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upload "kind" alien swarm
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nillerusr
+153
-97
@@ -1,9 +1,9 @@
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//========= Copyright Valve Corporation, All rights reserved. ============//
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//===== 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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//===========================================================================//
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#include "cbase.h"
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@@ -48,10 +48,12 @@ inline float cube( float f )
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return ( f * f * f );
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}
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CUtlFixedLinkedList<CAI_PlaneSolver::CircleObstacles_t> CAI_PlaneSolver::s_GlobalObstacles;
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//-----------------------------------------------------------------------------
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// Constructor
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//-----------------------------------------------------------------------------
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CAI_PlaneSolver::CAI_PlaneSolver( CAI_BaseNPC *pNpc )
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: m_pNpc( pNpc ),
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m_fSolvedPrev( false ),
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@@ -108,7 +110,7 @@ bool CAI_PlaneSolver::MoveLimit( Navigation_t navType, const Vector &target, boo
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bool CAI_PlaneSolver::MoveLimit( Navigation_t navType, const Vector &target, bool ignoreTransients, bool fCheckStep, AIMoveTrace_t *pMoveTrace )
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{
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return MoveLimit( navType, target, ignoreTransients, fCheckStep, MASK_NPCSOLID, pMoveTrace );
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return MoveLimit( navType, target, ignoreTransients, fCheckStep, GetNpc()->GetAITraceMask(), pMoveTrace );
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}
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//-----------------------------------------------------------------------------
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@@ -739,114 +741,168 @@ void CAI_PlaneSolver::AddObstacle( const Vector ¢er, float radius, CBaseEnti
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m_Obstacles.AddToTail( CircleObstacles_t( center, radius, pEntity, type ) );
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}
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Obstacle_t CAI_PlaneSolver::AddGlobalObstacle( const Vector ¢er, float radius, CBaseEntity *pEntity, AI_MoveSuggType_t type )
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{
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return (Obstacle_t)s_GlobalObstacles.AddToTail( CircleObstacles_t( center, radius, pEntity, type ) );
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}
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void CAI_PlaneSolver::RemoveGlobalObstacle( Obstacle_t hObstacle )
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{
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s_GlobalObstacles.Remove( (int)hObstacle );
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}
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void CAI_PlaneSolver::RemoveGlobalObstacles( void )
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{
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s_GlobalObstacles.RemoveAll();
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}
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bool CAI_PlaneSolver::IsSegmentBlockedByGlobalObstacles( const Vector &vecStart, const Vector &vecEnd )
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{
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for ( int i = s_GlobalObstacles.Head(); i != s_GlobalObstacles.InvalidIndex(); i = s_GlobalObstacles.Next( i ) )
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{
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const CircleObstacles_t& obstacle = s_GlobalObstacles[i];
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if ( obstacle.type == AIMST_MOVE )
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continue;
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const Vector &vecObstacle = obstacle.center;
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float flDistSqr = CalcDistanceSqrToLineSegment( vecObstacle, vecStart, vecEnd );
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if ( flDistSqr < obstacle.radius * obstacle.radius )
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return true;
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}
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return false;
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}
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//-----------------------------------------------------------------------------
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// Generates a single suggestion
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//-----------------------------------------------------------------------------
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bool CAI_PlaneSolver::GenerateCircleObstacleSuggestion( const CircleObstacles_t &obstacle,
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const AILocalMoveGoal_t &moveGoal, float probeDist, const Vector& npcLoc, float radiusNpc )
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{
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CBaseEntity *pObstacleEntity = NULL;
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float zDistTooFar;
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if ( obstacle.hEntity && obstacle.hEntity->CollisionProp() )
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{
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pObstacleEntity = obstacle.hEntity.Get();
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// HEY! I'm trying to avoid the very thing I'm trying to get to. This will make we wobble like a drunk as I approach. Don't do it.
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if( pObstacleEntity == moveGoal.pMoveTarget && (pObstacleEntity->IsNPC() || pObstacleEntity->IsPlayer()) )
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return false;
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Vector mins, maxs;
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pObstacleEntity->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
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zDistTooFar = ( maxs.z - mins.z ) * 0.5 + GetNpc()->GetHullHeight() * 0.5;
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}
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else
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{
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zDistTooFar = GetNpc()->GetHullHeight();
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}
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if ( fabs( obstacle.center.z - npcLoc.z ) > zDistTooFar )
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return false;
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Vector vecToNpc = npcLoc - obstacle.center;
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vecToNpc.z = 0;
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float distToObstacleSq = sq(vecToNpc.x) + sq(vecToNpc.y);
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float radius = obstacle.radius + radiusNpc;
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if ( distToObstacleSq <= 0.001 || distToObstacleSq >= sq( radius + probeDist ) )
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return false;
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Vector vecToObstacle = vecToNpc * -1;
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float distToObstacle = VectorNormalize( vecToObstacle );
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float weight;
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float arc;
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float radiusSq = sq(radius);
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float flDot = DotProduct( vecToObstacle, moveGoal.dir );
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// Don't steer around to avoid obstacles we've already passed, unless we're right up against them.
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// That is, do this computation without the probeDist added in.
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if( flDot < 0.0f && distToObstacleSq > radiusSq )
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return false;
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if ( radiusSq < distToObstacleSq )
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{
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Vector vecTangent;
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float distToTangent = FastSqrt( distToObstacleSq - radiusSq );
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float oneOverDistToObstacleSq = 1 / distToObstacleSq;
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vecTangent.x = ( -distToTangent * vecToNpc.x + radius * vecToNpc.y ) * oneOverDistToObstacleSq;
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vecTangent.y = ( -distToTangent * vecToNpc.y - radius * vecToNpc.x ) * oneOverDistToObstacleSq;
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vecTangent.z = 0;
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float cosHalfArc = vecToObstacle.Dot( vecTangent );
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arc = RAD2DEG(acosf( cosHalfArc )) * 2.0;
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weight = 1.0 - (distToObstacle - radius) / probeDist;
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if ( weight > 0.75 )
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{
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arc += (arc * 0.5) * (weight - 0.75) / 0.25;
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}
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Assert( weight >= 0.0 && weight <= 1.0 );
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#if DEBUG_OBSTACLES
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// -------------------------
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Msg( "Adding arc %f, w %f\n", arc, weight );
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Vector pointTangent = npcLoc + ( vecTangent * distToTangent );
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NDebugOverlay::Line( npcLoc - Vector( 0, 0, 64 ), npcLoc + Vector(0,0,64), 0,255,0, false, 0.1 );
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NDebugOverlay::Line( center - Vector( 0, 0, 64 ), center + Vector(0,0,64), 0,255,0, false, 0.1 );
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NDebugOverlay::Line( pointTangent - Vector( 0, 0, 64 ), pointTangent + Vector(0,0,64), 0,255,0, false, 0.1 );
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NDebugOverlay::Line( npcLoc + Vector(0,0,64), center + Vector(0,0,64), 0,0,255, false, 0.1 );
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NDebugOverlay::Line( center + Vector(0,0,64), pointTangent + Vector(0,0,64), 0,0,255, false, 0.1 );
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NDebugOverlay::Line( pointTangent + Vector(0,0,64), npcLoc + Vector(0,0,64), 0,0,255, false, 0.1 );
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#endif
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}
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else
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{
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arc = 210;
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weight = 1.0;
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}
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if ( obstacle.hEntity != NULL )
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{
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weight = AdjustRegulationWeight( obstacle.hEntity, weight );
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}
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AI_MoveSuggestion_t suggestion( obstacle.type, weight, UTIL_VecToYaw(vecToObstacle), arc );
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m_Solver.AddRegulation( suggestion );
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return true;
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}
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//-----------------------------------------------------------------------------
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bool CAI_PlaneSolver::GenerateCircleObstacleSuggestions( const AILocalMoveGoal_t &moveGoal, float probeDist )
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{
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bool result = false;
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Vector npcLoc = m_pNpc->WorldSpaceCenter();
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Vector mins, maxs;
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Vector npcLoc = m_pNpc->WorldSpaceCenter();
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m_pNpc->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
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float radiusNpc = (mins.AsVector2D() - maxs.AsVector2D()).Length() * 0.5;
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for ( int i = 0; i < m_Obstacles.Count(); i++ )
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{
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CBaseEntity *pObstacleEntity = NULL;
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float zDistTooFar;
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if ( m_Obstacles[i].hEntity && m_Obstacles[i].hEntity->CollisionProp() )
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if ( GenerateCircleObstacleSuggestion( m_Obstacles[i], moveGoal, probeDist, npcLoc, radiusNpc ) )
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{
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pObstacleEntity = m_Obstacles[i].hEntity.Get();
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if( pObstacleEntity == moveGoal.pMoveTarget && (pObstacleEntity->IsNPC() || pObstacleEntity->IsPlayer()) )
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{
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// HEY! I'm trying to avoid the very thing I'm trying to get to. This will make we wobble like a drunk as I approach. Don't do it.
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continue;
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}
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pObstacleEntity->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
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zDistTooFar = ( maxs.z - mins.z ) * 0.5 + GetNpc()->GetHullHeight() * 0.5;
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}
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else
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zDistTooFar = GetNpc()->GetHullHeight();
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if ( fabs( m_Obstacles[i].center.z - npcLoc.z ) > zDistTooFar )
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continue;
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Vector vecToNpc = npcLoc - m_Obstacles[i].center;
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vecToNpc.z = 0;
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float distToObstacleSq = sq(vecToNpc.x) + sq(vecToNpc.y);
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float radius = m_Obstacles[i].radius + radiusNpc;
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if ( distToObstacleSq > 0.001 && distToObstacleSq < sq( radius + probeDist ) )
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{
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Vector vecToObstacle = vecToNpc * -1;
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float distToObstacle = VectorNormalize( vecToObstacle );
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float weight;
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float arc;
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float radiusSq = sq(radius);
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float flDot = DotProduct( vecToObstacle, moveGoal.dir );
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// Don't steer around to avoid obstacles we've already passed, unless we're right up against them.
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// That is, do this computation without the probeDist added in.
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if( flDot < 0.0f && distToObstacleSq > radiusSq )
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{
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continue;
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}
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if ( radiusSq < distToObstacleSq )
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{
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Vector vecTangent;
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float distToTangent = FastSqrt( distToObstacleSq - radiusSq );
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float oneOverDistToObstacleSq = 1 / distToObstacleSq;
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vecTangent.x = ( -distToTangent * vecToNpc.x + radius * vecToNpc.y ) * oneOverDistToObstacleSq;
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vecTangent.y = ( -distToTangent * vecToNpc.y - radius * vecToNpc.x ) * oneOverDistToObstacleSq;
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vecTangent.z = 0;
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float cosHalfArc = vecToObstacle.Dot( vecTangent );
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arc = RAD2DEG(acosf( cosHalfArc )) * 2.0;
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weight = 1.0 - (distToObstacle - radius) / probeDist;
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if ( weight > 0.75 )
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arc += (arc * 0.5) * (weight - 0.75) / 0.25;
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Assert( weight >= 0.0 && weight <= 1.0 );
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#if DEBUG_OBSTACLES
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// -------------------------
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Msg( "Adding arc %f, w %f\n", arc, weight );
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Vector pointTangent = npcLoc + ( vecTangent * distToTangent );
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NDebugOverlay::Line( npcLoc - Vector( 0, 0, 64 ), npcLoc + Vector(0,0,64), 0,255,0, false, 0.1 );
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NDebugOverlay::Line( center - Vector( 0, 0, 64 ), center + Vector(0,0,64), 0,255,0, false, 0.1 );
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NDebugOverlay::Line( pointTangent - Vector( 0, 0, 64 ), pointTangent + Vector(0,0,64), 0,255,0, false, 0.1 );
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NDebugOverlay::Line( npcLoc + Vector(0,0,64), center + Vector(0,0,64), 0,0,255, false, 0.1 );
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NDebugOverlay::Line( center + Vector(0,0,64), pointTangent + Vector(0,0,64), 0,0,255, false, 0.1 );
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NDebugOverlay::Line( pointTangent + Vector(0,0,64), npcLoc + Vector(0,0,64), 0,0,255, false, 0.1 );
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#endif
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}
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else
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{
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arc = 210;
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weight = 1.0;
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}
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if ( m_Obstacles[i].hEntity != NULL )
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{
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weight = AdjustRegulationWeight( m_Obstacles[i].hEntity, weight );
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}
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AI_MoveSuggestion_t suggestion( m_Obstacles[i].type, weight, UTIL_VecToYaw(vecToObstacle), arc );
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m_Solver.AddRegulation( suggestion );
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result = true;
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}
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}
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m_Obstacles.RemoveAll();
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// Global obstacles
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for ( int i = s_GlobalObstacles.Head(); i != s_GlobalObstacles.InvalidIndex(); i = s_GlobalObstacles.Next( i ) )
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{
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if ( GenerateCircleObstacleSuggestion( s_GlobalObstacles[i], moveGoal, probeDist, npcLoc, radiusNpc ) )
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{
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result = true;
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}
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}
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return result;
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}
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