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1443 lines
38 KiB
1443 lines
38 KiB
![]()
4 years ago
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//========= Copyright Valve Corporation, All rights reserved. ============//
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// NextBotGroundLocomotion.cpp
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// Basic ground-based movement for NextBotCombatCharacters
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// Author: Michael Booth, February 2009
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// Note: This is a refactoring of ZombieBotLocomotion from L4D
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#include "cbase.h"
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#include "func_break.h"
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#include "func_breakablesurf.h"
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#include "activitylist.h"
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#include "BasePropDoor.h"
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#include "nav.h"
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#include "NextBot.h"
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#include "NextBotGroundLocomotion.h"
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#include "NextBotUtil.h"
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#include "functorutils.h"
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#include "SharedFunctorUtils.h"
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#include "tier0/vprof.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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#pragma warning( disable : 4355 ) // warning 'this' used in base member initializer list - we're using it safely
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//----------------------------------------------------------------------------------------------------------
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NextBotGroundLocomotion::NextBotGroundLocomotion( INextBot *bot ) : ILocomotion( bot )
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{
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m_nextBot = NULL;
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m_ladder = NULL;
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m_desiredLean.x = 0.0f;
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m_desiredLean.y = 0.0f;
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m_desiredLean.z = 0.0f;
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m_bRecomputePostureOnCollision = false;
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m_ignorePhysicsPropTimer.Invalidate();
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}
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//----------------------------------------------------------------------------------------------------------
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NextBotGroundLocomotion::~NextBotGroundLocomotion()
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{
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}
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//----------------------------------------------------------------------------------------------------------
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/**
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* Reset locomotor to initial state
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*/
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void NextBotGroundLocomotion::Reset( void )
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{
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BaseClass::Reset();
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m_bRecomputePostureOnCollision = false;
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m_ignorePhysicsPropTimer.Invalidate();
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m_nextBot = static_cast< NextBotCombatCharacter * >( GetBot()->GetEntity() );
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m_desiredSpeed = 0.0f;
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m_velocity = vec3_origin;
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m_acceleration = vec3_origin;
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m_desiredLean.x = 0.0f;
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m_desiredLean.y = 0.0f;
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m_desiredLean.z = 0.0f;
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m_ladder = NULL;
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m_isJumping = false;
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m_isJumpingAcrossGap = false;
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m_ground = NULL;
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m_groundNormal = Vector( 0, 0, 1.0f );
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m_isClimbingUpToLedge = false;
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m_isUsingFullFeetTrace = false;
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m_moveVector = Vector( 1, 0, 0 );
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m_priorPos = m_nextBot->GetPosition();
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m_lastValidPos = m_nextBot->GetPosition();
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m_inhibitObstacleAvoidanceTimer.Invalidate();
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m_accumApproachVectors = vec3_origin;
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m_accumApproachWeights = 0.0f;
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}
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//----------------------------------------------------------------------------------------------------------
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/**
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* Move the bot along a ladder
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*/
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bool NextBotGroundLocomotion::TraverseLadder( void )
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{
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// not climbing a ladder right now
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return false;
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}
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//----------------------------------------------------------------------------------------------------------
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/**
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* Update internal state
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*/
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void NextBotGroundLocomotion::Update( void )
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{
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VPROF_BUDGET( "NextBotGroundLocomotion::Update", "NextBot" );
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BaseClass::Update();
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const float deltaT = GetUpdateInterval();
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// apply accumulated position changes
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ApplyAccumulatedApproach();
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// need to do this first thing, because ground constraints, etc, can change it
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Vector origPos = GetFeet();
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IBody *body = GetBot()->GetBodyInterface();
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if ( TraverseLadder() )
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{
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// bot is climbing a ladder
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return;
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}
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if ( !body->IsPostureMobile() )
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{
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// sitting/lying on the ground - no slip
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m_acceleration.x = 0.0f;
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m_acceleration.y = 0.0f;
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m_velocity.x = 0.0f;
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m_velocity.y = 0.0f;
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}
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bool wasOnGround = IsOnGround();
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if ( !body->HasActivityType( IBody::MOTION_CONTROLLED_Z ) )
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{
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// fall if in the air
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if ( !IsOnGround() )
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{
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// no ground below us - fall
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m_acceleration.z -= GetGravity();
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}
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if ( !IsClimbingOrJumping() || m_velocity.z <= 0.0f )
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{
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// keep us on the ground
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UpdateGroundConstraint();
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}
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}
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Vector newPos = GetFeet();
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//
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// Update position physics
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//
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Vector right( m_moveVector.y, -m_moveVector.x, 0.0f );
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if ( IsOnGround() ) // || m_isClimbingUpToLedge )
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{
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if ( IsAttemptingToMove() )
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{
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float forwardSpeed = DotProduct( m_velocity, m_moveVector );
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Vector forwardVelocity = forwardSpeed * m_moveVector;
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Vector sideVelocity = DotProduct( m_velocity, right ) * right;
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Vector frictionAccel = vec3_origin;
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// only apply friction along forward direction if we are sliding backwards
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if ( forwardSpeed < 0.0f )
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{
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frictionAccel = -GetFrictionForward() * forwardVelocity;
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}
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// always apply lateral friction to counteract sideslip
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frictionAccel += -GetFrictionSideways() * sideVelocity;
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m_acceleration.x += frictionAccel.x;
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m_acceleration.y += frictionAccel.y;
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}
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else
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{
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// come to a stop if we haven't been told to move
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m_acceleration = vec3_origin;
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m_velocity = vec3_origin;
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}
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}
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// compute new position, taking into account MOTION_CONTROLLED animations in progress
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if ( body->HasActivityType( IBody::MOTION_CONTROLLED_XY ) )
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{
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m_acceleration.x = 0.0f;
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m_acceleration.y = 0.0f;
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m_velocity.x = GetBot()->GetEntity()->GetAbsVelocity().x;
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m_velocity.y = GetBot()->GetEntity()->GetAbsVelocity().y;
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}
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else
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{
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// euler integration
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m_velocity.x += m_acceleration.x * deltaT;
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m_velocity.y += m_acceleration.y * deltaT;
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// euler integration
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newPos.x += m_velocity.x * deltaT;
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newPos.y += m_velocity.y * deltaT;
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}
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if ( body->HasActivityType( IBody::MOTION_CONTROLLED_Z ) )
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{
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m_acceleration.z = 0.0f;
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m_velocity.z = GetBot()->GetEntity()->GetAbsVelocity().z;
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}
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else
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{
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// euler integration
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m_velocity.z += m_acceleration.z * deltaT;
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// euler integration
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newPos.z += m_velocity.z * deltaT;
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}
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// move bot to new position, resolving collisions along the way
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UpdatePosition( newPos );
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// set actual velocity based on position change after collision resolution step
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Vector adjustedVelocity = ( GetFeet() - origPos ) / deltaT;
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if ( !body->HasActivityType( IBody::MOTION_CONTROLLED_XY ) )
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{
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m_velocity.x = adjustedVelocity.x;
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m_velocity.y = adjustedVelocity.y;
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}
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if ( !body->HasActivityType( IBody::MOTION_CONTROLLED_Z ) )
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{
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m_velocity.z = adjustedVelocity.z;
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}
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// collision resolution may create very high instantaneous velocities, limit it
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Vector2D groundVel = m_velocity.AsVector2D();
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m_actualSpeed = groundVel.NormalizeInPlace();
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if ( IsOnGround() )
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{
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if ( m_actualSpeed > GetRunSpeed() )
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{
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m_actualSpeed = GetRunSpeed();
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m_velocity.x = m_actualSpeed * groundVel.x;
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m_velocity.y = m_actualSpeed * groundVel.y;
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}
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// remove downward velocity when landing on the ground
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if ( !wasOnGround )
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{
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m_velocity.z = 0.0f;
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m_acceleration.z = 0.0f;
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}
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}
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else
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{
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// we're falling. if our velocity has become zero for any reason, shove it forward
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const float epsilon = 1.0f;
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if ( m_velocity.IsLengthLessThan( epsilon ) )
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{
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m_velocity = GetRunSpeed() * GetGroundMotionVector();
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}
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}
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// update entity velocity to that of locomotor
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m_nextBot->SetAbsVelocity( m_velocity );
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#ifdef LEANING
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// lean sideways proportional to lateral acceleration
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QAngle lean = GetDesiredLean();
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float sideAccel = DotProduct( right, m_acceleration );
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float slide = sideAccel / GetMaxAcceleration();
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// max lean depends on how fast we're actually moving
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float maxLeanAngle = NextBotLeanMaxAngle.GetFloat() * m_actualSpeed / GetRunSpeed();
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// actual lean angle is proportional to lateral acceleration (sliding)
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float desiredSideLean = -maxLeanAngle * slide;
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lean.y += ( desiredSideLean - lean.y ) * NextBotLeanRate.GetFloat() * deltaT;
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SetDesiredLean( lean );
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#endif // _DEBUG
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// reset acceleration accumulation
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m_acceleration = vec3_origin;
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// debug display
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if ( GetBot()->IsDebugging( NEXTBOT_LOCOMOTION ) )
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{
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// track position over time
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if ( IsOnGround() )
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{
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NDebugOverlay::Cross3D( GetFeet(), 1.0f, 0, 255, 0, true, 15.0f );
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}
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else
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{
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NDebugOverlay::Cross3D( GetFeet(), 1.0f, 0, 255, 255, true, 15.0f );
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}
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}
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}
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//----------------------------------------------------------------------------------------------------------
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/**
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* Move directly towards given position.
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* We need to do this in-air as well to land jumps.
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*/
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void NextBotGroundLocomotion::Approach( const Vector &rawPos, float goalWeight )
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{
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BaseClass::Approach( rawPos );
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m_accumApproachVectors += ( rawPos - GetFeet() ) * goalWeight;
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m_accumApproachWeights += goalWeight;
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m_bRecomputePostureOnCollision = true;
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}
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//----------------------------------------------------------------------------------------------------------
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void NextBotGroundLocomotion::ApplyAccumulatedApproach( void )
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{
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VPROF_BUDGET( "NextBotGroundLocomotion::ApplyAccumulatedApproach", "NextBot" );
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Vector rawPos = GetFeet();
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const float deltaT = GetUpdateInterval();
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if ( deltaT <= 0.0f )
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return;
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if ( m_accumApproachWeights > 0.0f )
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{
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Vector approachDelta = m_accumApproachVectors / m_accumApproachWeights;
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// limit total movement to our max speed
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float maxMove = GetRunSpeed() * deltaT;
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float desiredMove = approachDelta.NormalizeInPlace();
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if ( desiredMove > maxMove )
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{
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desiredMove = maxMove;
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}
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rawPos += desiredMove * approachDelta;
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m_accumApproachVectors = vec3_origin;
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m_accumApproachWeights = 0.0f;
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}
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// can only move in 2D - geometry moves us up and down
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Vector pos( rawPos.x, rawPos.y, GetFeet().z );
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if ( !GetBot()->GetBodyInterface()->IsPostureMobile() )
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{
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// body is not in a movable state right now
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return;
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}
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Vector currentPos = m_nextBot->GetPosition();
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// compute unit vector to goal position
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m_moveVector = pos - currentPos;
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m_moveVector.z = 0.0f;
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float change = m_moveVector.NormalizeInPlace();
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const float epsilon = 0.001f;
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if ( change < epsilon )
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{
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// no motion
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m_forwardLean = 0.0f;
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m_sideLean = 0.0f;
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return;
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}
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/*
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// lean forward/backward based on acceleration
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float desiredLean = m_acceleration / NextBotLeanForwardAccel.GetFloat();
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QAngle lean = GetDesiredLean();
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lean.x = NextBotLeanMaxAngle.GetFloat() * clamp( desiredLean, -1.0f, 1.0f );
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SetDesiredLean( lean );
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*/
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Vector newPos;
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// if we just started a jump, don't snap to the ground - let us get in the air first
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if ( DidJustJump() || !IsOnGround() )
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{
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if ( false && m_isClimbingUpToLedge ) // causes bots to hang in air stuck against edges
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{
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// drive towards the approach position in XY to help reach ledge
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m_moveVector = m_ledgeJumpGoalPos - currentPos;
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m_moveVector.z = 0.0f;
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m_moveVector.NormalizeInPlace();
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m_acceleration += GetMaxAcceleration() * m_moveVector;
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}
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}
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else if ( IsOnGround() )
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{
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// on the ground - move towards the approach position
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m_isClimbingUpToLedge = false;
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// snap forward movement vector along floor
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const Vector &groundNormal = GetGroundNormal();
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Vector left( -m_moveVector.y, m_moveVector.x, 0.0f );
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m_moveVector = CrossProduct( left, groundNormal );
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m_moveVector.NormalizeInPlace();
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// limit maximum forward speed from self-acceleration
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float forwardSpeed = DotProduct( m_velocity, m_moveVector );
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float maxSpeed = MIN( m_desiredSpeed, GetSpeedLimit() );
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if ( forwardSpeed < maxSpeed )
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{
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float ratio = ( forwardSpeed <= 0.0f ) ? 0.0f : ( forwardSpeed / maxSpeed );
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float governor = 1.0f - ( ratio * ratio * ratio * ratio );
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// accelerate towards goal
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m_acceleration += governor * GetMaxAcceleration() * m_moveVector;
|
||
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}
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||
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}
|
||
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}
|
||
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||
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|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Move the bot to the precise given position immediately,
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::DriveTo( const Vector &pos )
|
||
|
{
|
||
|
BaseClass::DriveTo( pos );
|
||
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m_bRecomputePostureOnCollision = true;
|
||
|
UpdatePosition( pos );
|
||
|
}
|
||
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||
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|
||
|
//--------------------------------------------------------------------------------------------
|
||
|
/*
|
||
|
* Trace filter solely for use with DetectCollision() below.
|
||
|
*/
|
||
|
class GroundLocomotionCollisionTraceFilter : public CTraceFilterSimple
|
||
|
{
|
||
|
public:
|
||
|
GroundLocomotionCollisionTraceFilter( INextBot *me, const IHandleEntity *passentity, int collisionGroup ) : CTraceFilterSimple( passentity, collisionGroup )
|
||
|
{
|
||
|
m_me = me;
|
||
|
}
|
||
|
|
||
|
virtual bool ShouldHitEntity( IHandleEntity *pServerEntity, int contentsMask )
|
||
|
{
|
||
|
if ( CTraceFilterSimple::ShouldHitEntity( pServerEntity, contentsMask ) )
|
||
|
{
|
||
|
CBaseEntity *entity = EntityFromEntityHandle( pServerEntity );
|
||
|
|
||
|
// don't collide with ourself
|
||
|
if ( entity && m_me->IsSelf( entity ) )
|
||
|
return false;
|
||
|
|
||
|
return m_me->GetLocomotionInterface()->ShouldCollideWith( entity );
|
||
|
}
|
||
|
|
||
|
return false;
|
||
|
}
|
||
|
|
||
|
INextBot *m_me;
|
||
|
};
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Check for collisions during move and attempt to resolve them
|
||
|
*/
|
||
|
bool NextBotGroundLocomotion::DetectCollision( trace_t *pTrace, int &recursionLimit, const Vector &from, const Vector &to, const Vector &vecMins, const Vector &vecMaxs )
|
||
|
{
|
||
|
IBody *body = GetBot()->GetBodyInterface();
|
||
|
|
||
|
CBaseEntity *ignore = m_ignorePhysicsPropTimer.IsElapsed() ? NULL : m_ignorePhysicsProp;
|
||
|
GroundLocomotionCollisionTraceFilter filter( GetBot(), ignore, body->GetCollisionGroup() );
|
||
|
|
||
|
TraceHull( from, to, vecMins, vecMaxs, body->GetSolidMask(), &filter, pTrace );
|
||
|
|
||
|
if ( !pTrace->DidHit() )
|
||
|
return false;
|
||
|
|
||
|
//
|
||
|
// A collision occurred - resolve it
|
||
|
//
|
||
|
|
||
|
// bust through "flimsy" breakables and keep on going
|
||
|
if ( pTrace->DidHitNonWorldEntity() && pTrace->m_pEnt != NULL )
|
||
|
{
|
||
|
CBaseEntity *other = pTrace->m_pEnt;
|
||
|
|
||
|
if ( !other->MyCombatCharacterPointer() && IsEntityTraversable( other, IMMEDIATELY ) /*&& IsFlimsy( other )*/ )
|
||
|
{
|
||
|
if ( recursionLimit <= 0 )
|
||
|
return true;
|
||
|
|
||
|
--recursionLimit;
|
||
|
|
||
|
// break the weak breakable we collided with
|
||
|
CTakeDamageInfo damageInfo( GetBot()->GetEntity(), GetBot()->GetEntity(), 100.0f, DMG_CRUSH );
|
||
|
CalculateExplosiveDamageForce( &damageInfo, GetMotionVector(), pTrace->endpos );
|
||
|
other->TakeDamage( damageInfo );
|
||
|
|
||
|
// retry trace now that the breakable is out of the way
|
||
|
return DetectCollision( pTrace, recursionLimit, from, to, vecMins, vecMaxs );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
/// @todo Only invoke OnContact() and Touch() once per collision pair
|
||
|
// inform other components of collision
|
||
|
if ( GetBot()->ShouldTouch( pTrace->m_pEnt ) )
|
||
|
{
|
||
|
GetBot()->OnContact( pTrace->m_pEnt, pTrace );
|
||
|
}
|
||
|
|
||
|
INextBot *them = dynamic_cast< INextBot * >( pTrace->m_pEnt );
|
||
|
if ( them && them->ShouldTouch( m_nextBot ) )
|
||
|
{
|
||
|
/// @todo construct mirror of trace
|
||
|
them->OnContact( m_nextBot );
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
pTrace->m_pEnt->Touch( GetBot()->GetEntity() );
|
||
|
}
|
||
|
|
||
|
return true;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
Vector NextBotGroundLocomotion::ResolveCollision( const Vector &from, const Vector &to, int recursionLimit )
|
||
|
{
|
||
|
VPROF_BUDGET( "NextBotGroundLocomotion::ResolveCollision", "NextBotExpensive" );
|
||
|
|
||
|
IBody *body = GetBot()->GetBodyInterface();
|
||
|
if ( body == NULL || recursionLimit < 0 )
|
||
|
{
|
||
|
Assert( !m_bRecomputePostureOnCollision );
|
||
|
return to;
|
||
|
}
|
||
|
|
||
|
// Only bother to recompute posture if we're currently standing or crouching
|
||
|
if ( m_bRecomputePostureOnCollision )
|
||
|
{
|
||
|
if ( !body->IsActualPosture( IBody::STAND ) && !body->IsActualPosture( IBody::CROUCH ) )
|
||
|
{
|
||
|
m_bRecomputePostureOnCollision = false;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
// get bounding limits, ignoring step-upable height
|
||
|
bool bPerformCrouchTest = false;
|
||
|
Vector mins;
|
||
|
Vector maxs;
|
||
|
if ( m_isUsingFullFeetTrace )
|
||
|
{
|
||
|
mins = body->GetHullMins();
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
mins = body->GetHullMins() + Vector( 0, 0, GetStepHeight() );
|
||
|
}
|
||
|
if ( !m_bRecomputePostureOnCollision )
|
||
|
{
|
||
|
maxs = body->GetHullMaxs();
|
||
|
if ( mins.z >= maxs.z )
|
||
|
{
|
||
|
// if mins.z is greater than maxs.z, the engine will Assert
|
||
|
// in UTIL_TraceHull, and it won't work as advertised.
|
||
|
mins.z = maxs.z - 2.0f;
|
||
|
}
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
const float halfSize = body->GetHullWidth() / 2.0f;
|
||
|
maxs.Init( halfSize, halfSize, body->GetStandHullHeight() );
|
||
|
bPerformCrouchTest = true;
|
||
|
}
|
||
|
|
||
|
trace_t trace;
|
||
|
Vector desiredGoal = to;
|
||
|
Vector resolvedGoal;
|
||
|
IBody::PostureType nPosture = IBody::STAND;
|
||
|
while( true )
|
||
|
{
|
||
|
bool bCollided = DetectCollision( &trace, recursionLimit, from, desiredGoal, mins, maxs );
|
||
|
if ( !bCollided )
|
||
|
{
|
||
|
resolvedGoal = desiredGoal;
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
// If we hit really close to our target, then stop
|
||
|
if ( !trace.startsolid && desiredGoal.DistToSqr( trace.endpos ) < 1.0f )
|
||
|
{
|
||
|
resolvedGoal = trace.endpos;
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
// Check for crouch test, if it's necessary
|
||
|
// Don't bother about checking for crouch if we hit an actor
|
||
|
// Also don't bother checking for crouch if we hit a plane that pushes us upwards
|
||
|
if ( bPerformCrouchTest )
|
||
|
{
|
||
|
// Don't do this work twice
|
||
|
bPerformCrouchTest = false;
|
||
|
|
||
|
nPosture = body->GetDesiredPosture();
|
||
|
|
||
|
if ( !trace.m_pEnt->MyNextBotPointer() && !trace.m_pEnt->IsPlayer() )
|
||
|
{
|
||
|
// Here, our standing trace hit the world or something non-breakable
|
||
|
// If we're not currently crouching, then see if we could travel
|
||
|
// the entire distance if we were crouched
|
||
|
if ( nPosture != IBody::CROUCH )
|
||
|
{
|
||
|
trace_t crouchTrace;
|
||
|
NextBotTraversableTraceFilter crouchFilter( GetBot(), ILocomotion::IMMEDIATELY );
|
||
|
Vector vecCrouchMax( maxs.x, maxs.y, body->GetCrouchHullHeight() );
|
||
|
TraceHull( from, desiredGoal, mins, vecCrouchMax, body->GetSolidMask(), &crouchFilter, &crouchTrace );
|
||
|
if ( crouchTrace.fraction >= 1.0f && !crouchTrace.startsolid )
|
||
|
{
|
||
|
nPosture = IBody::CROUCH;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else if ( nPosture == IBody::CROUCH )
|
||
|
{
|
||
|
// Here, our standing trace hit an actor
|
||
|
|
||
|
// NOTE: This test occurs almost never, based on my tests
|
||
|
// Converts from crouch to stand in the case where the player
|
||
|
// is currently crouching, *and* his first trace (with the standing hull)
|
||
|
// hits an actor *and* if he didn't hit that actor, he could have
|
||
|
// moved standing the entire way to his desired endpoint
|
||
|
trace_t standTrace;
|
||
|
NextBotTraversableTraceFilter standFilter( GetBot(), ILocomotion::IMMEDIATELY );
|
||
|
TraceHull( from, desiredGoal, mins, maxs, body->GetSolidMask(), &standFilter, &standTrace );
|
||
|
if ( standTrace.fraction >= 1.0f && !standTrace.startsolid )
|
||
|
{
|
||
|
nPosture = IBody::STAND;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
// Our first trace was based on the standing hull.
|
||
|
// If we need be crouched, the trace was bogus; we need to do another
|
||
|
if ( nPosture == IBody::CROUCH )
|
||
|
{
|
||
|
maxs.z = body->GetCrouchHullHeight();
|
||
|
continue;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
if ( trace.startsolid )
|
||
|
{
|
||
|
// stuck inside solid; don't move
|
||
|
|
||
|
if ( trace.m_pEnt && !trace.m_pEnt->IsWorld() )
|
||
|
{
|
||
|
// only ignore physics props that are not doors
|
||
|
if ( dynamic_cast< CPhysicsProp * >( trace.m_pEnt ) != NULL && dynamic_cast< CBasePropDoor * >( trace.m_pEnt ) == NULL )
|
||
|
{
|
||
|
IPhysicsObject *physics = trace.m_pEnt->VPhysicsGetObject();
|
||
|
if ( physics && physics->IsMoveable() )
|
||
|
{
|
||
|
// we've intersected a (likely moving) physics prop - ignore it for awhile so we can move out of it
|
||
|
m_ignorePhysicsProp = trace.m_pEnt;
|
||
|
m_ignorePhysicsPropTimer.Start( 1.0f );
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
// return to last known non-interpenetrating position
|
||
|
resolvedGoal = m_lastValidPos;
|
||
|
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
if ( --recursionLimit <= 0 )
|
||
|
{
|
||
|
// reached recursion limit, no more adjusting allowed
|
||
|
resolvedGoal = trace.endpos;
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
// never slide downwards/concave to avoid getting stuck in the ground
|
||
|
if ( trace.plane.normal.z < 0.0f )
|
||
|
{
|
||
|
trace.plane.normal.z = 0.0f;
|
||
|
trace.plane.normal.NormalizeInPlace();
|
||
|
}
|
||
|
|
||
|
// slide off of surface we hit
|
||
|
Vector fullMove = desiredGoal - from;
|
||
|
Vector leftToMove = fullMove * ( 1.0f - trace.fraction );
|
||
|
|
||
|
// obey climbing slope limit
|
||
|
if ( !body->HasActivityType( IBody::MOTION_CONTROLLED_Z ) &&
|
||
|
trace.plane.normal.z < GetTraversableSlopeLimit() &&
|
||
|
fullMove.z > 0.0f )
|
||
|
{
|
||
|
fullMove.z = 0.0f;
|
||
|
trace.plane.normal.z = 0.0f;
|
||
|
trace.plane.normal.NormalizeInPlace();
|
||
|
}
|
||
|
|
||
|
float blocked = DotProduct( trace.plane.normal, leftToMove );
|
||
|
|
||
|
Vector unconstrained = fullMove - blocked * trace.plane.normal;
|
||
|
|
||
|
if ( GetBot()->IsDebugging( NEXTBOT_LOCOMOTION ) )
|
||
|
{
|
||
|
NDebugOverlay::Line( trace.endpos,
|
||
|
trace.endpos + 20.0f * trace.plane.normal,
|
||
|
255, 0, 150, true, 15.0f );
|
||
|
}
|
||
|
|
||
|
// check for collisions along remainder of move
|
||
|
// But don't bother if we're not going to deflect much
|
||
|
Vector remainingMove = from + unconstrained;
|
||
|
if ( remainingMove.DistToSqr( trace.endpos ) < 1.0f )
|
||
|
{
|
||
|
resolvedGoal = trace.endpos;
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
desiredGoal = remainingMove;
|
||
|
}
|
||
|
|
||
|
if ( !trace.startsolid )
|
||
|
{
|
||
|
m_lastValidPos = resolvedGoal;
|
||
|
}
|
||
|
|
||
|
if ( m_bRecomputePostureOnCollision )
|
||
|
{
|
||
|
m_bRecomputePostureOnCollision = false;
|
||
|
|
||
|
if ( !body->IsActualPosture( nPosture ) )
|
||
|
{
|
||
|
body->SetDesiredPosture( nPosture );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return resolvedGoal;
|
||
|
}
|
||
|
|
||
|
|
||
|
//--------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Collect the closest actors
|
||
|
*/
|
||
|
class ClosestActorsScan
|
||
|
{
|
||
|
public:
|
||
|
ClosestActorsScan( const Vector &spot, int team, float maxRange = 0.0f, CBaseCombatCharacter *ignore = NULL )
|
||
|
{
|
||
|
m_spot = spot;
|
||
|
m_team = team;
|
||
|
m_close = NULL;
|
||
|
|
||
|
if ( maxRange > 0.0f )
|
||
|
{
|
||
|
m_closeRangeSq = maxRange * maxRange;
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
m_closeRangeSq = 999999999.9f;
|
||
|
}
|
||
|
|
||
|
m_ignore = ignore;
|
||
|
}
|
||
|
|
||
|
bool operator() ( CBaseCombatCharacter *actor )
|
||
|
{
|
||
|
if (actor == m_ignore)
|
||
|
return true;
|
||
|
|
||
|
if (actor->IsAlive() && (m_team == TEAM_ANY || actor->GetTeamNumber() == m_team))
|
||
|
{
|
||
|
Vector to = actor->WorldSpaceCenter() - m_spot;
|
||
|
float rangeSq = to.LengthSqr();
|
||
|
if (rangeSq < m_closeRangeSq)
|
||
|
{
|
||
|
m_closeRangeSq = rangeSq;
|
||
|
m_close = actor;
|
||
|
}
|
||
|
}
|
||
|
return true;
|
||
|
}
|
||
|
|
||
|
CBaseCombatCharacter *GetActor( void ) const
|
||
|
{
|
||
|
return m_close;
|
||
|
}
|
||
|
|
||
|
bool IsCloserThan( float range )
|
||
|
{
|
||
|
return (m_closeRangeSq < (range * range));
|
||
|
}
|
||
|
|
||
|
bool IsFartherThan( float range )
|
||
|
{
|
||
|
return (m_closeRangeSq > (range * range));
|
||
|
}
|
||
|
|
||
|
Vector m_spot;
|
||
|
int m_team;
|
||
|
CBaseCombatCharacter *m_close;
|
||
|
float m_closeRangeSq;
|
||
|
CBaseCombatCharacter *m_ignore;
|
||
|
};
|
||
|
|
||
|
|
||
|
#ifdef SKIPME
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Push away zombies that are interpenetrating
|
||
|
*/
|
||
|
Vector NextBotGroundLocomotion::ResolveZombieCollisions( const Vector &pos )
|
||
|
{
|
||
|
Vector adjustedNewPos = pos;
|
||
|
|
||
|
Infected *me = m_nextBot->MyInfectedPointer();
|
||
|
const float hullWidth = me->GetBodyInterface()->GetHullWidth();
|
||
|
|
||
|
// only avoid if we're actually trying to move somewhere, and are enraged
|
||
|
if ( me != NULL && !IsUsingLadder() && !IsClimbingOrJumping() && IsOnGround() && m_nextBot->IsAlive() && IsAttemptingToMove() /*&& GetBot()->GetBodyInterface()->IsArousal( IBody::INTENSE )*/ )
|
||
|
{
|
||
|
VPROF_BUDGET( "NextBotGroundLocomotion::ResolveZombieCollisions", "NextBot" );
|
||
|
|
||
|
const CUtlVector< CHandle< Infected > > &neighbors = me->GetNeighbors();
|
||
|
Vector avoid = vec3_origin;
|
||
|
float avoidWeight = 0.0f;
|
||
|
|
||
|
FOR_EACH_VEC( neighbors, it )
|
||
|
{
|
||
|
Infected *them = neighbors[ it ];
|
||
|
|
||
|
if ( them )
|
||
|
{
|
||
|
Vector toThem = them->GetAbsOrigin() - me->GetAbsOrigin();
|
||
|
toThem.z = 0.0f;
|
||
|
|
||
|
float range = toThem.NormalizeInPlace();
|
||
|
|
||
|
if ( range < hullWidth )
|
||
|
{
|
||
|
// these two infected are in contact
|
||
|
me->Touch( them );
|
||
|
|
||
|
// move out of contact
|
||
|
float penetration = hullWidth - range;
|
||
|
|
||
|
float weight = 1.0f + ( 2.0f * penetration/hullWidth );
|
||
|
avoid += -weight * toThem;
|
||
|
avoidWeight += weight;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
if ( avoidWeight > 0.0f )
|
||
|
{
|
||
|
adjustedNewPos += 3.0f * ( avoid / avoidWeight );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return adjustedNewPos;
|
||
|
}
|
||
|
#endif // _DEBUG
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Move to newPos, resolving any collisions along the way
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::UpdatePosition( const Vector &newPos )
|
||
|
{
|
||
|
VPROF_BUDGET( "NextBotGroundLocomotion::UpdatePosition", "NextBot" );
|
||
|
|
||
|
if ( NextBotStop.GetBool() || (m_nextBot->GetFlags() & FL_FROZEN) != 0 || newPos == m_nextBot->GetPosition() )
|
||
|
{
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
// avoid very nearby Actors to simulate "mushy" collisions between actors in contact with each other
|
||
|
//Vector adjustedNewPos = ResolveZombieCollisions( newPos );
|
||
|
Vector adjustedNewPos = newPos;
|
||
|
|
||
|
// check for collisions during move and resolve them
|
||
|
const int recursionLimit = 3;
|
||
|
Vector safePos = ResolveCollision( m_nextBot->GetPosition(), adjustedNewPos, recursionLimit );
|
||
|
|
||
|
// set the bot's position
|
||
|
if ( GetBot()->GetIntentionInterface()->IsPositionAllowed( GetBot(), safePos ) != ANSWER_NO )
|
||
|
{
|
||
|
m_nextBot->SetPosition( safePos );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Prevent bot from sliding through floor, and snap to the ground if we're very near it
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::UpdateGroundConstraint( void )
|
||
|
{
|
||
|
VPROF_BUDGET( "NextBotGroundLocomotion::UpdateGroundConstraint", "NextBotExpensive" );
|
||
|
|
||
|
// if we're up on the upward arc of our jump, don't interfere by snapping to ground
|
||
|
// don't do ground constraint if we're climbing a ladder
|
||
|
if ( DidJustJump() || IsAscendingOrDescendingLadder() )
|
||
|
{
|
||
|
m_isUsingFullFeetTrace = false;
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
IBody *body = GetBot()->GetBodyInterface();
|
||
|
if ( body == NULL )
|
||
|
{
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
float halfWidth = body->GetHullWidth()/2.0f;
|
||
|
|
||
|
// since we only care about ground collisions, keep hull short to avoid issues with low ceilings
|
||
|
/// @TODO: We need to also check actual hull height to avoid interpenetrating the world
|
||
|
float hullHeight = GetStepHeight();
|
||
|
|
||
|
// always need tolerance even when jumping/falling to make sure we detect ground penetration
|
||
|
// must be at least step height to avoid 'falling' down stairs
|
||
|
const float stickToGroundTolerance = GetStepHeight() + 0.01f;
|
||
|
|
||
|
trace_t ground;
|
||
|
NextBotTraceFilterIgnoreActors filter( m_nextBot, body->GetCollisionGroup() );
|
||
|
|
||
|
TraceHull( m_nextBot->GetPosition() + Vector( 0, 0, GetStepHeight() + 0.001f ),
|
||
|
m_nextBot->GetPosition() + Vector( 0, 0, -stickToGroundTolerance ),
|
||
|
Vector( -halfWidth, -halfWidth, 0 ),
|
||
|
Vector( halfWidth, halfWidth, hullHeight ),
|
||
|
body->GetSolidMask(), &filter, &ground );
|
||
|
|
||
|
if ( ground.startsolid )
|
||
|
{
|
||
|
// we're inside the ground - bad news
|
||
|
if ( GetBot()->IsDebugging( NEXTBOT_LOCOMOTION ) && !( gpGlobals->framecount % 60 ) )
|
||
|
{
|
||
|
DevMsg( "%3.2f: Inside ground, ( %.0f, %.0f, %.0f )\n", gpGlobals->curtime, m_nextBot->GetPosition().x, m_nextBot->GetPosition().y, m_nextBot->GetPosition().z );
|
||
|
}
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
if ( ground.fraction < 1.0f )
|
||
|
{
|
||
|
// there is ground below us
|
||
|
m_groundNormal = ground.plane.normal;
|
||
|
|
||
|
m_isUsingFullFeetTrace = false;
|
||
|
|
||
|
// zero velocity normal to the ground
|
||
|
float normalVel = DotProduct( m_groundNormal, m_velocity );
|
||
|
m_velocity -= normalVel * m_groundNormal;
|
||
|
|
||
|
// check slope limit
|
||
|
if ( ground.plane.normal.z < GetTraversableSlopeLimit() )
|
||
|
{
|
||
|
// too steep to stand here
|
||
|
|
||
|
// too steep to be ground - treat it like a wall hit
|
||
|
if ( ( m_velocity.x * ground.plane.normal.x + m_velocity.y * ground.plane.normal.y ) <= 0.0f )
|
||
|
{
|
||
|
GetBot()->OnContact( ground.m_pEnt, &ground );
|
||
|
}
|
||
|
|
||
|
// we're contacting some kind of ground
|
||
|
// zero accelerations normal to the ground
|
||
|
|
||
|
float normalAccel = DotProduct( m_groundNormal, m_acceleration );
|
||
|
m_acceleration -= normalAccel * m_groundNormal;
|
||
|
|
||
|
if ( GetBot()->IsDebugging( NEXTBOT_LOCOMOTION ) )
|
||
|
{
|
||
|
DevMsg( "%3.2f: NextBotGroundLocomotion - Too steep to stand here\n", gpGlobals->curtime );
|
||
|
NDebugOverlay::Line( GetFeet(), GetFeet() + 20.0f * ground.plane.normal, 255, 150, 0, true, 5.0f );
|
||
|
}
|
||
|
|
||
|
// clear out upward velocity so we don't walk up lightpoles
|
||
|
m_velocity.z = MIN( 0, m_velocity.z );
|
||
|
m_acceleration.z = MIN( 0, m_acceleration.z );
|
||
|
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
// inform other components of collision if we didn't land on the 'world'
|
||
|
if ( ground.m_pEnt && !ground.m_pEnt->IsWorld() )
|
||
|
{
|
||
|
GetBot()->OnContact( ground.m_pEnt, &ground );
|
||
|
}
|
||
|
|
||
|
// snap us to the ground
|
||
|
m_nextBot->SetPosition( ground.endpos );
|
||
|
|
||
|
if ( !IsOnGround() )
|
||
|
{
|
||
|
// just landed
|
||
|
m_nextBot->SetGroundEntity( ground.m_pEnt );
|
||
|
m_ground = ground.m_pEnt;
|
||
|
|
||
|
// landing stops any jump in progress
|
||
|
m_isJumping = false;
|
||
|
m_isJumpingAcrossGap = false;
|
||
|
|
||
|
GetBot()->OnLandOnGround( ground.m_pEnt );
|
||
|
}
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
// not on the ground
|
||
|
if ( IsOnGround() )
|
||
|
{
|
||
|
GetBot()->OnLeaveGround( m_nextBot->GetGroundEntity() );
|
||
|
if ( !IsClimbingUpToLedge() && !IsJumpingAcrossGap() )
|
||
|
{
|
||
|
m_isUsingFullFeetTrace = true; // We're in the air and there's space below us, so use the full trace
|
||
|
m_acceleration.z -= GetGravity(); // start our gravity now
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/*
|
||
|
void NextBotGroundLocomotion::StandUp( void )
|
||
|
{
|
||
|
// make sure there is room to stand
|
||
|
trace_t result;
|
||
|
const float halfSize = GetHullWidth()/3.0f;
|
||
|
Vector standHullMin( -halfSize, -halfSize, GetStepHeight() + 0.1f );
|
||
|
Vector standHullMax( halfSize, halfSize, GetStandHullHeight() );
|
||
|
|
||
|
TraceHull( GetFeet(), GetFeet(), standHullMin, standHullMax, MASK_NPCSOLID, m_nextBot, MASK_DEFAULTPLAYERSOLID, &result );
|
||
|
|
||
|
if ( result.fraction >= 1.0f && !result.startsolid )
|
||
|
{
|
||
|
m_isCrouching = false;
|
||
|
}
|
||
|
}
|
||
|
*/
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Initiate a climb to an adjacent high ledge
|
||
|
*/
|
||
|
bool NextBotGroundLocomotion::ClimbUpToLedge( const Vector &landingGoal, const Vector &landingForward, const CBaseEntity *obstacle )
|
||
|
{
|
||
|
return false;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Initiate a jump across an empty volume of space to far side
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::JumpAcrossGap( const Vector &landingGoal, const Vector &landingForward )
|
||
|
{
|
||
|
// can only jump if we're on the ground
|
||
|
if ( !IsOnGround() )
|
||
|
{
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
IBody *body = GetBot()->GetBodyInterface();
|
||
|
if ( !body->StartActivity( ACT_JUMP ) )
|
||
|
{
|
||
|
// body can't jump right now
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
|
||
|
// scale impulse to land on target
|
||
|
Vector toGoal = landingGoal - GetFeet();
|
||
|
|
||
|
// equation doesn't work if we're jumping upwards
|
||
|
float height = toGoal.z;
|
||
|
toGoal.z = 0.0f;
|
||
|
|
||
|
float range = toGoal.NormalizeInPlace();
|
||
|
|
||
|
// jump out at 45 degree angle
|
||
|
const float cos45 = 0.7071f;
|
||
|
|
||
|
// avoid division by zero
|
||
|
if ( height > 0.9f * range )
|
||
|
{
|
||
|
height = 0.9f * range;
|
||
|
}
|
||
|
|
||
|
// ballistic equation to find initial velocity assuming 45 degree inclination and landing at give range and height
|
||
|
float launchVel = ( range / cos45 ) / sqrt( ( 2.0f * ( range - height ) ) / GetGravity() );
|
||
|
|
||
|
Vector up( 0, 0, 1 );
|
||
|
Vector ahead = up + toGoal;
|
||
|
ahead.NormalizeInPlace();
|
||
|
|
||
|
//m_velocity = cos45 * launchVel * ahead;
|
||
|
m_velocity = launchVel * ahead;
|
||
|
m_acceleration = vec3_origin;
|
||
|
|
||
|
m_isJumping = true;
|
||
|
m_isJumpingAcrossGap = true;
|
||
|
m_isClimbingUpToLedge = false;
|
||
|
|
||
|
GetBot()->OnLeaveGround( m_nextBot->GetGroundEntity() );
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Initiate a simple undirected jump in the air
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::Jump( void )
|
||
|
{
|
||
|
// can only jump if we're on the ground
|
||
|
if ( !IsOnGround() )
|
||
|
{
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
IBody *body = GetBot()->GetBodyInterface();
|
||
|
if ( !body->StartActivity( ACT_JUMP ) )
|
||
|
{
|
||
|
// body can't jump right now
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
// jump straight up
|
||
|
m_velocity.z = sqrt( 2.0f * GetGravity() * GetMaxJumpHeight() );
|
||
|
|
||
|
m_isJumping = true;
|
||
|
m_isClimbingUpToLedge = false;
|
||
|
|
||
|
GetBot()->OnLeaveGround( m_nextBot->GetGroundEntity() );
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Set movement speed to running
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::Run( void )
|
||
|
{
|
||
|
m_desiredSpeed = GetRunSpeed();
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Set movement speed to walking
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::Walk( void )
|
||
|
{
|
||
|
m_desiredSpeed = GetWalkSpeed();
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Set movement speed to stopeed
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::Stop( void )
|
||
|
{
|
||
|
m_desiredSpeed = 0.0f;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Return true if standing on something
|
||
|
*/
|
||
|
bool NextBotGroundLocomotion::IsOnGround( void ) const
|
||
|
{
|
||
|
return (m_nextBot->GetGroundEntity() != NULL);
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Invoked when bot leaves ground for any reason
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::OnLeaveGround( CBaseEntity *ground )
|
||
|
{
|
||
|
m_nextBot->SetGroundEntity( NULL );
|
||
|
m_ground = NULL;
|
||
|
|
||
|
if ( GetBot()->IsDebugging( NEXTBOT_LOCOMOTION ) )
|
||
|
{
|
||
|
DevMsg( "%3.2f: NextBotGroundLocomotion::OnLeaveGround\n", gpGlobals->curtime );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Invoked when bot lands on the ground after being in the air
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::OnLandOnGround( CBaseEntity *ground )
|
||
|
{
|
||
|
if ( GetBot()->IsDebugging( NEXTBOT_LOCOMOTION ) )
|
||
|
{
|
||
|
DevMsg( "%3.2f: NextBotGroundLocomotion::GetBot()->OnLandOnGround\n", gpGlobals->curtime );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Get maximum speed bot can reach, regardless of desired speed
|
||
|
*/
|
||
|
float NextBotGroundLocomotion::GetSpeedLimit( void ) const
|
||
|
{
|
||
|
// if we're crouched, move at reduced speed
|
||
|
if ( !GetBot()->GetBodyInterface()->IsActualPosture( IBody::STAND ) )
|
||
|
{
|
||
|
return 0.75f * GetRunSpeed();
|
||
|
}
|
||
|
|
||
|
// no limit
|
||
|
return 99999999.9f;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Climb the given ladder to the top and dismount
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::ClimbLadder( const CNavLadder *ladder, const CNavArea *dismountGoal )
|
||
|
{
|
||
|
// if we're already climbing this ladder, don't restart
|
||
|
if ( m_ladder == ladder && m_isGoingUpLadder )
|
||
|
{
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
m_ladder = ladder;
|
||
|
m_ladderDismountGoal = dismountGoal;
|
||
|
m_isGoingUpLadder = true;
|
||
|
|
||
|
IBody *body = GetBot()->GetBodyInterface();
|
||
|
if ( body )
|
||
|
{
|
||
|
// line them up to climb in XY
|
||
|
Vector mountSpot = m_ladder->m_bottom + m_ladder->GetNormal() * (0.75f * body->GetHullWidth());
|
||
|
mountSpot.z = GetBot()->GetPosition().z;
|
||
|
|
||
|
UpdatePosition( mountSpot );
|
||
|
|
||
|
body->StartActivity( ACT_CLIMB_UP, IBody::MOTION_CONTROLLED_Z );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Descend the given ladder to the bottom and dismount
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::DescendLadder( const CNavLadder *ladder, const CNavArea *dismountGoal )
|
||
|
{
|
||
|
// if we're already descending this ladder, don't restart
|
||
|
if ( m_ladder == ladder && !m_isGoingUpLadder )
|
||
|
{
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
m_ladder = ladder;
|
||
|
m_ladderDismountGoal = dismountGoal;
|
||
|
m_isGoingUpLadder = false;
|
||
|
|
||
|
IBody *body = GetBot()->GetBodyInterface();
|
||
|
if ( body )
|
||
|
{
|
||
|
// line them up to climb in XY
|
||
|
Vector mountSpot = m_ladder->m_top + m_ladder->GetNormal() * (0.75f * body->GetHullWidth());
|
||
|
mountSpot.z = GetBot()->GetPosition().z;
|
||
|
|
||
|
UpdatePosition( mountSpot );
|
||
|
|
||
|
float ladderYaw = UTIL_VecToYaw( -m_ladder->GetNormal() );
|
||
|
|
||
|
QAngle angles = m_nextBot->GetLocalAngles();
|
||
|
angles.y = ladderYaw;
|
||
|
|
||
|
m_nextBot->SetLocalAngles( angles );
|
||
|
|
||
|
body->StartActivity( ACT_CLIMB_DOWN, IBody::MOTION_CONTROLLED_Z );
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
bool NextBotGroundLocomotion::IsUsingLadder( void ) const
|
||
|
{
|
||
|
return ( m_ladder != NULL );
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* We are actually on the ladder right now, either climbing up or down
|
||
|
*/
|
||
|
bool NextBotGroundLocomotion::IsAscendingOrDescendingLadder( void ) const
|
||
|
{
|
||
|
return IsUsingLadder();
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Return position of "feet" - point below centroid of bot at feet level
|
||
|
*/
|
||
|
const Vector &NextBotGroundLocomotion::GetFeet( void ) const
|
||
|
{
|
||
|
return m_nextBot->GetPosition();
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
const Vector & NextBotGroundLocomotion::GetAcceleration( void ) const
|
||
|
{
|
||
|
return m_acceleration;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
void NextBotGroundLocomotion::SetAcceleration( const Vector &accel )
|
||
|
{
|
||
|
m_acceleration = accel;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
void NextBotGroundLocomotion::SetVelocity( const Vector &vel )
|
||
|
{
|
||
|
m_velocity = vel;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Return current world space velocity
|
||
|
*/
|
||
|
const Vector &NextBotGroundLocomotion::GetVelocity( void ) const
|
||
|
{
|
||
|
return m_velocity;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Invoked when an bot reaches its MoveTo goal
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::OnMoveToSuccess( const Path *path )
|
||
|
{
|
||
|
// stop
|
||
|
m_velocity = vec3_origin;
|
||
|
m_acceleration = vec3_origin;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Invoked when an bot fails to reach a MoveTo goal
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::OnMoveToFailure( const Path *path, MoveToFailureType reason )
|
||
|
{
|
||
|
// stop
|
||
|
m_velocity = vec3_origin;
|
||
|
m_acceleration = vec3_origin;
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
bool NextBotGroundLocomotion::DidJustJump( void ) const
|
||
|
{
|
||
|
return IsClimbingOrJumping() && (m_nextBot->GetAbsVelocity().z > 0.0f);
|
||
|
}
|
||
|
|
||
|
|
||
|
//----------------------------------------------------------------------------------------------------------
|
||
|
/**
|
||
|
* Rotate body to face towards "target"
|
||
|
*/
|
||
|
void NextBotGroundLocomotion::FaceTowards( const Vector &target )
|
||
|
{
|
||
|
const float deltaT = GetUpdateInterval();
|
||
|
|
||
|
QAngle angles = m_nextBot->GetLocalAngles();
|
||
|
|
||
|
float desiredYaw = UTIL_VecToYaw( target - GetFeet() );
|
||
|
|
||
|
float angleDiff = UTIL_AngleDiff( desiredYaw, angles.y );
|
||
|
|
||
|
float deltaYaw = GetMaxYawRate() * deltaT;
|
||
|
|
||
|
if (angleDiff < -deltaYaw)
|
||
|
{
|
||
|
angles.y -= deltaYaw;
|
||
|
}
|
||
|
else if (angleDiff > deltaYaw)
|
||
|
{
|
||
|
angles.y += deltaYaw;
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
angles.y += angleDiff;
|
||
|
}
|
||
|
|
||
|
m_nextBot->SetLocalAngles( angles );
|
||
|
}
|
||
|
|
||
|
|
||
|
|