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384 lines
9.3 KiB
C++
384 lines
9.3 KiB
C++
//========= Copyright 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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// nav_node.cpp
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// AI Navigation Nodes
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// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
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#include "cbase.h"
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#include "cs_nav_node.h"
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#include "nav_colors.h"
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#include "nav_mesh.h"
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NavDirType Opposite[ NUM_DIRECTIONS ] = { SOUTH, WEST, NORTH, EAST };
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CSNavNode *CSNavNode::m_list = NULL;
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unsigned int CSNavNode::m_listLength = 0;
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unsigned int CSNavNode::m_nextID = 1;
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ConVar nav_show_nodes( "nav_show_nodes", "0" );
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//--------------------------------------------------------------------------------------------------------------
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class LookAtTarget
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{
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public:
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LookAtTarget( const Vector &target )
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{
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m_target = target;
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}
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bool operator()( CBasePlayer *player )
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{
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QAngle angles;
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Vector to = m_target - player->GetAbsOrigin();
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VectorAngles( to, angles );
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player->SetLocalAngles( angles );
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player->SnapEyeAngles( angles );
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return true;
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}
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private:
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Vector m_target;
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};
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Constructor
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*/
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CSNavNode::CSNavNode( const Vector &pos, const Vector &normal, CSNavNode *parent )
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{
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m_pos = pos;
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m_normal = normal;
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m_id = m_nextID++;
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int i;
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for( i=0; i<NUM_DIRECTIONS; ++i )
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{
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m_to[ i ] = NULL;
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}
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for ( i=0; i<NUM_CORNERS; ++i )
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{
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m_crouch[ i ] = false;
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}
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m_visited = 0;
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m_parent = parent;
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m_next = m_list;
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m_list = this;
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m_listLength++;
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m_isCovered = false;
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m_area = NULL;
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m_attributeFlags = 0;
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if ( nav_show_nodes.GetBool() )
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{
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NDebugOverlay::Cross3D( m_pos, 10.0f, 128, 128, 128, true, 10.0f );
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NDebugOverlay::Cross3D( m_pos, 10.0f, 255, 255, 255, false, 10.0f );
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LookAtTarget lookAt( m_pos );
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ForEachPlayer( lookAt );
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}
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}
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//--------------------------------------------------------------------------------------------------------------
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#if DEBUG_NAV_NODES
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ConVar nav_show_node_id( "nav_show_node_id", "0" );
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ConVar nav_test_node( "nav_test_node", "0" );
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ConVar nav_test_node_crouch( "nav_test_node_crouch", "0" );
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ConVar nav_test_node_crouch_dir( "nav_test_node_crouch_dir", "4" );
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#endif // DEBUG_NAV_NODES
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//--------------------------------------------------------------------------------------------------------------
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void CSNavNode::Draw( void )
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{
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#if DEBUG_NAV_NODES
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if ( !nav_show_nodes.GetBool() )
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return;
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int r = 0, g = 0, b = 0;
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if ( m_isCovered )
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{
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if ( GetAttributes() & NAV_MESH_CROUCH )
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{
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b = 255;
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}
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else
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{
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r = 255;
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}
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}
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else
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{
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if ( GetAttributes() & NAV_MESH_CROUCH )
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{
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b = 255;
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}
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g = 255;
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}
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NDebugOverlay::Cross3D( m_pos, 2, r, g, b, true, 0.1f );
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if ( (!m_isCovered && nav_show_node_id.GetBool()) || (m_isCovered && nav_show_node_id.GetInt() < 0) )
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{
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char text[16];
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Q_snprintf( text, sizeof( text ), "%d", m_id );
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NDebugOverlay::Text( m_pos, text, true, 0.1f );
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}
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if ( (unsigned int)(nav_test_node.GetInt()) == m_id )
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{
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TheNavMesh->TestArea( this, 1, 1 );
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nav_test_node.SetValue( 0 );
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}
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if ( (unsigned int)(nav_test_node_crouch.GetInt()) == m_id )
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{
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CheckCrouch();
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nav_test_node_crouch.SetValue( 0 );
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}
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if ( GetAttributes() & NAV_MESH_CROUCH )
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{
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int i;
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for( i=0; i<NUM_CORNERS; i++ )
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{
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if ( m_crouch[i] )
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{
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Vector2D dir;
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CornerToVector2D( (NavCornerType)i, &dir );
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const float scale = 3.0f;
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Vector scaled( dir.x * scale, dir.y * scale, 0 );
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NDebugOverlay::HorzArrow( m_pos, m_pos + scaled, 0.5, 0, 0, 255, 255, true, 0.1f );
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}
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}
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}
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#endif // DEBUG_NAV_NODES
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}
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//--------------------------------------------------------------------------------------------------------------
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void CSNavNode::CheckCrouch( void )
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{
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CTraceFilterWalkableEntities filter( NULL, COLLISION_GROUP_PLAYER_MOVEMENT, WALK_THRU_EVERYTHING );
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trace_t tr;
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// Trace downward from duck height to find the max floor height for the node's surroundings
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Vector mins( -HalfHumanWidth, -HalfHumanWidth, 0 );
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Vector maxs( HalfHumanWidth, HalfHumanWidth, 0 );
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Vector start( m_pos.x, m_pos.y, m_pos.z + VEC_DUCK_HULL_MAX.z - 0.1f );
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UTIL_TraceHull(
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start,
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m_pos,
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mins,
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maxs,
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MASK_PLAYERSOLID_BRUSHONLY,
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&filter,
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&tr );
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Vector groundPos = tr.endpos;
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if ( tr.startsolid && !tr.allsolid )
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{
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// Try going down out of the solid and re-check for the floor height
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start.z -= tr.endpos.z - 0.1f;
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UTIL_TraceHull(
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start,
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m_pos,
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mins,
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maxs,
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MASK_PLAYERSOLID_BRUSHONLY,
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&filter,
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&tr );
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groundPos = tr.endpos;
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}
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if ( tr.startsolid )
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{
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// we don't even have duck height clear. try a simple check to find floor height.
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float x, y;
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// Find the highest floor z - for a player to stand in this area, we need a full
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// VEC_HULL_MAX.z of clearance above this height at all points.
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float maxFloorZ = m_pos.z;
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for( y = -HalfHumanWidth; y <= HalfHumanWidth + 0.1f; y += HalfHumanWidth )
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{
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for( x = -HalfHumanWidth; x <= HalfHumanWidth + 0.1f; x += HalfHumanWidth )
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{
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float floorZ;
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if ( TheNavMesh->GetGroundHeight( m_pos, &floorZ ) )
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{
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maxFloorZ = MAX( maxFloorZ, floorZ + 0.1f );
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}
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}
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}
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groundPos.Init( m_pos.x, m_pos.y, maxFloorZ );
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}
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// For each direction, trace upwards from our best ground height to VEC_HULL_MAX.z to see if we have standing room.
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for ( int i=0; i<NUM_CORNERS; ++i )
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{
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#if DEBUG_NAV_NODES
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if ( nav_test_node_crouch_dir.GetInt() != NUM_CORNERS && i != nav_test_node_crouch_dir.GetInt() )
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continue;
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#endif // DEBUG_NAV_NODES
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NavCornerType corner = (NavCornerType)i;
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Vector2D cornerVec;
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CornerToVector2D( corner, &cornerVec );
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Vector actualGroundPos = groundPos; // we might need to adjust this if the tracehull failed above and we fell back to m_pos.z
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// Build a mins/maxs pair for the HumanWidth x HalfHumanWidth box facing the appropriate direction
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mins.Init();
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maxs.Init( cornerVec.x * HalfHumanWidth, cornerVec.y * HalfHumanWidth, 0 );
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// now make sure that mins is smaller than maxs
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for ( int j=0; j<3; ++j )
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{
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if ( mins[j] > maxs[j] )
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{
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float tmp = mins[j];
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mins[j] = maxs[j];
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maxs[j] = tmp;
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}
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}
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UTIL_TraceHull(
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actualGroundPos + Vector( 0, 0, 0.1f ),
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actualGroundPos + Vector( 0, 0, VEC_HULL_MAX.z - 0.2f ),
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mins,
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maxs,
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MASK_PLAYERSOLID_BRUSHONLY,
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&filter,
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&tr );
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actualGroundPos.z += tr.fractionleftsolid * VEC_HULL_MAX.z;
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float maxHeight = actualGroundPos.z + VEC_DUCK_HULL_MAX.z;
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for ( ; tr.startsolid && actualGroundPos.z <= maxHeight; actualGroundPos.z += 1.0f )
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{
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// In case we didn't find a good ground pos above, we could start in the ground. Move us up some.
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UTIL_TraceHull(
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actualGroundPos + Vector( 0, 0, 0.1f ),
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actualGroundPos + Vector( 0, 0, VEC_HULL_MAX.z - 0.2f ),
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mins,
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maxs,
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MASK_PLAYERSOLID_BRUSHONLY,
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&filter,
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&tr );
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}
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if (tr.startsolid || tr.fraction != 1.0f)
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{
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SetAttributes( NAV_MESH_CROUCH );
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m_crouch[corner] = true;
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}
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#if DEBUG_NAV_NODES
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if ( nav_show_nodes.GetBool() )
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{
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if ( nav_test_node_crouch_dir.GetInt() == i || nav_test_node_crouch_dir.GetInt() == NUM_CORNERS )
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{
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if ( tr.startsolid )
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{
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NDebugOverlay::Box( actualGroundPos, mins, maxs+Vector( 0, 0, VEC_HULL_MAX.z), 255, 0, 0, 10, 20.0f );
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}
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else if ( m_crouch[corner] )
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{
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NDebugOverlay::Box( actualGroundPos, mins, maxs+Vector( 0, 0, VEC_HULL_MAX.z), 0, 0, 255, 10, 20.0f );
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}
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else
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{
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NDebugOverlay::Box( actualGroundPos, mins, maxs+Vector( 0, 0, VEC_HULL_MAX.z), 0, 255, 0, 10, 10.0f );
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}
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}
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}
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#endif // DEBUG_NAV_NODES
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}
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Create a connection FROM this node TO the given node, in the given direction
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*/
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void CSNavNode::ConnectTo( CSNavNode *node, NavDirType dir )
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{
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m_to[ dir ] = node;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Return node at given position.
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* @todo Need a hash table to make this lookup fast
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*/
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CSNavNode *CSNavNode::GetNode( const Vector &pos )
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{
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const float tolerance = 0.45f * GenerationStepSize; // 1.0f
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for( CSNavNode *node = m_list; node; node = node->m_next )
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{
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float dx = fabs( node->m_pos.x - pos.x );
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float dy = fabs( node->m_pos.y - pos.y );
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float dz = fabs( node->m_pos.z - pos.z );
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if (dx < tolerance && dy < tolerance && dz < tolerance)
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return node;
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}
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return NULL;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Return true if this node is bidirectionally linked to
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* another node in the given direction
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*/
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BOOL CSNavNode::IsBiLinked( NavDirType dir ) const
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{
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if (m_to[ dir ] && m_to[ dir ]->m_to[ Opposite[dir] ] == this)
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{
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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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/**
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* Return true if this node is the NW corner of a quad of nodes
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* that are all bidirectionally linked.
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*/
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BOOL CSNavNode::IsClosedCell( void ) const
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{
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if (IsBiLinked( SOUTH ) &&
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IsBiLinked( EAST ) &&
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m_to[ EAST ]->IsBiLinked( SOUTH ) &&
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m_to[ SOUTH ]->IsBiLinked( EAST ) &&
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m_to[ EAST ]->m_to[ SOUTH ] == m_to[ SOUTH ]->m_to[ EAST ])
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{
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return true;
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}
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return false;
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}
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