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game/server/tf/bot/behavior/squad/tf_bot_escort_squad_leader.cpp

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+//========= Copyright Valve Corporation, All rights reserved. ============//
+// tf_bot_escort_squad_leader.cpp
+// Escort the squad leader to their destination
+// Michael Booth, Octoboer 2011
+
+#include "cbase.h"
+
+#include "bot/tf_bot.h"
+#include "bot/behavior/squad/tf_bot_escort_squad_leader.h"
+#include "bot/behavior/scenario/capture_the_flag/tf_bot_deliver_flag.h"
+#include "bot/behavior/scenario/capture_the_flag/tf_bot_fetch_flag.h"
+
+ConVar tf_bot_squad_escort_range( "tf_bot_squad_escort_range", "500", FCVAR_CHEAT );
+ConVar tf_bot_formation_debug( "tf_bot_formation_debug", "0", FCVAR_CHEAT );
+
+
+//---------------------------------------------------------------------------------------------
+CTFBotEscortSquadLeader::CTFBotEscortSquadLeader( Action< CTFBot > *actionToDoAfterSquadDisbands ) // : m_path( ChasePath::LEAD_SUBJECT )
+{
+	m_actionToDoAfterSquadDisbands = actionToDoAfterSquadDisbands;
+	m_formationPath.SetGoalTolerance( 0.0f );
+}
+
+
+//---------------------------------------------------------------------------------------------
+ActionResult< CTFBot >	CTFBotEscortSquadLeader::OnStart( CTFBot *me, Action< CTFBot > *priorAction )
+{
+	m_formationForward = vec3_origin;
+
+	return Continue();
+}
+
+
+//---------------------------------------------------------------------------------------------
+ActionResult< CTFBot > CTFBotEscortSquadLeader::Update( CTFBot *me, float interval )
+{
+	if ( interval <= 0.0f )
+	{
+		return Continue();
+	}
+
+	const CKnownEntity *threat = me->GetVisionInterface()->GetPrimaryKnownThreat();
+	if ( threat && threat->IsVisibleRecently() )
+	{
+		// prepare to fight
+		me->EquipBestWeaponForThreat( threat );
+	}
+
+	CTFBotSquad *squad = me->GetSquad();
+	if ( !squad )
+	{
+		if ( m_actionToDoAfterSquadDisbands )
+		{
+			return ChangeTo( m_actionToDoAfterSquadDisbands, "Not in a Squad" );
+		}
+
+		return Done( "Not in a Squad" );
+	}
+
+	// we need to update every tick to smoothly move in formation
+	me->FlagForUpdate();
+
+	CTFBot *leader = squad->GetLeader();
+	if ( !leader || !leader->IsAlive() )
+	{
+		me->LeaveSquad();
+
+		if ( m_actionToDoAfterSquadDisbands )
+		{
+			return ChangeTo( m_actionToDoAfterSquadDisbands, "Squad leader is dead" );
+		}
+
+		return Done( "Squad leader is dead" );
+	}
+
+	if ( TFGameRules() && TFGameRules()->IsMannVsMachineMode() && leader == me )
+	{
+		const char* pszNowLeader = "I'm now the squad leader! Going for the flag!";
+		if ( me->HasAttribute( CTFBot::AGGRESSIVE ) )
+		{
+			// push for the point first, then attack
+			return ChangeTo( new CTFBotPushToCapturePoint( new CTFBotFetchFlag ), pszNowLeader );
+		}
+
+		// capture the flag
+		return ChangeTo( new CTFBotFetchFlag, pszNowLeader );
+	}
+
+	// if we're using a melee weapon, close and attack with it while staying near the leader
+	CTFWeaponBase *myWeapon = me->m_Shared.GetActiveTFWeapon();
+	if ( myWeapon && myWeapon->IsMeleeWeapon() )
+	{
+		if ( me->IsRangeLessThan( leader, tf_bot_squad_escort_range.GetFloat() ) && me->IsLineOfSightClear( leader ) )
+		{
+			ActionResult< CTFBot > result = m_meleeAttackAction.Update( me, interval );
+
+			if ( result.IsContinue() )
+			{
+				// we have a melee target, and we're still reasonably close to the flag leader
+				return Continue();
+			}
+		}
+	}
+
+	CUtlVector< CTFBot * > rawMemberVector;
+	squad->CollectMembers( &rawMemberVector );
+
+	// cull out the medics - they do their own thing
+	CUtlVector< CTFBot * > memberVector;
+	for( int m=0; m<rawMemberVector.Count(); ++m )
+	{
+		if ( !rawMemberVector[m]->IsPlayerClass( TF_CLASS_MEDIC ) )
+		{
+			memberVector.AddToTail( rawMemberVector[m] );
+		}
+	}
+
+	const PathFollower *leaderPath = leader->GetCurrentPath();
+	if ( !leaderPath || !leaderPath->GetCurrentGoal() )
+	{
+		// no path, no formation
+		me->SetSquadFormationError( 0.0f );
+		me->SetBrokenFormation( false );
+		return Continue();
+	}
+
+	const Path::Segment *leaderSegment = leaderPath->GetCurrentGoal();
+
+	Vector leaderForward = leaderSegment->pos - leader->GetAbsOrigin();
+
+	// if the leader is very close to the goal, use the next goal to ensure 
+	// the forward vector stays forward
+	const float atGoal = 25.0f;
+	if ( leaderForward.IsLengthLessThan( atGoal ) )
+	{
+		const Path::Segment *nextSegment = leaderPath->NextSegment( leaderSegment );
+		if ( nextSegment )
+		{
+			leaderForward = nextSegment->pos - leader->GetAbsOrigin();
+		}
+	}
+
+	leaderForward.NormalizeInPlace();
+
+	if ( m_formationForward.IsZero() )
+	{
+		m_formationForward = leaderForward;
+	}
+	else
+	{
+		// limit rate of change of leader forward vector to keep formation coherent
+		float maxRotation = 30.0f;	// degrees/second
+
+		float leaderForwardYaw = UTIL_VecToYaw( leaderForward );
+		float formationYaw = UTIL_VecToYaw( m_formationForward );
+
+		float angleDiff = UTIL_AngleDiff( leaderForwardYaw, formationYaw );
+
+		float deltaYaw = maxRotation * interval;
+
+		if ( angleDiff < -deltaYaw )
+		{
+			formationYaw -= deltaYaw;
+		}
+		else if ( angleDiff > deltaYaw )
+		{
+			formationYaw += deltaYaw;
+		}
+		else
+		{
+			formationYaw += angleDiff;
+		}
+
+		FastSinCos( formationYaw * M_PI / 180.0f, &m_formationForward.y, &m_formationForward.x );
+		m_formationForward.z = 0.0f;
+	}
+
+
+	const float maxSeparationAngle = 30.0f * M_PI / 180.0f;
+	
+	float formationRadius = 125.0f;
+	if ( squad->GetFormationSize() > 0.0f )
+	{
+		formationRadius = squad->GetFormationSize();
+	}
+
+	Vector myFormationSpot;
+	Vector formationForward = vec3_origin;
+	float s, c;
+
+	// where am I in the roster
+	int which;
+	for( which=0; which<memberVector.Count(); ++which )
+	{
+		if ( me->IsSelf( memberVector[which] ) )
+		{
+			break;
+		}
+	}
+
+	// subtract one since the leader is always first
+	--which;
+
+	// my formation spot is assigned via my position in the roster array
+	int slot = ( which + 1 ) /2;
+
+	float formationAngle = slot * maxSeparationAngle;
+
+	if ( which & 0x1 )
+	{
+		formationAngle = -formationAngle;
+	}
+
+	FastSinCos( formationAngle, &s, &c );
+	formationForward.x = m_formationForward.x * c - m_formationForward.y * s;
+	formationForward.y = m_formationForward.y * c + m_formationForward.x * s;
+
+	myFormationSpot = leader->GetAbsOrigin() + formationRadius * formationForward;
+
+	trace_t result;
+	CTraceFilterIgnoreTeammates filter( me, COLLISION_GROUP_NONE, me->GetTeamNumber() );
+	UTIL_TraceLine( leader->GetAbsOrigin() + Vector( 0, 0, HalfHumanHeight ), myFormationSpot + Vector( 0, 0, HalfHumanHeight ), MASK_PLAYERSOLID, &filter, &result );
+
+	if ( result.DidHitWorld() )
+	{
+		myFormationSpot = result.endpos - Vector( 0, 0, HalfHumanHeight ) + 0.6f * me->GetBodyInterface()->GetHullWidth() * result.plane.normal;
+	}
+
+
+	if ( tf_bot_formation_debug.GetBool() )
+	{
+		NDebugOverlay::Circle( myFormationSpot, 16.0f, 0, 255, 0, 255, true, 0.1f );
+
+		CFmtStr msg;
+		NDebugOverlay::Text( myFormationSpot, msg.sprintf( "%d", which ), false, 0.1f );
+	}
+
+	// match speed with leader if I'm at/near my formation position
+	Vector to = myFormationSpot - me->GetAbsOrigin();
+	float error = to.Length2D();
+	const float maxError = 100.0f;	// 50
+
+	float normalizedError = 1.0f;
+	if ( error < maxError )
+	{
+		normalizedError = error / maxError;
+	}
+
+	// this error term is used in CTFPlayer::TeamFortress_CalculateMaxSpeed() to 
+	// modulate our speed
+	// 0 = in position (no error)
+	// 1 = far out of position (max error)
+	me->SetSquadFormationError( normalizedError );
+	
+	// move to my formation spot
+	if ( error < 50.0f )
+	{
+		// if we're ahead of where we want to be, just wait
+		if ( DotProduct( to, formationForward ) > 0.0f )
+		{
+			// very close - just directly approach to avoid pathing jaggies
+			me->GetLocomotionInterface()->Approach( myFormationSpot );
+		}
+		else
+		{
+			// we're in position
+			me->SetSquadFormationError( 0.0f );
+		}
+	}
+	else
+	{
+		if ( m_pathTimer.IsElapsed() )
+		{
+			m_pathTimer.Start( RandomFloat( 0.1f, 0.2f ) );
+
+			me->SetBrokenFormation( false );
+
+			CTFBotPathCost cost( me, FASTEST_ROUTE );
+			if ( m_formationPath.Compute( me, myFormationSpot, cost ) == false )
+			{
+				// no path back to formation
+				me->SetBrokenFormation( true );
+			}
+
+			// if we have a long path to get back in formation, we've broken ranks
+			const float tooFar = 750.0f;
+			if ( m_formationPath.GetLength() > tooFar )
+			{
+				me->SetBrokenFormation( true );
+			}
+		}
+
+		m_formationPath.Update( me );
+	}
+
+	return Continue();
+}
+
+
+//---------------------------------------------------------------------------------------------
+void CTFBotEscortSquadLeader::OnEnd( CTFBot *me, Action< CTFBot > *nextAction )
+{
+}
+
+
+//---------------------------------------------------------------------------------------------
+//---------------------------------------------------------------------------------------------
+ActionResult< CTFBot > CTFBotWaitForOutOfPositionSquadMember::OnStart( CTFBot *me, Action< CTFBot > *priorAction )
+{
+	m_waitTimer.Start( 2.0f );
+
+	return Continue();
+}
+
+
+//---------------------------------------------------------------------------------------------
+ActionResult< CTFBot > CTFBotWaitForOutOfPositionSquadMember::Update( CTFBot *me, float interval )
+{
+	if ( m_waitTimer.IsElapsed() )
+	{
+		return Done( "Timeout" );
+	}
+
+	if ( !me->IsInASquad() || !me->GetSquad()->IsLeader( me ) )
+	{
+		return Done( "No squad" );
+	}
+
+	if ( me->GetSquad()->IsInFormation() )
+	{
+		// Everyone is in position
+		return Done( "Everyone is in formation. Moving on." );
+	}
+
+	return Continue();
+}

game/server/tf/bot/behavior/squad/tf_bot_escort_squad_leader.h

@@ -0,0 +1,55 @@
+//========= Copyright Valve Corporation, All rights reserved. ============//
+// tf_bot_escort_squad_leader.h
+// Escort the squad leader to their destination
+// Michael Booth, Octoboer 2011
+
+#ifndef TF_BOT_ESCORT_SQUAD_LEADER_H
+#define TF_BOT_ESCORT_SQUAD_LEADER_H
+
+
+#include "Path/NextBotPathFollow.h"
+#include "bot/behavior/tf_bot_melee_attack.h"
+
+
+//-----------------------------------------------------------------------------
+class CTFBotEscortSquadLeader : public Action< CTFBot >
+{
+public:
+	CTFBotEscortSquadLeader( Action< CTFBot > *actionToDoAfterSquadDisbands = NULL );
+	virtual ~CTFBotEscortSquadLeader() { }
+
+	virtual ActionResult< CTFBot >	OnStart( CTFBot *me, Action< CTFBot > *priorAction );
+	virtual ActionResult< CTFBot >	Update( CTFBot *me, float interval );
+	virtual void					OnEnd( CTFBot *me, Action< CTFBot > *nextAction );
+
+	virtual const char *GetName( void ) const	{ return "EscortSquadLeader"; };
+
+private:
+	Action< CTFBot > *m_actionToDoAfterSquadDisbands;
+	CTFBotMeleeAttack m_meleeAttackAction;
+
+	PathFollower m_formationPath;
+	CountdownTimer m_pathTimer;
+
+	const Vector &GetFormationForwardVector( CTFBot *me );
+	Vector m_formationForward;
+};
+
+
+//-----------------------------------------------------------------------------
+class CTFBotWaitForOutOfPositionSquadMember : public Action< CTFBot >
+{
+public:
+	virtual ~CTFBotWaitForOutOfPositionSquadMember() { }
+
+	virtual ActionResult< CTFBot >	OnStart( CTFBot *me, Action< CTFBot > *priorAction );
+	virtual ActionResult< CTFBot >	Update( CTFBot *me, float interval );
+
+	virtual const char *GetName( void ) const	{ return "WaitForOutOfPositionSquadMember"; };
+
+private:
+	CountdownTimer m_waitTimer;
+};
+
+
+#endif // TF_BOT_ESCORT_SQUAD_LEADER_H