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game/server/ai_planesolver.h

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+//========= Copyright Valve Corporation, All rights reserved. ============//
+//
+// Purpose:
+//
+// $NoKeywords: $
+//=============================================================================//
+
+#ifndef AI_PLANE_SOLVER_H
+#define AI_PLANE_SOLVER_H
+
+#ifdef _WIN32
+#pragma once
+#endif
+
+#include "utlvector.h"
+#include "ai_movesolver.h"
+#include "ehandle.h"
+#include "mathlib/vector.h"
+#include "simtimer.h"
+#include "ai_navtype.h"
+
+//-----------------------------------------------------------------------------
+// Forward declarations
+//-----------------------------------------------------------------------------
+class Vector2D;
+class CBaseEntity;
+struct edict_t;
+class CAI_BaseNPC;
+class CAI_Motor;
+class CAI_Navigator;
+struct AILocalMoveGoal_t;
+struct AIMoveTrace_t;
+
+//-------------------------------------
+
+enum AI_SuggestorResult_t
+{
+	SR_NONE,
+	SR_OK,
+	SR_FAIL
+};
+
+class CAI_PlaneSolver
+{
+public:
+	// constructor
+	CAI_PlaneSolver( CAI_BaseNPC *pNpc );
+	
+	// Attempt to find a valid move direction for the specifed goal
+	bool Solve( const AILocalMoveGoal_t &goal, float distClear, Vector *pSolution );
+
+	float CalcProbeDist( float speed );
+	
+	// Flush any cached results (e.g., hull changed, results not valid)
+	void Reset();
+	
+	void AddObstacle( const Vector &pos, float radius, CBaseEntity *pEntity = NULL, AI_MoveSuggType_t type = AIMST_AVOID_OBJECT );
+	bool HaveObstacles()	{ return ( m_Obstacles.Count() != 0 ); }
+
+private:
+
+	enum 
+	{
+		DEGREES_POSITIVE_ARC				   = 270,
+		DEGREES_POSITIVE_ARC_CLOSE_OBSTRUCTION = 340,
+		NUM_PROBES 							   = 5
+	};
+
+	// How far ahead does the ground solver look (seconds)
+	float GetLookaheadTime() 		{ return 1.0; }
+
+	// --------------------------------
+
+	// For debugging purposes
+	void VisualizeRegulations();
+	void VisualizeSolution( const Vector &vecGoal, const Vector& vecActual );
+
+	// --------------------------------
+	bool MoveLimit( Navigation_t navType, const Vector &target, bool ignoreTransients, bool fCheckStep, AIMoveTrace_t *pMoveTrace );
+	bool MoveLimit( Navigation_t navType, const Vector &target, bool ignoreTransients, bool fCheckStep, int contents, AIMoveTrace_t *pMoveTrace );
+
+	//-----------------------------------------------------------------------------
+	// Adjust the solution for fliers
+	//-----------------------------------------------------------------------------
+	void AdjustSolutionForFliers( const AILocalMoveGoal_t &goal, float flSolutionYaw, Vector *pSolution );
+
+	// --------------------------------
+	// Convenience accessors
+	
+	CAI_BaseNPC * 	GetNpc();
+	CAI_Motor * 	GetMotor();
+	const Vector &	GetLocalOrigin();
+
+	// --------------------------------
+	
+	void				 GenerateObstacleNpcs( const AILocalMoveGoal_t &goal, float probeDist );
+	AI_SuggestorResult_t GenerateObstacleSuggestions( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace, float distClear, float probeDist, float degreesToProbe, int nProbes );
+	AI_SuggestorResult_t GenerateObstacleSuggestion( const AILocalMoveGoal_t &goal, float yawScanCenter, float probeDist, float spanPerProbe, int probeOffset );
+	void				 GenerateSuggestionFromTrace( const AILocalMoveGoal_t &goal,
+													  const AIMoveTrace_t &moveTrace, float probeDist, 
+													  float arcCenter, float arcSpan, int probeOffset );
+	bool				 GenerateCircleObstacleSuggestions( const AILocalMoveGoal_t &moveGoal, float probeDist );
+
+	void				 CalcYawsFromOffset( float yawScanCenter, float spanPerProbe, int probeOffset,
+											 float *pYawTest, float *pYawCenter );
+	
+	float CalculateRegulationWeight( const AIMoveTrace_t &moveTrace, float pctBlockedt );
+	float AdjustRegulationWeight( CBaseEntity *pEntity, float weight );
+	unsigned ComputeTurnBiasFlags( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace );
+
+
+	bool RunMoveSolver( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace, 
+						float degreesPositiveArc, bool fDeterOscillation, 
+						Vector *pResult );
+	bool DetectUnsolvable( const AILocalMoveGoal_t &goal );
+
+	// --------------------------------
+	
+	CAI_BaseNPC *		m_pNpc;
+
+	Vector				m_PrevTarget;
+	bool				m_fSolvedPrev;
+	float 				m_PrevSolution;
+	Vector				m_PrevSolutionVector;
+	
+	float				m_ClosestHaveBeenToCurrent;
+	float 				m_TimeLastProgress;
+
+	bool				m_fCannotSolveCurrent;
+	
+	CSimTimer			m_RefreshSamplesTimer;
+	
+	// --------------------------------
+	
+	struct CircleObstacles_t
+	{
+		CircleObstacles_t( const Vector &center, float radius, CBaseEntity *pEntity, AI_MoveSuggType_t type )
+		 :	center(center), 
+			radius(radius), 
+			hEntity(pEntity),
+			type(type)
+		{
+		}
+		
+		Vector				center;
+		float				radius;
+		AI_MoveSuggType_t 	type;
+		EHANDLE				hEntity;
+	};
+	
+	CUtlVector<CircleObstacles_t> m_Obstacles;
+	
+	// --------------------------------
+	
+	CAI_MoveSolver m_Solver;
+};
+	
+//-------------------------------------
+
+inline void CAI_PlaneSolver::Reset()
+{
+	m_RefreshSamplesTimer.Force();
+
+	m_fSolvedPrev = false;
+	m_PrevTarget.Init( FLT_MAX, FLT_MAX, FLT_MAX ),
+	m_PrevSolution = 0;
+	m_ClosestHaveBeenToCurrent = FLT_MAX;
+	m_TimeLastProgress = FLT_MAX;
+	m_fCannotSolveCurrent = false;
+}
+	
+//=============================================================================
+
+#endif // AI_PLANE_SOLVER_H