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449 lines
12 KiB
449 lines
12 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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//=============================================================================//
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#include "cbase.h"
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#include "ai_localnavigator.h"
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#include "ai_basenpc.h"
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#include "ai_planesolver.h"
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#include "ai_moveprobe.h"
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#include "ai_motor.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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ConVar ai_debug_directnavprobe("ai_debug_directnavprobe", "0");
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const float TIME_DELAY_FULL_DIRECT_PROBE[2] = { 0.25, 0.35 };
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//-----------------------------------------------------------------------------
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BEGIN_SIMPLE_DATADESC(CAI_LocalNavigator)
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// m_fLastWasClear (not saved)
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// m_LastMoveGoal (not saved)
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// m_FullDirectTimer (not saved)
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// m_pPlaneSolver (not saved)
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// m_pMoveProbe (not saved)
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END_DATADESC();
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//-------------------------------------
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CAI_LocalNavigator::CAI_LocalNavigator(CAI_BaseNPC *pOuter) : CAI_Component( pOuter )
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{
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m_pMoveProbe = NULL;
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m_pPlaneSolver = new CAI_PlaneSolver( pOuter );
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m_fLastWasClear = false;
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memset( &m_LastMoveGoal, 0, sizeof(m_LastMoveGoal) );
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}
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//-------------------------------------
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CAI_LocalNavigator::~CAI_LocalNavigator()
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{
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delete m_pPlaneSolver;
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}
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//-------------------------------------
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void CAI_LocalNavigator::Init( IAI_MovementSink *pMovementServices )
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{
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CAI_ProxyMovementSink::Init( pMovementServices );
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m_pMoveProbe = GetOuter()->GetMoveProbe(); // @TODO (toml 03-30-03): this is a "bad" way to grab this pointer. Components should have an explcit "init" phase.
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}
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//-------------------------------------
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void CAI_LocalNavigator::ResetMoveCalculations()
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{
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m_FullDirectTimer.Force();
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m_pPlaneSolver->Reset();
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}
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//-------------------------------------
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void CAI_LocalNavigator::AddObstacle( const Vector &pos, float radius, AI_MoveSuggType_t type )
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{
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m_pPlaneSolver->AddObstacle( pos, radius, NULL, type );
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}
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//-------------------------------------
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bool CAI_LocalNavigator::HaveObstacles()
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{
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return m_pPlaneSolver->HaveObstacles();
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}
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//-------------------------------------
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bool CAI_LocalNavigator::MoveCalcDirect( AILocalMoveGoal_t *pMoveGoal, bool bOnlyCurThink, float *pDistClear, AIMoveResult_t *pResult )
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{
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AI_PROFILE_SCOPE(CAI_LocalNavigator_MoveCalcDirect);
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bool bRetVal = false;
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if ( pMoveGoal->speed )
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{
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CAI_Motor *pMotor = GetOuter()->GetMotor();
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float minCheckDist = pMotor->MinCheckDist();
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float probeDist = m_pPlaneSolver->CalcProbeDist( pMoveGoal->speed ); // having this match steering allows one fewer traces
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float checkDist = MAX( minCheckDist, probeDist );
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float checkStepDist = MAX( 16.0, probeDist * 0.5 );
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if ( pMoveGoal->flags & ( AILMG_TARGET_IS_TRANSITION | AILMG_TARGET_IS_GOAL ) )
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{
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// clamp checkDist to be no farther than max distance to goal
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checkDist = MIN( checkDist, pMoveGoal->maxDist );
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}
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if ( checkDist <= 0.0 )
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{
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*pResult = AIMR_OK;
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return true;
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}
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float moveThisInterval = pMotor->CalcIntervalMove();
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bool bExpectingArrival = (moveThisInterval >= checkDist);
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if ( !m_FullDirectTimer.Expired() )
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{
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if ( !m_fLastWasClear ||
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( !VectorsAreEqual(pMoveGoal->target, m_LastMoveGoal.target, 0.1) ||
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!VectorsAreEqual(pMoveGoal->dir, m_LastMoveGoal.dir, 0.1) ) ||
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bExpectingArrival )
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{
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m_FullDirectTimer.Force();
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}
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}
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if ( bOnlyCurThink ) // Outer code claims to have done a validation (probably a simplify operation)
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{
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m_FullDirectTimer.Set( TIME_DELAY_FULL_DIRECT_PROBE[AIStrongOpt()] );
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}
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// First, check the probable move for this cycle
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bool bTraceClear = true;
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Vector testPos;
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if ( !bExpectingArrival )
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{
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testPos = GetLocalOrigin() + pMoveGoal->dir * moveThisInterval;
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bTraceClear = GetMoveProbe()->MoveLimit( pMoveGoal->navType, GetLocalOrigin(), testPos,
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MASK_NPCSOLID, pMoveGoal->pMoveTarget,
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100.0,
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( pMoveGoal->navType == NAV_GROUND ) ? AIMLF_2D : AIMLF_DEFAULT,
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&pMoveGoal->directTrace );
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if ( !bTraceClear )
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{
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// Adjust probe top match expected probe dist (relied on later in process)
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pMoveGoal->directTrace.flDistObstructed = (checkDist - moveThisInterval) + pMoveGoal->directTrace.flDistObstructed;
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}
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if ( !IsRetail() && ai_debug_directnavprobe.GetBool() )
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{
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if ( !bTraceClear )
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{
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DevMsg( GetOuter(), "Close obstruction %f\n", checkDist - pMoveGoal->directTrace.flDistObstructed );
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NDebugOverlay::Line( WorldSpaceCenter(), Vector( testPos.x, testPos.y, WorldSpaceCenter().z ), 255, 0, 0, false, 0.1 );
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if ( pMoveGoal->directTrace.pObstruction )
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NDebugOverlay::Line( WorldSpaceCenter(), pMoveGoal->directTrace.pObstruction->WorldSpaceCenter(), 255, 0, 255, false, 0.1 );
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}
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else
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{
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NDebugOverlay::Line( WorldSpaceCenter(), Vector( testPos.x, testPos.y, WorldSpaceCenter().z ), 0, 255, 0, false, 0.1 );
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}
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}
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pMoveGoal->thinkTrace = pMoveGoal->directTrace;
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}
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// Now project out for future obstructions
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if ( bTraceClear )
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{
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if ( m_FullDirectTimer.Expired() )
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{
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testPos = GetLocalOrigin() + pMoveGoal->dir * checkDist;
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float checkStepPct = (checkStepDist / checkDist) * 100.0;
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if ( checkStepPct > 100.0 )
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checkStepPct = 100.0;
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bTraceClear = GetMoveProbe()->MoveLimit( pMoveGoal->navType, GetLocalOrigin(), testPos,
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MASK_NPCSOLID, pMoveGoal->pMoveTarget,
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checkStepPct,
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( pMoveGoal->navType == NAV_GROUND ) ? AIMLF_2D : AIMLF_DEFAULT,
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&pMoveGoal->directTrace );
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if ( bExpectingArrival )
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pMoveGoal->thinkTrace = pMoveGoal->directTrace;
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if (ai_debug_directnavprobe.GetBool() )
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{
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if ( !bTraceClear )
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{
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NDebugOverlay::Line( GetOuter()->EyePosition(), Vector( testPos.x, testPos.y, GetOuter()->EyePosition().z ), 255, 0, 0, false, 0.1 );
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DevMsg( GetOuter(), "Obstruction %f\n", checkDist - pMoveGoal->directTrace.flDistObstructed );
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}
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else
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{
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NDebugOverlay::Line( GetOuter()->EyePosition(), Vector( testPos.x, testPos.y, GetOuter()->EyePosition().z ), 0, 255, 0, false, 0.1 );
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DevMsg( GetOuter(), "No obstruction\n" );
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}
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}
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}
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else
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{
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if ( ai_debug_directnavprobe.GetBool() )
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DevMsg( GetOuter(), "No obstruction (Near probe only)\n" );
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}
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}
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pMoveGoal->bHasTraced = true;
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float distClear = checkDist - pMoveGoal->directTrace.flDistObstructed;
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if (distClear < 0.001)
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distClear = 0;
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if ( bTraceClear )
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{
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*pResult = AIMR_OK;
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bRetVal = true;
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m_fLastWasClear = true;
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}
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else if ( ( pMoveGoal->flags & ( AILMG_TARGET_IS_TRANSITION | AILMG_TARGET_IS_GOAL ) ) &&
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pMoveGoal->maxDist < distClear )
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{
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*pResult = AIMR_OK;
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bRetVal = true;
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m_fLastWasClear = true;
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}
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else
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{
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*pDistClear = distClear;
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m_fLastWasClear = false;
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}
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}
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else
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{
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// Should never end up in this function with speed of zero. Probably an activity problem.
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*pResult = AIMR_ILLEGAL;
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bRetVal = true;
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}
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m_LastMoveGoal = *pMoveGoal;
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if ( bRetVal && m_FullDirectTimer.Expired() )
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m_FullDirectTimer.Set( TIME_DELAY_FULL_DIRECT_PROBE[AIStrongOpt()] );
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return bRetVal;
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}
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//-------------------------------------
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ConVar ai_no_steer( "ai_no_steer", "0" );
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bool CAI_LocalNavigator::MoveCalcSteer( AILocalMoveGoal_t *pMoveGoal, float distClear, AIMoveResult_t *pResult )
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{
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if ( (pMoveGoal->flags & AILMG_NO_STEER) )
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return false;
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if ( ai_no_steer.GetBool() )
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return false;
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if ( GetOuter()->IsFlaggedEfficient() )
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return false;
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AI_PROFILE_SCOPE(CAI_Motor_MoveCalcSteer);
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Vector moveSolution;
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if ( m_pPlaneSolver->Solve( *pMoveGoal, distClear, &moveSolution ) )
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{
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if ( moveSolution != pMoveGoal->dir )
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{
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float dot = moveSolution.AsVector2D().Dot( pMoveGoal->dir.AsVector2D() );
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const float COS_HALF_30 = 0.966;
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if ( dot > COS_HALF_30 )
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{
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float probeDist = m_pPlaneSolver->CalcProbeDist( pMoveGoal->speed );
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if ( pMoveGoal->maxDist < probeDist * 0.33333 && distClear > probeDist * 0.6666)
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{
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// A waypoint is coming up, but there's probably time to steer
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// away after hitting it
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*pResult = AIMR_OK;
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return true;
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}
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}
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pMoveGoal->facing = pMoveGoal->dir = moveSolution;
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}
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*pResult = AIMR_OK;
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return true;
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}
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return false;
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}
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//-------------------------------------
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bool CAI_LocalNavigator::MoveCalcStop( AILocalMoveGoal_t *pMoveGoal, float distClear, AIMoveResult_t *pResult )
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{
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if (distClear < pMoveGoal->maxDist)
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{
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if ( distClear < 0.1 )
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{
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DebugNoteMovementFailure();
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*pResult = AIMR_ILLEGAL;
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}
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else
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{
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pMoveGoal->maxDist = distClear;
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*pResult = AIMR_OK;
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}
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return true;
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}
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*pResult = AIMR_OK;
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return true;
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}
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//-------------------------------------
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#ifdef DEBUG
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#define SetSolveCookie() pMoveGoal->solveCookie = __LINE__;
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#else
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#define SetSolveCookie() ((void)0)
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#endif
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AIMoveResult_t CAI_LocalNavigator::MoveCalcRaw( AILocalMoveGoal_t *pMoveGoal, bool bOnlyCurThink )
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{
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AI_PROFILE_SCOPE(CAI_Motor_MoveCalc);
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AIMoveResult_t result = AIMR_OK; // Assume success
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AIMoveTrace_t directTrace;
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float distClear;
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// --------------------------------------------------
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bool bDirectClear = MoveCalcDirect( pMoveGoal, bOnlyCurThink, &distClear, &result);
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if ( OnCalcBaseMove( pMoveGoal, distClear, &result ) )
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{
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SetSolveCookie();
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return DbgResult( result );
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}
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bool bShouldSteer = ( !(pMoveGoal->flags & AILMG_NO_STEER) && ( !bDirectClear || HaveObstacles() ) );
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if ( bDirectClear && !bShouldSteer )
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{
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SetSolveCookie();
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return DbgResult( result );
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}
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// --------------------------------------------------
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if ( bShouldSteer )
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{
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if ( !bDirectClear )
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{
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if ( OnObstructionPreSteer( pMoveGoal, distClear, &result ) )
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{
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SetSolveCookie();
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return DbgResult( result );
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}
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}
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if ( MoveCalcSteer( pMoveGoal, distClear, &result ) )
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{
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SetSolveCookie();
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return DbgResult( result );
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}
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}
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if ( OnFailedSteer( pMoveGoal, distClear, &result ) )
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{
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SetSolveCookie();
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return DbgResult( result );
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}
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// --------------------------------------------------
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if ( OnFailedLocalNavigation( pMoveGoal, distClear, &result ) )
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|
{
|
||
|
|
SetSolveCookie();
|
||
|
|
return DbgResult( result );
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( distClear < GetOuter()->GetMotor()->MinStoppingDist() )
|
||
|
|
{
|
||
|
|
if ( OnInsufficientStopDist( pMoveGoal, distClear, &result ) )
|
||
|
|
{
|
||
|
|
SetSolveCookie();
|
||
|
|
return DbgResult( result );
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( MoveCalcStop( pMoveGoal, distClear, &result) )
|
||
|
|
{
|
||
|
|
SetSolveCookie();
|
||
|
|
return DbgResult( result );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// A hopeful result... may get in trouble at next waypoint and obstruction is still there
|
||
|
|
if ( distClear > pMoveGoal->curExpectedDist )
|
||
|
|
{
|
||
|
|
SetSolveCookie();
|
||
|
|
return DbgResult( AIMR_OK );
|
||
|
|
}
|
||
|
|
|
||
|
|
// --------------------------------------------------
|
||
|
|
|
||
|
|
DebugNoteMovementFailure();
|
||
|
|
SetSolveCookie();
|
||
|
|
return DbgResult( IsMoveBlocked( pMoveGoal->directTrace.fStatus ) ? pMoveGoal->directTrace.fStatus : AIMR_ILLEGAL );
|
||
|
|
}
|
||
|
|
|
||
|
|
//-------------------------------------
|
||
|
|
|
||
|
|
AIMoveResult_t CAI_LocalNavigator::MoveCalc( AILocalMoveGoal_t *pMoveGoal, bool bPreviouslyValidated )
|
||
|
|
{
|
||
|
|
bool bOnlyCurThink = ( bPreviouslyValidated && !HaveObstacles() );
|
||
|
|
|
||
|
|
AIMoveResult_t result = MoveCalcRaw( pMoveGoal, bOnlyCurThink );
|
||
|
|
|
||
|
|
if ( pMoveGoal->curExpectedDist > pMoveGoal->maxDist )
|
||
|
|
pMoveGoal->curExpectedDist = pMoveGoal->maxDist;
|
||
|
|
|
||
|
|
// If success, try to dampen really fast turning movement
|
||
|
|
if ( result == AIMR_OK)
|
||
|
|
{
|
||
|
|
float interval = GetOuter()->GetMotor()->GetMoveInterval();
|
||
|
|
float currentYaw = UTIL_AngleMod( GetLocalAngles().y );
|
||
|
|
float goalYaw;
|
||
|
|
float deltaYaw;
|
||
|
|
float speed;
|
||
|
|
float clampedYaw;
|
||
|
|
|
||
|
|
// Clamp yaw
|
||
|
|
goalYaw = UTIL_VecToYaw( pMoveGoal->facing );
|
||
|
|
deltaYaw = fabs( UTIL_AngleDiff( goalYaw, currentYaw ) );
|
||
|
|
if ( deltaYaw > 15 )
|
||
|
|
{
|
||
|
|
speed = deltaYaw * 4.0; // i.e., any maneuver takes a quarter a second
|
||
|
|
clampedYaw = AI_ClampYaw( speed, currentYaw, goalYaw, interval );
|
||
|
|
|
||
|
|
if ( clampedYaw != goalYaw )
|
||
|
|
{
|
||
|
|
pMoveGoal->facing = UTIL_YawToVector( clampedYaw );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
//-----------------------------------------------------------------------------
|