Added weldable obstacles back into navigation

Bots now understand how to get around weldable barriers

main/source/mod/AIPlayers/AvHAINavigation.cpp

@@ -32,9 +32,7 @@
 #include "DetourAlloc.h"
 
 vector<nav_door> NavDoors;
-
+vector<nav_weldable> NavWeldableObstacles;
-nav_weldable NavWeldableObstacles[32];
-int NumWeldableObstacles;
 
 nav_mesh NavMeshes[MAX_NAV_MESHES]; // Array of nav meshes. Currently only 3 are used (building, onos, and regular)
 nav_profile BaseNavProfiles[MAX_NAV_PROFILES]; // Array of nav profiles
@@ -541,11 +539,9 @@ void UnloadNavigationData()
 	UnloadNavMeshes();
 
 	UTIL_ClearDoorData();
+	UTIL_ClearWeldablesData();
 
 	memset(BaseNavProfiles, 0, sizeof(nav_profile));
-	memset(NavWeldableObstacles, 0, sizeof(NavWeldableObstacles));
-
-	NumWeldableObstacles = 0;
 
 	AIMGR_ClearBotData();
 
@@ -905,6 +901,7 @@ void UTIL_PopulateBaseNavProfiles()
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.setIncludeFlags(0xFFFF);
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.setExcludeFlags(0);
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.addExcludeFlags(SAMPLE_POLYFLAGS_WALLCLIMB);
+	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.addExcludeFlags(SAMPLE_POLYFLAGS_WELD);
 
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].NavMeshIndex = REGULAR_NAV_MESH;
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].bFlyingProfile = false;
@@ -2068,9 +2065,21 @@ void CheckAndHandleDoorObstruction(AvHAIPlayer* pBot)
 
 	if (FNullEnt(BlockingDoorEdict)) { return; }
 
-	CBaseToggle* BlockingDoor = GetClassPtr((CBaseToggle*)VARS(BlockingDoorEdict));
+	CBaseToggle* BlockingDoor = dynamic_cast<CBaseToggle*>(CBaseEntity::Instance(BlockingDoorEdict));
 
-	if (!BlockingDoor) { return; }
+	if (!BlockingDoor)
+	{
+		AvHWeldable* WeldableRef = dynamic_cast<AvHWeldable*>(CBaseEntity::Instance(BlockingDoorEdict));
+
+		if (!WeldableRef)
+		{
+			return;
+		}
+
+		AITASK_SetWeldTask(pBot, &pBot->BotNavInfo.MovementTask, BlockingDoorEdict, true);
+
+		return;
+	}
 
 	Vector NearestPoint = UTIL_GetClosestPointOnEntityToLocation(pBot->Edict->v.origin, BlockingDoorEdict);
 
@@ -2185,7 +2194,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(AvHAIPlayer* pBot, bot_path_node* PathNod
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 				{
 					return doorHit.pHit;
 				}
@@ -2207,7 +2217,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(AvHAIPlayer* pBot, bot_path_node* PathNod
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 				{
 					return doorHit.pHit;
 				}
@@ -2231,7 +2242,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(AvHAIPlayer* pBot, bot_path_node* PathNod
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 				{
 					return doorHit.pHit;
 				}
@@ -2250,7 +2262,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(AvHAIPlayer* pBot, bot_path_node* PathNod
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 				{
 					return doorHit.pHit;
 				}
@@ -2272,7 +2285,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(AvHAIPlayer* pBot, bot_path_node* PathNod
 		{
 			if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 				|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-				|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+				|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+				|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 			{
 				return doorHit.pHit;
 			}
@@ -2526,7 +2540,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(const Vector FromLocation, const Vector T
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0 )
 				{
 					return doorHit.pHit;
 				}
@@ -2548,7 +2563,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(const Vector FromLocation, const Vector T
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 				{
 					return doorHit.pHit;
 				}
@@ -2572,7 +2588,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(const Vector FromLocation, const Vector T
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 				{
 					return doorHit.pHit;
 				}
@@ -2592,7 +2609,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(const Vector FromLocation, const Vector T
 			{
 				if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 					|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+					|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+					|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 				{
 					return doorHit.pHit;
 				}
@@ -2612,7 +2630,8 @@ edict_t* UTIL_GetDoorBlockingPathPoint(const Vector FromLocation, const Vector T
 		{
 			if (strcmp(STRING(doorHit.pHit->v.classname), "func_door") == 0
 				|| strcmp(STRING(doorHit.pHit->v.classname), "func_seethroughdoor") == 0
-				|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0)
+				|| strcmp(STRING(doorHit.pHit->v.classname), "func_door_rotating") == 0
+				|| strcmp(STRING(doorHit.pHit->v.classname), "avhweldable") == 0)
 			{
 				return doorHit.pHit;
 			}
@@ -4766,13 +4785,15 @@ bool MoveTo(AvHAIPlayer* pBot, const Vector Destination, const BotMoveStyle Move
 		bool bHasMovementTask = (BotNavInfo->MovementTask.TaskType != TASK_NONE);
 
 		Vector MoveTaskDestination = g_vecZero;
+		Vector MoveTaskOrigin = g_vecZero;
 
 		if (bHasMovementTask)
 		{
-			MoveTaskDestination = (!vIsZero(BotNavInfo->MovementTask.TaskLocation)) ? BotNavInfo->MovementTask.TaskLocation : BotNavInfo->MovementTask.TaskTarget->v.origin;
+			MoveTaskDestination = BotNavInfo->MovementTask.TaskLocation;
+			MoveTaskOrigin = (!FNullEnt(BotNavInfo->MovementTask.TaskTarget)) ? BotNavInfo->MovementTask.TaskTarget->v.origin : g_vecZero;
 		}
 
-		bool bUltimateDestinationChanged = !vEquals(Destination, BotNavInfo->TargetDestination, GetPlayerRadius(pBot->Player)) && !vEquals(Destination, MoveTaskDestination);
+		bool bUltimateDestinationChanged = !vEquals(Destination, BotNavInfo->TargetDestination, GetPlayerRadius(pBot->Player)) && !vEquals(Destination, MoveTaskDestination) && !vEquals(Destination, MoveTaskOrigin);
 
 		bool bHasReachedDestination = BotIsAtLocation(pBot, BotNavInfo->TargetDestination);
 
@@ -4781,13 +4802,17 @@ bool MoveTo(AvHAIPlayer* pBot, const Vector Destination, const BotMoveStyle Move
 			// First abort our current move so we don't try to recalculate half-way up a wall or ladder
 			if (bIsFlyingProfile || AbortCurrentMove(pBot, Destination))
 			{
-				ClearBotPath(pBot);
+				// Don't clear the path if we're in the middle of a movement task
+				if (!vEquals(Destination, MoveTaskDestination) && !vEquals(Destination, MoveTaskOrigin))
+				{
+					ClearBotPath(pBot);
+				}
 				return true;
 			}
 		}
 		else
 		{
-			if (bHasMovementTask && !vEquals(Destination, MoveTaskDestination))
+			if (bHasMovementTask && !vEquals(Destination, MoveTaskDestination) && !vEquals(Destination, MoveTaskOrigin))
 			{
 				if (AITASK_IsTaskStillValid(pBot, &BotNavInfo->MovementTask))
 				{
@@ -4817,6 +4842,7 @@ bool MoveTo(AvHAIPlayer* pBot, const Vector Destination, const BotMoveStyle Move
 
 		pBot->BotNavInfo.LastPathCalcTime = gpGlobals->time;
 		BotNavInfo->bPendingRecalculation = false;
+		BotNavInfo->bNavProfileChanged = false;
 
 		if (vIsZero(BotNavInfo->TargetDestination))
 		{
@@ -6468,15 +6494,15 @@ void UTIL_LinkTriggerToDoor(const edict_t* DoorEdict, nav_door* DoorRef)
 
 void UTIL_PopulateWeldableObstacles()
 {
-	memset(NavWeldableObstacles, 0, sizeof(NavWeldableObstacles));
+	UTIL_ClearWeldablesData();
-	NumWeldableObstacles = 0;
 
 	CBaseEntity* currWeldable = NULL;
 	while (((currWeldable = UTIL_FindEntityByClassname(currWeldable, "avhweldable")) != NULL))
 	{
 		if (currWeldable->pev->solid == SOLID_BSP)
 		{
-			NavWeldableObstacles[NumWeldableObstacles].WeldableEdict = currWeldable->edict();
+			nav_weldable NewWeldable;
+			NewWeldable.WeldableEdict = currWeldable->edict();
 
 			float SizeX = currWeldable->pev->size.x;
 			float SizeY = currWeldable->pev->size.y;
@@ -6511,11 +6537,11 @@ void UTIL_PopulateWeldableObstacles()
 
 			Vector CurrentPoint = StartPoint;
 
-			NavWeldableObstacles[NumWeldableObstacles].NumObstacles = NumObstacles;
+			NewWeldable.NumObstacles = NumObstacles;
 
 			for (int ii = 0; ii < NumObstacles; ii++)
 			{
-				UTIL_AddTemporaryObstacles(CurrentPoint, CylinderRadius, SizeZ, DT_TILECACHE_NULL_AREA, NavWeldableObstacles[NumWeldableObstacles].ObstacleRefs[ii]);
+				UTIL_AddTemporaryObstacles(CurrentPoint, CylinderRadius, SizeZ, DT_TILECACHE_WELD_AREA, NewWeldable.ObstacleRefs[ii]);
 
 				if (bUseXAxis)
 				{
@@ -6527,7 +6553,7 @@ void UTIL_PopulateWeldableObstacles()
 				}
 			}
 
-			NumWeldableObstacles++;
+			NavWeldableObstacles.push_back(NewWeldable);
 		}
 	}
 }
@@ -6593,20 +6619,24 @@ void UTIL_UpdateDoors(bool bInitial)
 
 void UTIL_UpdateWeldableObstacles()
 {
-	for (int i = 0; i < NumWeldableObstacles; i++)
+	for (auto it = NavWeldableObstacles.begin(); it != NavWeldableObstacles.end();)
 	{
-		if (NavWeldableObstacles[i].NumObstacles == 0) { continue; }
+		edict_t* WeldableEdict = it->WeldableEdict;
-
-		edict_t* WeldableEdict = NavWeldableObstacles[i].WeldableEdict;
 
 		if (FNullEnt(WeldableEdict) || WeldableEdict->v.deadflag != DEAD_NO || WeldableEdict->v.solid != SOLID_BSP)
 		{
-			for (int ii = 0; ii < NavWeldableObstacles[i].NumObstacles; ii++)
+			for (int ii = 0; ii < it->NumObstacles; ii++)
 			{
-				UTIL_RemoveTemporaryObstacles(NavWeldableObstacles[i].ObstacleRefs[ii]);
+				UTIL_RemoveTemporaryObstacles(it->ObstacleRefs[ii]);
 			}
 
-			NavWeldableObstacles[i].NumObstacles = 0;
+			it->NumObstacles = 0;
+
+			it = NavWeldableObstacles.erase(it);
+		}
+		else
+		{
+			it++;
 		}
 	}
 }
@@ -6666,7 +6696,7 @@ void UTIL_ApplyTempObstaclesToDoor(nav_door* DoorRef, const int Area)
 
 	for (int ii = 0; ii < NumObstacles; ii++)
 	{
-		UTIL_AddTemporaryObstacles(CurrentPoint, CylinderRadius, SizeZ * 2.0f, Area, DoorRef->ObstacleRefs[ii]);
+		UTIL_AddTemporaryObstacles(CurrentPoint, CylinderRadius, SizeZ, Area, DoorRef->ObstacleRefs[ii]);
 
 		if (bUseXAxis)
 		{
@@ -6738,12 +6768,46 @@ void UTIL_UpdateDoorTriggers(nav_door* Door)
 
 void UTIL_ClearDoorData()
 {
+	for (auto it = NavDoors.begin(); it != NavDoors.end(); it++)
+	{
+		if (it->NumObstacles > 0)
+		{
+			for (int ii = 0; ii < it->NumObstacles; ii++)
+			{
+				UTIL_RemoveTemporaryObstacles(it->ObstacleRefs[ii]);
+			}
+
+			it->NumObstacles = 0;
+
+		}
+	}
+
 	NavDoors.clear();
 }
 
+void UTIL_ClearWeldablesData()
+{
+	for (auto it = NavWeldableObstacles.begin(); it != NavWeldableObstacles.end(); it++)
+	{
+		if (it->NumObstacles > 0)
+		{
+			for (int ii = 0; ii < it->NumObstacles; ii++)
+			{
+				UTIL_RemoveTemporaryObstacles(it->ObstacleRefs[ii]);
+			}
+
+			it->NumObstacles = 0;
+
+		}
+	}
+
+	NavWeldableObstacles.clear();
+}
+
 // TODO: Need to add orientated box obstacle for door
 void UTIL_PopulateDoors()
 {
+
 	UTIL_ClearDoorData();
 
 	CBaseEntity* currDoor = NULL;

main/source/mod/AIPlayers/AvHAINavigation.h

@@ -425,6 +425,7 @@ void ClearBotPath(AvHAIPlayer* pBot);
 void ClearBotStuckMovement(AvHAIPlayer* pBot);
 
 void UTIL_ClearDoorData();
+void UTIL_ClearWeldablesData();
 
 // Based on the direction the bot wants to move and it's current facing angle, sets the forward and side move, and the directional buttons to make the bot actually move
 void BotMovementInputs(AvHAIPlayer* pBot);

main/source/mod/AIPlayers/AvHAITactical.cpp

@@ -595,6 +595,7 @@ void AITAC_UpdateMapAIData()
 	}
 
 	UTIL_UpdateDoors(false);
+	UTIL_UpdateWeldableObstacles();
 
 	AITAC_RefreshHiveData();
 }
@@ -968,15 +969,32 @@ void AITAC_UpdateBuildableStructure(CBaseEntity* Structure)
 	if (vIsZero(BuildingMap[EntIndex].Location) || !vEquals(BaseBuildable->pev->origin, BuildingMap[EntIndex].Location, 5.0f))
 	{
 		bool bIsOnNavMesh = UTIL_PointIsOnNavmesh(BaseNavProfiles[MARINE_BASE_NAV_PROFILE], UTIL_GetEntityGroundLocation(BuildingEdict), Vector(max_player_use_reach, max_player_use_reach, max_player_use_reach));
+		
 		if (bIsOnNavMesh)
 		{
 			bool bIsReachableMarine = UTIL_PointIsReachable(BaseNavProfiles[MARINE_BASE_NAV_PROFILE], AITAC_GetTeamStartingLocation(GetGameRules()->GetTeamANumber()), UTIL_GetEntityGroundLocation(BuildingEdict), max_player_use_reach);
 			bool bIsReachableSkulk = UTIL_PointIsReachable(BaseNavProfiles[SKULK_BASE_NAV_PROFILE], AITAC_GetTeamStartingLocation(GetGameRules()->GetTeamANumber()), UTIL_GetEntityGroundLocation(BuildingEdict), max_player_use_reach);
 			bool bIsReachableOnos = UTIL_PointIsReachable(BaseNavProfiles[ONOS_BASE_NAV_PROFILE], AITAC_GetTeamStartingLocation(GetGameRules()->GetTeamANumber()), UTIL_GetEntityGroundLocation(BuildingEdict), max_player_use_reach);
 
+			// Check if basic marines can reach. If they can then no need to separately check welder marines as they automatically can. If not, separately check for welders.
 			if (bIsReachableMarine)
 			{
 				BuildingMap[EntIndex].ReachabilityFlags |= AI_REACHABILITY_MARINE;
+				BuildingMap[EntIndex].ReachabilityFlags |= AI_REACHABILITY_WELDER;
+			}
+			else
+			{
+				nav_profile WelderProfile;
+				memcpy(&WelderProfile, &BaseNavProfiles[MARINE_BASE_NAV_PROFILE], sizeof(nav_profile));
+
+				WelderProfile.Filters.removeExcludeFlags(SAMPLE_POLYFLAGS_WELD);
+
+				bool bIsReachableWelder = UTIL_PointIsReachable(WelderProfile, AITAC_GetTeamStartingLocation(GetGameRules()->GetTeamANumber()), UTIL_GetEntityGroundLocation(BuildingEdict), max_player_use_reach);
+
+				if (bIsReachableWelder)
+				{
+					BuildingMap[EntIndex].ReachabilityFlags |= AI_REACHABILITY_WELDER;
+				}
 			}
 
 			if (bIsReachableSkulk)
@@ -989,6 +1007,8 @@ void AITAC_UpdateBuildableStructure(CBaseEntity* Structure)
 				BuildingMap[EntIndex].ReachabilityFlags |= AI_REACHABILITY_ONOS;
 			}
 
+			
+
 		}
 		else
 		{

main/source/mod/AIPlayers/AvHAITask.cpp

@@ -2202,7 +2202,7 @@ void BotProgressWeldTask(AvHAIPlayer* pBot, AvHAIPlayerTask* Task)
 
 	if (IsPlayerInUseRange(pBot->Edict, Task->TaskTarget))
 	{
-		BotLookAt(pBot, UTIL_GetCentreOfEntity(Task->TaskTarget));
+		BotLookAt(pBot, UTIL_GetClosestPointOnEntityToLocation(pBot->CurrentEyePosition, Task->TaskTarget));
 		pBot->DesiredCombatWeapon = WEAPON_MARINE_WELDER;
 
 		if (GetBotCurrentWeapon(pBot) != WEAPON_MARINE_WELDER)
@@ -2714,6 +2714,7 @@ void AITASK_SetWeldTask(AvHAIPlayer* pBot, AvHAIPlayerTask* Task, edict_t* Targe
 	Task->TaskTarget = Target;
 	Task->TaskType = TASK_WELD;
 	Task->bTaskIsUrgent = bIsUrgent;
+	Task->TaskLocation = ZERO_VECTOR;
 	Task->TaskLength = 0.0f;
 	
 	if (IsEdictPlayer(Target) || IsEdictStructure(Target)) { return; }