Modified source engine (2017) developed by valve and leaked in 2020. Not for commercial purporses
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//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//
//=============================================================================//
// nav.h
// Data structures and constants for the Navigation Mesh system
// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
#ifndef _NAV_H_
#define _NAV_H_
#include "modelentities.h" // for CFuncBrush
#include "doors.h"
/**
* Below are several constants used by the navigation system.
* @todo Move these into TheNavMesh singleton.
*/
const float GenerationStepSize = 25.0f; // (30) was 20, but bots can't fit always fit
const float JumpHeight = 41.8f; // if delta Z is less than this, we can jump up on it
#if defined(CSTRIKE_DLL)
const float JumpCrouchHeight = 58.0f; // (48) if delta Z is less than or equal to this, we can jumpcrouch up on it
#else
const float JumpCrouchHeight = 64.0f; // (48) if delta Z is less than or equal to this, we can jumpcrouch up on it
#endif
// There are 3 different definitions of StepHeight throughout the code, waiting to produce bugs if the 18.0 is ever changed.
const float StepHeight = 18.0f; // if delta Z is greater than this, we have to jump to get up
// TERROR: Increased DeathDrop from 200, since zombies don't take falling damage
#if defined(CSTRIKE_DLL)
const float DeathDrop = 200.0f; // (300) distance at which we will die if we fall - should be about 600, and pay attention to fall damage during pathfind
#else
const float DeathDrop = 400.0f; // (300) distance at which we will die if we fall - should be about 600, and pay attention to fall damage during pathfind
#endif
#if defined(CSTRIKE_DLL)
const float ClimbUpHeight = JumpCrouchHeight; // CSBots assume all jump up links are reachable
#else
const float ClimbUpHeight = 200.0f; // height to check for climbing up
#endif
const float CliffHeight = 300.0f; // height which we consider a significant cliff which we would not want to fall off of
// TERROR: Converted these values to use the same numbers as the player bounding boxes etc
#define HalfHumanWidth 16
#define HalfHumanHeight 35.5
#define HumanHeight 71
#define HumanEyeHeight 62
#define HumanCrouchHeight 55
#define HumanCrouchEyeHeight 37
#define NAV_MAGIC_NUMBER 0xFEEDFACE // to help identify nav files
/**
* A place is a named group of navigation areas
*/
typedef unsigned int Place;
#define UNDEFINED_PLACE 0 // ie: "no place"
#define ANY_PLACE 0xFFFF
enum NavErrorType
{
NAV_OK,
NAV_CANT_ACCESS_FILE,
NAV_INVALID_FILE,
NAV_BAD_FILE_VERSION,
NAV_FILE_OUT_OF_DATE,
NAV_CORRUPT_DATA,
NAV_OUT_OF_MEMORY,
};
enum NavAttributeType
{
NAV_MESH_INVALID = 0,
NAV_MESH_CROUCH = 0x00000001, // must crouch to use this node/area
NAV_MESH_JUMP = 0x00000002, // must jump to traverse this area (only used during generation)
NAV_MESH_PRECISE = 0x00000004, // do not adjust for obstacles, just move along area
NAV_MESH_NO_JUMP = 0x00000008, // inhibit discontinuity jumping
NAV_MESH_STOP = 0x00000010, // must stop when entering this area
NAV_MESH_RUN = 0x00000020, // must run to traverse this area
NAV_MESH_WALK = 0x00000040, // must walk to traverse this area
NAV_MESH_AVOID = 0x00000080, // avoid this area unless alternatives are too dangerous
NAV_MESH_TRANSIENT = 0x00000100, // area may become blocked, and should be periodically checked
NAV_MESH_DONT_HIDE = 0x00000200, // area should not be considered for hiding spot generation
NAV_MESH_STAND = 0x00000400, // bots hiding in this area should stand
NAV_MESH_NO_HOSTAGES = 0x00000800, // hostages shouldn't use this area
NAV_MESH_STAIRS = 0x00001000, // this area represents stairs, do not attempt to climb or jump them - just walk up
NAV_MESH_NO_MERGE = 0x00002000, // don't merge this area with adjacent areas
NAV_MESH_OBSTACLE_TOP = 0x00004000, // this nav area is the climb point on the tip of an obstacle
NAV_MESH_CLIFF = 0x00008000, // this nav area is adjacent to a drop of at least CliffHeight
NAV_MESH_FIRST_CUSTOM = 0x00010000, // apps may define custom app-specific bits starting with this value
NAV_MESH_LAST_CUSTOM = 0x04000000, // apps must not define custom app-specific bits higher than with this value
NAV_MESH_FUNC_COST = 0x20000000, // area has designer specified cost controlled by func_nav_cost entities
NAV_MESH_HAS_ELEVATOR = 0x40000000, // area is in an elevator's path
NAV_MESH_NAV_BLOCKER = 0x80000000 // area is blocked by nav blocker ( Alas, needed to hijack a bit in the attributes to get within a cache line [7/24/2008 tom])
};
extern NavAttributeType NameToNavAttribute( const char *name );
enum NavDirType
{
NORTH = 0,
EAST = 1,
SOUTH = 2,
WEST = 3,
NUM_DIRECTIONS
};
/**
* Defines possible ways to move from one area to another
*/
enum NavTraverseType
{
// NOTE: First 4 directions MUST match NavDirType
GO_NORTH = 0,
GO_EAST,
GO_SOUTH,
GO_WEST,
GO_LADDER_UP,
GO_LADDER_DOWN,
GO_JUMP,
GO_ELEVATOR_UP,
GO_ELEVATOR_DOWN,
NUM_TRAVERSE_TYPES
};
enum NavCornerType
{
NORTH_WEST = 0,
NORTH_EAST = 1,
SOUTH_EAST = 2,
SOUTH_WEST = 3,
NUM_CORNERS
};
enum NavRelativeDirType
{
FORWARD = 0,
RIGHT,
BACKWARD,
LEFT,
UP,
DOWN,
NUM_RELATIVE_DIRECTIONS
};
struct Extent
{
Vector lo, hi;
void Init( void )
{
lo.Init();
hi.Init();
}
void Init( CBaseEntity *entity )
{
entity->CollisionProp()->WorldSpaceSurroundingBounds( &lo, &hi );
}
float SizeX( void ) const { return hi.x - lo.x; }
float SizeY( void ) const { return hi.y - lo.y; }
float SizeZ( void ) const { return hi.z - lo.z; }
float Area( void ) const { return SizeX() * SizeY(); }
// Increase bounds to contain the given point
void Encompass( const Vector &pos )
{
for ( int i=0; i<3; ++i )
{
if ( pos[i] < lo[i] )
{
lo[i] = pos[i];
}
else if ( pos[i] > hi[i] )
{
hi[i] = pos[i];
}
}
}
// Increase bounds to contain the given extent
void Encompass( const Extent &extent )
{
Encompass( extent.lo );
Encompass( extent.hi );
}
// return true if 'pos' is inside of this extent
bool Contains( const Vector &pos ) const
{
return (pos.x >= lo.x && pos.x <= hi.x &&
pos.y >= lo.y && pos.y <= hi.y &&
pos.z >= lo.z && pos.z <= hi.z);
}
// return true if this extent overlaps the given one
bool IsOverlapping( const Extent &other ) const
{
return (lo.x <= other.hi.x && hi.x >= other.lo.x &&
lo.y <= other.hi.y && hi.y >= other.lo.y &&
lo.z <= other.hi.z && hi.z >= other.lo.z);
}
// return true if this extent completely contains the given one
bool IsEncompassing( const Extent &other, float tolerance = 0.0f ) const
{
return (lo.x <= other.lo.x + tolerance && hi.x >= other.hi.x - tolerance &&
lo.y <= other.lo.y + tolerance && hi.y >= other.hi.y - tolerance &&
lo.z <= other.lo.z + tolerance && hi.z >= other.hi.z - tolerance);
}
};
struct Ray
{
Vector from, to;
};
class CNavArea;
class CNavNode;
//--------------------------------------------------------------------------------------------------------------
inline NavDirType OppositeDirection( NavDirType dir )
{
switch( dir )
{
case NORTH: return SOUTH;
case SOUTH: return NORTH;
case EAST: return WEST;
case WEST: return EAST;
default: break;
}
return NORTH;
}
//--------------------------------------------------------------------------------------------------------------
inline NavDirType DirectionLeft( NavDirType dir )
{
switch( dir )
{
case NORTH: return WEST;
case SOUTH: return EAST;
case EAST: return NORTH;
case WEST: return SOUTH;
default: break;
}
return NORTH;
}
//--------------------------------------------------------------------------------------------------------------
inline NavDirType DirectionRight( NavDirType dir )
{
switch( dir )
{
case NORTH: return EAST;
case SOUTH: return WEST;
case EAST: return SOUTH;
case WEST: return NORTH;
default: break;
}
return NORTH;
}
//--------------------------------------------------------------------------------------------------------------
inline void AddDirectionVector( Vector *v, NavDirType dir, float amount )
{
switch( dir )
{
case NORTH: v->y -= amount; return;
case SOUTH: v->y += amount; return;
case EAST: v->x += amount; return;
case WEST: v->x -= amount; return;
default: break;
}
}
//--------------------------------------------------------------------------------------------------------------
inline float DirectionToAngle( NavDirType dir )
{
switch( dir )
{
case NORTH: return 270.0f;
case SOUTH: return 90.0f;
case EAST: return 0.0f;
case WEST: return 180.0f;
default: break;
}
return 0.0f;
}
//--------------------------------------------------------------------------------------------------------------
inline NavDirType AngleToDirection( float angle )
{
while( angle < 0.0f )
angle += 360.0f;
while( angle > 360.0f )
angle -= 360.0f;
if (angle < 45 || angle > 315)
return EAST;
if (angle >= 45 && angle < 135)
return SOUTH;
if (angle >= 135 && angle < 225)
return WEST;
return NORTH;
}
//--------------------------------------------------------------------------------------------------------------
inline void DirectionToVector2D( NavDirType dir, Vector2D *v )
{
switch( dir )
{
default: Assert(0);
case NORTH: v->x = 0.0f; v->y = -1.0f; break;
case SOUTH: v->x = 0.0f; v->y = 1.0f; break;
case EAST: v->x = 1.0f; v->y = 0.0f; break;
case WEST: v->x = -1.0f; v->y = 0.0f; break;
}
}
//--------------------------------------------------------------------------------------------------------------
inline void CornerToVector2D( NavCornerType dir, Vector2D *v )
{
switch( dir )
{
default: Assert(0);
case NORTH_WEST: v->x = -1.0f; v->y = -1.0f; break;
case NORTH_EAST: v->x = 1.0f; v->y = -1.0f; break;
case SOUTH_EAST: v->x = 1.0f; v->y = 1.0f; break;
case SOUTH_WEST: v->x = -1.0f; v->y = 1.0f; break;
}
v->NormalizeInPlace();
}
//--------------------------------------------------------------------------------------------------------------
// Gets the corner types that surround the given direction
inline void GetCornerTypesInDirection( NavDirType dir, NavCornerType *first, NavCornerType *second )
{
switch ( dir )
{
default:
Assert(0);
case NORTH:
*first = NORTH_WEST;
*second = NORTH_EAST;
break;
case SOUTH:
*first = SOUTH_WEST;
*second = SOUTH_EAST;
break;
case EAST:
*first = NORTH_EAST;
*second = SOUTH_EAST;
break;
case WEST:
*first = NORTH_WEST;
*second = SOUTH_WEST;
break;
}
}
//--------------------------------------------------------------------------------------------------------------
inline float RoundToUnits( float val, float unit )
{
val = val + ((val < 0.0f) ? -unit*0.5f : unit*0.5f);
return (float)( unit * ( ((int)val) / (int)unit ) );
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return true if given entity can be ignored when moving
*/
#define WALK_THRU_PROP_DOORS 0x01
#define WALK_THRU_FUNC_DOORS 0x02
#define WALK_THRU_DOORS (WALK_THRU_PROP_DOORS | WALK_THRU_FUNC_DOORS)
#define WALK_THRU_BREAKABLES 0x04
#define WALK_THRU_TOGGLE_BRUSHES 0x08
#define WALK_THRU_EVERYTHING (WALK_THRU_DOORS | WALK_THRU_BREAKABLES | WALK_THRU_TOGGLE_BRUSHES)
extern ConVar nav_solid_props;
inline bool IsEntityWalkable( CBaseEntity *entity, unsigned int flags )
{
if (FClassnameIs( entity, "worldspawn" ))
return false;
if (FClassnameIs( entity, "player" ))
return false;
// if we hit a door, assume its walkable because it will open when we touch it
if (FClassnameIs( entity, "func_door*" ))
{
#ifdef PROBLEMATIC // cp_dustbowl doors dont open by touch - they use surrounding triggers
if ( !entity->HasSpawnFlags( SF_DOOR_PTOUCH ) )
{
// this door is not opened by touching it, if it is closed, the area is blocked
CBaseDoor *door = (CBaseDoor *)entity;
return door->m_toggle_state == TS_AT_TOP;
}
#endif // _DEBUG
return (flags & WALK_THRU_FUNC_DOORS) ? true : false;
}
if (FClassnameIs( entity, "prop_door*" ))
{
return (flags & WALK_THRU_PROP_DOORS) ? true : false;
}
// if we hit a clip brush, ignore it if it is not BRUSHSOLID_ALWAYS
if (FClassnameIs( entity, "func_brush" ))
{
CFuncBrush *brush = (CFuncBrush *)entity;
switch ( brush->m_iSolidity )
{
case CFuncBrush::BRUSHSOLID_ALWAYS:
return false;
case CFuncBrush::BRUSHSOLID_NEVER:
return true;
case CFuncBrush::BRUSHSOLID_TOGGLE:
return (flags & WALK_THRU_TOGGLE_BRUSHES) ? true : false;
}
}
// if we hit a breakable object, assume its walkable because we will shoot it when we touch it
if (FClassnameIs( entity, "func_breakable" ) && entity->GetHealth() && entity->m_takedamage == DAMAGE_YES)
return (flags & WALK_THRU_BREAKABLES) ? true : false;
if (FClassnameIs( entity, "func_breakable_surf" ) && entity->m_takedamage == DAMAGE_YES)
return (flags & WALK_THRU_BREAKABLES) ? true : false;
if ( FClassnameIs( entity, "func_playerinfected_clip" ) == true )
return true;
if ( nav_solid_props.GetBool() && FClassnameIs( entity, "prop_*" ) )
return true;
return false;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Trace filter that ignores players, NPCs, and objects that can be walked through
*/
class CTraceFilterWalkableEntities : public CTraceFilterNoNPCsOrPlayer
{
public:
CTraceFilterWalkableEntities( const IHandleEntity *passentity, int collisionGroup, unsigned int flags )
: CTraceFilterNoNPCsOrPlayer( passentity, collisionGroup ), m_flags( flags )
{
}
virtual bool ShouldHitEntity( IHandleEntity *pServerEntity, int contentsMask )
{
if ( CTraceFilterNoNPCsOrPlayer::ShouldHitEntity(pServerEntity, contentsMask) )
{
CBaseEntity *pEntity = EntityFromEntityHandle( pServerEntity );
return ( !IsEntityWalkable( pEntity, m_flags ) );
}
return false;
}
private:
unsigned int m_flags;
};
extern bool IsWalkableTraceLineClear( const Vector &from, const Vector &to, unsigned int flags = 0 );
#endif // _NAV_H_