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1209 lines
30 KiB
1209 lines
30 KiB
5 years ago
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//========= Copyright Valve Corporation, All rights reserved. ============//
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//
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// Purpose:
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//
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// $NoKeywords: $
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//
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//=============================================================================//
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// nav_path.cpp
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// Encapsulation of a path through space
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// Author: Michael S. Booth (mike@turtlerockstudios.com), November 2003
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#include "cbase.h"
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#include "cs_gamerules.h"
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#include "cs_player.h"
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#include "nav_mesh.h"
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#include "cs_nav_path.h"
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#include "bot_util.h"
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#include "improv_locomotor.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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#ifdef _WIN32
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#pragma warning (disable:4701) // disable warning that variable *may* not be initialized
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#endif
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#define DrawLine( from, to, duration, red, green, blue ) NDebugOverlay::Line( from, to, red, green, blue, true, 0.1f )
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Determine actual path positions
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*/
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bool CCSNavPath::ComputePathPositions( void )
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{
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if (m_segmentCount == 0)
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return false;
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// start in first area's center
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m_path[0].pos = m_path[0].area->GetCenter();
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m_path[0].ladder = NULL;
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m_path[0].how = NUM_TRAVERSE_TYPES;
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for( int i=1; i<m_segmentCount; ++i )
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{
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const PathSegment *from = &m_path[ i-1 ];
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PathSegment *to = &m_path[ i ];
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if (to->how <= GO_WEST) // walk along the floor to the next area
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{
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to->ladder = NULL;
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// compute next point, keeping path as straight as possible
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from->area->ComputeClosestPointInPortal( to->area, (NavDirType)to->how, from->pos, &to->pos );
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// move goal position into the goal area a bit
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const float stepInDist = 5.0f; // how far to "step into" an area - must be less than min area size
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AddDirectionVector( &to->pos, (NavDirType)to->how, stepInDist );
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// we need to walk out of "from" area, so keep Z where we can reach it
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to->pos.z = from->area->GetZ( to->pos );
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// if this is a "jump down" connection, we must insert an additional point on the path
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if (to->area->IsConnected( from->area, NUM_DIRECTIONS ) == false)
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{
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// this is a "jump down" link
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// compute direction of path just prior to "jump down"
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Vector2D dir;
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DirectionToVector2D( (NavDirType)to->how, &dir );
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// shift top of "jump down" out a bit to "get over the ledge"
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const float pushDist = 25.0f;
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to->pos.x += pushDist * dir.x;
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to->pos.y += pushDist * dir.y;
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// insert a duplicate node to represent the bottom of the fall
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if (m_segmentCount < MAX_PATH_SEGMENTS-1)
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{
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// copy nodes down
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for( int j=m_segmentCount; j>i; --j )
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m_path[j] = m_path[j-1];
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// path is one node longer
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++m_segmentCount;
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// move index ahead into the new node we just duplicated
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++i;
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m_path[i].pos.x = to->pos.x + pushDist * dir.x;
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m_path[i].pos.y = to->pos.y + pushDist * dir.y;
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// put this one at the bottom of the fall
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m_path[i].pos.z = to->area->GetZ( m_path[i].pos );
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}
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}
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}
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else if (to->how == GO_LADDER_UP) // to get to next area, must go up a ladder
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{
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// find our ladder
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const NavLadderConnectVector *ladders = from->area->GetLadders( CNavLadder::LADDER_UP );
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int it;
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for( it=0; it<ladders->Count(); ++it )
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{
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CNavLadder *ladder = (*ladders)[ it ].ladder;
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// can't use "behind" area when ascending...
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if (ladder->m_topForwardArea == to->area ||
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ladder->m_topLeftArea == to->area ||
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ladder->m_topRightArea == to->area)
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{
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to->ladder = ladder;
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to->pos = ladder->m_bottom + ladder->GetNormal() * 2.0f * HalfHumanWidth;
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break;
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}
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}
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if (it == ladders->Count())
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{
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//PrintIfWatched( "ERROR: Can't find ladder in path\n" );
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return false;
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}
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}
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else if (to->how == GO_LADDER_DOWN) // to get to next area, must go down a ladder
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{
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// find our ladder
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const NavLadderConnectVector *ladders = from->area->GetLadders( CNavLadder::LADDER_DOWN );
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int it;
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for( it=0; it<ladders->Count(); ++it )
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{
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CNavLadder *ladder = (*ladders)[ it ].ladder;
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if (ladder->m_bottomArea == to->area)
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{
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to->ladder = ladder;
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to->pos = ladder->m_top;
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to->pos = ladder->m_top - ladder->GetNormal() * 2.0f * HalfHumanWidth;
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break;
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}
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}
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if (it == ladders->Count())
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{
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//PrintIfWatched( "ERROR: Can't find ladder in path\n" );
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return false;
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}
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}
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}
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return true;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Return true if position is at the end of the path
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*/
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bool CCSNavPath::IsAtEnd( const Vector &pos ) const
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{
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if (!IsValid())
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return false;
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const float epsilon = 20.0f;
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return (pos - GetEndpoint()).IsLengthLessThan( epsilon );
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Return length of path from start to finish
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*/
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float CCSNavPath::GetLength( void ) const
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{
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float length = 0.0f;
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for( int i=1; i<GetSegmentCount(); ++i )
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{
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length += (m_path[i].pos - m_path[i-1].pos).Length();
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}
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return length;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Return point a given distance along the path - if distance is out of path bounds, point is clamped to start/end
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* @todo Be careful of returning "positions" along one-way drops, ladders, etc.
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*/
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bool CCSNavPath::GetPointAlongPath( float distAlong, Vector *pointOnPath ) const
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{
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if (!IsValid() || pointOnPath == NULL)
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return false;
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if (distAlong <= 0.0f)
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{
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*pointOnPath = m_path[0].pos;
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return true;
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}
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float lengthSoFar = 0.0f;
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float segmentLength;
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Vector dir;
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for( int i=1; i<GetSegmentCount(); ++i )
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{
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dir = m_path[i].pos - m_path[i-1].pos;
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segmentLength = dir.Length();
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if (segmentLength + lengthSoFar >= distAlong)
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{
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// desired point is on this segment of the path
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float delta = distAlong - lengthSoFar;
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float t = delta / segmentLength;
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*pointOnPath = m_path[i].pos + t * dir;
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return true;
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}
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lengthSoFar += segmentLength;
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}
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*pointOnPath = m_path[ GetSegmentCount()-1 ].pos;
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return true;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Return the node index closest to the given distance along the path without going over - returns (-1) if error
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*/
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int CCSNavPath::GetSegmentIndexAlongPath( float distAlong ) const
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{
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if (!IsValid())
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return -1;
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if (distAlong <= 0.0f)
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{
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return 0;
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}
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float lengthSoFar = 0.0f;
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Vector dir;
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for( int i=1; i<GetSegmentCount(); ++i )
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{
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lengthSoFar += (m_path[i].pos - m_path[i-1].pos).Length();
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if (lengthSoFar > distAlong)
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{
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return i-1;
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}
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}
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return GetSegmentCount()-1;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Compute closest point on path to given point
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* NOTE: This does not do line-of-sight tests, so closest point may be thru the floor, etc
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*/
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bool CCSNavPath::FindClosestPointOnPath( const Vector *worldPos, int startIndex, int endIndex, Vector *close ) const
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{
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if (!IsValid() || close == NULL)
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return false;
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Vector along, toWorldPos;
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Vector pos;
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const Vector *from, *to;
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float length;
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float closeLength;
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float closeDistSq = 9999999999.9;
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float distSq;
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for( int i=startIndex; i<=endIndex; ++i )
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{
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from = &m_path[i-1].pos;
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to = &m_path[i].pos;
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// compute ray along this path segment
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along = *to - *from;
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// make it a unit vector along the path
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length = along.NormalizeInPlace();
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// compute vector from start of segment to our point
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toWorldPos = *worldPos - *from;
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// find distance of closest point on ray
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closeLength = DotProduct( toWorldPos, along );
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// constrain point to be on path segment
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if (closeLength <= 0.0f)
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pos = *from;
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else if (closeLength >= length)
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pos = *to;
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else
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pos = *from + closeLength * along;
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distSq = (pos - *worldPos).LengthSqr();
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// keep the closest point so far
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if (distSq < closeDistSq)
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{
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closeDistSq = distSq;
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*close = pos;
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}
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}
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return true;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Build trivial path when start and goal are in the same nav area
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*/
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bool CCSNavPath::BuildTrivialPath( const Vector &start, const Vector &goal )
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{
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m_segmentCount = 0;
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CNavArea *startArea = TheNavMesh->GetNearestNavArea( start );
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if (startArea == NULL)
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return false;
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CNavArea *goalArea = TheNavMesh->GetNearestNavArea( goal );
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if (goalArea == NULL)
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return false;
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m_segmentCount = 2;
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m_path[0].area = startArea;
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m_path[0].pos.x = start.x;
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m_path[0].pos.y = start.y;
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m_path[0].pos.z = startArea->GetZ( start );
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m_path[0].ladder = NULL;
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m_path[0].how = NUM_TRAVERSE_TYPES;
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m_path[1].area = goalArea;
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m_path[1].pos.x = goal.x;
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m_path[1].pos.y = goal.y;
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m_path[1].pos.z = goalArea->GetZ( goal );
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m_path[1].ladder = NULL;
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m_path[1].how = NUM_TRAVERSE_TYPES;
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return true;
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}
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||
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||
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//--------------------------------------------------------------------------------------------------------------
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||
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/**
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* Draw the path for debugging.
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||
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*/
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||
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void CCSNavPath::Draw( const Vector &color )
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{
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if (!IsValid())
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return;
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for( int i=1; i<m_segmentCount; ++i )
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{
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DrawLine( m_path[i-1].pos + Vector( 0, 0, HalfHumanHeight ),
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m_path[i].pos + Vector( 0, 0, HalfHumanHeight ), 2, 255 * color.x, 255 * color.y, 255 * color.z );
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}
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}
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//--------------------------------------------------------------------------------------------------------------
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||
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/**
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||
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* Check line of sight from 'anchor' node on path to subsequent nodes until
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* we find a node that can't been seen from 'anchor'.
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*/
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||
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int CCSNavPath::FindNextOccludedNode( int anchor )
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||
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{
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for( int i=anchor+1; i<m_segmentCount; ++i )
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||
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{
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// don't remove ladder nodes
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if (m_path[i].ladder)
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return i;
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||
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if (!IsWalkableTraceLineClear( m_path[ anchor ].pos, m_path[ i ].pos ))
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{
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// cant see this node from anchor node
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return i;
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||
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}
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||
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Vector anchorPlusHalf = m_path[ anchor ].pos + Vector( 0, 0, HalfHumanHeight );
|
||
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Vector iPlusHalf = m_path[ i ].pos +Vector( 0, 0, HalfHumanHeight );
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||
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if (!IsWalkableTraceLineClear( anchorPlusHalf, iPlusHalf) )
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||
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{
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||
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// cant see this node from anchor node
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||
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return i;
|
||
|
|
}
|
||
|
|
|
||
|
|
Vector anchorPlusFull = m_path[ anchor ].pos + Vector( 0, 0, HumanHeight );
|
||
|
|
Vector iPlusFull = m_path[ i ].pos + Vector( 0, 0, HumanHeight );
|
||
|
|
if (!IsWalkableTraceLineClear( anchorPlusFull, iPlusFull ))
|
||
|
|
{
|
||
|
|
// cant see this node from anchor node
|
||
|
|
return i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return m_segmentCount;
|
||
|
|
}
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
* Smooth out path, removing redundant nodes
|
||
|
|
*/
|
||
|
|
void CCSNavPath::Optimize( void )
|
||
|
|
{
|
||
|
|
// DONT USE THIS: Optimizing the path results in cutting thru obstacles
|
||
|
|
return;
|
||
|
|
|
||
|
|
if (m_segmentCount < 3)
|
||
|
|
return;
|
||
|
|
|
||
|
|
int anchor = 0;
|
||
|
|
|
||
|
|
while( anchor < m_segmentCount )
|
||
|
|
{
|
||
|
|
int occluded = FindNextOccludedNode( anchor );
|
||
|
|
int nextAnchor = occluded-1;
|
||
|
|
|
||
|
|
if (nextAnchor > anchor)
|
||
|
|
{
|
||
|
|
// remove redundant nodes between anchor and nextAnchor
|
||
|
|
int removeCount = nextAnchor - anchor - 1;
|
||
|
|
if (removeCount > 0)
|
||
|
|
{
|
||
|
|
for( int i=nextAnchor; i<m_segmentCount; ++i )
|
||
|
|
{
|
||
|
|
m_path[i-removeCount] = m_path[i];
|
||
|
|
}
|
||
|
|
m_segmentCount -= removeCount;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
++anchor;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Constructor
|
||
|
|
*/
|
||
|
|
CNavPathFollower::CNavPathFollower( void )
|
||
|
|
{
|
||
|
|
m_improv = NULL;
|
||
|
|
m_path = NULL;
|
||
|
|
|
||
|
|
m_segmentIndex = 0;
|
||
|
|
m_isLadderStarted = false;
|
||
|
|
|
||
|
|
m_isDebug = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
void CNavPathFollower::Reset( void )
|
||
|
|
{
|
||
|
|
m_segmentIndex = 1;
|
||
|
|
m_isLadderStarted = false;
|
||
|
|
|
||
|
|
m_stuckMonitor.Reset();
|
||
|
|
}
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
* Move improv along path
|
||
|
|
*/
|
||
|
|
void CNavPathFollower::Update( float deltaT, bool avoidObstacles )
|
||
|
|
{
|
||
|
|
if (m_path == NULL || m_path->IsValid() == false)
|
||
|
|
return;
|
||
|
|
|
||
|
|
const CCSNavPath::PathSegment *node = (*m_path)[ m_segmentIndex ];
|
||
|
|
|
||
|
|
if (node == NULL)
|
||
|
|
{
|
||
|
|
m_improv->OnMoveToFailure( m_path->GetEndpoint(), CImprovLocomotor::FAIL_INVALID_PATH );
|
||
|
|
m_path->Invalidate();
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// handle ladders
|
||
|
|
/*
|
||
|
|
if (node->ladder)
|
||
|
|
{
|
||
|
|
const Vector *approachPos = NULL;
|
||
|
|
const Vector *departPos = NULL;
|
||
|
|
|
||
|
|
if (m_segmentIndex)
|
||
|
|
approachPos = &(*m_path)[ m_segmentIndex-1 ]->pos;
|
||
|
|
|
||
|
|
if (m_segmentIndex < m_path->GetSegmentCount()-1)
|
||
|
|
departPos = &(*m_path)[ m_segmentIndex+1 ]->pos;
|
||
|
|
|
||
|
|
if (!m_isLadderStarted)
|
||
|
|
{
|
||
|
|
// set up ladder movement
|
||
|
|
m_improv->StartLadder( node->ladder, node->how, approachPos, departPos );
|
||
|
|
m_isLadderStarted = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
// move improv along ladder
|
||
|
|
if (m_improv->TraverseLadder( node->ladder, node->how, approachPos, departPos, deltaT ))
|
||
|
|
{
|
||
|
|
// completed ladder
|
||
|
|
++m_segmentIndex;
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
*/
|
||
|
|
|
||
|
|
// reset ladder init flag
|
||
|
|
m_isLadderStarted = false;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Check if we reached the end of the path
|
||
|
|
//
|
||
|
|
const float closeRange = 20.0f;
|
||
|
|
if ((m_improv->GetFeet() - node->pos).IsLengthLessThan( closeRange ))
|
||
|
|
{
|
||
|
|
++m_segmentIndex;
|
||
|
|
|
||
|
|
if (m_segmentIndex >= m_path->GetSegmentCount())
|
||
|
|
{
|
||
|
|
m_improv->OnMoveToSuccess( m_path->GetEndpoint() );
|
||
|
|
m_path->Invalidate();
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
m_goal = node->pos;
|
||
|
|
|
||
|
|
const float aheadRange = 300.0f;
|
||
|
|
m_segmentIndex = FindPathPoint( aheadRange, &m_goal, &m_behindIndex );
|
||
|
|
if (m_segmentIndex >= m_path->GetSegmentCount())
|
||
|
|
m_segmentIndex = m_path->GetSegmentCount()-1;
|
||
|
|
|
||
|
|
|
||
|
|
bool isApproachingJumpArea = false;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Crouching
|
||
|
|
//
|
||
|
|
if (!m_improv->IsUsingLadder())
|
||
|
|
{
|
||
|
|
// because hostage crouching is not really supported by the engine,
|
||
|
|
// if we are standing in a crouch area, we must crouch to avoid collisions
|
||
|
|
if (m_improv->GetLastKnownArea() &&
|
||
|
|
m_improv->GetLastKnownArea()->GetAttributes() & NAV_MESH_CROUCH &&
|
||
|
|
!(m_improv->GetLastKnownArea()->GetAttributes() & NAV_MESH_JUMP))
|
||
|
|
{
|
||
|
|
m_improv->Crouch();
|
||
|
|
}
|
||
|
|
|
||
|
|
// if we are approaching a crouch area, crouch
|
||
|
|
// if there are no crouch areas coming up, stand
|
||
|
|
const float crouchRange = 50.0f;
|
||
|
|
bool didCrouch = false;
|
||
|
|
for( int i=m_segmentIndex; i<m_path->GetSegmentCount(); ++i )
|
||
|
|
{
|
||
|
|
const CNavArea *to = (*m_path)[i]->area;
|
||
|
|
|
||
|
|
// if there is a jump area on the way to the crouch area, don't crouch as it messes up the jump
|
||
|
|
if (to->GetAttributes() & NAV_MESH_JUMP)
|
||
|
|
{
|
||
|
|
isApproachingJumpArea = true;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
Vector close;
|
||
|
|
to->GetClosestPointOnArea( m_improv->GetCentroid(), &close );
|
||
|
|
|
||
|
|
if ((close - m_improv->GetFeet()).AsVector2D().IsLengthGreaterThan( crouchRange ))
|
||
|
|
break;
|
||
|
|
|
||
|
|
if (to->GetAttributes() & NAV_MESH_CROUCH)
|
||
|
|
{
|
||
|
|
m_improv->Crouch();
|
||
|
|
didCrouch = true;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!didCrouch && !m_improv->IsJumping())
|
||
|
|
{
|
||
|
|
// no crouch areas coming up
|
||
|
|
m_improv->StandUp();
|
||
|
|
}
|
||
|
|
|
||
|
|
} // end crouching logic
|
||
|
|
|
||
|
|
|
||
|
|
if (m_isDebug)
|
||
|
|
{
|
||
|
|
m_path->Draw();
|
||
|
|
UTIL_DrawBeamPoints( m_improv->GetCentroid(), m_goal + Vector( 0, 0, StepHeight ), 1, 255, 0, 255 );
|
||
|
|
UTIL_DrawBeamPoints( m_goal + Vector( 0, 0, StepHeight ), m_improv->GetCentroid(), 1, 255, 0, 255 );
|
||
|
|
}
|
||
|
|
|
||
|
|
// check if improv becomes stuck
|
||
|
|
m_stuckMonitor.Update( m_improv );
|
||
|
|
|
||
|
|
|
||
|
|
// if improv has been stuck for too long, give up
|
||
|
|
const float giveUpTime = 2.0f;
|
||
|
|
if (m_stuckMonitor.GetDuration() > giveUpTime)
|
||
|
|
{
|
||
|
|
m_improv->OnMoveToFailure( m_path->GetEndpoint(), CImprovLocomotor::FAIL_STUCK );
|
||
|
|
m_path->Invalidate();
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// if our goal is high above us, we must have fallen
|
||
|
|
if (m_goal.z - m_improv->GetFeet().z > JumpCrouchHeight)
|
||
|
|
{
|
||
|
|
const float closeRange = 75.0f;
|
||
|
|
Vector2D to( m_improv->GetFeet().x - m_goal.x, m_improv->GetFeet().y - m_goal.y );
|
||
|
|
if (to.IsLengthLessThan( closeRange ))
|
||
|
|
{
|
||
|
|
// we can't reach the goal position
|
||
|
|
// check if we can reach the next node, in case this was a "jump down" situation
|
||
|
|
const CCSNavPath::PathSegment *nextNode = (*m_path)[ m_behindIndex+1 ];
|
||
|
|
if (m_behindIndex >=0 && nextNode)
|
||
|
|
{
|
||
|
|
if (nextNode->pos.z - m_improv->GetFeet().z > JumpCrouchHeight)
|
||
|
|
{
|
||
|
|
// the next node is too high, too - we really did fall of the path
|
||
|
|
m_improv->OnMoveToFailure( m_path->GetEndpoint(), CImprovLocomotor::FAIL_FELL_OFF );
|
||
|
|
m_path->Invalidate();
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// fell trying to get to the last node in the path
|
||
|
|
m_improv->OnMoveToFailure( m_path->GetEndpoint(), CImprovLocomotor::FAIL_FELL_OFF );
|
||
|
|
m_path->Invalidate();
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// avoid small obstacles
|
||
|
|
if (avoidObstacles && !isApproachingJumpArea && !m_improv->IsJumping() && m_segmentIndex < m_path->GetSegmentCount()-1)
|
||
|
|
{
|
||
|
|
FeelerReflexAdjustment( &m_goal );
|
||
|
|
|
||
|
|
// currently, this is only used for hostages, and their collision physics stinks
|
||
|
|
// do more feeler checks to avoid short obstacles
|
||
|
|
/*
|
||
|
|
const float inc = 0.25f;
|
||
|
|
for( float t = 0.5f; t < 1.0f; t += inc )
|
||
|
|
{
|
||
|
|
FeelerReflexAdjustment( &m_goal, t * StepHeight );
|
||
|
|
}
|
||
|
|
*/
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
// move improv along path
|
||
|
|
m_improv->TrackPath( m_goal, deltaT );
|
||
|
|
}
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
* Return the closest point to our current position on our current path
|
||
|
|
* If "local" is true, only check the portion of the path surrounding m_pathIndex.
|
||
|
|
*/
|
||
|
|
int CNavPathFollower::FindOurPositionOnPath( Vector *close, bool local ) const
|
||
|
|
{
|
||
|
|
if (!m_path->IsValid())
|
||
|
|
return -1;
|
||
|
|
|
||
|
|
Vector along, toFeet;
|
||
|
|
Vector feet = m_improv->GetFeet();
|
||
|
|
Vector eyes = m_improv->GetEyes();
|
||
|
|
Vector pos;
|
||
|
|
const Vector *from, *to;
|
||
|
|
float length;
|
||
|
|
float closeLength;
|
||
|
|
float closeDistSq = 9999999999.9;
|
||
|
|
int closeIndex = -1;
|
||
|
|
float distSq;
|
||
|
|
|
||
|
|
int start, end;
|
||
|
|
|
||
|
|
if (local)
|
||
|
|
{
|
||
|
|
start = m_segmentIndex - 3;
|
||
|
|
if (start < 1)
|
||
|
|
start = 1;
|
||
|
|
|
||
|
|
end = m_segmentIndex + 3;
|
||
|
|
if (end > m_path->GetSegmentCount())
|
||
|
|
end = m_path->GetSegmentCount();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
start = 1;
|
||
|
|
end = m_path->GetSegmentCount();
|
||
|
|
}
|
||
|
|
|
||
|
|
for( int i=start; i<end; ++i )
|
||
|
|
{
|
||
|
|
from = &(*m_path)[i-1]->pos;
|
||
|
|
to = &(*m_path)[i]->pos;
|
||
|
|
|
||
|
|
// compute ray along this path segment
|
||
|
|
along = *to - *from;
|
||
|
|
|
||
|
|
// make it a unit vector along the path
|
||
|
|
length = along.NormalizeInPlace();
|
||
|
|
|
||
|
|
// compute vector from start of segment to our point
|
||
|
|
toFeet = feet - *from;
|
||
|
|
|
||
|
|
// find distance of closest point on ray
|
||
|
|
closeLength = DotProduct( toFeet, along );
|
||
|
|
|
||
|
|
// constrain point to be on path segment
|
||
|
|
if (closeLength <= 0.0f)
|
||
|
|
pos = *from;
|
||
|
|
else if (closeLength >= length)
|
||
|
|
pos = *to;
|
||
|
|
else
|
||
|
|
pos = *from + closeLength * along;
|
||
|
|
|
||
|
|
distSq = (pos - feet).LengthSqr();
|
||
|
|
|
||
|
|
// keep the closest point so far
|
||
|
|
if (distSq < closeDistSq)
|
||
|
|
{
|
||
|
|
// don't use points we cant see
|
||
|
|
Vector probe = pos + Vector( 0, 0, HalfHumanHeight );
|
||
|
|
if (!IsWalkableTraceLineClear( eyes, probe, WALK_THRU_DOORS | WALK_THRU_BREAKABLES ))
|
||
|
|
continue;
|
||
|
|
|
||
|
|
// don't use points we cant reach
|
||
|
|
//if (!IsStraightLinePathWalkable( &pos ))
|
||
|
|
// continue;
|
||
|
|
|
||
|
|
closeDistSq = distSq;
|
||
|
|
if (close)
|
||
|
|
*close = pos;
|
||
|
|
closeIndex = i-1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return closeIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
* Compute a point a fixed distance ahead along our path.
|
||
|
|
* Returns path index just after point.
|
||
|
|
*/
|
||
|
|
int CNavPathFollower::FindPathPoint( float aheadRange, Vector *point, int *prevIndex )
|
||
|
|
{
|
||
|
|
// find path index just past aheadRange
|
||
|
|
int afterIndex;
|
||
|
|
|
||
|
|
// finds the closest point on local area of path, and returns the path index just prior to it
|
||
|
|
Vector close;
|
||
|
|
int startIndex = FindOurPositionOnPath( &close, true );
|
||
|
|
|
||
|
|
if (prevIndex)
|
||
|
|
*prevIndex = startIndex;
|
||
|
|
|
||
|
|
if (startIndex <= 0)
|
||
|
|
{
|
||
|
|
// went off the end of the path
|
||
|
|
// or next point in path is unwalkable (ie: jump-down)
|
||
|
|
// keep same point
|
||
|
|
return m_segmentIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
// if we are crouching, just follow the path exactly
|
||
|
|
if (m_improv->IsCrouching())
|
||
|
|
{
|
||
|
|
// we want to move to the immediately next point along the path from where we are now
|
||
|
|
int index = startIndex+1;
|
||
|
|
if (index >= m_path->GetSegmentCount())
|
||
|
|
index = m_path->GetSegmentCount()-1;
|
||
|
|
|
||
|
|
*point = (*m_path)[ index ]->pos;
|
||
|
|
|
||
|
|
// if we are very close to the next point in the path, skip ahead to the next one to avoid wiggling
|
||
|
|
// we must do a 2D check here, in case the goal point is floating in space due to jump down, etc
|
||
|
|
const float closeEpsilon = 20.0f; // 10
|
||
|
|
while ((*point - close).AsVector2D().IsLengthLessThan( closeEpsilon ))
|
||
|
|
{
|
||
|
|
++index;
|
||
|
|
|
||
|
|
if (index >= m_path->GetSegmentCount())
|
||
|
|
{
|
||
|
|
index = m_path->GetSegmentCount()-1;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
*point = (*m_path)[ index ]->pos;
|
||
|
|
}
|
||
|
|
|
||
|
|
return index;
|
||
|
|
}
|
||
|
|
|
||
|
|
// make sure we use a node a minimum distance ahead of us, to avoid wiggling
|
||
|
|
while (startIndex < m_path->GetSegmentCount()-1)
|
||
|
|
{
|
||
|
|
Vector pos = (*m_path)[ startIndex+1 ]->pos;
|
||
|
|
|
||
|
|
// we must do a 2D check here, in case the goal point is floating in space due to jump down, etc
|
||
|
|
const float closeEpsilon = 20.0f;
|
||
|
|
if ((pos - close).AsVector2D().IsLengthLessThan( closeEpsilon ))
|
||
|
|
{
|
||
|
|
++startIndex;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// if we hit a ladder or jump area, must stop (dont use ladder behind us)
|
||
|
|
if (startIndex > m_segmentIndex && startIndex < m_path->GetSegmentCount() &&
|
||
|
|
((*m_path)[ startIndex ]->ladder || (*m_path)[ startIndex ]->area->GetAttributes() & NAV_MESH_JUMP))
|
||
|
|
{
|
||
|
|
*point = (*m_path)[ startIndex ]->pos;
|
||
|
|
return startIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
// we need the point just *ahead* of us
|
||
|
|
++startIndex;
|
||
|
|
if (startIndex >= m_path->GetSegmentCount())
|
||
|
|
startIndex = m_path->GetSegmentCount()-1;
|
||
|
|
|
||
|
|
// if we hit a ladder or jump area, must stop
|
||
|
|
if (startIndex < m_path->GetSegmentCount() &&
|
||
|
|
((*m_path)[ startIndex ]->ladder || (*m_path)[ startIndex ]->area->GetAttributes() & NAV_MESH_JUMP))
|
||
|
|
{
|
||
|
|
*point = (*m_path)[ startIndex ]->pos;
|
||
|
|
return startIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
// note direction of path segment we are standing on
|
||
|
|
Vector initDir = (*m_path)[ startIndex ]->pos - (*m_path)[ startIndex-1 ]->pos;
|
||
|
|
initDir.NormalizeInPlace();
|
||
|
|
|
||
|
|
Vector feet = m_improv->GetFeet();
|
||
|
|
Vector eyes = m_improv->GetEyes();
|
||
|
|
float rangeSoFar = 0;
|
||
|
|
|
||
|
|
// this flag is true if our ahead point is visible
|
||
|
|
bool visible = true;
|
||
|
|
|
||
|
|
Vector prevDir = initDir;
|
||
|
|
|
||
|
|
// step along the path until we pass aheadRange
|
||
|
|
bool isCorner = false;
|
||
|
|
int i;
|
||
|
|
for( i=startIndex; i<m_path->GetSegmentCount(); ++i )
|
||
|
|
{
|
||
|
|
Vector pos = (*m_path)[i]->pos;
|
||
|
|
Vector to = pos - (*m_path)[i-1]->pos;
|
||
|
|
Vector dir = to;
|
||
|
|
dir.NormalizeInPlace();
|
||
|
|
|
||
|
|
// don't allow path to double-back from our starting direction (going upstairs, down curved passages, etc)
|
||
|
|
if (DotProduct( dir, initDir ) < 0.0f) // -0.25f
|
||
|
|
{
|
||
|
|
--i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
// if the path turns a corner, we want to move towards the corner, not into the wall/stairs/etc
|
||
|
|
if (DotProduct( dir, prevDir ) < 0.5f)
|
||
|
|
{
|
||
|
|
isCorner = true;
|
||
|
|
--i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
prevDir = dir;
|
||
|
|
|
||
|
|
// don't use points we cant see
|
||
|
|
Vector probe = pos + Vector( 0, 0, HalfHumanHeight );
|
||
|
|
if (!IsWalkableTraceLineClear( eyes, probe, WALK_THRU_BREAKABLES ))
|
||
|
|
{
|
||
|
|
// presumably, the previous point is visible, so we will interpolate
|
||
|
|
visible = false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
// if we encounter a ladder or jump area, we must stop
|
||
|
|
if (i < m_path->GetSegmentCount() &&
|
||
|
|
((*m_path)[ i ]->ladder || (*m_path)[ i ]->area->GetAttributes() & NAV_MESH_JUMP))
|
||
|
|
break;
|
||
|
|
|
||
|
|
// Check straight-line path from our current position to this position
|
||
|
|
// Test for un-jumpable height change, or unrecoverable fall
|
||
|
|
//if (!IsStraightLinePathWalkable( &pos ))
|
||
|
|
//{
|
||
|
|
// --i;
|
||
|
|
// break;
|
||
|
|
//}
|
||
|
|
|
||
|
|
Vector along = (i == startIndex) ? (pos - feet) : (pos - (*m_path)[i-1]->pos);
|
||
|
|
rangeSoFar += along.Length2D();
|
||
|
|
|
||
|
|
// stop if we have gone farther than aheadRange
|
||
|
|
if (rangeSoFar >= aheadRange)
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (i < startIndex)
|
||
|
|
afterIndex = startIndex;
|
||
|
|
else if (i < m_path->GetSegmentCount())
|
||
|
|
afterIndex = i;
|
||
|
|
else
|
||
|
|
afterIndex = m_path->GetSegmentCount()-1;
|
||
|
|
|
||
|
|
|
||
|
|
// compute point on the path at aheadRange
|
||
|
|
if (afterIndex == 0)
|
||
|
|
{
|
||
|
|
*point = (*m_path)[0]->pos;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// interpolate point along path segment
|
||
|
|
const Vector *afterPoint = &(*m_path)[ afterIndex ]->pos;
|
||
|
|
const Vector *beforePoint = &(*m_path)[ afterIndex-1 ]->pos;
|
||
|
|
|
||
|
|
Vector to = *afterPoint - *beforePoint;
|
||
|
|
float length = to.Length2D();
|
||
|
|
|
||
|
|
float t = 1.0f - ((rangeSoFar - aheadRange) / length);
|
||
|
|
|
||
|
|
if (t < 0.0f)
|
||
|
|
t = 0.0f;
|
||
|
|
else if (t > 1.0f)
|
||
|
|
t = 1.0f;
|
||
|
|
|
||
|
|
*point = *beforePoint + t * to;
|
||
|
|
|
||
|
|
// if afterPoint wasn't visible, slide point backwards towards beforePoint until it is
|
||
|
|
if (!visible)
|
||
|
|
{
|
||
|
|
const float sightStepSize = 25.0f;
|
||
|
|
float dt = sightStepSize / length;
|
||
|
|
|
||
|
|
Vector probe = *point + Vector( 0, 0, HalfHumanHeight );
|
||
|
|
while( t > 0.0f && !IsWalkableTraceLineClear( eyes, probe, WALK_THRU_BREAKABLES ) )
|
||
|
|
{
|
||
|
|
t -= dt;
|
||
|
|
*point = *beforePoint + t * to;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (t <= 0.0f)
|
||
|
|
*point = *beforePoint;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// if position found is too close to us, or behind us, force it farther down the path so we don't stop and wiggle
|
||
|
|
if (!isCorner)
|
||
|
|
{
|
||
|
|
const float epsilon = 50.0f;
|
||
|
|
Vector2D toPoint;
|
||
|
|
Vector2D centroid( m_improv->GetCentroid().x, m_improv->GetCentroid().y );
|
||
|
|
|
||
|
|
toPoint.x = point->x - centroid.x;
|
||
|
|
toPoint.y = point->y - centroid.y;
|
||
|
|
|
||
|
|
if (DotProduct2D( toPoint, initDir.AsVector2D() ) < 0.0f || toPoint.IsLengthLessThan( epsilon ))
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
for( i=startIndex; i<m_path->GetSegmentCount(); ++i )
|
||
|
|
{
|
||
|
|
toPoint.x = (*m_path)[i]->pos.x - centroid.x;
|
||
|
|
toPoint.y = (*m_path)[i]->pos.y - centroid.y;
|
||
|
|
if ((*m_path)[i]->ladder || (*m_path)[i]->area->GetAttributes() & NAV_MESH_JUMP || toPoint.IsLengthGreaterThan( epsilon ))
|
||
|
|
{
|
||
|
|
*point = (*m_path)[i]->pos;
|
||
|
|
startIndex = i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (i == m_path->GetSegmentCount())
|
||
|
|
{
|
||
|
|
*point = m_path->GetEndpoint();
|
||
|
|
startIndex = m_path->GetSegmentCount()-1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// m_pathIndex should always be the next point on the path, even if we're not moving directly towards it
|
||
|
|
if (startIndex < m_path->GetSegmentCount())
|
||
|
|
return startIndex;
|
||
|
|
|
||
|
|
return m_path->GetSegmentCount()-1;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
* Do reflex avoidance movements if our "feelers" are touched
|
||
|
|
* @todo Parameterize feeler spacing
|
||
|
|
*/
|
||
|
|
void CNavPathFollower::FeelerReflexAdjustment( Vector *goalPosition, float height )
|
||
|
|
{
|
||
|
|
// if we are in a "precise" area, do not do feeler adjustments
|
||
|
|
if (m_improv->GetLastKnownArea() && m_improv->GetLastKnownArea()->GetAttributes() & NAV_MESH_PRECISE)
|
||
|
|
return;
|
||
|
|
|
||
|
|
// use the direction towards the goal
|
||
|
|
Vector dir = *goalPosition - m_improv->GetFeet();
|
||
|
|
dir.z = 0.0f;
|
||
|
|
dir.NormalizeInPlace();
|
||
|
|
|
||
|
|
Vector lat( -dir.y, dir.x, 0.0f );
|
||
|
|
|
||
|
|
const float feelerOffset = (m_improv->IsCrouching()) ? 15.0f : 20.0f; // 15, 20
|
||
|
|
const float feelerLengthRun = 50.0f; // 100 - too long for tight hallways (cs_747)
|
||
|
|
const float feelerLengthWalk = 30.0f;
|
||
|
|
|
||
|
|
const float feelerHeight = (height > 0.0f) ? height : StepHeight + 0.1f; // if obstacle is lower than StepHeight, we'll walk right over it
|
||
|
|
|
||
|
|
float feelerLength = (m_improv->IsRunning()) ? feelerLengthRun : feelerLengthWalk;
|
||
|
|
|
||
|
|
feelerLength = (m_improv->IsCrouching()) ? 20.0f : feelerLength;
|
||
|
|
|
||
|
|
//
|
||
|
|
// Feelers must follow floor slope
|
||
|
|
//
|
||
|
|
float ground;
|
||
|
|
Vector normal;
|
||
|
|
if (m_improv->GetSimpleGroundHeightWithFloor( m_improv->GetEyes(), &ground, &normal ) == false)
|
||
|
|
return;
|
||
|
|
|
||
|
|
// get forward vector along floor
|
||
|
|
dir = CrossProduct( lat, normal );
|
||
|
|
|
||
|
|
// correct the sideways vector
|
||
|
|
lat = CrossProduct( dir, normal );
|
||
|
|
|
||
|
|
|
||
|
|
Vector feet = m_improv->GetFeet();
|
||
|
|
feet.z += feelerHeight;
|
||
|
|
|
||
|
|
Vector from = feet + feelerOffset * lat;
|
||
|
|
Vector to = from + feelerLength * dir;
|
||
|
|
|
||
|
|
bool leftClear = IsWalkableTraceLineClear( from, to, WALK_THRU_DOORS | WALK_THRU_BREAKABLES );
|
||
|
|
|
||
|
|
// draw debug beams
|
||
|
|
if (m_isDebug)
|
||
|
|
{
|
||
|
|
if (leftClear)
|
||
|
|
UTIL_DrawBeamPoints( from, to, 1, 0, 255, 0 );
|
||
|
|
else
|
||
|
|
UTIL_DrawBeamPoints( from, to, 1, 255, 0, 0 );
|
||
|
|
}
|
||
|
|
|
||
|
|
from = feet - feelerOffset * lat;
|
||
|
|
to = from + feelerLength * dir;
|
||
|
|
|
||
|
|
bool rightClear = IsWalkableTraceLineClear( from, to, WALK_THRU_DOORS | WALK_THRU_BREAKABLES );
|
||
|
|
|
||
|
|
// draw debug beams
|
||
|
|
if (m_isDebug)
|
||
|
|
{
|
||
|
|
if (rightClear)
|
||
|
|
UTIL_DrawBeamPoints( from, to, 1, 0, 255, 0 );
|
||
|
|
else
|
||
|
|
UTIL_DrawBeamPoints( from, to, 1, 255, 0, 0 );
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
const float avoidRange = (m_improv->IsCrouching()) ? 150.0f : 300.0f;
|
||
|
|
|
||
|
|
if (!rightClear)
|
||
|
|
{
|
||
|
|
if (leftClear)
|
||
|
|
{
|
||
|
|
// right hit, left clear - veer left
|
||
|
|
*goalPosition = *goalPosition + avoidRange * lat;
|
||
|
|
//*goalPosition = m_improv->GetFeet() + avoidRange * lat;
|
||
|
|
|
||
|
|
//m_improv->StrafeLeft();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (!leftClear)
|
||
|
|
{
|
||
|
|
// right clear, left hit - veer right
|
||
|
|
*goalPosition = *goalPosition - avoidRange * lat;
|
||
|
|
//*goalPosition = m_improv->GetFeet() - avoidRange * lat;
|
||
|
|
|
||
|
|
//m_improv->StrafeRight();
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
* Reset the stuck-checker.
|
||
|
|
*/
|
||
|
|
CStuckMonitor::CStuckMonitor( void )
|
||
|
|
{
|
||
|
|
m_isStuck = false;
|
||
|
|
m_avgVelIndex = 0;
|
||
|
|
m_avgVelCount = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Reset the stuck-checker.
|
||
|
|
*/
|
||
|
|
void CStuckMonitor::Reset( void )
|
||
|
|
{
|
||
|
|
m_isStuck = false;
|
||
|
|
m_avgVelIndex = 0;
|
||
|
|
m_avgVelCount = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
//--------------------------------------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
* Test if the improv has become stuck
|
||
|
|
*/
|
||
|
|
void CStuckMonitor::Update( CImprovLocomotor *improv )
|
||
|
|
{
|
||
|
|
if (m_isStuck)
|
||
|
|
{
|
||
|
|
// improv is stuck - see if it has moved far enough to be considered unstuck
|
||
|
|
const float unstuckRange = 75.0f;
|
||
|
|
if ((improv->GetCentroid() - m_stuckSpot).IsLengthGreaterThan( unstuckRange ))
|
||
|
|
{
|
||
|
|
// no longer stuck
|
||
|
|
Reset();
|
||
|
|
//PrintIfWatched( "UN-STUCK\n" );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// check if improv has become stuck
|
||
|
|
|
||
|
|
// compute average velocity over a short period (for stuck check)
|
||
|
|
Vector vel = improv->GetCentroid() - m_lastCentroid;
|
||
|
|
|
||
|
|
// if we are jumping, ignore Z
|
||
|
|
//if (improv->IsJumping())
|
||
|
|
// vel.z = 0.0f;
|
||
|
|
|
||
|
|
// ignore Z unless we are on a ladder (which is only Z)
|
||
|
|
if (!improv->IsUsingLadder())
|
||
|
|
vel.z = 0.0f;
|
||
|
|
|
||
|
|
// cannot be Length2D, or will break ladder movement (they are only Z)
|
||
|
|
float moveDist = vel.Length();
|
||
|
|
|
||
|
|
float deltaT = gpGlobals->curtime - m_lastTime;
|
||
|
|
if (deltaT <= 0.0f)
|
||
|
|
return;
|
||
|
|
|
||
|
|
m_lastTime = gpGlobals->curtime;
|
||
|
|
|
||
|
|
// compute current velocity
|
||
|
|
m_avgVel[ m_avgVelIndex++ ] = moveDist/deltaT;
|
||
|
|
|
||
|
|
if (m_avgVelIndex == MAX_VEL_SAMPLES)
|
||
|
|
m_avgVelIndex = 0;
|
||
|
|
|
||
|
|
if (m_avgVelCount < MAX_VEL_SAMPLES)
|
||
|
|
{
|
||
|
|
++m_avgVelCount;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// we have enough samples to know if we're stuck
|
||
|
|
|
||
|
|
float avgVel = 0.0f;
|
||
|
|
for( int t=0; t<m_avgVelCount; ++t )
|
||
|
|
avgVel += m_avgVel[t];
|
||
|
|
|
||
|
|
avgVel /= m_avgVelCount;
|
||
|
|
|
||
|
|
// cannot make this velocity too high, or actors will get "stuck" when going down ladders
|
||
|
|
float stuckVel = (improv->IsUsingLadder()) ? 10.0f : 20.0f;
|
||
|
|
|
||
|
|
if (avgVel < stuckVel)
|
||
|
|
{
|
||
|
|
// note when and where we initially become stuck
|
||
|
|
m_stuckTimer.Start();
|
||
|
|
m_stuckSpot = improv->GetCentroid();
|
||
|
|
m_isStuck = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// always need to track this
|
||
|
|
m_lastCentroid = improv->GetCentroid();
|
||
|
|
}
|
||
|
|
|