361 lines
9.6 KiB
C++
361 lines
9.6 KiB
C++
//========= Copyright © 1996-2005, Valve Corporation, All rights reserved. ============//
|
|
//
|
|
// Purpose:
|
|
//
|
|
// $NoKeywords: $
|
|
//
|
|
//=============================================================================//
|
|
// nav.h
|
|
// Data structures and constants for the Navigation Mesh system
|
|
// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
|
|
|
|
#ifndef _NAV_H_
|
|
#define _NAV_H_
|
|
|
|
#include "modelentities.h" // for CFuncBrush
|
|
|
|
/**
|
|
* Below are several constants used by the navigation system.
|
|
* @todo Move these into TheNavMesh singleton.
|
|
*/
|
|
const float GenerationStepSize = 25.0f; ///< (30) was 20, but bots can't fit always fit
|
|
const float StepHeight = 18.0f; ///< if delta Z is greater than this, we have to jump to get up
|
|
const float JumpHeight = 41.8f; ///< if delta Z is less than this, we can jump up on it
|
|
const float JumpCrouchHeight = 58.0f; ///< (48) if delta Z is less than or equal to this, we can jumpcrouch up on it
|
|
|
|
const float BotRadius = 10.0f; ///< circular extent that contains bot
|
|
const float DeathDrop = 200.0f; ///< (300) distance at which we will die if we fall - should be about 600, and pay attention to fall damage during pathfind
|
|
|
|
const float HalfHumanWidth = 16.0f;
|
|
const float HalfHumanHeight = 36.0f;
|
|
const float HumanHeight = 72.0f;
|
|
|
|
|
|
#define NAV_MAGIC_NUMBER 0xFEEDFACE ///< to help identify nav files
|
|
|
|
/**
|
|
* A place is a named group of navigation areas
|
|
*/
|
|
typedef unsigned int Place;
|
|
#define UNDEFINED_PLACE 0 // ie: "no place"
|
|
#define ANY_PLACE 0xFFFF
|
|
|
|
enum NavErrorType
|
|
{
|
|
NAV_OK,
|
|
NAV_CANT_ACCESS_FILE,
|
|
NAV_INVALID_FILE,
|
|
NAV_BAD_FILE_VERSION,
|
|
NAV_FILE_OUT_OF_DATE,
|
|
NAV_CORRUPT_DATA,
|
|
};
|
|
|
|
enum NavAttributeType
|
|
{
|
|
NAV_MESH_CROUCH = 0x0001, ///< must crouch to use this node/area
|
|
NAV_MESH_JUMP = 0x0002, ///< must jump to traverse this area
|
|
NAV_MESH_PRECISE = 0x0004, ///< do not adjust for obstacles, just move along area
|
|
NAV_MESH_NO_JUMP = 0x0008, ///< inhibit discontinuity jumping
|
|
NAV_MESH_STOP = 0x0010, ///< must stop when entering this area
|
|
NAV_MESH_RUN = 0x0020, ///< must run to traverse this area
|
|
NAV_MESH_WALK = 0x0040, ///< must walk to traverse this area
|
|
NAV_MESH_AVOID = 0x0080, ///< avoid this area unless alternatives are too dangerous
|
|
NAV_MESH_TRANSIENT = 0x0100, ///< area may become blocked, and should be periodically checked
|
|
NAV_MESH_DONT_HIDE = 0x0200, ///< area should not be considered for hiding spot generation
|
|
NAV_MESH_STAND = 0x0400, ///< bots hiding in this area should stand
|
|
NAV_MESH_NO_HOSTAGES = 0x0800, ///< hostages shouldn't use this area
|
|
};
|
|
|
|
enum NavDirType
|
|
{
|
|
NORTH = 0,
|
|
EAST = 1,
|
|
SOUTH = 2,
|
|
WEST = 3,
|
|
|
|
NUM_DIRECTIONS
|
|
};
|
|
|
|
/**
|
|
* Defines possible ways to move from one area to another
|
|
*/
|
|
enum NavTraverseType
|
|
{
|
|
// NOTE: First 4 directions MUST match NavDirType
|
|
GO_NORTH = 0,
|
|
GO_EAST,
|
|
GO_SOUTH,
|
|
GO_WEST,
|
|
GO_LADDER_UP,
|
|
GO_LADDER_DOWN,
|
|
GO_JUMP,
|
|
|
|
NUM_TRAVERSE_TYPES
|
|
};
|
|
|
|
enum NavCornerType
|
|
{
|
|
NORTH_WEST = 0,
|
|
NORTH_EAST = 1,
|
|
SOUTH_EAST = 2,
|
|
SOUTH_WEST = 3,
|
|
|
|
NUM_CORNERS
|
|
};
|
|
|
|
enum NavRelativeDirType
|
|
{
|
|
FORWARD = 0,
|
|
RIGHT,
|
|
BACKWARD,
|
|
LEFT,
|
|
UP,
|
|
DOWN,
|
|
|
|
NUM_RELATIVE_DIRECTIONS
|
|
};
|
|
|
|
struct Extent
|
|
{
|
|
Vector lo, hi;
|
|
|
|
void Init( void )
|
|
{
|
|
lo.Init();
|
|
hi.Init();
|
|
}
|
|
|
|
float SizeX( void ) const { return hi.x - lo.x; }
|
|
float SizeY( void ) const { return hi.y - lo.y; }
|
|
float SizeZ( void ) const { return hi.z - lo.z; }
|
|
float Area( void ) const { return SizeX() * SizeY(); }
|
|
|
|
// Increase bounds to contain the given point
|
|
void Encompass( const Vector &pos )
|
|
{
|
|
for ( int i=0; i<3; ++i )
|
|
{
|
|
if ( pos[i] < lo[i] )
|
|
{
|
|
lo[i] = pos[i];
|
|
}
|
|
else if ( pos[i] > hi[i] )
|
|
{
|
|
hi[i] = pos[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
/// return true if 'pos' is inside of this extent
|
|
bool Contains( const Vector &pos ) const
|
|
{
|
|
return (pos.x >= lo.x && pos.x <= hi.x &&
|
|
pos.y >= lo.y && pos.y <= hi.y &&
|
|
pos.z >= lo.z && pos.z <= hi.z);
|
|
}
|
|
};
|
|
|
|
struct Ray
|
|
{
|
|
Vector from, to;
|
|
};
|
|
|
|
|
|
class CNavArea;
|
|
class CNavNode;
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline NavDirType OppositeDirection( NavDirType dir )
|
|
{
|
|
switch( dir )
|
|
{
|
|
case NORTH: return SOUTH;
|
|
case SOUTH: return NORTH;
|
|
case EAST: return WEST;
|
|
case WEST: return EAST;
|
|
}
|
|
|
|
return NORTH;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline NavDirType DirectionLeft( NavDirType dir )
|
|
{
|
|
switch( dir )
|
|
{
|
|
case NORTH: return WEST;
|
|
case SOUTH: return EAST;
|
|
case EAST: return NORTH;
|
|
case WEST: return SOUTH;
|
|
}
|
|
|
|
return NORTH;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline NavDirType DirectionRight( NavDirType dir )
|
|
{
|
|
switch( dir )
|
|
{
|
|
case NORTH: return EAST;
|
|
case SOUTH: return WEST;
|
|
case EAST: return SOUTH;
|
|
case WEST: return NORTH;
|
|
}
|
|
|
|
return NORTH;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline void AddDirectionVector( Vector *v, NavDirType dir, float amount )
|
|
{
|
|
switch( dir )
|
|
{
|
|
case NORTH: v->y -= amount; return;
|
|
case SOUTH: v->y += amount; return;
|
|
case EAST: v->x += amount; return;
|
|
case WEST: v->x -= amount; return;
|
|
}
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline float DirectionToAngle( NavDirType dir )
|
|
{
|
|
switch( dir )
|
|
{
|
|
case NORTH: return 270.0f;
|
|
case SOUTH: return 90.0f;
|
|
case EAST: return 0.0f;
|
|
case WEST: return 180.0f;
|
|
}
|
|
|
|
return 0.0f;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline NavDirType AngleToDirection( float angle )
|
|
{
|
|
while( angle < 0.0f )
|
|
angle += 360.0f;
|
|
|
|
while( angle > 360.0f )
|
|
angle -= 360.0f;
|
|
|
|
if (angle < 45 || angle > 315)
|
|
return EAST;
|
|
|
|
if (angle >= 45 && angle < 135)
|
|
return SOUTH;
|
|
|
|
if (angle >= 135 && angle < 225)
|
|
return WEST;
|
|
|
|
return NORTH;
|
|
}
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline void DirectionToVector2D( NavDirType dir, Vector2D *v )
|
|
{
|
|
switch( dir )
|
|
{
|
|
case NORTH: v->x = 0.0f; v->y = -1.0f; break;
|
|
case SOUTH: v->x = 0.0f; v->y = 1.0f; break;
|
|
case EAST: v->x = 1.0f; v->y = 0.0f; break;
|
|
case WEST: v->x = -1.0f; v->y = 0.0f; break;
|
|
}
|
|
}
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
inline void CornerToVector2D( NavCornerType dir, Vector2D *v )
|
|
{
|
|
switch( dir )
|
|
{
|
|
case NORTH_WEST: v->x = -1.0f; v->y = -1.0f; break;
|
|
case NORTH_EAST: v->x = 1.0f; v->y = -1.0f; break;
|
|
case SOUTH_EAST: v->x = 1.0f; v->y = 1.0f; break;
|
|
case SOUTH_WEST: v->x = -1.0f; v->y = 1.0f; break;
|
|
}
|
|
|
|
v->NormalizeInPlace();
|
|
}
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Return true if given entity can be ignored when moving
|
|
*/
|
|
#define WALK_THRU_DOORS 0x01
|
|
#define WALK_THRU_BREAKABLES 0x02
|
|
#define WALK_THRU_TOGGLE_BRUSHES 0x04
|
|
#define WALK_THRU_EVERYTHING (WALK_THRU_DOORS | WALK_THRU_BREAKABLES | WALK_THRU_TOGGLE_BRUSHES)
|
|
inline bool IsEntityWalkable( CBaseEntity *entity, unsigned int flags )
|
|
{
|
|
if (FClassnameIs( entity, "worldspawn" ))
|
|
return false;
|
|
|
|
if (FClassnameIs( entity, "player" ))
|
|
return false;
|
|
|
|
// if we hit a door, assume its walkable because it will open when we touch it
|
|
if (FClassnameIs( entity, "prop_door*" ) || FClassnameIs( entity, "func_door*" ))
|
|
return (flags & WALK_THRU_DOORS) ? true : false;
|
|
|
|
// if we hit a clip brush, ignore it if it is not BRUSHSOLID_ALWAYS
|
|
if (FClassnameIs( entity, "func_brush" ))
|
|
{
|
|
CFuncBrush *brush = (CFuncBrush *)entity;
|
|
switch ( brush->m_iSolidity )
|
|
{
|
|
case CFuncBrush::BRUSHSOLID_ALWAYS:
|
|
return false;
|
|
case CFuncBrush::BRUSHSOLID_NEVER:
|
|
return true;
|
|
case CFuncBrush::BRUSHSOLID_TOGGLE:
|
|
return (flags & WALK_THRU_TOGGLE_BRUSHES) ? true : false;
|
|
}
|
|
}
|
|
|
|
// if we hit a breakable object, assume its walkable because we will shoot it when we touch it
|
|
if (FClassnameIs( entity, "func_breakable" ) && entity->GetHealth() && entity->m_takedamage == DAMAGE_YES)
|
|
return (flags & WALK_THRU_BREAKABLES) ? true : false;
|
|
|
|
if (FClassnameIs( entity, "func_breakable_surf" ) && entity->m_takedamage == DAMAGE_YES)
|
|
return (flags & WALK_THRU_BREAKABLES) ? true : false;
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
//--------------------------------------------------------------------------------------------------------------
|
|
/**
|
|
* Trace filter that ignores players, NPCs, and objects that can be walked through
|
|
*/
|
|
class CTraceFilterWalkableEntities : public CTraceFilterNoNPCsOrPlayer
|
|
{
|
|
public:
|
|
CTraceFilterWalkableEntities( const IHandleEntity *passentity, int collisionGroup, unsigned int flags )
|
|
: CTraceFilterNoNPCsOrPlayer( passentity, collisionGroup ), m_flags( flags )
|
|
{
|
|
}
|
|
|
|
virtual bool ShouldHitEntity( IHandleEntity *pServerEntity, int contentsMask )
|
|
{
|
|
if ( CTraceFilterNoNPCsOrPlayer::ShouldHitEntity(pServerEntity, contentsMask) )
|
|
{
|
|
CBaseEntity *pEntity = EntityFromEntityHandle( pServerEntity );
|
|
return ( !IsEntityWalkable( pEntity, m_flags ) );
|
|
}
|
|
return false;
|
|
}
|
|
|
|
private:
|
|
unsigned int m_flags;
|
|
};
|
|
|
|
|
|
extern bool IsWalkableTraceLineClear( Vector &from, Vector &to, unsigned int flags = 0 );
|
|
|
|
#endif // _NAV_H_
|