//========= Copyright Valve Corporation, All rights reserved. ============// // NextBotGroundLocomotion.h // Basic ground-based movement for NextBotCombatCharacters // Author: Michael Booth, February 2009 // Note: This is a refactoring of ZombieBotLocomotion from L4D #ifndef NEXT_BOT_GROUND_LOCOMOTION_H #define NEXT_BOT_GROUND_LOCOMOTION_H #include "NextBotLocomotionInterface.h" #include "nav_mesh.h" class NextBotCombatCharacter; //---------------------------------------------------------------------------------------------------------------- /** * Basic ground-based movement for NextBotCombatCharacters. * This locomotor resolves collisions and assumes a ground-based bot under the influence of gravity. */ class NextBotGroundLocomotion : public ILocomotion { public: DECLARE_CLASS( NextBotGroundLocomotion, ILocomotion ); NextBotGroundLocomotion( INextBot *bot ); virtual ~NextBotGroundLocomotion(); virtual void Reset( void ); // reset locomotor to initial state virtual void Update( void ); // update internal state virtual void Approach( const Vector &pos, float goalWeight = 1.0f ); // move directly towards the given position virtual void DriveTo( const Vector &pos ); // Move the bot to the precise given position immediately, virtual bool ClimbUpToLedge( const Vector &landingGoal, const Vector &landingForward, const CBaseEntity *obstacle ); // initiate a jump to an adjacent high ledge, return false if climb can't start virtual void JumpAcrossGap( const Vector &landingGoal, const Vector &landingForward ); // initiate a jump across an empty volume of space to far side virtual void Jump( void ); // initiate a simple undirected jump in the air virtual bool IsClimbingOrJumping( void ) const; // is jumping in any form virtual bool IsClimbingUpToLedge( void ) const; // is climbing up to a high ledge virtual bool IsJumpingAcrossGap( void ) const; // is jumping across a gap to the far side virtual void Run( void ); // set desired movement speed to running virtual void Walk( void ); // set desired movement speed to walking virtual void Stop( void ); // set desired movement speed to stopped virtual bool IsRunning( void ) const; virtual void SetDesiredSpeed( float speed ); // set desired speed for locomotor movement virtual float GetDesiredSpeed( void ) const; // returns the current desired speed virtual float GetSpeedLimit( void ) const; // get maximum speed bot can reach, regardless of desired speed virtual bool IsOnGround( void ) const; // return true if standing on something virtual void OnLeaveGround( CBaseEntity *ground ); // invoked when bot leaves ground for any reason virtual void OnLandOnGround( CBaseEntity *ground ); // invoked when bot lands on the ground after being in the air virtual CBaseEntity *GetGround( void ) const; // return the current ground entity or NULL if not on the ground virtual const Vector &GetGroundNormal( void ) const;// surface normal of the ground we are in contact with virtual void ClimbLadder( const CNavLadder *ladder, const CNavArea *dismountGoal ); // climb the given ladder to the top and dismount virtual void DescendLadder( const CNavLadder *ladder, const CNavArea *dismountGoal ); // descend the given ladder to the bottom and dismount virtual bool IsUsingLadder( void ) const; virtual bool IsAscendingOrDescendingLadder( void ) const; // we are actually on the ladder right now, either climbing up or down virtual void FaceTowards( const Vector &target ); // rotate body to face towards "target" virtual void SetDesiredLean( const QAngle &lean ); virtual const QAngle &GetDesiredLean( void ) const; virtual const Vector &GetFeet( void ) const; // return position of "feet" - the driving point where the bot contacts the ground virtual float GetStepHeight( void ) const; // if delta Z is greater than this, we have to jump to get up virtual float GetMaxJumpHeight( void ) const; // return maximum height of a jump virtual float GetDeathDropHeight( void ) const; // distance at which we will die if we fall virtual float GetRunSpeed( void ) const; // get maximum running speed virtual float GetWalkSpeed( void ) const; // get maximum walking speed virtual float GetMaxAcceleration( void ) const; // return maximum acceleration of locomotor virtual float GetMaxDeceleration( void ) const; // return maximum deceleration of locomotor virtual const Vector &GetAcceleration( void ) const; // return current world space acceleration virtual void SetAcceleration( const Vector &accel ); // set world space acceleration virtual const Vector &GetVelocity( void ) const; // return current world space velocity virtual void SetVelocity( const Vector &vel ); // set world space velocity virtual void OnMoveToSuccess( const Path *path ); // invoked when an bot reaches its MoveTo goal virtual void OnMoveToFailure( const Path *path, MoveToFailureType reason ); // invoked when an bot fails to reach a MoveTo goal private: void UpdatePosition( const Vector &newPos ); // move to newPos, resolving any collisions along the way void UpdateGroundConstraint( void ); // keep ground solid Vector ResolveCollisionV0( Vector from, Vector to, int recursionLimit ); Vector ResolveZombieCollisions( const Vector &pos ); // push away zombies that are interpenetrating Vector ResolveCollision( const Vector &from, const Vector &to, int recursionLimit ); // check for collisions along move bool DetectCollision( trace_t *pTrace, int &nDestructionAllowed, const Vector &from, const Vector &to, const Vector &vecMins, const Vector &vecMaxs ); void ApplyAccumulatedApproach( void ); bool DidJustJump( void ) const; // return true if we just started a jump bool TraverseLadder( void ); // return true if we are climbing a ladder virtual float GetGravity( void ) const; // return gravity force acting on bot virtual float GetFrictionForward( void ) const; // return magnitude of forward friction virtual float GetFrictionSideways( void ) const; // return magnitude of lateral friction virtual float GetMaxYawRate( void ) const; // return max rate of yaw rotation private: NextBotCombatCharacter *m_nextBot; Vector m_priorPos; // last update's position Vector m_lastValidPos; // last valid position (not interpenetrating) Vector m_acceleration; Vector m_velocity; float m_desiredSpeed; // speed bot wants to be moving float m_actualSpeed; // actual speed bot is moving float m_maxRunSpeed; float m_forwardLean; float m_sideLean; QAngle m_desiredLean; bool m_isJumping; // if true, we have jumped and have not yet hit the ground bool m_isJumpingAcrossGap; // if true, we have jumped across a gap and have not yet hit the ground EHANDLE m_ground; // have to manage this ourselves, since MOVETYPE_CUSTOM always NULLs out GetGroundEntity() Vector m_groundNormal; // surface normal of the ground we are in contact with bool m_isClimbingUpToLedge; // true if we are jumping up to an adjacent ledge Vector m_ledgeJumpGoalPos; bool m_isUsingFullFeetTrace; // true if we're in the air and tracing the lowest StepHeight in ResolveCollision const CNavLadder *m_ladder; // ladder we are currently climbing/descending const CNavArea *m_ladderDismountGoal; // the area we enter when finished with our ladder move bool m_isGoingUpLadder; // if false, we're going down CountdownTimer m_inhibitObstacleAvoidanceTimer; // when active, turn off path following feelers CountdownTimer m_wiggleTimer; // for wiggling NavRelativeDirType m_wiggleDirection; mutable Vector m_eyePos; // for use with GetEyes(), etc. Vector m_moveVector; // the direction of our motion in XY plane float m_moveYaw; // global yaw of movement direction Vector m_accumApproachVectors; // weighted sum of Approach() calls since last update float m_accumApproachWeights; bool m_bRecomputePostureOnCollision; CountdownTimer m_ignorePhysicsPropTimer; // if active, don't collide with physics props (because we got stuck in one) EHANDLE m_ignorePhysicsProp; // which prop to ignore }; inline float NextBotGroundLocomotion::GetGravity( void ) const { return 1000.0f; } inline float NextBotGroundLocomotion::GetFrictionForward( void ) const { return 0.0f; } inline float NextBotGroundLocomotion::GetFrictionSideways( void ) const { return 3.0f; } inline float NextBotGroundLocomotion::GetMaxYawRate( void ) const { return 250.0f; } inline CBaseEntity *NextBotGroundLocomotion::GetGround( void ) const { return m_ground; } inline const Vector &NextBotGroundLocomotion::GetGroundNormal( void ) const { return m_groundNormal; } inline void NextBotGroundLocomotion::SetDesiredLean( const QAngle &lean ) { m_desiredLean = lean; } inline const QAngle &NextBotGroundLocomotion::GetDesiredLean( void ) const { return m_desiredLean; } inline void NextBotGroundLocomotion::SetDesiredSpeed( float speed ) { m_desiredSpeed = speed; } inline float NextBotGroundLocomotion::GetDesiredSpeed( void ) const { return m_desiredSpeed; } inline bool NextBotGroundLocomotion::IsClimbingOrJumping( void ) const { return m_isJumping; } inline bool NextBotGroundLocomotion::IsClimbingUpToLedge( void ) const { return m_isClimbingUpToLedge; } inline bool NextBotGroundLocomotion::IsJumpingAcrossGap( void ) const { return m_isJumpingAcrossGap; } inline bool NextBotGroundLocomotion::IsRunning( void ) const { /// @todo Rethink interface to distinguish actual state vs desired state (do we want to be running, or are we actually at running speed right now) return m_actualSpeed > 0.9f * GetRunSpeed(); } inline float NextBotGroundLocomotion::GetStepHeight( void ) const { return 18.0f; } inline float NextBotGroundLocomotion::GetMaxJumpHeight( void ) const { return 180.0f; // 120.0f; // 84.0f; // 58.0f; } inline float NextBotGroundLocomotion::GetDeathDropHeight( void ) const { return 200.0f; } inline float NextBotGroundLocomotion::GetRunSpeed( void ) const { return 150.0f; } inline float NextBotGroundLocomotion::GetWalkSpeed( void ) const { return 75.0f; } inline float NextBotGroundLocomotion::GetMaxAcceleration( void ) const { return 500.0f; } inline float NextBotGroundLocomotion::GetMaxDeceleration( void ) const { return 500.0f; } #endif // NEXT_BOT_GROUND_LOCOMOTION_H