node->m_pos.y - pos.y );
|
|
float dz = fabs( node->m_pos.z - pos.z );
|
|
|
|
if (dx < tolerance && dy < tolerance && dz < tolerance)
|
|
return node;
|
|
}
|
|
|
|
return NULL;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Return true if this node is bidirectionally linked to
|
|
* another node in the given direction
|
|
*/
|
|
BOOL CSNavNode::IsBiLinked( NavDirType dir ) const
|
|
{
|
|
if (m_to[ dir ] && m_to[ dir ]->m_to[ Opposite[dir] ] == this)
|
|
{
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Return true if this node is the NW corner of a quad of nodes
|
|
* that are all bidirectionally linked.
|
|
*/
|
|
BOOL CSNavNode::IsClosedCell( void ) const
|
|
{
|
|
if (IsBiLinked( SOUTH ) &&
|
|
IsBiLinked( EAST ) &&
|
|
m_to[ EAST ]->IsBiLinked( SOUTH ) &&
|
|
m_to[ SOUTH ]->IsBiLinked( EAST ) &&
|
|
m_to[ EAST ]->m_to[ SOUTH ] == m_to[ SOUTH ]->m_to[ EAST ])
|
|
{
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|