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209 lines
8.0 KiB
209 lines
8.0 KiB
//========= Copyright © 1996-2005, 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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#ifndef AI_PATHFINDER_H |
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#define AI_PATHFINDER_H |
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#include "ai_component.h" |
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#include "ai_navtype.h" |
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#if defined( _WIN32 ) |
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#pragma once |
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#endif |
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struct AIMoveTrace_t; |
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struct OverlayLine_t; |
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struct AI_Waypoint_t; |
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class CAI_Link; |
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class CAI_Network; |
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class CAI_Node; |
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//----------------------------------------------------------------------------- |
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// The type of route to build |
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enum RouteBuildFlags_e |
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{ |
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bits_BUILD_GROUND = 0x00000001, // |
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bits_BUILD_JUMP = 0x00000002, // |
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bits_BUILD_FLY = 0x00000004, // |
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bits_BUILD_CLIMB = 0x00000008, // |
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bits_BUILD_CRAWL = 0x00000010, // |
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bits_BUILD_GIVEWAY = 0x00000020, // |
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bits_BUILD_TRIANG = 0x00000040, // |
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bits_BUILD_IGNORE_NPCS = 0x00000080, // Ignore collisions with NPCs |
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bits_BUILD_COLLIDE_NPCS = 0x00000100, // Use collisions with NPCs (redundant for argument clarity) |
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bits_BUILD_GET_CLOSE = 0x00000200, // the route will be built even if it can't reach the destination |
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bits_BUILD_NO_LOCAL_NAV = 0x00000400, // No local navigation |
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bits_BUILD_UNLIMITED_DISTANCE = 0x00000800, // Path can be an unlimited distance away |
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}; |
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//----------------------------------------------------------------------------- |
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// CAI_Pathfinder |
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// |
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// Purpose: Executes pathfinds through an associated network. |
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// |
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//----------------------------------------------------------------------------- |
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class CAI_Pathfinder : public CAI_Component |
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{ |
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public: |
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CAI_Pathfinder( CAI_BaseNPC *pOuter ) |
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: CAI_Component(pOuter), |
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m_flLastStaleLinkCheckTime( 0 ), |
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m_pNetwork( NULL ) |
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{ |
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} |
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void Init( CAI_Network *pNetwork ); |
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//--------------------------------- |
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int NearestNodeToNPC(); |
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int NearestNodeToPoint( const Vector &vecOrigin ); |
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virtual AI_Waypoint_t* FindBestPath (int startID, int endID); |
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AI_Waypoint_t* FindShortRandomPath (int startID, float minPathLength, const Vector &vDirection = vec3_origin); |
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// -------------------------------- |
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bool IsLinkUsable(CAI_Link *pLink, int startID); |
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// -------------------------------- |
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AI_Waypoint_t *BuildRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity *pTarget, float goalTolerance, Navigation_t curNavType = NAV_NONE, int nBuildFlags = 0 ); |
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void UnlockRouteNodes( AI_Waypoint_t * ); |
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// -------------------------------- |
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void SetIgnoreBadLinks() { m_bIgnoreStaleLinks = true; } // lasts only for the next pathfind |
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// -------------------------------- |
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virtual AI_Waypoint_t *BuildNodeRoute( const Vector &vStart, const Vector &vEnd, int buildFlags, float goalTolerance ); |
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virtual AI_Waypoint_t *BuildLocalRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float goalTolerance); |
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virtual AI_Waypoint_t *BuildRadialRoute( const Vector &vStartPos, const Vector &vCenterPos, const Vector &vGoalPos, float flRadius, float flArc, float flStepDist, bool bClockwise, float goalTolerance, bool bAirRoute ); |
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virtual AI_Waypoint_t *BuildTriangulationRoute( const Vector &vStart, |
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const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, |
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float flYaw, float flDistToBlocker, Navigation_t navType); |
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virtual AI_Waypoint_t *BuildOBBAvoidanceRoute( const Vector &vStart, const Vector &vEnd, |
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const CBaseEntity *pObstruction, const CBaseEntity *pTarget, |
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Navigation_t navType ); |
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// -------------------------------- |
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bool Triangulate( Navigation_t navType, const Vector &vecStart, const Vector &vecEnd, |
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float flDistToBlocker, CBaseEntity const *pTargetEnt, Vector *pApex ); |
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// -------------------------------- |
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void DrawDebugGeometryOverlays( int m_debugOverlays ); |
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protected: |
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virtual bool CanUseLocalNavigation() { return true; } |
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private: |
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friend class CPathfindNearestNodeFilter; |
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//--------------------------------- |
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AI_Waypoint_t* RouteToNode(const Vector &vecOrigin, int buildFlags, int nodeID, float goalTolerance); |
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AI_Waypoint_t* RouteFromNode(const Vector &vecOrigin, int buildFlags, int nodeID, float goalTolerance); |
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AI_Waypoint_t * BuildNearestNodeRoute( const Vector &vGoal, bool bToNode, int buildFlags, float goalTolerance, int *pNearestNode ); |
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//--------------------------------- |
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AI_Waypoint_t* MakeRouteFromParents(int *parentArray, int endID); |
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AI_Waypoint_t* CreateNodeWaypoint( Hull_t hullType, int nodeID, int nodeFlags = 0 ); |
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AI_Waypoint_t* BuildRouteThroughPoints( Vector *vecPoints, int nNumPoints, int nDirection, int nStartIndex, int nEndIndex, Navigation_t navType, CBaseEntity *pTarget ); |
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bool IsLinkStillStale(int moveType, CAI_Link *nodeLink); |
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// -------------------------------- |
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// Builds a simple route (no triangulation, no making way) |
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AI_Waypoint_t *BuildSimpleRoute( Navigation_t navType, const Vector &vStart, const Vector &vEnd, |
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const CBaseEntity *pTarget, int endFlags, int nodeID, int nodeTargetType, float flYaw); |
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// Builds a complex route (triangulation, making way) |
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AI_Waypoint_t *BuildComplexRoute( Navigation_t navType, const Vector &vStart, |
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const Vector &vEnd, const CBaseEntity *pTarget, int endFlags, int nodeID, |
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int buildFlags, float flYaw, float goalTolerance, float maxLocalNavDistance ); |
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AI_Waypoint_t *BuildGroundRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw, float goalTolerance ); |
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AI_Waypoint_t *BuildFlyRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw, float goalTolerance ); |
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AI_Waypoint_t *BuildCrawlRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw, float goalTolerance ); |
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AI_Waypoint_t *BuildJumpRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw ); |
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AI_Waypoint_t *BuildClimbRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw ); |
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// Computes the link type |
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Navigation_t ComputeWaypointType( bool *pWantsPreciseMovement, CAI_Node **ppNodes, int parentID, int destID ); |
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// -------------------------------- |
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bool TestTriangulationRoute( Navigation_t navType, const Vector& vecStart, |
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const Vector &vecApex, const Vector &vecEnd, const CBaseEntity *pTargetEnt, AIMoveTrace_t *pStartTrace ); |
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// -------------------------------- |
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bool CheckStaleRoute( const Vector &vStart, const Vector &vEnd, int moveTypes); |
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bool CheckStaleNavTypeRoute( Navigation_t navType, const Vector &vStart, const Vector &vEnd ); |
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// -------------------------------- |
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bool CanGiveWay( const Vector& vStart, const Vector& vEnd, CBaseEntity *pNPCBlocker ); |
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// -------------------------------- |
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bool UseStrongOptimizations(); |
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// -------------------------------- |
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// Debugging fields and functions |
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class CTriDebugOverlay |
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{ |
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public: |
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CTriDebugOverlay() |
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: m_debugTriOverlayLine( NULL ) |
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{ |
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} |
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void AddTriOverlayLines( const Vector &vecStart, const Vector &vecApex, const Vector &vecEnd, const AIMoveTrace_t &startTrace, const AIMoveTrace_t &endTrace, bool bPathClear ); |
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void ClearTriOverlayLines(void); |
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void FadeTriOverlayLines(void); |
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void Draw(int npcDebugOverlays); |
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private: |
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void AddTriOverlayLine(const Vector &origin, const Vector &dest, int r, int g, int b, bool noDepthTest); |
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OverlayLine_t **m_debugTriOverlayLine; |
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}; |
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CTriDebugOverlay m_TriDebugOverlay; |
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//--------------------------------- |
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float m_flLastStaleLinkCheckTime; // Last time I check for a stale link |
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bool m_bIgnoreStaleLinks; |
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//--------------------------------- |
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CAI_Network *GetNetwork() { return m_pNetwork; } |
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const CAI_Network *GetNetwork() const { return m_pNetwork; } |
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CAI_Network *m_pNetwork; |
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public: |
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DECLARE_SIMPLE_DATADESC(); |
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}; |
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//----------------------------------------------------------------------------- |
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#endif // AI_PATHFINDER_H
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