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source-engine/game/server/nav_area.h

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2020-04-22 16:56:21 +00:00
//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//
//=============================================================================//
// nav_area.h
// Navigation areas
// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
#ifndef _NAV_AREA_H_
#define _NAV_AREA_H_
#include "nav_ladder.h"
#include "tier1/memstack.h"
// BOTPORT: Clean up relationship between team index and danger storage in nav areas
enum { MAX_NAV_TEAMS = 2 };
#ifdef STAGING_ONLY
inline void DebuggerBreakOnNaN_StagingOnly( float val )
{
if ( IS_NAN( val ) )
DebuggerBreak();
}
#else
#define DebuggerBreakOnNaN_StagingOnly( _val )
#endif
class CFuncElevator;
class CFuncNavPrerequisite;
class CFuncNavCost;
class CNavVectorNoEditAllocator
{
public:
CNavVectorNoEditAllocator();
static void Reset();
static void *Alloc( size_t nSize );
static void *Realloc( void *pMem, size_t nSize );
static void Free( void *pMem );
static size_t GetSize( void *pMem );
private:
static CMemoryStack m_memory;
static void *m_pCurrent;
static int m_nBytesCurrent;
};
#if !defined(_X360)
typedef CUtlVectorUltraConservativeAllocator CNavVectorAllocator;
#else
typedef CNavVectorNoEditAllocator CNavVectorAllocator;
#endif
//-------------------------------------------------------------------------------------------------------------------
/**
* Functor interface for iteration
*/
class IForEachNavArea
{
public:
virtual bool Inspect( const CNavArea *area ) = 0; // Invoked once on each area of the iterated set. Return false to stop iterating.
virtual void PostIteration( bool wasCompleteIteration ) { } // Invoked after the iteration has ended. 'wasCompleteIteration' will be true if the entire set was iterated (ie: Inspect() never returned false)
};
//-------------------------------------------------------------------------------------------------------------------
/**
* The NavConnect union is used to refer to connections to areas
*/
struct NavConnect
{
NavConnect()
{
id = 0;
length = -1;
}
union
{
unsigned int id;
CNavArea *area;
};
mutable float length;
bool operator==( const NavConnect &other ) const
{
return (area == other.area) ? true : false;
}
};
typedef CUtlVectorUltraConservative<NavConnect, CNavVectorAllocator> NavConnectVector;
//-------------------------------------------------------------------------------------------------------------------
/**
* The NavLadderConnect union is used to refer to connections to ladders
*/
union NavLadderConnect
{
unsigned int id;
CNavLadder *ladder;
bool operator==( const NavLadderConnect &other ) const
{
return (ladder == other.ladder) ? true : false;
}
};
typedef CUtlVectorUltraConservative<NavLadderConnect, CNavVectorAllocator> NavLadderConnectVector;
//--------------------------------------------------------------------------------------------------------------
/**
* A HidingSpot is a good place for a bot to crouch and wait for enemies
*/
class HidingSpot
{
public:
virtual ~HidingSpot() { }
enum
{
IN_COVER = 0x01, // in a corner with good hard cover nearby
GOOD_SNIPER_SPOT = 0x02, // had at least one decent sniping corridor
IDEAL_SNIPER_SPOT = 0x04, // can see either very far, or a large area, or both
EXPOSED = 0x08 // spot in the open, usually on a ledge or cliff
};
bool HasGoodCover( void ) const { return (m_flags & IN_COVER) ? true : false; } // return true if hiding spot in in cover
bool IsGoodSniperSpot( void ) const { return (m_flags & GOOD_SNIPER_SPOT) ? true : false; }
bool IsIdealSniperSpot( void ) const { return (m_flags & IDEAL_SNIPER_SPOT) ? true : false; }
bool IsExposed( void ) const { return (m_flags & EXPOSED) ? true : false; }
int GetFlags( void ) const { return m_flags; }
void Save( CUtlBuffer &fileBuffer, unsigned int version ) const;
void Load( CUtlBuffer &fileBuffer, unsigned int version );
NavErrorType PostLoad( void );
const Vector &GetPosition( void ) const { return m_pos; } // get the position of the hiding spot
unsigned int GetID( void ) const { return m_id; }
const CNavArea *GetArea( void ) const { return m_area; } // return nav area this hiding spot is within
void Mark( void ) { m_marker = m_masterMarker; }
bool IsMarked( void ) const { return (m_marker == m_masterMarker) ? true : false; }
static void ChangeMasterMarker( void ) { ++m_masterMarker; }
public:
void SetFlags( int flags ) { m_flags |= flags; } // FOR INTERNAL USE ONLY
void SetPosition( const Vector &pos ) { m_pos = pos; } // FOR INTERNAL USE ONLY
private:
friend class CNavMesh;
friend void ClassifySniperSpot( HidingSpot *spot );
HidingSpot( void ); // must use factory to create
Vector m_pos; // world coordinates of the spot
unsigned int m_id; // this spot's unique ID
unsigned int m_marker; // this spot's unique marker
CNavArea *m_area; // the nav area containing this hiding spot
unsigned char m_flags; // bit flags
static unsigned int m_nextID; // used when allocating spot ID's
static unsigned int m_masterMarker; // used to mark spots
};
typedef CUtlVectorUltraConservative< HidingSpot * > HidingSpotVector;
extern HidingSpotVector TheHidingSpots;
extern HidingSpot *GetHidingSpotByID( unsigned int id );
//--------------------------------------------------------------------------------------------------------------
/**
* Stores a pointer to an interesting "spot", and a parametric distance along a path
*/
struct SpotOrder
{
float t; // parametric distance along ray where this spot first has LOS to our path
union
{
HidingSpot *spot; // the spot to look at
unsigned int id; // spot ID for save/load
};
};
typedef CUtlVector< SpotOrder > SpotOrderVector;
/**
* This struct stores possible path segments thru a CNavArea, and the dangerous spots
* to look at as we traverse that path segment.
*/
struct SpotEncounter
{
NavConnect from;
NavDirType fromDir;
NavConnect to;
NavDirType toDir;
Ray path; // the path segment
SpotOrderVector spots; // list of spots to look at, in order of occurrence
};
typedef CUtlVectorUltraConservative< SpotEncounter * > SpotEncounterVector;
//-------------------------------------------------------------------------------------------------------------------
/**
* A CNavArea is a rectangular region defining a walkable area in the environment
*/
class CNavAreaCriticalData
{
protected:
// --- Begin critical data, which is heavily hit during pathing operations and carefully arranged for cache performance [7/24/2008 tom] ---
/* 0 */ Vector m_nwCorner; // north-west corner position (2D mins)
/* 12 */ Vector m_seCorner; // south-east corner position (2D maxs)
/* 24 */ float m_invDxCorners;
/* 28 */ float m_invDyCorners;
/* 32 */ float m_neZ; // height of the implicit corner defined by (m_seCorner.x, m_nwCorner.y, m_neZ)
/* 36 */ float m_swZ; // height of the implicit corner defined by (m_nwCorner.x, m_seCorner.y, m_neZ)
/* 40 */ Vector m_center; // centroid of area
/* 52 */ unsigned char m_playerCount[ MAX_NAV_TEAMS ]; // the number of players currently in this area
/* 54 */ bool m_isBlocked[ MAX_NAV_TEAMS ]; // if true, some part of the world is preventing movement through this nav area
/* 56 */ unsigned int m_marker; // used to flag the area as visited
/* 60 */ float m_totalCost; // the distance so far plus an estimate of the distance left
/* 64 */ float m_costSoFar; // distance travelled so far
/* 68 */ CNavArea *m_nextOpen, *m_prevOpen; // only valid if m_openMarker == m_masterMarker
/* 76 */ unsigned int m_openMarker; // if this equals the current marker value, we are on the open list
/* 80 */ int m_attributeFlags; // set of attribute bit flags (see NavAttributeType)
//- connections to adjacent areas -------------------------------------------------------------------
/* 84 */ NavConnectVector m_connect[ NUM_DIRECTIONS ]; // a list of adjacent areas for each direction
/* 100*/ NavLadderConnectVector m_ladder[ CNavLadder::NUM_LADDER_DIRECTIONS ]; // list of ladders leading up and down from this area
/* 108*/ NavConnectVector m_elevatorAreas; // a list of areas reachable via elevator from this area
/* 112*/ unsigned int m_nearNavSearchMarker; // used in GetNearestNavArea()
/* 116*/ CNavArea *m_parent; // the area just prior to this on in the search path
/* 120*/ NavTraverseType m_parentHow; // how we get from parent to us
/* 124*/ float m_pathLengthSoFar; // length of path so far, needed for limiting pathfind max path length
/* *************** 360 cache line *************** */
/* 128*/ CFuncElevator *m_elevator; // if non-NULL, this area is in an elevator's path. The elevator can transport us vertically to another area.
// --- End critical data ---
};
class CNavArea : protected CNavAreaCriticalData
{
public:
DECLARE_CLASS_NOBASE( CNavArea )
CNavArea( void );
virtual ~CNavArea();
virtual void OnServerActivate( void ); // (EXTEND) invoked when map is initially loaded
virtual void OnRoundRestart( void ); // (EXTEND) invoked for each area when the round restarts
virtual void OnRoundRestartPreEntity( void ) { } // invoked for each area when the round restarts, but before entities are deleted and recreated
virtual void OnEnter( CBaseCombatCharacter *who, CNavArea *areaJustLeft ) { } // invoked when player enters this area
virtual void OnExit( CBaseCombatCharacter *who, CNavArea *areaJustEntered ) { } // invoked when player exits this area
virtual void OnDestroyNotify( CNavArea *dead ); // invoked when given area is going away
virtual void OnDestroyNotify( CNavLadder *dead ); // invoked when given ladder is going away
virtual void OnEditCreateNotify( CNavArea *newArea ) { } // invoked when given area has just been added to the mesh in edit mode
virtual void OnEditDestroyNotify( CNavArea *deadArea ) { } // invoked when given area has just been deleted from the mesh in edit mode
virtual void OnEditDestroyNotify( CNavLadder *deadLadder ) { } // invoked when given ladder has just been deleted from the mesh in edit mode
virtual void Save( CUtlBuffer &fileBuffer, unsigned int version ) const; // (EXTEND)
virtual NavErrorType Load( CUtlBuffer &fileBuffer, unsigned int version, unsigned int subVersion ); // (EXTEND)
virtual NavErrorType PostLoad( void ); // (EXTEND) invoked after all areas have been loaded - for pointer binding, etc
virtual void SaveToSelectedSet( KeyValues *areaKey ) const; // (EXTEND) saves attributes for the area to a KeyValues
virtual void RestoreFromSelectedSet( KeyValues *areaKey ); // (EXTEND) restores attributes from a KeyValues
// for interactively building or generating nav areas
void Build( CNavNode *nwNode, CNavNode *neNode, CNavNode *seNode, CNavNode *swNode );
void Build( const Vector &corner, const Vector &otherCorner );
void Build( const Vector &nwCorner, const Vector &neCorner, const Vector &seCorner, const Vector &swCorner );
void ConnectTo( CNavArea *area, NavDirType dir ); // connect this area to given area in given direction
void Disconnect( CNavArea *area ); // disconnect this area from given area
void ConnectTo( CNavLadder *ladder ); // connect this area to given ladder
void Disconnect( CNavLadder *ladder ); // disconnect this area from given ladder
unsigned int GetID( void ) const { return m_id; } // return this area's unique ID
static void CompressIDs( void ); // re-orders area ID's so they are continuous
unsigned int GetDebugID( void ) const { return m_debugid; }
void SetAttributes( int bits ) { m_attributeFlags = bits; }
int GetAttributes( void ) const { return m_attributeFlags; }
bool HasAttributes( int bits ) const { return ( m_attributeFlags & bits ) ? true : false; }
void RemoveAttributes( int bits ) { m_attributeFlags &= ( ~bits ); }
void SetPlace( Place place ) { m_place = place; } // set place descriptor
Place GetPlace( void ) const { return m_place; } // get place descriptor
void MarkAsBlocked( int teamID, CBaseEntity *blocker, bool bGenerateEvent = true ); // An entity can force a nav area to be blocked
virtual void UpdateBlocked( bool force = false, int teamID = TEAM_ANY ); // Updates the (un)blocked status of the nav area (throttled)
virtual bool IsBlocked( int teamID, bool ignoreNavBlockers = false ) const;
void UnblockArea( int teamID = TEAM_ANY ); // clear blocked status for the given team(s)
void CheckFloor( CBaseEntity *ignore ); // Checks if there is a floor under the nav area, in case a breakable floor is gone
void MarkObstacleToAvoid( float obstructionHeight );
void UpdateAvoidanceObstacles( void );
bool HasAvoidanceObstacle( float maxObstructionHeight = StepHeight ) const; // is there a large, immobile object obstructing this area
float GetAvoidanceObstacleHeight( void ) const; // returns the maximum height of the obstruction above the ground
#ifdef NEXT_BOT
bool HasPrerequisite( CBaseCombatCharacter *actor = NULL ) const; // return true if this area has a prerequisite that applies to the given actor
const CUtlVector< CHandle< CFuncNavPrerequisite > > &GetPrerequisiteVector( void ) const; // return vector of prerequisites that must be met before this area can be traversed
void RemoveAllPrerequisites( void );
void AddPrerequisite( CFuncNavPrerequisite *prereq );
#endif
void ClearAllNavCostEntities( void ); // clear set of func_nav_cost entities that affect this area
void AddFuncNavCostEntity( CFuncNavCost *cost ); // add the given func_nav_cost entity to the cost of this area
float ComputeFuncNavCost( CBaseCombatCharacter *who ) const; // return the cost multiplier of this area's func_nav_cost entities for the given actor
bool HasFuncNavAvoid( void ) const;
bool HasFuncNavPrefer( void ) const;
void CheckWaterLevel( void );
bool IsUnderwater( void ) const { return m_isUnderwater; }
bool IsOverlapping( const Vector &pos, float tolerance = 0.0f ) const; // return true if 'pos' is within 2D extents of area.
bool IsOverlapping( const CNavArea *area ) const; // return true if 'area' overlaps our 2D extents
bool IsOverlapping( const Extent &extent ) const; // return true if 'extent' overlaps our 2D extents
bool IsOverlappingX( const CNavArea *area ) const; // return true if 'area' overlaps our X extent
bool IsOverlappingY( const CNavArea *area ) const; // return true if 'area' overlaps our Y extent
Fix clang compile
2021-04-28 15:24:16 +00:00
inline float GetZ( const Vector * RESTRICT pPos ) const RESTRICT ; // return Z of area at (x,y) of 'pos'
inline float GetZ( const Vector &pos ) const RESTRICT; // return Z of area at (x,y) of 'pos'
1
2020-04-22 16:56:21 +00:00
float GetZ( float x, float y ) const RESTRICT; // return Z of area at (x,y) of 'pos'
bool Contains( const Vector &pos ) const; // return true if given point is on or above this area, but no others
bool Contains( const CNavArea *area ) const;
bool IsCoplanar( const CNavArea *area ) const; // return true if this area and given area are approximately co-planar
void GetClosestPointOnArea( const Vector * RESTRICT pPos, Vector *close ) const RESTRICT; // return closest point to 'pos' on this area - returned point in 'close'
void GetClosestPointOnArea( const Vector &pos, Vector *close ) const { return GetClosestPointOnArea( &pos, close ); }
float GetDistanceSquaredToPoint( const Vector &pos ) const; // return shortest distance between point and this area
bool IsDegenerate( void ) const; // return true if this area is badly formed
bool IsRoughlySquare( void ) const; // return true if this area is approximately square
bool IsFlat( void ) const; // return true if this area is approximately flat
bool HasNodes( void ) const;
void GetNodes( NavDirType dir, CUtlVector< CNavNode * > *nodes ) const; // build a vector of nodes along the given direction
CNavNode *FindClosestNode( const Vector &pos, NavDirType dir ) const; // returns the closest node along the given edge to the given point
bool IsContiguous( const CNavArea *other ) const; // return true if the given area and 'other' share a colinear edge (ie: no drop-down or step/jump/climb)
float ComputeAdjacentConnectionHeightChange( const CNavArea *destinationArea ) const; // return height change between edges of adjacent nav areas (not actual underlying ground)
bool IsEdge( NavDirType dir ) const; // return true if there are no bi-directional links on the given side
bool IsDamaging( void ) const; // Return true if continuous damage (ie: fire) is in this area
void MarkAsDamaging( float duration ); // Mark this area is damaging for the next 'duration' seconds
bool IsVisible( const Vector &eye, Vector *visSpot = NULL ) const; // return true if area is visible from the given eyepoint, return visible spot
int GetAdjacentCount( NavDirType dir ) const { return m_connect[ dir ].Count(); } // return number of connected areas in given direction
CNavArea *GetAdjacentArea( NavDirType dir, int i ) const; // return the i'th adjacent area in the given direction
CNavArea *GetRandomAdjacentArea( NavDirType dir ) const;
void CollectAdjacentAreas( CUtlVector< CNavArea * > *adjVector ) const; // build a vector of all adjacent areas
const NavConnectVector *GetAdjacentAreas( NavDirType dir ) const { return &m_connect[dir]; }
bool IsConnected( const CNavArea *area, NavDirType dir ) const; // return true if given area is connected in given direction
bool IsConnected( const CNavLadder *ladder, CNavLadder::LadderDirectionType dir ) const; // return true if given ladder is connected in given direction
float ComputeGroundHeightChange( const CNavArea *area ); // compute change in actual ground height from this area to given area
const NavConnectVector *GetIncomingConnections( NavDirType dir ) const { return &m_incomingConnect[dir]; } // get areas connected TO this area by a ONE-WAY link (ie: we have no connection back to them)
void AddIncomingConnection( CNavArea *source, NavDirType incomingEdgeDir );
const NavLadderConnectVector *GetLadders( CNavLadder::LadderDirectionType dir ) const { return &m_ladder[dir]; }
CFuncElevator *GetElevator( void ) const { Assert( !( m_attributeFlags & NAV_MESH_HAS_ELEVATOR ) == (m_elevator == NULL) ); return ( m_attributeFlags & NAV_MESH_HAS_ELEVATOR ) ? m_elevator : NULL; }
const NavConnectVector &GetElevatorAreas( void ) const { return m_elevatorAreas; } // return collection of areas reachable via elevator from this area
void ComputePortal( const CNavArea *to, NavDirType dir, Vector *center, float *halfWidth ) const; // compute portal to adjacent area
NavDirType ComputeLargestPortal( const CNavArea *to, Vector *center, float *halfWidth ) const; // compute largest portal to adjacent area, returning direction
void ComputeClosestPointInPortal( const CNavArea *to, NavDirType dir, const Vector &fromPos, Vector *closePos ) const; // compute closest point within the "portal" between to adjacent areas
NavDirType ComputeDirection( Vector *point ) const; // return direction from this area to the given point
//- for hunting algorithm ---------------------------------------------------------------------------
void SetClearedTimestamp( int teamID ); // set this area's "clear" timestamp to now
float GetClearedTimestamp( int teamID ) const; // get time this area was marked "clear"
//- hiding spots ------------------------------------------------------------------------------------
const HidingSpotVector *GetHidingSpots( void ) const { return &m_hidingSpots; }
SpotEncounter *GetSpotEncounter( const CNavArea *from, const CNavArea *to ); // given the areas we are moving between, return the spots we will encounter
int GetSpotEncounterCount( void ) const { return m_spotEncounters.Count(); }
//- "danger" ----------------------------------------------------------------------------------------
void IncreaseDanger( int teamID, float amount ); // increase the danger of this area for the given team
float GetDanger( int teamID ); // return the danger of this area (decays over time)
virtual float GetDangerDecayRate( void ) const; // return danger decay rate per second
//- extents -----------------------------------------------------------------------------------------
float GetSizeX( void ) const { return m_seCorner.x - m_nwCorner.x; }
float GetSizeY( void ) const { return m_seCorner.y - m_nwCorner.y; }
void GetExtent( Extent *extent ) const; // return a computed extent (XY is in m_nwCorner and m_seCorner, Z is computed)
const Vector &GetCenter( void ) const { return m_center; }
Vector GetRandomPoint( void ) const;
Vector GetCorner( NavCornerType corner ) const;
void SetCorner( NavCornerType corner, const Vector& newPosition );
void ComputeNormal( Vector *normal, bool alternate = false ) const; // Computes the area's normal based on m_nwCorner. If 'alternate' is specified, m_seCorner is used instead.
void RemoveOrthogonalConnections( NavDirType dir );
//- occupy time ------------------------------------------------------------------------------------
float GetEarliestOccupyTime( int teamID ) const; // returns the minimum time for someone of the given team to reach this spot from their spawn
bool IsBattlefront( void ) const { return m_isBattlefront; } // true if this area is a "battlefront" - where rushing teams initially meet
//- player counting --------------------------------------------------------------------------------
void IncrementPlayerCount( int teamID, int entIndex ); // add one player to this area's count
void DecrementPlayerCount( int teamID, int entIndex ); // subtract one player from this area's count
unsigned char GetPlayerCount( int teamID = 0 ) const; // return number of players of given team currently within this area (team of zero means any/all)
//- lighting ----------------------------------------------------------------------------------------
float GetLightIntensity( const Vector &pos ) const; // returns a 0..1 light intensity for the given point
float GetLightIntensity( float x, float y ) const; // returns a 0..1 light intensity for the given point
float GetLightIntensity( void ) const; // returns a 0..1 light intensity averaged over the whole area
//- A* pathfinding algorithm ------------------------------------------------------------------------
static void MakeNewMarker( void ) { ++m_masterMarker; if (m_masterMarker == 0) m_masterMarker = 1; }
void Mark( void ) { m_marker = m_masterMarker; }
BOOL IsMarked( void ) const { return (m_marker == m_masterMarker) ? true : false; }
void SetParent( CNavArea *parent, NavTraverseType how = NUM_TRAVERSE_TYPES ) { m_parent = parent; m_parentHow = how; }
CNavArea *GetParent( void ) const { return m_parent; }
NavTraverseType GetParentHow( void ) const { return m_parentHow; }
bool IsOpen( void ) const; // true if on "open list"
void AddToOpenList( void ); // add to open list in decreasing value order
void AddToOpenListTail( void ); // add to tail of the open list
void UpdateOnOpenList( void ); // a smaller value has been found, update this area on the open list
void RemoveFromOpenList( void );
static bool IsOpenListEmpty( void );
static CNavArea *PopOpenList( void ); // remove and return the first element of the open list
bool IsClosed( void ) const; // true if on "closed list"
void AddToClosedList( void ); // add to the closed list
void RemoveFromClosedList( void );
static void ClearSearchLists( void ); // clears the open and closed lists for a new search
void SetTotalCost( float value ) { DebuggerBreakOnNaN_StagingOnly( value ); Assert( value >= 0.0 && !IS_NAN(value) ); m_totalCost = value; }
float GetTotalCost( void ) const { DebuggerBreakOnNaN_StagingOnly( m_totalCost ); return m_totalCost; }
void SetCostSoFar( float value ) { DebuggerBreakOnNaN_StagingOnly( value ); Assert( value >= 0.0 && !IS_NAN(value) ); m_costSoFar = value; }
float GetCostSoFar( void ) const { DebuggerBreakOnNaN_StagingOnly( m_costSoFar ); return m_costSoFar; }
void SetPathLengthSoFar( float value ) { DebuggerBreakOnNaN_StagingOnly( value ); Assert( value >= 0.0 && !IS_NAN(value) ); m_pathLengthSoFar = value; }
float GetPathLengthSoFar( void ) const { DebuggerBreakOnNaN_StagingOnly( m_pathLengthSoFar ); return m_pathLengthSoFar; }
//- editing -----------------------------------------------------------------------------------------
virtual void Draw( void ) const; // draw area for debugging & editing
virtual void DrawFilled( int r, int g, int b, int a, float deltaT = 0.1f, bool noDepthTest = true, float margin = 5.0f ) const; // draw area as a filled rect of the given color
virtual void DrawSelectedSet( const Vector &shift ) const; // draw this area as part of a selected set
void DrawDragSelectionSet( Color &dragSelectionSetColor ) const;
void DrawConnectedAreas( void ) const;
void DrawHidingSpots( void ) const;
bool SplitEdit( bool splitAlongX, float splitEdge, CNavArea **outAlpha = NULL, CNavArea **outBeta = NULL ); // split this area into two areas at the given edge
bool MergeEdit( CNavArea *adj ); // merge this area and given adjacent area
bool SpliceEdit( CNavArea *other ); // create a new area between this area and given area
void RaiseCorner( NavCornerType corner, int amount, bool raiseAdjacentCorners = true ); // raise/lower a corner (or all corners if corner == NUM_CORNERS)
void PlaceOnGround( NavCornerType corner, float inset = 0.0f ); // places a corner (or all corners if corner == NUM_CORNERS) on the ground
NavCornerType GetCornerUnderCursor( void ) const;
bool GetCornerHotspot( NavCornerType corner, Vector hotspot[NUM_CORNERS] ) const; // returns true if the corner is under the cursor
void Shift( const Vector &shift ); // shift the nav area
//- ladders -----------------------------------------------------------------------------------------
void AddLadderUp( CNavLadder *ladder );
void AddLadderDown( CNavLadder *ladder );
//- generation and analysis -------------------------------------------------------------------------
virtual void ComputeHidingSpots( void ); // analyze local area neighborhood to find "hiding spots" in this area - for map learning
virtual void ComputeSniperSpots( void ); // analyze local area neighborhood to find "sniper spots" in this area - for map learning
virtual void ComputeSpotEncounters( void ); // compute spot encounter data - for map learning
virtual void ComputeEarliestOccupyTimes( void );
virtual void CustomAnalysis( bool isIncremental = false ) { } // for game-specific analysis
virtual bool ComputeLighting( void ); // compute 0..1 light intensity at corners and center (requires client via listenserver)
bool TestStairs( void ); // Test an area for being on stairs
virtual bool IsAbleToMergeWith( CNavArea *other ) const;
virtual void InheritAttributes( CNavArea *first, CNavArea *second = NULL );
//- visibility -------------------------------------------------------------------------------------
enum VisibilityType
{
NOT_VISIBLE = 0x00,
POTENTIALLY_VISIBLE = 0x01,
COMPLETELY_VISIBLE = 0x02,
};
VisibilityType ComputeVisibility( const CNavArea *area, bool isPVSValid, bool bCheckPVS = true, bool *pOutsidePVS = NULL ) const; // do actual line-of-sight traces to determine if any part of given area is visible from this area
void SetupPVS( void ) const;
bool IsInPVS( void ) const; // return true if this area is within the current PVS
struct AreaBindInfo // for pointer loading and binding
{
union
{
CNavArea *area;
unsigned int id;
};
unsigned char attributes; // VisibilityType
bool operator==( const AreaBindInfo &other ) const
{
return ( area == other.area );
}
};
virtual bool IsEntirelyVisible( const Vector &eye, const CBaseEntity *ignore = NULL ) const; // return true if entire area is visible from given eyepoint (CPU intensive)
virtual bool IsPartiallyVisible( const Vector &eye, const CBaseEntity *ignore = NULL ) const; // return true if any portion of the area is visible from given eyepoint (CPU intensive)
virtual bool IsPotentiallyVisible( const CNavArea *area ) const; // return true if given area is potentially visible from somewhere in this area (very fast)
virtual bool IsPotentiallyVisibleToTeam( int team ) const; // return true if any portion of this area is visible to anyone on the given team (very fast)
virtual bool IsCompletelyVisible( const CNavArea *area ) const; // return true if given area is completely visible from somewhere in this area (very fast)
virtual bool IsCompletelyVisibleToTeam( int team ) const; // return true if given area is completely visible from somewhere in this area by someone on the team (very fast)
//-------------------------------------------------------------------------------------
/**
* Apply the functor to all navigation areas that are potentially
* visible from this area.
*/
template < typename Functor >
bool ForAllPotentiallyVisibleAreas( Functor &func )
{
int i;
++s_nCurrVisTestCounter;
for ( i=0; i<m_potentiallyVisibleAreas.Count(); ++i )
{
CNavArea *area = m_potentiallyVisibleAreas[i].area;
if ( !area )
continue;
// If this assertion triggers, an area is in here twice!
Assert( area->m_nVisTestCounter != s_nCurrVisTestCounter );
area->m_nVisTestCounter = s_nCurrVisTestCounter;
if ( m_potentiallyVisibleAreas[i].attributes == NOT_VISIBLE )
continue;
if ( func( area ) == false )
return false;
}
// for each inherited area
if ( !m_inheritVisibilityFrom.area )
return true;
CAreaBindInfoArray &inherited = m_inheritVisibilityFrom.area->m_potentiallyVisibleAreas;
for ( i=0; i<inherited.Count(); ++i )
{
if ( !inherited[i].area )
continue;
// We may have visited this from m_potentiallyVisibleAreas
if ( inherited[i].area->m_nVisTestCounter == s_nCurrVisTestCounter )
continue;
// Theoretically, this shouldn't matter. But, just in case!
inherited[i].area->m_nVisTestCounter = s_nCurrVisTestCounter;
if ( inherited[i].attributes == NOT_VISIBLE )
continue;
if ( func( inherited[i].area ) == false )
return false;
}
return true;
}
//-------------------------------------------------------------------------------------
/**
* Apply the functor to all navigation areas that are
* completely visible from somewhere in this area.
*/
template < typename Functor >
bool ForAllCompletelyVisibleAreas( Functor &func )
{
int i;
++s_nCurrVisTestCounter;
for ( i=0; i<m_potentiallyVisibleAreas.Count(); ++i )
{
CNavArea *area = m_potentiallyVisibleAreas[i].area;
if ( !area )
continue;
// If this assertion triggers, an area is in here twice!
Assert( area->m_nVisTestCounter != s_nCurrVisTestCounter );
area->m_nVisTestCounter = s_nCurrVisTestCounter;
if ( ( m_potentiallyVisibleAreas[i].attributes & COMPLETELY_VISIBLE ) == 0 )
continue;
if ( func( area ) == false )
return false;
}
if ( !m_inheritVisibilityFrom.area )
return true;
// for each inherited area
CAreaBindInfoArray &inherited = m_inheritVisibilityFrom.area->m_potentiallyVisibleAreas;
for ( i=0; i<inherited.Count(); ++i )
{
if ( !inherited[i].area )
continue;
// We may have visited this from m_potentiallyVisibleAreas
if ( inherited[i].area->m_nVisTestCounter == s_nCurrVisTestCounter )
continue;
// Theoretically, this shouldn't matter. But, just in case!
inherited[i].area->m_nVisTestCounter = s_nCurrVisTestCounter;
if ( ( inherited[i].attributes & COMPLETELY_VISIBLE ) == 0 )
continue;
if ( func( inherited[i].area ) == false )
return false;
}
return true;
}
private:
friend class CNavMesh;
friend class CNavLadder;
friend class CCSNavArea; // allow CS load code to complete replace our default load behavior
static bool m_isReset; // if true, don't bother cleaning up in destructor since everything is going away
/*
m_nwCorner
nw ne
+-----------+
| +-->x |
| | |
| v |
| y |
| |
+-----------+
sw se
m_seCorner
*/
static unsigned int m_nextID; // used to allocate unique IDs
unsigned int m_id; // unique area ID
unsigned int m_debugid;
Place m_place; // place descriptor
CountdownTimer m_blockedTimer; // Throttle checks on our blocked state while blocked
void UpdateBlockedFromNavBlockers( void ); // checks if nav blockers are still blocking the area
bool m_isUnderwater; // true if the center of the area is underwater
bool m_isBattlefront;
float m_avoidanceObstacleHeight; // if nonzero, a prop is obstructing movement through this nav area
CountdownTimer m_avoidanceObstacleTimer; // Throttle checks on our obstructed state while obstructed
//- for hunting -------------------------------------------------------------------------------------
float m_clearedTimestamp[ MAX_NAV_TEAMS ]; // time this area was last "cleared" of enemies
//- "danger" ----------------------------------------------------------------------------------------
float m_danger[ MAX_NAV_TEAMS ]; // danger of this area, allowing bots to avoid areas where they died in the past - zero is no danger
float m_dangerTimestamp[ MAX_NAV_TEAMS ]; // time when danger value was set - used for decaying
void DecayDanger( void );
//- hiding spots ------------------------------------------------------------------------------------
HidingSpotVector m_hidingSpots;
bool IsHidingSpotCollision( const Vector &pos ) const; // returns true if an existing hiding spot is too close to given position
//- encounter spots ---------------------------------------------------------------------------------
SpotEncounterVector m_spotEncounters; // list of possible ways to move thru this area, and the spots to look at as we do
void AddSpotEncounters( const CNavArea *from, NavDirType fromDir, const CNavArea *to, NavDirType toDir ); // add spot encounter data when moving from area to area
float m_earliestOccupyTime[ MAX_NAV_TEAMS ]; // min time to reach this spot from spawn
#ifdef DEBUG_AREA_PLAYERCOUNTS
CUtlVector< int > m_playerEntIndices[ MAX_NAV_TEAMS ];
#endif
//- lighting ----------------------------------------------------------------------------------------
float m_lightIntensity[ NUM_CORNERS ]; // 0..1 light intensity at corners
//- A* pathfinding algorithm ------------------------------------------------------------------------
static unsigned int m_masterMarker;
static CNavArea *m_openList;
static CNavArea *m_openListTail;
//- connections to adjacent areas -------------------------------------------------------------------
NavConnectVector m_incomingConnect[ NUM_DIRECTIONS ]; // a list of adjacent areas for each direction that connect TO us, but we have no connection back to them
//---------------------------------------------------------------------------------------------------
CNavNode *m_node[ NUM_CORNERS ]; // nav nodes at each corner of the area
void ResetNodes( void ); // nodes are going away as part of an incremental nav generation
void Strip( void ); // remove "analyzed" data from nav area
void FinishMerge( CNavArea *adjArea ); // recompute internal data once nodes have been adjusted during merge
void MergeAdjacentConnections( CNavArea *adjArea ); // for merging with "adjArea" - pick up all of "adjArea"s connections
void AssignNodes( CNavArea *area ); // assign internal nodes to the given area
void FinishSplitEdit( CNavArea *newArea, NavDirType ignoreEdge ); // given the portion of the original area, update its internal data
void CalcDebugID();
#ifdef NEXT_BOT
CUtlVector< CHandle< CFuncNavPrerequisite > > m_prerequisiteVector; // list of prerequisites that must be met before this area can be traversed
#endif
CNavArea *m_prevHash, *m_nextHash; // for hash table in CNavMesh
void ConnectElevators( void ); // find elevator connections between areas
int m_damagingTickCount; // this area is damaging through this tick count
//- visibility --------------------------------------------------------------------------------------
void ComputeVisibilityToMesh( void ); // compute visibility to surrounding mesh
void ResetPotentiallyVisibleAreas();
static void ComputeVisToArea( CNavArea *&pOtherArea );
#ifndef _X360
typedef CUtlVectorConservative<AreaBindInfo> CAreaBindInfoArray; // shaves 8 bytes off structure caused by need to support editing
#else
typedef CUtlVector<AreaBindInfo> CAreaBindInfoArray; // Need to use this on 360 to support external allocation pattern
#endif
AreaBindInfo m_inheritVisibilityFrom; // if non-NULL, m_potentiallyVisibleAreas becomes a list of additions and deletions (NOT_VISIBLE) to the list of this area
CAreaBindInfoArray m_potentiallyVisibleAreas; // list of areas potentially visible from inside this area (after PostLoad(), use area portion of union)
bool m_isInheritedFrom; // latch used during visibility inheritance computation
const CAreaBindInfoArray &ComputeVisibilityDelta( const CNavArea *other ) const; // return a list of the delta between our visibility list and the given adjacent area
uint32 m_nVisTestCounter;
static uint32 s_nCurrVisTestCounter;
CUtlVector< CHandle< CFuncNavCost > > m_funcNavCostVector; // active, overlapping cost entities
};
typedef CUtlVector< CNavArea * > NavAreaVector;
extern NavAreaVector TheNavAreas;
//--------------------------------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------------------------------
//
// Inlines
//
#ifdef NEXT_BOT
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::HasPrerequisite( CBaseCombatCharacter *actor ) const
{
return m_prerequisiteVector.Count() > 0;
}
//--------------------------------------------------------------------------------------------------------------
inline const CUtlVector< CHandle< CFuncNavPrerequisite > > &CNavArea::GetPrerequisiteVector( void ) const
{
return m_prerequisiteVector;
}
//--------------------------------------------------------------------------------------------------------------
inline void CNavArea::RemoveAllPrerequisites( void )
{
m_prerequisiteVector.RemoveAll();
}
//--------------------------------------------------------------------------------------------------------------
inline void CNavArea::AddPrerequisite( CFuncNavPrerequisite *prereq )
{
if ( m_prerequisiteVector.Find( prereq ) == m_prerequisiteVector.InvalidIndex() )
{
m_prerequisiteVector.AddToTail( prereq );
}
}
#endif
//--------------------------------------------------------------------------------------------------------------
inline float CNavArea::GetDangerDecayRate( void ) const
{
// one kill == 1.0, which we will forget about in two minutes
return 1.0f / 120.0f;
}
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::IsDegenerate( void ) const
{
return (m_nwCorner.x >= m_seCorner.x || m_nwCorner.y >= m_seCorner.y);
}
//--------------------------------------------------------------------------------------------------------------
inline CNavArea *CNavArea::GetAdjacentArea( NavDirType dir, int i ) const
{
if ( ( i < 0 ) || ( i >= m_connect[dir].Count() ) )
return NULL;
return m_connect[dir][i].area;
}
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::IsOpen( void ) const
{
return (m_openMarker == m_masterMarker) ? true : false;
}
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::IsOpenListEmpty( void )
{
Assert( (m_openList && m_openList->m_prevOpen == NULL) || m_openList == NULL );
return (m_openList) ? false : true;
}
//--------------------------------------------------------------------------------------------------------------
inline CNavArea *CNavArea::PopOpenList( void )
{
Assert( (m_openList && m_openList->m_prevOpen == NULL) || m_openList == NULL );
if ( m_openList )
{
CNavArea *area = m_openList;
// disconnect from list
area->RemoveFromOpenList();
area->m_prevOpen = NULL;
area->m_nextOpen = NULL;
Assert( (m_openList && m_openList->m_prevOpen == NULL) || m_openList == NULL );
return area;
}
Assert( (m_openList && m_openList->m_prevOpen == NULL) || m_openList == NULL );
return NULL;
}
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::IsClosed( void ) const
{
if (IsMarked() && !IsOpen())
return true;
return false;
}
//--------------------------------------------------------------------------------------------------------------
inline void CNavArea::AddToClosedList( void )
{
Mark();
}
//--------------------------------------------------------------------------------------------------------------
inline void CNavArea::RemoveFromClosedList( void )
{
// since "closed" is defined as visited (marked) and not on open list, do nothing
}
//--------------------------------------------------------------------------------------------------------------
inline void CNavArea::SetClearedTimestamp( int teamID )
{
m_clearedTimestamp[ teamID % MAX_NAV_TEAMS ] = gpGlobals->curtime;
}
//--------------------------------------------------------------------------------------------------------------
inline float CNavArea::GetClearedTimestamp( int teamID ) const
{
return m_clearedTimestamp[ teamID % MAX_NAV_TEAMS ];
}
//--------------------------------------------------------------------------------------------------------------
inline float CNavArea::GetEarliestOccupyTime( int teamID ) const
{
return m_earliestOccupyTime[ teamID % MAX_NAV_TEAMS ];
}
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::IsDamaging( void ) const
{
return ( gpGlobals->tickcount <= m_damagingTickCount );
}
//--------------------------------------------------------------------------------------------------------------
inline void CNavArea::MarkAsDamaging( float duration )
{
m_damagingTickCount = gpGlobals->tickcount + TIME_TO_TICKS( duration );
}
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::HasAvoidanceObstacle( float maxObstructionHeight ) const
{
return m_avoidanceObstacleHeight > maxObstructionHeight;
}
//--------------------------------------------------------------------------------------------------------------
inline float CNavArea::GetAvoidanceObstacleHeight( void ) const
{
return m_avoidanceObstacleHeight;
}
//--------------------------------------------------------------------------------------------------------------
inline bool CNavArea::IsVisible( const Vector &eye, Vector *visSpot ) const
{
Vector corner;
trace_t result;
CTraceFilterNoNPCsOrPlayer traceFilter( NULL, COLLISION_GROUP_NONE );
const float offset = 0.75f * HumanHeight;
// check center first
UTIL_TraceLine( eye, GetCenter() + Vector( 0, 0, offset ), MASK_BLOCKLOS_AND_NPCS|CONTENTS_IGNORE_NODRAW_OPAQUE, &traceFilter, &result );
if (result.fraction == 1.0f)
{
// we can see this area
if (visSpot)
{
*visSpot = GetCenter();
}
return true;
}
for( int c=0; c<NUM_CORNERS; ++c )
{
corner = GetCorner( (NavCornerType)c );
UTIL_TraceLine( eye, corner + Vector( 0, 0, offset ), MASK_BLOCKLOS_AND_NPCS|CONTENTS_IGNORE_NODRAW_OPAQUE, &traceFilter, &result );
if (result.fraction == 1.0f)
{
// we can see this area
if (visSpot)
{
*visSpot = corner;
}
return true;
}
}
return false;
}
#ifndef DEBUG_AREA_PLAYERCOUNTS
inline void CNavArea::IncrementPlayerCount( int teamID, int entIndex )
{
teamID = teamID % MAX_NAV_TEAMS;
if (m_playerCount[ teamID ] == 255)
{
DevMsg( "CNavArea::IncrementPlayerCount: Overflow\n" );
return;
}
++m_playerCount[ teamID ];
}
inline void CNavArea::DecrementPlayerCount( int teamID, int entIndex )
{
teamID = teamID % MAX_NAV_TEAMS;
if (m_playerCount[ teamID ] == 0)
{
DevMsg( "CNavArea::IncrementPlayerCount: Underflow\n" );
return;
}
--m_playerCount[ teamID ];
}
#endif // !DEBUG_AREA_PLAYERCOUNTS
inline unsigned char CNavArea::GetPlayerCount( int teamID ) const
{
if (teamID)
{
return m_playerCount[ teamID % MAX_NAV_TEAMS ];
}
// sum all players
unsigned char total = 0;
for( int i=0; i<MAX_NAV_TEAMS; ++i )
{
total += m_playerCount[i];
}
return total;
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return Z of area at (x,y) of 'pos'
* Trilinear interpolation of Z values at quad edges.
* NOTE: pos->z is not used.
*/
inline float CNavArea::GetZ( const Vector * RESTRICT pos ) const RESTRICT
{
return GetZ( pos->x, pos->y );
}
inline float CNavArea::GetZ( const Vector & pos ) const RESTRICT
{
return GetZ( pos.x, pos.y );
}
//--------------------------------------------------------------------------------------------------------------
/**
* Return the coordinates of the area's corner.
*/
inline Vector CNavArea::GetCorner( NavCornerType corner ) const
{
// @TODO: Confirm compiler does the "right thing" in release builds, or change this function to to take a pointer [2/4/2009 tom]
Vector pos;
switch( corner )
{
default:
Assert( false && "GetCorner: Invalid type" );
case NORTH_WEST:
return m_nwCorner;
case NORTH_EAST:
pos.x = m_seCorner.x;
pos.y = m_nwCorner.y;
pos.z = m_neZ;
return pos;
case SOUTH_WEST:
pos.x = m_nwCorner.x;
pos.y = m_seCorner.y;
pos.z = m_swZ;
return pos;
case SOUTH_EAST:
return m_seCorner;
}
}
#endif // _NAV_AREA_H_
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