Modified source engine (2017) developed by valve and leaked in 2020. Not for commercial purporses
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//========= 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;
}