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336 lines
12 KiB
C++
336 lines
12 KiB
C++
// NextBotLocomotionInterface.h
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// NextBot interface for movement through the environment
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// Author: Michael Booth, April 2005
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//========= Copyright Valve Corporation, All rights reserved. ============//
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#ifndef _NEXT_BOT_LOCOMOTION_INTERFACE_H_
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#define _NEXT_BOT_LOCOMOTION_INTERFACE_H_
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#include "NextBotComponentInterface.h"
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class Path;
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class INextBot;
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class CNavLadder;
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//----------------------------------------------------------------------------------------------------------------
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/**
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* The interface encapsulating *how* a bot moves through the world (walking? flying? etc)
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*/
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class ILocomotion : public INextBotComponent
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{
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public:
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ILocomotion( INextBot *bot );
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virtual ~ILocomotion();
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virtual void Reset( void ); // (EXTEND) reset to initial state
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virtual void Update( void ); // (EXTEND) update internal state
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//
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// The primary locomotive method
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// Depending on the physics of the bot's motion, it may not actually
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// reach the given position precisely.
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// The 'weight' can be used to combine multiple Approach() calls within
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// a single frame into a single goal (ie: weighted average)
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//
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virtual void Approach( const Vector &goalPos, float goalWeight = 1.0f ); // (EXTEND) move directly towards the given position
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//
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// Move the bot to the precise given position immediately,
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// updating internal state as needed
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// Collision resolution is done to prevent interpenetration, which may prevent
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// the bot from reaching the given position. If no collisions occur, the
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// bot will be at the given position when this method returns.
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//
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virtual void DriveTo( const Vector &pos ); // (EXTEND) Move the bot to the precise given position immediately,
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//
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// Locomotion modifiers
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//
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virtual bool ClimbUpToLedge( const Vector &landingGoal, const Vector &landingForward, const CBaseEntity *obstacle ) { return true; } // initiate a jump to an adjacent high ledge, return false if climb can't start
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virtual void JumpAcrossGap( const Vector &landingGoal, const Vector &landingForward ) { } // initiate a jump across an empty volume of space to far side
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virtual void Jump( void ) { } // initiate a simple undirected jump in the air
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virtual bool IsClimbingOrJumping( void ) const; // is jumping in any form
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virtual bool IsClimbingUpToLedge( void ) const; // is climbing up to a high ledge
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virtual bool IsJumpingAcrossGap( void ) const; // is jumping across a gap to the far side
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virtual bool IsScrambling( void ) const; // is in the middle of a complex action (climbing a ladder, climbing a ledge, jumping, etc) that shouldn't be interrupted
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virtual void Run( void ) { } // set desired movement speed to running
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virtual void Walk( void ) { } // set desired movement speed to walking
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virtual void Stop( void ) { } // set desired movement speed to stopped
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virtual bool IsRunning( void ) const;
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virtual void SetDesiredSpeed( float speed ) { } // set desired speed for locomotor movement
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virtual float GetDesiredSpeed( void ) const; // returns the current desired speed
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virtual void SetSpeedLimit( float speed ) { } // set maximum speed bot can reach, regardless of desired speed
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virtual float GetSpeedLimit( void ) const { return 1000.0f; } // get maximum speed bot can reach, regardless of desired speed
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virtual bool IsOnGround( void ) const; // return true if standing on something
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virtual void OnLeaveGround( CBaseEntity *ground ) { } // invoked when bot leaves ground for any reason
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virtual void OnLandOnGround( CBaseEntity *ground ) { } // invoked when bot lands on the ground after being in the air
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virtual CBaseEntity *GetGround( void ) const; // return the current ground entity or NULL if not on the ground
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virtual const Vector &GetGroundNormal( void ) const; // surface normal of the ground we are in contact with
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virtual float GetGroundSpeed( void ) const; // return current world space speed in XY plane
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virtual const Vector &GetGroundMotionVector( void ) const; // return unit vector in XY plane describing our direction of motion - even if we are currently not moving
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virtual void ClimbLadder( const CNavLadder *ladder, const CNavArea *dismountGoal ) { } // climb the given ladder to the top and dismount
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virtual void DescendLadder( const CNavLadder *ladder, const CNavArea *dismountGoal ) { } // descend the given ladder to the bottom and dismount
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virtual bool IsUsingLadder( void ) const; // we are moving to get on, ascending/descending, and/or dismounting a ladder
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virtual bool IsAscendingOrDescendingLadder( void ) const; // we are actually on the ladder right now, either climbing up or down
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virtual bool IsAbleToAutoCenterOnLadder( void ) const { return false; }
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virtual void FaceTowards( const Vector &target ) { } // rotate body to face towards "target"
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virtual void SetDesiredLean( const QAngle &lean ) { }
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virtual const QAngle &GetDesiredLean( void ) const;
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//
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// Locomotion information
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//
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virtual bool IsAbleToJumpAcrossGaps( void ) const; // return true if this bot can jump across gaps in its path
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virtual bool IsAbleToClimb( void ) const; // return true if this bot can climb arbitrary geometry it encounters
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virtual const Vector &GetFeet( void ) const; // return position of "feet" - the driving point where the bot contacts the ground
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virtual float GetStepHeight( void ) const; // if delta Z is greater than this, we have to jump to get up
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virtual float GetMaxJumpHeight( void ) const; // return maximum height of a jump
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virtual float GetDeathDropHeight( void ) const; // distance at which we will die if we fall
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virtual float GetRunSpeed( void ) const; // get maximum running speed
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virtual float GetWalkSpeed( void ) const; // get maximum walking speed
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virtual float GetMaxAcceleration( void ) const; // return maximum acceleration of locomotor
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virtual float GetMaxDeceleration( void ) const; // return maximum deceleration of locomotor
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virtual const Vector &GetVelocity( void ) const; // return current world space velocity
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virtual float GetSpeed( void ) const; // return current world space speed (magnitude of velocity)
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virtual const Vector &GetMotionVector( void ) const; // return unit vector describing our direction of motion - even if we are currently not moving
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virtual bool IsAreaTraversable( const CNavArea *baseArea ) const; // return true if given area can be used for navigation
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virtual float GetTraversableSlopeLimit( void ) const; // return Z component of unit normal of steepest traversable slope
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// return true if the given entity can be ignored during locomotion
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enum TraverseWhenType
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{
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IMMEDIATELY, // the entity will not block our motion - we'll carry right through
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EVENTUALLY // the entity will block us until we spend effort to open/destroy it
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};
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/**
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* Return true if this locomotor could potentially move along the line given.
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* If false is returned, fraction of walkable ray is returned in 'fraction'
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*/
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virtual bool IsPotentiallyTraversable( const Vector &from, const Vector &to, TraverseWhenType when = EVENTUALLY, float *fraction = NULL ) const;
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/**
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* Return true if there is a possible "gap" that will need to be jumped over
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* If true is returned, fraction of ray before gap is returned in 'fraction'
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*/
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virtual bool HasPotentialGap( const Vector &from, const Vector &to, float *fraction = NULL ) const;
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// return true if there is a "gap" here when moving in the given direction
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virtual bool IsGap( const Vector &pos, const Vector &forward ) const;
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virtual bool IsEntityTraversable( CBaseEntity *obstacle, TraverseWhenType when = EVENTUALLY ) const;
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//
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// Stuck state. If the locomotor cannot make progress, it becomes "stuck" and can only leave
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// this stuck state by successfully moving and becoming un-stuck.
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//
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virtual bool IsStuck( void ) const; // return true if bot is stuck
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virtual float GetStuckDuration( void ) const; // return how long we've been stuck
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virtual void ClearStuckStatus( const char *reason = "" ); // reset stuck status to un-stuck
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virtual bool IsAttemptingToMove( void ) const; // return true if we have tried to Approach() or DriveTo() very recently
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void TraceHull( const Vector& start, const Vector& end, const Vector &mins, const Vector &maxs, unsigned int fMask, ITraceFilter *pFilter, trace_t *pTrace ) const;
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/**
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* Should we collide with this entity?
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*/
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virtual bool ShouldCollideWith( const CBaseEntity *object ) const { return true; }
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protected:
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virtual void AdjustPosture( const Vector &moveGoal );
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virtual void StuckMonitor( void );
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private:
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Vector m_motionVector;
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Vector m_groundMotionVector;
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float m_speed;
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float m_groundSpeed;
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// stuck monitoring
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bool m_isStuck; // if true, we are stuck
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IntervalTimer m_stuckTimer; // how long we've been stuck
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CountdownTimer m_stillStuckTimer; // for resending stuck events
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Vector m_stuckPos; // where we got stuck
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IntervalTimer m_moveRequestTimer;
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};
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inline bool ILocomotion::IsAbleToJumpAcrossGaps( void ) const
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{
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return true;
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}
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inline bool ILocomotion::IsAbleToClimb( void ) const
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{
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return true;
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}
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inline bool ILocomotion::IsAttemptingToMove( void ) const
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{
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return m_moveRequestTimer.HasStarted() && m_moveRequestTimer.GetElapsedTime() < 0.25f;
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}
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inline bool ILocomotion::IsScrambling( void ) const
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{
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return !IsOnGround() || IsClimbingOrJumping() || IsAscendingOrDescendingLadder();
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}
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inline bool ILocomotion::IsClimbingOrJumping( void ) const
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{
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return false;
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}
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inline bool ILocomotion::IsClimbingUpToLedge( void ) const
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{
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return false;
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}
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inline bool ILocomotion::IsJumpingAcrossGap( void ) const
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{
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return false;
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}
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inline bool ILocomotion::IsRunning( void ) const
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{
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return false;
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}
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inline float ILocomotion::GetDesiredSpeed( void ) const
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{
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return 0.0f;
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}
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inline bool ILocomotion::IsOnGround( void ) const
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{
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return false;
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}
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inline CBaseEntity *ILocomotion::GetGround( void ) const
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{
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return NULL;
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}
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inline const Vector &ILocomotion::GetGroundNormal( void ) const
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{
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return vec3_origin;
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}
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inline float ILocomotion::GetGroundSpeed( void ) const
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{
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return m_groundSpeed;
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}
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inline const Vector & ILocomotion::GetGroundMotionVector( void ) const
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{
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return m_groundMotionVector;
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}
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inline bool ILocomotion::IsUsingLadder( void ) const
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{
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return false;
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}
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inline bool ILocomotion::IsAscendingOrDescendingLadder( void ) const
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{
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return false;
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}
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inline const QAngle &ILocomotion::GetDesiredLean( void ) const
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{
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return vec3_angle;
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}
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inline float ILocomotion::GetStepHeight( void ) const
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{
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return 0.0f;
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}
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inline float ILocomotion::GetMaxJumpHeight( void ) const
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{
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return 0.0f;
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}
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inline float ILocomotion::GetDeathDropHeight( void ) const
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{
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return 0.0f;
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}
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inline float ILocomotion::GetRunSpeed( void ) const
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{
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return 0.0f;
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}
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inline float ILocomotion::GetWalkSpeed( void ) const
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{
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return 0.0f;
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}
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inline float ILocomotion::GetMaxAcceleration( void ) const
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{
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return 0.0f;
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}
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inline float ILocomotion::GetMaxDeceleration( void ) const
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{
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return 0.0f;
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}
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inline const Vector &ILocomotion::GetVelocity( void ) const
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{
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return vec3_origin;
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}
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inline float ILocomotion::GetSpeed( void ) const
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{
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return m_speed;
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}
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inline const Vector & ILocomotion::GetMotionVector( void ) const
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{
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return m_motionVector;
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}
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inline float ILocomotion::GetTraversableSlopeLimit( void ) const
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{
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return 0.6;
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}
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inline bool ILocomotion::IsStuck( void ) const
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{
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return m_isStuck;
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}
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inline float ILocomotion::GetStuckDuration( void ) const
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{
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return ( IsStuck() ) ? m_stuckTimer.GetElapsedTime() : 0.0f;
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}
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inline void ILocomotion::TraceHull( const Vector& start, const Vector& end, const Vector &mins, const Vector &maxs, unsigned int fMask, ITraceFilter *pFilter, trace_t *pTrace ) const
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{
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// VPROF_BUDGET( "ILocomotion::TraceHull", "TraceHull" );
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Ray_t ray;
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ray.Init( start, end, mins, maxs );
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enginetrace->TraceRay( ray, fMask, pFilter, pTrace );
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}
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#endif // _NEXT_BOT_LOCOMOTION_INTERFACE_H_
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