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source-engine/game/server/nav_mesh.h
nillerusr edc8d6c584 add source-sdk-2013
2022-03-01 23:00:42 +03:00

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//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//
//=============================================================================//
// nav_mesh.h
// The Navigation Mesh interface
// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
//
// Author: Michael S. Booth (mike@turtlerockstudios.com), 2003
//
// NOTE: The Navigation code uses Doxygen-style comments. If you run Doxygen over this code, it will
// auto-generate documentation. Visit www.doxygen.org to download the system for free.
//
#ifndef _NAV_MESH_H_
#define _NAV_MESH_H_
#include "utlbuffer.h"
#include "filesystem.h"
#include "GameEventListener.h"
#include "nav.h"
#include "nav_area.h"
#include "nav_colors.h"
class CNavArea;
class CBaseEntity;
class CBreakable;
extern ConVar nav_edit;
extern ConVar nav_quicksave;
extern ConVar nav_show_approach_points;
extern ConVar nav_show_danger;
//--------------------------------------------------------------------------------------------------------
class NavAreaCollector
{
bool m_checkForDuplicates;
public:
NavAreaCollector( bool checkForDuplicates = false )
{
m_checkForDuplicates = checkForDuplicates;
}
bool operator() ( CNavArea *area )
{
if ( m_checkForDuplicates && m_area.HasElement( area ) )
return true;
m_area.AddToTail( area );
return true;
}
CUtlVector< CNavArea * > m_area;
};
//--------------------------------------------------------------------------------------------------------
class EditDestroyNotification
{
CNavArea *m_deadArea;
public:
EditDestroyNotification( CNavArea *deadArea )
{
m_deadArea = deadArea;
}
bool operator()( CBaseCombatCharacter *actor )
{
actor->OnNavAreaRemoved( m_deadArea );
return true;
}
};
//--------------------------------------------------------------------------------------------------------
class NavAttributeClearer
{
public:
NavAttributeClearer( NavAttributeType attribute )
{
m_attribute = attribute;
}
bool operator() ( CNavArea *area )
{
area->SetAttributes( area->GetAttributes() & (~m_attribute) );
return true;
}
NavAttributeType m_attribute;
};
//--------------------------------------------------------------------------------------------------------
class NavAttributeSetter
{
public:
NavAttributeSetter( NavAttributeType attribute )
{
m_attribute = attribute;
}
bool operator() ( CNavArea *area )
{
area->SetAttributes( area->GetAttributes() | m_attribute );
return true;
}
NavAttributeType m_attribute;
};
//--------------------------------------------------------------------------------------------------------
class NavAttributeToggler
{
public:
NavAttributeToggler( NavAttributeType attribute )
{
m_attribute = attribute;
}
bool operator() ( CNavArea *area );
NavAttributeType m_attribute;
};
//--------------------------------------------------------------------------------------------------------
struct NavAttributeLookup
{
const char *name;
NavAttributeType attribute;
};
extern NavAttributeLookup TheNavAttributeTable[];
//--------------------------------------------------------------------------------------------------------
class SelectOverlappingAreas
{
public:
bool operator()( CNavArea *area );
};
//--------------------------------------------------------------------------------------------------------
abstract_class INavAvoidanceObstacle
{
public:
virtual bool IsPotentiallyAbleToObstructNavAreas( void ) const = 0; // could we at some future time obstruct nav?
virtual float GetNavObstructionHeight( void ) const = 0; // height at which to obstruct nav areas
virtual bool CanObstructNavAreas( void ) const = 0; // can we obstruct nav right this instant?
virtual CBaseEntity *GetObstructingEntity( void ) = 0;
virtual void OnNavMeshLoaded( void ) = 0;
};
//--------------------------------------------------------------------------------------------------------
enum GetNavAreaFlags_t
{
GETNAVAREA_CHECK_LOS = 0x1,
GETNAVAREA_ALLOW_BLOCKED_AREAS = 0x2,
GETNAVAREA_CHECK_GROUND = 0x4,
};
//--------------------------------------------------------------------------------------------------------
// for nav mesh visibilty computation
struct NavVisPair_t
{
void SetPair( CNavArea *pArea1, CNavArea *pArea2 )
{
int iArea1 = (int)( pArea1 > pArea2 );
int iArea2 = ( iArea1 + 1 ) % 2;
pAreas[iArea1] = pArea1;
pAreas[iArea2] = pArea2;
}
CNavArea *pAreas[2];
};
// for nav mesh visibilty computation
class CVisPairHashFuncs
{
public:
CVisPairHashFuncs( int ) {}
bool operator()( const NavVisPair_t &lhs, const NavVisPair_t &rhs ) const
{
return ( lhs.pAreas[0] == rhs.pAreas[0] && lhs.pAreas[1] == rhs.pAreas[1] );
}
unsigned int operator()( const NavVisPair_t &item ) const
{
COMPILE_TIME_ASSERT( sizeof(CNavArea *) == 4 );
int key[2] = { (int)item.pAreas[0] + item.pAreas[1]->GetID(), (int)item.pAreas[1] + item.pAreas[0]->GetID() };
return Hash8( key );
}
};
//--------------------------------------------------------------------------------------------------------------
//
// The 'place directory' is used to save and load places from
// nav files in a size-efficient manner that also allows for the
// order of the place ID's to change without invalidating the
// nav files.
//
// The place directory is stored in the nav file as a list of
// place name strings. Each nav area then contains an index
// into that directory, or zero if no place has been assigned to
// that area.
//
class PlaceDirectory
{
public:
typedef unsigned short IndexType; // Loaded/Saved as UnsignedShort. Change this and you'll have to version.
PlaceDirectory( void );
void Reset( void );
bool IsKnown( Place place ) const; /// return true if this place is already in the directory
IndexType GetIndex( Place place ) const; /// return the directory index corresponding to this Place (0 = no entry)
void AddPlace( Place place ); /// add the place to the directory if not already known
Place IndexToPlace( IndexType entry ) const; /// given an index, return the Place
void Save( CUtlBuffer &fileBuffer ); /// store the directory
void Load( CUtlBuffer &fileBuffer, int version ); /// load the directory
const CUtlVector< Place > *GetPlaces( void ) const
{
return &m_directory;
}
bool HasUnnamedPlaces( void ) const
{
return m_hasUnnamedAreas;
}
private:
CUtlVector< Place > m_directory;
bool m_hasUnnamedAreas;
};
extern PlaceDirectory placeDirectory;
//--------------------------------------------------------------------------------------------------------
/**
* The CNavMesh is the global interface to the Navigation Mesh.
* @todo Make this an abstract base class interface, and derive mod-specific implementations.
*/
class CNavMesh : public CGameEventListener
{
public:
CNavMesh( void );
virtual ~CNavMesh();
virtual void PreLoadAreas( int nAreas ) {}
virtual CNavArea *CreateArea( void ) const; // CNavArea factory
virtual void DestroyArea( CNavArea * ) const;
virtual HidingSpot *CreateHidingSpot( void ) const; // Hiding Spot factory
virtual void Reset( void ); // destroy Navigation Mesh data and revert to initial state
virtual void Update( void ); // invoked on each game frame
virtual void FireGameEvent( IGameEvent *event ); // incoming event processing
virtual NavErrorType Load( void ); // load navigation data from a file
virtual NavErrorType PostLoad( unsigned int version ); // (EXTEND) invoked after all areas have been loaded - for pointer binding, etc
bool IsLoaded( void ) const { return m_isLoaded; } // return true if a Navigation Mesh has been loaded
bool IsAnalyzed( void ) const { return m_isAnalyzed; } // return true if a Navigation Mesh has been analyzed
/**
* Return true if nav mesh can be trusted for all climbing/jumping decisions because game environment is fairly simple.
* Authoritative meshes mean path followers can skip CPU intensive realtime scanning of unpredictable geometry.
*/
virtual bool IsAuthoritative( void ) const { return false; }
const CUtlVector< Place > *GetPlacesFromNavFile( bool *hasUnnamedPlaces ); // Reads the used place names from the nav file (can be used to selectively precache before the nav is loaded)
virtual bool Save( void ) const; // store Navigation Mesh to a file
bool IsOutOfDate( void ) const { return m_isOutOfDate; } // return true if the Navigation Mesh is older than the current map version
virtual unsigned int GetSubVersionNumber( void ) const; // returns sub-version number of data format used by derived classes
virtual void SaveCustomData( CUtlBuffer &fileBuffer ) const { } // store custom mesh data for derived classes
virtual void LoadCustomData( CUtlBuffer &fileBuffer, unsigned int subVersion ) { } // load custom mesh data for derived classes
virtual void SaveCustomDataPreArea( CUtlBuffer &fileBuffer ) const { } // store custom mesh data for derived classes that needs to be loaded before areas are read in
virtual void LoadCustomDataPreArea( CUtlBuffer &fileBuffer, unsigned int subVersion ) { } // load custom mesh data for derived classes that needs to be loaded before areas are read in
// events
virtual void OnServerActivate( void ); // (EXTEND) invoked when server loads a new map
virtual void OnRoundRestart( void ); // invoked when a game round restarts
virtual void OnRoundRestartPreEntity( void ); // invoked when a game round restarts, but before entities are deleted and recreated
virtual void OnBreakableCreated( CBaseEntity *breakable ) { } // invoked when a breakable is created
virtual void OnBreakableBroken( CBaseEntity *broken ) { } // invoked when a breakable is broken
virtual void OnAreaBlocked( CNavArea *area ); // invoked when the area becomes blocked
virtual void OnAreaUnblocked( CNavArea *area ); // invoked when the area becomes un-blocked
virtual void OnAvoidanceObstacleEnteredArea( CNavArea *area ); // invoked when the area becomes obstructed
virtual void OnAvoidanceObstacleLeftArea( CNavArea *area ); // invoked when the area becomes un-obstructed
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 OnNodeAdded( CNavNode *node ) {};
// Obstructions
void RegisterAvoidanceObstacle( INavAvoidanceObstacle *obstruction );
void UnregisterAvoidanceObstacle( INavAvoidanceObstacle *obstruction );
const CUtlVector< INavAvoidanceObstacle * > &GetObstructions( void ) const { return m_avoidanceObstacles; }
unsigned int GetNavAreaCount( void ) const { return m_areaCount; } // return total number of nav areas
// See GetNavAreaFlags_t for flags
CNavArea *GetNavArea( const Vector &pos, float beneathLimt = 120.0f ) const; // given a position, return the nav area that IsOverlapping and is *immediately* beneath it
CNavArea *GetNavArea( CBaseEntity *pEntity, int nGetNavAreaFlags, float flBeneathLimit = 120.0f ) const;
CNavArea *GetNavAreaByID( unsigned int id ) const;
CNavArea *GetNearestNavArea( const Vector &pos, bool anyZ = false, float maxDist = 10000.0f, bool checkLOS = false, bool checkGround = true, int team = TEAM_ANY ) const;
CNavArea *GetNearestNavArea( CBaseEntity *pEntity, int nGetNavAreaFlags = GETNAVAREA_CHECK_GROUND, float maxDist = 10000.0f ) const;
Place GetPlace( const Vector &pos ) const; // return Place at given coordinate
const char *PlaceToName( Place place ) const; // given a place, return its name
Place NameToPlace( const char *name ) const; // given a place name, return a place ID or zero if no place is defined
Place PartialNameToPlace( const char *name ) const; // given the first part of a place name, return a place ID or zero if no place is defined, or the partial match is ambiguous
void PrintAllPlaces( void ) const; // output a list of names to the console
int PlaceNameAutocomplete( char const *partial, char commands[ COMMAND_COMPLETION_MAXITEMS ][ COMMAND_COMPLETION_ITEM_LENGTH ] ); // Given a partial place name, fill in possible place names for ConCommand autocomplete
bool GetGroundHeight( const Vector &pos, float *height, Vector *normal = NULL ) const; // get the Z coordinate of the topmost ground level below the given point
bool GetSimpleGroundHeight( const Vector &pos, float *height, Vector *normal = NULL ) const;// get the Z coordinate of the ground level directly below the given point
/// increase "danger" weights in the given nav area and nearby ones
void IncreaseDangerNearby( int teamID, float amount, CNavArea *area, const Vector &pos, float maxRadius, float dangerLimit = -1.0f );
void DrawDanger( void ) const; // draw the current danger levels
void DrawPlayerCounts( void ) const; // draw the current player counts for each area
void DrawFuncNavAvoid( void ) const; // draw bot avoidance areas from func_nav_avoid entities
void DrawFuncNavPrefer( void ) const; // draw bot preference areas from func_nav_prefer entities
#ifdef NEXT_BOT
void DrawFuncNavPrerequisite( void ) const; // draw bot prerequisite areas from func_nav_prerequisite entities
#endif
//-------------------------------------------------------------------------------------
// Auto-generation
//
#define INCREMENTAL_GENERATION true
void BeginGeneration( bool incremental = false ); // initiate the generation process
void BeginAnalysis( bool quitWhenFinished = false ); // re-analyze an existing Mesh. Determine Hiding Spots, Encounter Spots, etc.
bool IsGenerating( void ) const { return m_generationMode != GENERATE_NONE; } // return true while a Navigation Mesh is being generated
const char *GetPlayerSpawnName( void ) const; // return name of player spawn entity
void SetPlayerSpawnName( const char *name ); // define the name of player spawn entities
void AddWalkableSeed( const Vector &pos, const Vector &normal ); // add given walkable position to list of seed positions for map sampling
virtual void AddWalkableSeeds( void ); // adds walkable positions for any/all positions a mod specifies
void ClearWalkableSeeds( void ) { m_walkableSeeds.RemoveAll(); } // erase all walkable seed positions
void MarkStairAreas( void );
virtual unsigned int GetGenerationTraceMask( void ) const; // return the mask used by traces when generating the mesh
//-------------------------------------------------------------------------------------
// Edit mode
//
unsigned int GetNavPlace( void ) const { return m_navPlace; }
void SetNavPlace( unsigned int place ) { m_navPlace = place; }
// Edit callbacks from ConCommands
void CommandNavDelete( void ); // delete current area
void CommandNavDeleteMarked( void ); // delete current marked area
virtual void CommandNavFloodSelect( const CCommand &args ); // select current area and all connected areas, recursively
void CommandNavToggleSelectedSet( void ); // toggles all areas into/out of the selected set
void CommandNavStoreSelectedSet( void ); // stores the current selected set for later
void CommandNavRecallSelectedSet( void ); // restores an older selected set
void CommandNavAddToSelectedSet( void ); // add current area to selected set
void CommandNavAddToSelectedSetByID( const CCommand &args ); // add specified area id to selected set
void CommandNavRemoveFromSelectedSet( void ); // remove current area from selected set
void CommandNavToggleInSelectedSet( void ); // add/remove current area from selected set
void CommandNavClearSelectedSet( void ); // clear the selected set to empty
void CommandNavBeginSelecting( void ); // start continuously selecting areas into the selected set
void CommandNavEndSelecting( void ); // stop continuously selecting areas into the selected set
void CommandNavBeginDragSelecting( void ); // start dragging a selection area
void CommandNavEndDragSelecting( void ); // stop dragging a selection area
void CommandNavBeginDragDeselecting( void ); // start dragging a deselection area
void CommandNavEndDragDeselecting( void ); // stop dragging a deselection area
void CommandNavRaiseDragVolumeMax( void ); // raise the top of the drag volume
void CommandNavLowerDragVolumeMax( void ); // lower the top of the drag volume
void CommandNavRaiseDragVolumeMin( void ); // raise the bottom of the drag volume
void CommandNavLowerDragVolumeMin( void ); // lower the bottom of the drag volume
void CommandNavToggleSelecting( bool playSound = true ); // start/stop continuously selecting areas into the selected set
void CommandNavBeginDeselecting( void ); // start continuously de-selecting areas from the selected set
void CommandNavEndDeselecting( void ); // stop continuously de-selecting areas from the selected set
void CommandNavToggleDeselecting( bool playSound = true ); // start/stop continuously de-selecting areas from the selected set
void CommandNavSelectInvalidAreas( void ); // adds invalid areas to the selected set
void CommandNavSelectBlockedAreas( void ); // adds blocked areas to the selected set
void CommandNavSelectObstructedAreas( void ); // adds obstructed areas to the selected set
void CommandNavSelectDamagingAreas( void ); // adds damaging areas to the selected set
void CommandNavSelectHalfSpace( const CCommand &args ); // selects all areas that intersect the half-space
void CommandNavSelectStairs( void ); // adds stairs areas to the selected set
void CommandNavSelectOrphans( void ); // adds areas not connected to mesh to the selected set
void CommandNavSplit( void ); // split current area
void CommandNavMerge( void ); // merge adjacent areas
void CommandNavMark( const CCommand &args ); // mark an area for further operations
void CommandNavUnmark( void ); // removes the mark
void CommandNavBeginArea( void ); // begin creating a new nav area
void CommandNavEndArea( void ); // end creation of the new nav area
void CommandNavBeginShiftXY( void ); // begin shifting selected set in the XY plane
void CommandNavEndShiftXY( void ); // end shifting selected set in the XY plane
void CommandNavConnect( void ); // connect marked area to selected area
void CommandNavDisconnect( void ); // disconnect marked area from selected area
void CommandNavDisconnectOutgoingOneWays( void ); // disconnect all outgoing one-way connects from each area in the selected set
void CommandNavSplice( void ); // create new area in between marked and selected areas
void CommandNavCrouch( void ); // toggle crouch attribute on current area
void CommandNavTogglePlaceMode( void ); // switch between normal and place editing
void CommandNavSetPlaceMode( void ); // switch between normal and place editing
void CommandNavPlaceFloodFill( void ); // floodfill areas out from current area
void CommandNavPlaceSet( void ); // sets the Place for the selected set
void CommandNavPlacePick( void ); // "pick up" the place at the current area
void CommandNavTogglePlacePainting( void ); // switch between "painting" places onto areas
void CommandNavMarkUnnamed( void ); // mark an unnamed area for further operations
void CommandNavCornerSelect( void ); // select a corner on the current area
void CommandNavCornerRaise( const CCommand &args ); // raise a corner on the current area
void CommandNavCornerLower( const CCommand &args ); // lower a corner on the current area
void CommandNavCornerPlaceOnGround( const CCommand &args ); // position a corner on the current area at ground height
void CommandNavWarpToMark( void ); // warp a spectating local player to the selected mark
void CommandNavLadderFlip( void ); // Flips the direction a ladder faces
void CommandNavToggleAttribute( NavAttributeType attribute ); // toggle an attribute on current area
void CommandNavMakeSniperSpots( void ); // cuts up the marked area into individual areas suitable for sniper spots
void CommandNavBuildLadder( void ); // builds a nav ladder on the climbable surface under the cursor
void CommandNavRemoveJumpAreas( void ); // removes jump areas, replacing them with connections
void CommandNavSubdivide( const CCommand &args ); // subdivide each nav area in X and Y to create 4 new areas - limit min size
void CommandNavSaveSelected( const CCommand &args ); // Save selected set to disk
void CommandNavMergeMesh( const CCommand &args ); // Merge a saved selected set into the current mesh
void CommandNavMarkWalkable( void );
void AddToDragSelectionSet( CNavArea *pArea );
void RemoveFromDragSelectionSet( CNavArea *pArea );
void ClearDragSelectionSet( void );
CNavArea *GetMarkedArea( void ) const; // return area marked by user in edit mode
CNavLadder *GetMarkedLadder( void ) const { return m_markedLadder; } // return ladder marked by user in edit mode
CNavArea *GetSelectedArea( void ) const { return m_selectedArea; } // return area user is pointing at in edit mode
CNavLadder *GetSelectedLadder( void ) const { return m_selectedLadder; } // return ladder user is pointing at in edit mode
void SetMarkedLadder( CNavLadder *ladder ); // mark ladder for further edit operations
void SetMarkedArea( CNavArea *area ); // mark area for further edit operations
bool IsContinuouslySelecting( void ) const
{
return m_isContinuouslySelecting;
}
bool IsContinuouslyDeselecting( void ) const
{
return m_isContinuouslyDeselecting;
}
void CreateLadder( const Vector &mins, const Vector &maxs, float maxHeightAboveTopArea );
void CreateLadder( const Vector &top, const Vector &bottom, float width, const Vector2D &ladderDir, float maxHeightAboveTopArea );
float SnapToGrid( float x, bool forceGrid = false ) const; // snap given coordinate to generation grid boundary
Vector SnapToGrid( const Vector& in, bool snapX = true, bool snapY = true, bool forceGrid = false ) const; // snap given vector's X & Y coordinates to generation grid boundary
const Vector &GetEditCursorPosition( void ) const { return m_editCursorPos; } // return position of edit cursor
void StripNavigationAreas( void );
const char *GetFilename( void ) const; // return the filename for this map's "nav" file
/// @todo Remove old select code and make all commands use this selected set
void AddToSelectedSet( CNavArea *area ); // add area to the currently selected set
void RemoveFromSelectedSet( CNavArea *area ); // remove area from the currently selected set
void ClearSelectedSet( void ); // clear the currently selected set to empty
bool IsSelectedSetEmpty( void ) const; // return true if the selected set is empty
bool IsInSelectedSet( const CNavArea *area ) const; // return true if the given area is in the selected set
int GetSelecteSetSize( void ) const;
const NavAreaVector &GetSelectedSet( void ) const; // return the selected set
/**
* Apply the functor to all navigation areas in the Selected Set,
* or the current selected area.
* If functor returns false, stop processing and return false.
*/
template < typename Functor >
bool ForAllSelectedAreas( Functor &func )
{
if (IsSelectedSetEmpty())
{
CNavArea *area = GetSelectedArea();
if (area)
{
if (func( area ) == false)
return false;
}
}
else
{
FOR_EACH_VEC( m_selectedSet, it )
{
CNavArea *area = m_selectedSet[ it ];
if (func( area ) == false)
return false;
}
}
return true;
}
//-------------------------------------------------------------------------------------
/**
* Apply the functor to all navigation areas.
* If functor returns false, stop processing and return false.
*/
template < typename Functor >
bool ForAllAreas( Functor &func )
{
FOR_EACH_VEC( TheNavAreas, it )
{
CNavArea *area = TheNavAreas[ it ];
if (func( area ) == false)
return false;
}
return true;
}
// const version of the above
template < typename Functor >
bool ForAllAreas( Functor &func ) const
{
FOR_EACH_VEC( TheNavAreas, it )
{
const CNavArea *area = TheNavAreas[ it ];
if (func( area ) == false)
return false;
}
return true;
}
//-------------------------------------------------------------------------------------
/**
* Apply the functor to all navigation areas that overlap the given extent.
* If functor returns false, stop processing and return false.
*/
template < typename Functor >
bool ForAllAreasOverlappingExtent( Functor &func, const Extent &extent )
{
if ( !m_grid.Count() )
{
#if _DEBUG
Warning("Query before nav mesh is loaded! %d\n", TheNavAreas.Count() );
#endif
return true;
}
static unsigned int searchMarker = RandomInt(0, 1024*1024 );
if ( ++searchMarker == 0 )
{
++searchMarker;
}
Extent areaExtent;
// get list in cell that contains position
int startX = WorldToGridX( extent.lo.x );
int endX = WorldToGridX( extent.hi.x );
int startY = WorldToGridY( extent.lo.y );
int endY = WorldToGridY( extent.hi.y );
for( int x = startX; x <= endX; ++x )
{
for( int y = startY; y <= endY; ++y )
{
int iGrid = x + y*m_gridSizeX;
if ( iGrid >= m_grid.Count() )
{
ExecuteNTimes( 10, Warning( "** Walked off of the CNavMesh::m_grid in ForAllAreasOverlappingExtent()\n" ) );
return true;
}
NavAreaVector *areaVector = &m_grid[ iGrid ];
// find closest area in this cell
FOR_EACH_VEC( (*areaVector), it )
{
CNavArea *area = (*areaVector)[ it ];
// skip if we've already visited this area
if ( area->m_nearNavSearchMarker == searchMarker )
continue;
// mark as visited
area->m_nearNavSearchMarker = searchMarker;
area->GetExtent( &areaExtent );
if ( extent.IsOverlapping( areaExtent ) )
{
if ( func( area ) == false )
return false;
}
}
}
}
return true;
}
//-------------------------------------------------------------------------------------
/**
* Populate the given vector with all navigation areas that overlap the given extent.
*/
template< typename NavAreaType >
void CollectAreasOverlappingExtent( const Extent &extent, CUtlVector< NavAreaType * > *outVector )
{
if ( !m_grid.Count() )
{
return;
}
static unsigned int searchMarker = RandomInt( 0, 1024*1024 );
if ( ++searchMarker == 0 )
{
++searchMarker;
}
Extent areaExtent;
// get list in cell that contains position
int startX = WorldToGridX( extent.lo.x );
int endX = WorldToGridX( extent.hi.x );
int startY = WorldToGridY( extent.lo.y );
int endY = WorldToGridY( extent.hi.y );
for( int x = startX; x <= endX; ++x )
{
for( int y = startY; y <= endY; ++y )
{
int iGrid = x + y*m_gridSizeX;
if ( iGrid >= m_grid.Count() )
{
ExecuteNTimes( 10, Warning( "** Walked off of the CNavMesh::m_grid in CollectAreasOverlappingExtent()\n" ) );
return;
}
NavAreaVector *areaVector = &m_grid[ iGrid ];
// find closest area in this cell
for( int v=0; v<areaVector->Count(); ++v )
{
CNavArea *area = areaVector->Element( v );
// skip if we've already visited this area
if ( area->m_nearNavSearchMarker == searchMarker )
continue;
// mark as visited
area->m_nearNavSearchMarker = searchMarker;
area->GetExtent( &areaExtent );
if ( extent.IsOverlapping( areaExtent ) )
{
outVector->AddToTail( (NavAreaType *)area );
}
}
}
}
}
template < typename Functor >
bool ForAllAreasInRadius( Functor &func, const Vector &pos, float radius )
{
// use a unique marker for this method, so it can be used within a SearchSurroundingArea() call
static unsigned int searchMarker = RandomInt(0, 1024*1024 );
++searchMarker;
if ( searchMarker == 0 )
{
++searchMarker;
}
// get list in cell that contains position
int originX = WorldToGridX( pos.x );
int originY = WorldToGridY( pos.y );
int shiftLimit = ceil( radius / m_gridCellSize );
float radiusSq = radius * radius;
if ( radius == 0.0f )
{
shiftLimit = MAX( m_gridSizeX, m_gridSizeY ); // range 0 means all areas
}
for( int x = originX - shiftLimit; x <= originX + shiftLimit; ++x )
{
if ( x < 0 || x >= m_gridSizeX )
continue;
for( int y = originY - shiftLimit; y <= originY + shiftLimit; ++y )
{
if ( y < 0 || y >= m_gridSizeY )
continue;
NavAreaVector *areaVector = &m_grid[ x + y*m_gridSizeX ];
// find closest area in this cell
FOR_EACH_VEC( (*areaVector), it )
{
CNavArea *area = (*areaVector)[ it ];
// skip if we've already visited this area
if ( area->m_nearNavSearchMarker == searchMarker )
continue;
// mark as visited
area->m_nearNavSearchMarker = searchMarker;
float distSq = ( area->GetCenter() - pos ).LengthSqr();
if ( ( distSq <= radiusSq ) || ( radiusSq == 0 ) )
{
if ( func( area ) == false )
return false;
}
}
}
}
return true;
}
//---------------------------------------------------------------------------------------------------------------
/*
* Step through nav mesh along line between startArea and endArea.
* Return true if enumeration reached endArea, false if doesn't reach it (no mesh between, bad connection, etc)
*/
template < typename Functor >
bool ForAllAreasAlongLine( Functor &func, CNavArea *startArea, CNavArea *endArea )
{
if ( !startArea || !endArea )
return false;
if ( startArea == endArea )
{
func( startArea );
return true;
}
Vector start = startArea->GetCenter();
Vector end = endArea->GetCenter();
Vector to = end - start;
float range = to.NormalizeInPlace();
const float epsilon = 0.00001f;
if ( range < epsilon )
{
func( startArea );
return true;
}
if ( abs( to.x ) < epsilon )
{
NavDirType dir = ( to.y < 0.0f ) ? NORTH : SOUTH;
CNavArea *area = startArea;
while( area )
{
func( area );
if ( area == endArea )
return true;
const NavConnectVector *adjVector = area->GetAdjacentAreas( dir );
area = NULL;
for( int i=0; i<adjVector->Count(); ++i )
{
CNavArea *adjArea = adjVector->Element(i).area;
const Vector &adjOrigin = adjArea->GetCorner( NORTH_WEST );
if ( adjOrigin.x <= start.x && adjOrigin.x + adjArea->GetSizeX() >= start.x )
{
area = adjArea;
break;
}
}
}
return false;
}
else if ( abs( to.y ) < epsilon )
{
NavDirType dir = ( to.x < 0.0f ) ? WEST : EAST;
CNavArea *area = startArea;
while( area )
{
func( area );
if ( area == endArea )
return true;
const NavConnectVector *adjVector = area->GetAdjacentAreas( dir );
area = NULL;
for( int i=0; i<adjVector->Count(); ++i )
{
CNavArea *adjArea = adjVector->Element(i).area;
const Vector &adjOrigin = adjArea->GetCorner( NORTH_WEST );
if ( adjOrigin.y <= start.y && adjOrigin.y + adjArea->GetSizeY() >= start.y )
{
area = adjArea;
break;
}
}
}
return false;
}
CNavArea *area = startArea;
while( area )
{
func( area );
if ( area == endArea )
return true;
const Vector &origin = area->GetCorner( NORTH_WEST );
float xMin = origin.x;
float xMax = xMin + area->GetSizeX();
float yMin = origin.y;
float yMax = yMin + area->GetSizeY();
// clip ray to area
Vector exit;
NavDirType edge = NUM_DIRECTIONS;
if ( to.x < 0.0f )
{
// find Y at west edge intersection
float t = ( xMin - start.x ) / ( end.x - start.x );
if ( t > 0.0f && t < 1.0f )
{
float y = start.y + t * ( end.y - start.y );
if ( y >= yMin && y <= yMax )
{
// intersects this edge
exit.x = xMin;
exit.y = y;
edge = WEST;
}
}
}
else
{
// find Y at east edge intersection
float t = ( xMax - start.x ) / ( end.x - start.x );
if ( t > 0.0f && t < 1.0f )
{
float y = start.y + t * ( end.y - start.y );
if ( y >= yMin && y <= yMax )
{
// intersects this edge
exit.x = xMax;
exit.y = y;
edge = EAST;
}
}
}
if ( edge == NUM_DIRECTIONS )
{
if ( to.y < 0.0f )
{
// find X at north edge intersection
float t = ( yMin - start.y ) / ( end.y - start.y );
if ( t > 0.0f && t < 1.0f )
{
float x = start.x + t * ( end.x - start.x );
if ( x >= xMin && x <= xMax )
{
// intersects this edge
exit.x = x;
exit.y = yMin;
edge = NORTH;
}
}
}
else
{
// find X at south edge intersection
float t = ( yMax - start.y ) / ( end.y - start.y );
if ( t > 0.0f && t < 1.0f )
{
float x = start.x + t * ( end.x - start.x );
if ( x >= xMin && x <= xMax )
{
// intersects this edge
exit.x = x;
exit.y = yMax;
edge = SOUTH;
}
}
}
}
if ( edge == NUM_DIRECTIONS )
break;
const NavConnectVector *adjVector = area->GetAdjacentAreas( edge );
area = NULL;
for( int i=0; i<adjVector->Count(); ++i )
{
CNavArea *adjArea = adjVector->Element(i).area;
const Vector &adjOrigin = adjArea->GetCorner( NORTH_WEST );
if ( edge == NORTH || edge == SOUTH )
{
if ( adjOrigin.x <= exit.x && adjOrigin.x + adjArea->GetSizeX() >= exit.x )
{
area = adjArea;
break;
}
}
else
{
if ( adjOrigin.y <= exit.y && adjOrigin.y + adjArea->GetSizeY() >= exit.y )
{
area = adjArea;
break;
}
}
}
}
return false;
}
//-------------------------------------------------------------------------------------
/**
* Apply the functor to all navigation ladders.
* If functor returns false, stop processing and return false.
*/
template < typename Functor >
bool ForAllLadders( Functor &func )
{
for ( int i=0; i<m_ladders.Count(); ++i )
{
CNavLadder *ladder = m_ladders[i];
if (func( ladder ) == false)
return false;
}
return true;
}
//-------------------------------------------------------------------------------------
/**
* Apply the functor to all navigation ladders.
* If functor returns false, stop processing and return false.
*/
template < typename Functor >
bool ForAllLadders( Functor &func ) const
{
for ( int i=0; i<m_ladders.Count(); ++i )
{
const CNavLadder *ladder = m_ladders[i];
if (func( ladder ) == false)
return false;
}
return true;
}
//-------------------------------------------------------------------------------------
/**
* tests a new area for connections to adjacent pre-existing areas
*/
template < typename Functor > void StitchAreaIntoMesh( CNavArea *area, NavDirType dir, Functor &func );
//-------------------------------------------------------------------------------------
/**
* Use the functor to test if an area is needing stitching into the existing nav mesh.
* The functor is different from how we normally use functors - it does no processing,
* and it's return value is true if the area is in the new set to be stiched, and false
* if it's a pre-existing area.
*/
template < typename Functor >
bool StitchMesh( Functor &func )
{
FOR_EACH_VEC( TheNavAreas, it )
{
CNavArea *area = TheNavAreas[ it ];
if ( func( area ) )
{
StitchAreaIntoMesh( area, NORTH, func );
StitchAreaIntoMesh( area, SOUTH, func );
StitchAreaIntoMesh( area, EAST, func );
StitchAreaIntoMesh( area, WEST, func );
}
}
return true;
}
NavLadderVector& GetLadders( void ) { return m_ladders; } // Returns the list of ladders
CNavLadder *GetLadderByID( unsigned int id ) const;
CUtlVector< CNavArea * >& GetTransientAreas( void ) { return m_transientAreas; }
enum EditModeType
{
NORMAL, // normal mesh editing
PLACE_PAINTING, // in place painting mode
CREATING_AREA, // creating a new nav area
CREATING_LADDER, // creating a nav ladder
DRAG_SELECTING, // drag selecting a set of areas
SHIFTING_XY, // shifting selected set in XY plane
SHIFTING_Z, // shifting selected set in Z plane
};
EditModeType GetEditMode( void ) const; // return the current edit mode
void SetEditMode( EditModeType mode ); // change the edit mode
bool IsEditMode( EditModeType mode ) const; // return true if current mode matches given mode
bool FindNavAreaOrLadderAlongRay( const Vector &start, const Vector &end, CNavArea **area, CNavLadder **ladder, CNavArea *ignore = NULL );
void PostProcessCliffAreas();
void SimplifySelectedAreas( void ); // Simplifies the selected set by reducing to 1x1 areas and re-merging them up with loosened tolerances
protected:
virtual void PostCustomAnalysis( void ) { } // invoked when custom analysis step is complete
bool FindActiveNavArea( void ); // Finds the area or ladder the local player is currently pointing at. Returns true if a surface was hit by the traceline.
virtual void RemoveNavArea( CNavArea *area ); // remove an area from the grid
bool FindGroundForNode( Vector *pos, Vector *normal );
void GenerateNodes( const Extent &bounds );
void RemoveNodes( void );
private:
friend class CNavArea;
friend class CNavNode;
friend class CNavUIBasePanel;
mutable CUtlVector<NavAreaVector> m_grid;
float m_gridCellSize; // the width/height of a grid cell for spatially partitioning nav areas for fast access
int m_gridSizeX;
int m_gridSizeY;
float m_minX;
float m_minY;
unsigned int m_areaCount; // total number of nav areas
bool m_isLoaded; // true if a Navigation Mesh has been loaded
bool m_isOutOfDate; // true if the Navigation Mesh is older than the actual BSP
bool m_isAnalyzed; // true if the Navigation Mesh needs analysis
enum { HASH_TABLE_SIZE = 256 };
CNavArea *m_hashTable[ HASH_TABLE_SIZE ]; // hash table to optimize lookup by ID
int ComputeHashKey( unsigned int id ) const; // returns a hash key for the given nav area ID
int WorldToGridX( float wx ) const; // given X component, return grid index
int WorldToGridY( float wy ) const; // given Y component, return grid index
void AllocateGrid( float minX, float maxX, float minY, float maxY ); // clear and reset the grid to the given extents
void GridToWorld( int gridX, int gridY, Vector *pos ) const;
void AddNavArea( CNavArea *area ); // add an area to the grid
void DestroyNavigationMesh( bool incremental = false ); // free all resources of the mesh and reset it to empty state
void DestroyHidingSpots( void );
void ComputeBattlefrontAreas( void ); // determine areas where rushing teams will first meet
//----------------------------------------------------------------------------------
// Place directory
//
char **m_placeName; // master directory of place names (ie: "places")
unsigned int m_placeCount; // number of "places" defined in placeName[]
void LoadPlaceDatabase( void ); // load the place names from a file
//----------------------------------------------------------------------------------
// Edit mode
//
EditModeType m_editMode; // the current edit mode
bool m_isEditing; // true if in edit mode
unsigned int m_navPlace; // current navigation place for editing
void OnEditModeStart( void ); // called when edit mode has just been enabled
void DrawEditMode( void ); // draw navigation areas
void OnEditModeEnd( void ); // called when edit mode has just been disabled
void UpdateDragSelectionSet( void ); // update which areas are overlapping the drag selected bounds
Vector m_editCursorPos; // current position of the cursor
CNavArea *m_markedArea; // currently marked area for edit operations
CNavArea *m_selectedArea; // area that is selected this frame
CNavArea *m_lastSelectedArea; // area that was selected last frame
NavCornerType m_markedCorner; // currently marked corner for edit operations
Vector m_anchor; // first corner of an area being created
bool m_isPlacePainting; // if true, we set an area's place by pointing at it
bool m_splitAlongX; // direction the selected nav area would be split
float m_splitEdge; // location of the possible split
bool m_climbableSurface; // if true, the cursor is pointing at a climable surface
Vector m_surfaceNormal; // Normal of the surface the cursor is pointing at
Vector m_ladderAnchor; // first corner of a ladder being created
Vector m_ladderNormal; // Normal of the surface of the ladder being created
CNavLadder *m_selectedLadder; // ladder that is selected this frame
CNavLadder *m_lastSelectedLadder; // ladder that was selected last frame
CNavLadder *m_markedLadder; // currently marked ladder for edit operations
bool FindLadderCorners( Vector *c1, Vector *c2, Vector *c3 ); // computes the other corners of a ladder given m_ladderAnchor, m_editCursorPos, and m_ladderNormal
void GetEditVectors( Vector *pos, Vector *forward ); // Gets the eye position and view direction of the editing player
CountdownTimer m_showAreaInfoTimer; // Timer that controls how long area info is displayed
NavAreaVector m_selectedSet; // all currently selected areas
NavAreaVector m_dragSelectionSet; // all areas in the current drag selection
bool m_isContinuouslySelecting; // if true, we are continuously adding to the selected set
bool m_isContinuouslyDeselecting; // if true, we are continuously removing from the selected set
bool m_bIsDragDeselecting;
int m_nDragSelectionVolumeZMax;
int m_nDragSelectionVolumeZMin;
void DoToggleAttribute( CNavArea *area, NavAttributeType attribute ); // toggle an attribute on given area
//----------------------------------------------------------------------------------
// Auto-generation
//
bool UpdateGeneration( float maxTime = 0.25f ); // process the auto-generation for 'maxTime' seconds. return false if generation is complete.
virtual void BeginCustomAnalysis( bool bIncremental ) {}
virtual void EndCustomAnalysis() {}
CNavNode *m_currentNode; // the current node we are sampling from
NavDirType m_generationDir;
CNavNode *AddNode( const Vector &destPos, const Vector &destNormal, NavDirType dir, CNavNode *source, bool isOnDisplacement, float obstacleHeight, float flObstacleStartDist, float flObstacleEndDist ); // add a nav node and connect it, update current node
NavLadderVector m_ladders; // list of ladder navigation representations
void BuildLadders( void );
void DestroyLadders( void );
bool SampleStep( void ); // sample the walkable areas of the map
void CreateNavAreasFromNodes( void ); // cover all of the sampled nodes with nav areas
bool TestArea( CNavNode *node, int width, int height ); // check if an area of size (width, height) can fit, starting from node as upper left corner
int BuildArea( CNavNode *node, int width, int height ); // create a CNavArea of size (width, height) starting fom node at upper left corner
bool CheckObstacles( CNavNode *node, int width, int height, int x, int y );
void MarkPlayerClipAreas( void );
void MarkJumpAreas( void );
void StichAndRemoveJumpAreas( void );
void RemoveJumpAreas( void );
void SquareUpAreas( void );
void MergeGeneratedAreas( void );
void ConnectGeneratedAreas( void );
void FixUpGeneratedAreas( void );
void FixCornerOnCornerAreas( void );
void FixConnections( void );
void SplitAreasUnderOverhangs( void );
void ValidateNavAreaConnections( void );
void StitchGeneratedAreas( void ); // Stitches incrementally-generated areas into the existing mesh
void StitchAreaSet( CUtlVector< CNavArea * > *areas ); // Stitches an arbitrary set of areas into the existing mesh
void HandleObstacleTopAreas( void ); // Handles fixing/generating areas on top of slim obstacles such as fences and railings
void RaiseAreasWithInternalObstacles();
void CreateObstacleTopAreas();
bool CreateObstacleTopAreaIfNecessary( CNavArea *area, CNavArea *areaOther, NavDirType dir, bool bMultiNode );
void RemoveOverlappingObstacleTopAreas();
enum GenerationStateType
{
SAMPLE_WALKABLE_SPACE,
CREATE_AREAS_FROM_SAMPLES,
FIND_HIDING_SPOTS,
FIND_ENCOUNTER_SPOTS,
FIND_SNIPER_SPOTS,
FIND_EARLIEST_OCCUPY_TIMES,
FIND_LIGHT_INTENSITY,
COMPUTE_MESH_VISIBILITY,
CUSTOM, // mod-specific generation step
SAVE_NAV_MESH,
NUM_GENERATION_STATES
}
m_generationState; // the state of the generation process
enum GenerationModeType
{
GENERATE_NONE,
GENERATE_FULL,
GENERATE_INCREMENTAL,
GENERATE_SIMPLIFY,
GENERATE_ANALYSIS_ONLY,
}
m_generationMode; // true while a Navigation Mesh is being generated
int m_generationIndex; // used for iterating nav areas during generation process
int m_sampleTick; // counter for displaying pseudo-progress while sampling walkable space
bool m_bQuitWhenFinished;
float m_generationStartTime;
Extent m_simplifyGenerationExtent;
char *m_spawnName; // name of player spawn entity, used to initiate sampling
struct WalkableSeedSpot
{
Vector pos;
Vector normal;
};
CUtlVector< WalkableSeedSpot > m_walkableSeeds; // list of walkable seed spots for sampling
CNavNode *GetNextWalkableSeedNode( void ); // return the next walkable seed as a node
int m_seedIdx;
int m_hostThreadModeRestoreValue; // stores the value of host_threadmode before we changed it
void BuildTransientAreaList( void );
CUtlVector< CNavArea * > m_transientAreas;
void UpdateAvoidanceObstacleAreas( void );
CUtlVector< CNavArea * > m_avoidanceObstacleAreas;
CUtlVector< INavAvoidanceObstacle * > m_avoidanceObstacles;
void UpdateBlockedAreas( void );
CUtlVector< CNavArea * > m_blockedAreas;
CUtlVector< int > m_storedSelectedSet; // "Stored" selected set, so we can do some editing and then restore the old selected set. Done by ID, so we don't have to worry about split/delete/etc.
void BeginVisibilityComputations( void );
void EndVisibilityComputations( void );
void TestAllAreasForBlockedStatus( void ); // Used to update blocked areas after a round restart. Need to delay so the map logic has all fired.
CountdownTimer m_updateBlockedAreasTimer;
};
// the global singleton interface
extern CNavMesh *TheNavMesh;
// factory for creating the Navigation Mesh
extern CNavMesh *NavMeshFactory( void );
// for debugging the A* algorithm, if nonzero, show debug display and decrement for each pathfind
extern int g_DebugPathfindCounter;
//--------------------------------------------------------------------------------------------------------------
inline bool CNavMesh::IsEditMode( EditModeType mode ) const
{
return m_editMode == mode;
}
//--------------------------------------------------------------------------------------------------------------
inline CNavMesh::EditModeType CNavMesh::GetEditMode( void ) const
{
return m_editMode;
}
//--------------------------------------------------------------------------------------------------------------
inline unsigned int CNavMesh::GetSubVersionNumber( void ) const
{
return 0;
}
//--------------------------------------------------------------------------------------------------------------
inline CNavArea *CNavMesh::CreateArea( void ) const
{
return new CNavArea;
}
//--------------------------------------------------------------------------------------------------------------
inline void CNavMesh::DestroyArea( CNavArea *pArea ) const
{
delete pArea;
}
//--------------------------------------------------------------------------------------------------------------
inline int CNavMesh::ComputeHashKey( unsigned int id ) const
{
return id & 0xFF;
}
//--------------------------------------------------------------------------------------------------------------
inline int CNavMesh::WorldToGridX( float wx ) const
{
int x = (int)( (wx - m_minX) / m_gridCellSize );
if (x < 0)
x = 0;
else if (x >= m_gridSizeX)
x = m_gridSizeX-1;
return x;
}
//--------------------------------------------------------------------------------------------------------------
inline int CNavMesh::WorldToGridY( float wy ) const
{
int y = (int)( (wy - m_minY) / m_gridCellSize );
if (y < 0)
y = 0;
else if (y >= m_gridSizeY)
y = m_gridSizeY-1;
return y;
}
//--------------------------------------------------------------------------------------------------------------
inline unsigned int CNavMesh::GetGenerationTraceMask( void ) const
{
return MASK_NPCSOLID_BRUSHONLY;
}
//--------------------------------------------------------------------------------------------------------------
//
// Function prototypes
//
extern void ApproachAreaAnalysisPrep( void );
extern void CleanupApproachAreaAnalysisPrep( void );
extern bool IsHeightDifferenceValid( float test, float other1, float other2, float other3 );
#endif // _NAV_MESH_H_
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