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 "nav_node.h"
#include "nav_colors.h"
#include "nav_mesh.h"
#include "tier1/utlhash.h"
#include "tier1/generichash.h"
// NOTE: This has to be the last file included!
#include "tier0/memdbgon.h"
NavDirType Opposite[ NUM_DIRECTIONS ] = { SOUTH, WEST, NORTH, EAST };
CNavNode *CNavNode::m_list = NULL;
unsigned int CNavNode::m_listLength = 0;
unsigned int CNavNode::m_nextID = 1;
extern Vector NavTraceMins;
extern Vector NavTraceMaxs;
//--------------------------------------------------------------------------------------------------------------
// Node hash
class CNodeHashFuncs
{
public:
CNodeHashFuncs( int ) {}
bool operator()( const CNavNode *pLhs, const CNavNode *pRhs ) const
{
return pRhs->GetPosition()->AsVector2D() == pLhs->GetPosition()->AsVector2D();
}
unsigned int operator()( const CNavNode *pItem ) const
{
return Hash8( &pItem->GetPosition()->AsVector2D() );
}
};
CUtlHash<CNavNode *, CNodeHashFuncs, CNodeHashFuncs> *g_pNavNodeHash;
//--------------------------------------------------------------------------------------------------------------
/**
* Constructor
*/
CNavNode::CNavNode( const Vector &pos, const Vector &normal, CNavNode *parent, bool isOnDisplacement )
{
m_pos = pos;
m_normal = normal;
m_id = m_nextID++;
int i;
for( i=0; i<NUM_DIRECTIONS; ++i )
{
m_to[ i ] = NULL;
m_obstacleHeight[ i ] = 0;
m_obstacleStartDist[ i ] = 0;
m_obstacleEndDist[ i ] = 0;
}
for ( i=0; i<NUM_CORNERS; ++i )
{
m_crouch[ i ] = false;
m_isBlocked[ 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;
m_isOnDisplacement = isOnDisplacement;
if ( !g_pNavNodeHash )
{
g_pNavNodeHash = new CUtlHash<CNavNode *, CNodeHashFuncs, CNodeHashFuncs>( 16*1024 );
}
bool bDidInsert;
UtlHashHandle_t hHash = g_pNavNodeHash->Insert( this, &bDidInsert );
if ( !bDidInsert )
{
CNavNode *pExistingNode = g_pNavNodeHash->Element( hHash );
m_nextAtXY = pExistingNode;
g_pNavNodeHash->Element( hHash ) = this;
}
else
{
m_nextAtXY = NULL;
}
}
CNavNode::~CNavNode()
{
}
//--------------------------------------------------------------------------------------------------------------
void CNavNode::CleanupGeneration()
{
delete g_pNavNodeHash;
g_pNavNodeHash = NULL;
CNavNode *node, *next;
for( node = CNavNode::m_list; node; node = next )
{
next = node->m_next;
delete node;
}
CNavNode::m_list = NULL;
CNavNode::m_listLength = 0;
CNavNode::m_nextID = 1;
}
//--------------------------------------------------------------------------------------------------------------
#if DEBUG_NAV_NODES
ConVar nav_show_nodes( "nav_show_nodes", "0", FCVAR_CHEAT );
ConVar nav_show_node_id( "nav_show_node_id", "0", FCVAR_CHEAT );
ConVar nav_test_node( "nav_test_node", "0", FCVAR_CHEAT );
ConVar nav_test_node_crouch( "nav_test_node_crouch", "0", FCVAR_CHEAT );
ConVar nav_test_node_crouch_dir( "nav_test_node_crouch_dir", "4", FCVAR_CHEAT );
ConVar nav_show_node_grid( "nav_show_node_grid", "0", FCVAR_CHEAT );
#endif // DEBUG_NAV_NODES
//--------------------------------------------------------------------------------------------------------------
void CNavNode::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_isBlocked[i] || m_crouch[i] )
{
Vector2D dir;
CornerToVector2D( (NavCornerType)i, &dir );
const float scale = 3.0f;
Vector scaled( dir.x * scale, dir.y * scale, 0 );
if ( m_isBlocked[i] )
{
NDebugOverlay::HorzArrow( m_pos, m_pos + scaled, 0.5, 255, 0, 0, 255, true, 0.1f );
}
else
{
NDebugOverlay::HorzArrow( m_pos, m_pos + scaled, 0.5, 0, 0, 255, 255, true, 0.1f );
}
}
}
}
if ( nav_show_node_grid.GetBool() )
{
for ( int i = NORTH; i < NUM_DIRECTIONS; i++ )
{
CNavNode *nodeNext = GetConnectedNode( (NavDirType) i );
if ( nodeNext )
{
NDebugOverlay::Line( *GetPosition(), *nodeNext->GetPosition(), 255, 255, 0, false, 0.1f );
float obstacleHeight = m_obstacleHeight[i];
if ( obstacleHeight > 0 )
{
float z = GetPosition()->z + obstacleHeight;
Vector from = *GetPosition();
Vector to = from;
AddDirectionVector( &to, (NavDirType) i, m_obstacleStartDist[i] );
NDebugOverlay::Line( from, to, 255, 0, 255, false, 0.1f );
from = to;
to.z = z;
NDebugOverlay::Line( from, to, 255, 0, 255, false, 0.1f );
from = to;
to = *GetPosition();
to.z = z;
AddDirectionVector( &to, (NavDirType) i, m_obstacleEndDist[i] );
NDebugOverlay::Line( from, to, 255, 0, 255, false, 0.1f );
}
}
}
}
#endif // DEBUG_NAV_NODES
}
//--------------------------------------------------------------------------------------------------------
// return ground height above node in given corner direction (NUM_CORNERS for highest in any direction)
float CNavNode::GetGroundHeightAboveNode( NavCornerType cornerType ) const
{
if ( cornerType >= 0 && cornerType < NUM_CORNERS )
return m_groundHeightAboveNode[ cornerType ];
float blockedHeight = 0.0f;
for ( int i=0; i<NUM_CORNERS; ++i )
{
blockedHeight = MAX( blockedHeight, m_groundHeightAboveNode[i] );
}
return blockedHeight;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Look up to JumpCrouchHeight in the air to see if we can fit a whole HumanHeight box
*/
bool CNavNode::TestForCrouchArea( NavCornerType cornerNum, const Vector& mins, const Vector& maxs, float *groundHeightAboveNode )
{
CTraceFilterWalkableEntities filter( NULL, COLLISION_GROUP_PLAYER_MOVEMENT, WALK_THRU_EVERYTHING );
trace_t tr;
Vector start( m_pos );
Vector end( start );
end.z += JumpCrouchHeight;
UTIL_TraceHull( start, end, NavTraceMins, NavTraceMaxs, MASK_NPCSOLID_BRUSHONLY, &filter, &tr );
float maxHeight = tr.endpos.z - start.z;
Vector realMaxs( maxs );
for ( float height = 0; height <= maxHeight; height += 1.0f )
{
start = m_pos;
start.z += height;
realMaxs.z = HumanCrouchHeight;
UTIL_TraceHull( start, start, mins, realMaxs, MASK_NPCSOLID_BRUSHONLY, &filter, &tr );
if ( !tr.startsolid )
{
*groundHeightAboveNode = start.z - m_pos.z;
// We found a crouch-sized space. See if we can stand up.
realMaxs.z = HumanHeight;
UTIL_TraceHull( start, start, mins, realMaxs, MASK_NPCSOLID_BRUSHONLY, &filter, &tr );
if ( !tr.startsolid )
{
// We found a crouch-sized space. See if we can stand up.
#if DEBUG_NAV_NODES
if ( (unsigned int)(nav_test_node_crouch.GetInt()) == GetID() )
{
NDebugOverlay::Box( start, mins, maxs, 0, 255, 255, 100, 100 );
}
#endif // DEBUG_NAV_NODES
return true;
}
#if DEBUG_NAV_NODES
if ( (unsigned int)(nav_test_node_crouch.GetInt()) == GetID() )
{
NDebugOverlay::Box( start, mins, maxs, 255, 0, 0, 100, 100 );
}
#endif // DEBUG_NAV_NODES
return false;
}
}
*groundHeightAboveNode = JumpCrouchHeight;
m_isBlocked[ cornerNum ] = true;
return false;
}
//--------------------------------------------------------------------------------------------------------------
void CNavNode::CheckCrouch( void )
{
// 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 );
// Build a mins/maxs pair for the HumanWidth x HalfHumanWidth box facing the appropriate direction
Vector mins( 0, 0, 0 );
Vector maxs( 0, 0, 0 );
if ( cornerVec.x < 0 )
{
mins.x = -HalfHumanWidth;
}
else if ( cornerVec.x > 0 )
{
maxs.x = HalfHumanWidth;
}
if ( cornerVec.y < 0 )
{
mins.y = -HalfHumanWidth;
}
else if ( cornerVec.y > 0 )
{
maxs.y = HalfHumanWidth;
}
maxs.z = HumanHeight;
// 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;
}
}
if ( !TestForCrouchArea( corner, mins, maxs, &m_groundHeightAboveNode[i] ) )
{
SetAttributes( NAV_MESH_CROUCH );
m_crouch[corner] = true;
}
}
}
//--------------------------------------------------------------------------------------------------------------
/**
* Create a connection FROM this node TO the given node, in the given direction
*/
void CNavNode::ConnectTo( CNavNode *node, NavDirType dir, float obstacleHeight, float obstacleStartDist, float obstacleEndDist )
{
Assert( obstacleStartDist >= 0 && obstacleStartDist <= GenerationStepSize );
Assert( obstacleEndDist >= 0 && obstacleStartDist <= GenerationStepSize );
Assert( obstacleStartDist < obstacleEndDist );
m_to[ dir ] = node;
m_obstacleHeight[ dir ] = obstacleHeight;
m_obstacleStartDist[ dir ] = obstacleStartDist;
m_obstacleEndDist[ dir ] = obstacleEndDist;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return node at given position.
* @todo Need a hash table to make this lookup fast
*/
CNavNode *CNavNode::GetNode( const Vector &pos )
{
const float tolerance = 0.45f * GenerationStepSize; // 1.0f
CNavNode *pNode = NULL;
if ( g_pNavNodeHash )
{
static CNavNode lookup;
lookup.m_pos = pos;
UtlHashHandle_t hNode = g_pNavNodeHash->Find( &lookup );
if ( hNode != g_pNavNodeHash->InvalidHandle() )
{
for( pNode = g_pNavNodeHash->Element( hNode ); pNode; pNode = pNode->m_nextAtXY )
{
float dz = fabs( pNode->m_pos.z - pos.z );
if (dz < tolerance)
{
break;
}
}
}
}
#ifdef DEBUG_NODE_HASH
CNavNode *pTestNode = NULL;
for( CNavNode *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)
{
pTestNode = node;
break;
}
}
AssertFatal( pTestNode == pNode );
#endif
return pNode;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return true if this node is bidirectionally linked to
* another node in the given direction
*/
BOOL CNavNode::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 CNavNode::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;
}