1525 lines
45 KiB
C++
1525 lines
45 KiB
C++
/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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#include "../../idlib/precompiled.h"
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#pragma hdrstop
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#include "../Game_local.h"
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/*
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===============================================================================
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Dynamic Obstacle Avoidance
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- assumes the AI lives inside a bounding box aligned with the gravity direction
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- obstacles in proximity of the AI are gathered
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- if obstacles are found the AAS walls are also considered as obstacles
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- every obstacle is represented by an oriented bounding box (OBB)
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- an OBB is projected onto a 2D plane orthogonal to AI's gravity direction
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- the 2D windings of the projections are expanded for the AI bbox
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- a path tree is build using clockwise and counter clockwise edge walks along the winding edges
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- the path tree is pruned and optimized
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- the shortest path is chosen for navigation
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===============================================================================
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*/
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const float MAX_OBSTACLE_RADIUS = 256.0f;
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const float PUSH_OUTSIDE_OBSTACLES = 0.5f;
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const float CLIP_BOUNDS_EPSILON = 10.0f;
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const int MAX_AAS_WALL_EDGES = 256;
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const int MAX_OBSTACLES = 256;
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const int MAX_PATH_NODES = 256;
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const int MAX_OBSTACLE_PATH = 64;
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typedef struct obstacle_s {
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idVec2 bounds[2];
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idWinding2D winding;
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idEntity * entity;
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} obstacle_t;
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typedef struct pathNode_s {
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int dir;
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idVec2 pos;
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idVec2 delta;
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float dist;
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int obstacle;
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int edgeNum;
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int numNodes;
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struct pathNode_s * parent;
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struct pathNode_s * children[2];
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struct pathNode_s * next;
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void Init();
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} pathNode_t;
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void pathNode_s::Init() {
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dir = 0;
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pos.Zero();
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delta.Zero();
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obstacle = -1;
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edgeNum = -1;
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numNodes = 0;
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parent = children[0] = children[1] = next = NULL;
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}
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idBlockAlloc<pathNode_t, 128> pathNodeAllocator;
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/*
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============
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LineIntersectsPath
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============
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*/
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bool LineIntersectsPath( const idVec2 &start, const idVec2 &end, const pathNode_t *node ) {
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float d0, d1, d2, d3;
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idVec3 plane1, plane2;
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plane1 = idWinding2D::Plane2DFromPoints( start, end );
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d0 = plane1.x * node->pos.x + plane1.y * node->pos.y + plane1.z;
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while( node->parent ) {
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d1 = plane1.x * node->parent->pos.x + plane1.y * node->parent->pos.y + plane1.z;
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if ( FLOATSIGNBITSET( d0 ) ^ FLOATSIGNBITSET( d1 ) ) {
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plane2 = idWinding2D::Plane2DFromPoints( node->pos, node->parent->pos );
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d2 = plane2.x * start.x + plane2.y * start.y + plane2.z;
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d3 = plane2.x * end.x + plane2.y * end.y + plane2.z;
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if ( FLOATSIGNBITSET( d2 ) ^ FLOATSIGNBITSET( d3 ) ) {
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return true;
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}
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}
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d0 = d1;
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node = node->parent;
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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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PointInsideObstacle
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============
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*/
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int PointInsideObstacle( const obstacle_t *obstacles, const int numObstacles, const idVec2 &point ) {
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int i;
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for ( i = 0; i < numObstacles; i++ ) {
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const idVec2 *bounds = obstacles[i].bounds;
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if ( point.x < bounds[0].x || point.y < bounds[0].y || point.x > bounds[1].x || point.y > bounds[1].y ) {
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continue;
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}
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if ( !obstacles[i].winding.PointInside( point, 0.1f ) ) {
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continue;
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}
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return i;
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}
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return -1;
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}
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/*
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============
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GetPointOutsideObstacles
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============
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*/
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void GetPointOutsideObstacles( const obstacle_t *obstacles, const int numObstacles, idVec2 &point, int *obstacle, int *edgeNum ) {
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int i, j, k, n, bestObstacle, bestEdgeNum, queueStart, queueEnd, edgeNums[2];
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float d, bestd, scale[2];
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idVec3 plane, bestPlane;
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idVec2 newPoint, dir, bestPoint;
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int *queue;
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bool *obstacleVisited;
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idWinding2D w1, w2;
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if ( obstacle ) {
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*obstacle = -1;
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}
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if ( edgeNum ) {
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*edgeNum = -1;
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}
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bestObstacle = PointInsideObstacle( obstacles, numObstacles, point );
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if ( bestObstacle == -1 ) {
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return;
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}
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const idWinding2D &w = obstacles[bestObstacle].winding;
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bestd = idMath::INFINITY;
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bestEdgeNum = 0;
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for ( i = 0; i < w.GetNumPoints(); i++ ) {
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plane = idWinding2D::Plane2DFromPoints( w[(i+1)%w.GetNumPoints()], w[i], true );
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d = plane.x * point.x + plane.y * point.y + plane.z;
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if ( d < bestd ) {
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bestd = d;
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bestPlane = plane;
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bestEdgeNum = i;
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}
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// if this is a wall always try to pop out at the first edge
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if ( obstacles[bestObstacle].entity == NULL ) {
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break;
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}
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}
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newPoint = point - ( bestd + PUSH_OUTSIDE_OBSTACLES ) * bestPlane.ToVec2();
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if ( PointInsideObstacle( obstacles, numObstacles, newPoint ) == -1 ) {
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point = newPoint;
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if ( obstacle ) {
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*obstacle = bestObstacle;
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}
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if ( edgeNum ) {
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*edgeNum = bestEdgeNum;
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}
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return;
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}
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queue = (int *) _alloca( numObstacles * sizeof( queue[0] ) );
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obstacleVisited = (bool *) _alloca( numObstacles * sizeof( obstacleVisited[0] ) );
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queueStart = 0;
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queueEnd = 1;
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queue[0] = bestObstacle;
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memset( obstacleVisited, 0, numObstacles * sizeof( obstacleVisited[0] ) );
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obstacleVisited[bestObstacle] = true;
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bestd = idMath::INFINITY;
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for ( i = queue[0]; queueStart < queueEnd; i = queue[++queueStart] ) {
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w1 = obstacles[i].winding;
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w1.Expand( PUSH_OUTSIDE_OBSTACLES );
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for ( j = 0; j < numObstacles; j++ ) {
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// if the obstacle has been visited already
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if ( obstacleVisited[j] ) {
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continue;
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}
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// if the bounds do not intersect
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if ( obstacles[j].bounds[0].x > obstacles[i].bounds[1].x || obstacles[j].bounds[0].y > obstacles[i].bounds[1].y ||
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obstacles[j].bounds[1].x < obstacles[i].bounds[0].x || obstacles[j].bounds[1].y < obstacles[i].bounds[0].y ) {
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continue;
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}
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queue[queueEnd++] = j;
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obstacleVisited[j] = true;
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w2 = obstacles[j].winding;
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w2.Expand( 0.2f );
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for ( k = 0; k < w1.GetNumPoints(); k++ ) {
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dir = w1[(k+1)%w1.GetNumPoints()] - w1[k];
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if ( !w2.RayIntersection( w1[k], dir, scale[0], scale[1], edgeNums ) ) {
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continue;
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}
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for ( n = 0; n < 2; n++ ) {
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newPoint = w1[k] + scale[n] * dir;
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if ( PointInsideObstacle( obstacles, numObstacles, newPoint ) == -1 ) {
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d = ( newPoint - point ).LengthSqr();
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if ( d < bestd ) {
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bestd = d;
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bestPoint = newPoint;
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bestEdgeNum = edgeNums[n];
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bestObstacle = j;
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}
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}
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}
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}
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}
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if ( bestd < idMath::INFINITY ) {
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point = bestPoint;
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if ( obstacle ) {
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*obstacle = bestObstacle;
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}
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if ( edgeNum ) {
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*edgeNum = bestEdgeNum;
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}
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return;
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}
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}
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gameLocal.Warning( "GetPointOutsideObstacles: no valid point found" );
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}
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/*
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============
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GetFirstBlockingObstacle
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============
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*/
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bool GetFirstBlockingObstacle( const obstacle_t *obstacles, int numObstacles, int skipObstacle, const idVec2 &startPos, const idVec2 &delta, float &blockingScale, int &blockingObstacle, int &blockingEdgeNum ) {
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int i, edgeNums[2];
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float dist, scale1, scale2;
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idVec2 bounds[2];
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// get bounds for the current movement delta
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bounds[0] = startPos - idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
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bounds[1] = startPos + idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
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bounds[FLOATSIGNBITNOTSET(delta.x)].x += delta.x;
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bounds[FLOATSIGNBITNOTSET(delta.y)].y += delta.y;
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// test for obstacles blocking the path
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blockingScale = idMath::INFINITY;
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dist = delta.Length();
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for ( i = 0; i < numObstacles; i++ ) {
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if ( i == skipObstacle ) {
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continue;
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}
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if ( bounds[0].x > obstacles[i].bounds[1].x || bounds[0].y > obstacles[i].bounds[1].y ||
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bounds[1].x < obstacles[i].bounds[0].x || bounds[1].y < obstacles[i].bounds[0].y ) {
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continue;
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}
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if ( obstacles[i].winding.RayIntersection( startPos, delta, scale1, scale2, edgeNums ) ) {
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if ( scale1 < blockingScale && scale1 * dist > -0.01f && scale2 * dist > 0.01f ) {
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blockingScale = scale1;
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blockingObstacle = i;
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blockingEdgeNum = edgeNums[0];
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}
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}
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}
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return ( blockingScale < 1.0f );
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}
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/*
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============
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GetObstacles
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============
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*/
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int GetObstacles( const idPhysics *physics, const idAAS *aas, const idEntity *ignore, int areaNum, const idVec3 &startPos, const idVec3 &seekPos, obstacle_t *obstacles, int maxObstacles, idBounds &clipBounds ) {
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int i, j, numListedClipModels, numObstacles, numVerts, clipMask, blockingObstacle, blockingEdgeNum;
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int wallEdges[MAX_AAS_WALL_EDGES], numWallEdges, verts[2], lastVerts[2], nextVerts[2];
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float stepHeight, headHeight, blockingScale, min, max;
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idVec3 seekDelta, silVerts[32], start, end, nextStart, nextEnd;
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idVec2 expBounds[2], edgeDir, edgeNormal, nextEdgeDir, nextEdgeNormal, lastEdgeNormal;
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idVec2 obDelta;
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idPhysics *obPhys;
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idBox box;
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idEntity *obEnt;
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idClipModel *clipModel;
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idClipModel *clipModelList[ MAX_GENTITIES ];
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numObstacles = 0;
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seekDelta = seekPos - startPos;
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expBounds[0] = physics->GetBounds()[0].ToVec2() - idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
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expBounds[1] = physics->GetBounds()[1].ToVec2() + idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
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physics->GetAbsBounds().AxisProjection( -physics->GetGravityNormal(), stepHeight, headHeight );
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stepHeight += aas->GetSettings()->maxStepHeight;
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// clip bounds for the obstacle search space
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clipBounds[0] = clipBounds[1] = startPos;
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clipBounds.AddPoint( seekPos );
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clipBounds.ExpandSelf( MAX_OBSTACLE_RADIUS );
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clipMask = physics->GetClipMask();
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// find all obstacles touching the clip bounds
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numListedClipModels = gameLocal.clip.ClipModelsTouchingBounds( clipBounds, clipMask, clipModelList, MAX_GENTITIES );
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for ( i = 0; i < numListedClipModels && numObstacles < MAX_OBSTACLES; i++ ) {
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clipModel = clipModelList[i];
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obEnt = clipModel->GetEntity();
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if ( !clipModel->IsTraceModel() ) {
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continue;
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}
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if ( obEnt->IsType( idActor::Type ) ) {
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obPhys = obEnt->GetPhysics();
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// ignore myself, my enemy, and dead bodies
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if ( ( obPhys == physics ) || ( obEnt == ignore ) || ( obEnt->health <= 0 ) ) {
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continue;
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}
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// if the actor is moving
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idVec3 v1 = obPhys->GetLinearVelocity();
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if ( v1.LengthSqr() > Square( 10.0f ) ) {
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idVec3 v2 = physics->GetLinearVelocity();
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if ( v2.LengthSqr() > Square( 10.0f ) ) {
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// if moving in about the same direction
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if ( v1 * v2 > 0.0f ) {
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continue;
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}
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}
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}
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} else if ( obEnt->IsType( idMoveable::Type ) ) {
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// moveables are considered obstacles
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} else {
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// ignore everything else
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continue;
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}
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// check if we can step over the object
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clipModel->GetAbsBounds().AxisProjection( -physics->GetGravityNormal(), min, max );
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if ( max < stepHeight || min > headHeight ) {
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// can step over this one
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continue;
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}
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// project a box containing the obstacle onto the floor plane
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box = idBox( clipModel->GetBounds(), clipModel->GetOrigin(), clipModel->GetAxis() );
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numVerts = box.GetParallelProjectionSilhouetteVerts( physics->GetGravityNormal(), silVerts );
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// create a 2D winding for the obstacle;
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obstacle_t &obstacle = obstacles[numObstacles++];
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obstacle.winding.Clear();
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for ( j = 0; j < numVerts; j++ ) {
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obstacle.winding.AddPoint( silVerts[j].ToVec2() );
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}
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if ( ai_showObstacleAvoidance.GetBool() ) {
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for ( j = 0; j < numVerts; j++ ) {
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silVerts[j].z = startPos.z;
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}
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for ( j = 0; j < numVerts; j++ ) {
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gameRenderWorld->DebugArrow( colorWhite, silVerts[j], silVerts[(j+1)%numVerts], 4 );
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}
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}
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// expand the 2D winding for collision with a 2D box
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obstacle.winding.ExpandForAxialBox( expBounds );
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obstacle.winding.GetBounds( obstacle.bounds );
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obstacle.entity = obEnt;
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}
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// if there are no dynamic obstacles the path should be through valid AAS space
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if ( numObstacles == 0 ) {
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return 0;
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}
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// if the current path doesn't intersect any dynamic obstacles the path should be through valid AAS space
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if ( PointInsideObstacle( obstacles, numObstacles, startPos.ToVec2() ) == -1 ) {
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if ( !GetFirstBlockingObstacle( obstacles, numObstacles, -1, startPos.ToVec2(), seekDelta.ToVec2(), blockingScale, blockingObstacle, blockingEdgeNum ) ) {
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return 0;
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}
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}
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// create obstacles for AAS walls
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if ( aas ) {
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float halfBoundsSize = ( expBounds[ 1 ].x - expBounds[ 0 ].x ) * 0.5f;
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numWallEdges = aas->GetWallEdges( areaNum, clipBounds, TFL_WALK, wallEdges, MAX_AAS_WALL_EDGES );
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aas->SortWallEdges( wallEdges, numWallEdges );
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lastVerts[0] = lastVerts[1] = 0;
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lastEdgeNormal.Zero();
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nextVerts[0] = nextVerts[1] = 0;
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for ( i = 0; i < numWallEdges && numObstacles < MAX_OBSTACLES; i++ ) {
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aas->GetEdge( wallEdges[i], start, end );
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aas->GetEdgeVertexNumbers( wallEdges[i], verts );
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edgeDir = end.ToVec2() - start.ToVec2();
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edgeDir.Normalize();
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edgeNormal.x = edgeDir.y;
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edgeNormal.y = -edgeDir.x;
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if ( i < numWallEdges-1 ) {
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aas->GetEdge( wallEdges[i+1], nextStart, nextEnd );
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aas->GetEdgeVertexNumbers( wallEdges[i+1], nextVerts );
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nextEdgeDir = nextEnd.ToVec2() - nextStart.ToVec2();
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nextEdgeDir.Normalize();
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nextEdgeNormal.x = nextEdgeDir.y;
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nextEdgeNormal.y = -nextEdgeDir.x;
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}
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obstacle_t &obstacle = obstacles[numObstacles++];
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obstacle.winding.Clear();
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obstacle.winding.AddPoint( end.ToVec2() );
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obstacle.winding.AddPoint( start.ToVec2() );
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obstacle.winding.AddPoint( start.ToVec2() - edgeDir - edgeNormal * halfBoundsSize );
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obstacle.winding.AddPoint( end.ToVec2() + edgeDir - edgeNormal * halfBoundsSize );
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if ( lastVerts[1] == verts[0] ) {
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obstacle.winding[2] -= lastEdgeNormal * halfBoundsSize;
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} else {
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obstacle.winding[1] -= edgeDir;
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}
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if ( verts[1] == nextVerts[0] ) {
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obstacle.winding[3] -= nextEdgeNormal * halfBoundsSize;
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} else {
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obstacle.winding[0] += edgeDir;
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}
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obstacle.winding.GetBounds( obstacle.bounds );
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obstacle.entity = NULL;
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memcpy( lastVerts, verts, sizeof( lastVerts ) );
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lastEdgeNormal = edgeNormal;
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}
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}
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// show obstacles
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if ( ai_showObstacleAvoidance.GetBool() ) {
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for ( i = 0; i < numObstacles; i++ ) {
|
|
obstacle_t &obstacle = obstacles[i];
|
|
for ( j = 0; j < obstacle.winding.GetNumPoints(); j++ ) {
|
|
silVerts[j].ToVec2() = obstacle.winding[j];
|
|
silVerts[j].z = startPos.z;
|
|
}
|
|
for ( j = 0; j < obstacle.winding.GetNumPoints(); j++ ) {
|
|
gameRenderWorld->DebugArrow( colorGreen, silVerts[j], silVerts[(j+1)%obstacle.winding.GetNumPoints()], 4 );
|
|
}
|
|
}
|
|
}
|
|
|
|
return numObstacles;
|
|
}
|
|
|
|
/*
|
|
============
|
|
FreePathTree_r
|
|
============
|
|
*/
|
|
void FreePathTree_r( pathNode_t *node ) {
|
|
if ( node->children[0] ) {
|
|
FreePathTree_r( node->children[0] );
|
|
}
|
|
if ( node->children[1] ) {
|
|
FreePathTree_r( node->children[1] );
|
|
}
|
|
pathNodeAllocator.Free( node );
|
|
}
|
|
|
|
/*
|
|
============
|
|
DrawPathTree
|
|
============
|
|
*/
|
|
void DrawPathTree( const pathNode_t *root, const float height ) {
|
|
int i;
|
|
idVec3 start, end;
|
|
const pathNode_t *node;
|
|
|
|
for ( node = root; node; node = node->next ) {
|
|
for ( i = 0; i < 2; i++ ) {
|
|
if ( node->children[i] ) {
|
|
start.ToVec2() = node->pos;
|
|
start.z = height;
|
|
end.ToVec2() = node->children[i]->pos;
|
|
end.z = height;
|
|
gameRenderWorld->DebugArrow( node->edgeNum == -1 ? colorYellow : i ? colorBlue : colorRed, start, end, 1 );
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
============
|
|
GetPathNodeDelta
|
|
============
|
|
*/
|
|
bool GetPathNodeDelta( pathNode_t *node, const obstacle_t *obstacles, const idVec2 &seekPos, bool blocked ) {
|
|
int numPoints, edgeNum;
|
|
bool facing;
|
|
idVec2 seekDelta, dir;
|
|
pathNode_t *n;
|
|
|
|
numPoints = obstacles[node->obstacle].winding.GetNumPoints();
|
|
|
|
// get delta along the current edge
|
|
while( 1 ) {
|
|
edgeNum = ( node->edgeNum + node->dir ) % numPoints;
|
|
node->delta = obstacles[node->obstacle].winding[edgeNum] - node->pos;
|
|
if ( node->delta.LengthSqr() > 0.01f ) {
|
|
break;
|
|
}
|
|
node->edgeNum = ( node->edgeNum + numPoints + ( 2 * node->dir - 1 ) ) % numPoints;
|
|
}
|
|
|
|
// if not blocked
|
|
if ( !blocked ) {
|
|
|
|
// test if the current edge faces the goal
|
|
seekDelta = seekPos - node->pos;
|
|
facing = ( ( 2 * node->dir - 1 ) * ( node->delta.x * seekDelta.y - node->delta.y * seekDelta.x ) ) >= 0.0f;
|
|
|
|
// if the current edge faces goal and the line from the current
|
|
// position to the goal does not intersect the current path
|
|
if ( facing && !LineIntersectsPath( node->pos, seekPos, node->parent ) ) {
|
|
node->delta = seekPos - node->pos;
|
|
node->edgeNum = -1;
|
|
}
|
|
}
|
|
|
|
// if the delta is along the obstacle edge
|
|
if ( node->edgeNum != -1 ) {
|
|
// if the edge is found going from this node to the root node
|
|
for ( n = node->parent; n; n = n->parent ) {
|
|
|
|
if ( node->obstacle != n->obstacle || node->edgeNum != n->edgeNum ) {
|
|
continue;
|
|
}
|
|
|
|
// test whether or not the edge segments actually overlap
|
|
if ( n->pos * node->delta > ( node->pos + node->delta ) * node->delta ) {
|
|
continue;
|
|
}
|
|
if ( node->pos * node->delta > ( n->pos + n->delta ) * node->delta ) {
|
|
continue;
|
|
}
|
|
|
|
break;
|
|
}
|
|
if ( n ) {
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
============
|
|
BuildPathTree
|
|
============
|
|
*/
|
|
pathNode_t *BuildPathTree( const obstacle_t *obstacles, int numObstacles, const idBounds &clipBounds, const idVec2 &startPos, const idVec2 &seekPos, obstaclePath_t &path ) {
|
|
int blockingEdgeNum, blockingObstacle, obstaclePoints, bestNumNodes = MAX_OBSTACLE_PATH;
|
|
float blockingScale;
|
|
pathNode_t *root, *node, *child;
|
|
// gcc 4.0
|
|
idQueueTemplate<pathNode_t, offsetof( pathNode_t, next ) > pathNodeQueue, treeQueue;
|
|
root = pathNodeAllocator.Alloc();
|
|
root->Init();
|
|
root->pos = startPos;
|
|
|
|
root->delta = seekPos - root->pos;
|
|
root->numNodes = 0;
|
|
pathNodeQueue.Add( root );
|
|
|
|
for ( node = pathNodeQueue.Get(); node && pathNodeAllocator.GetAllocCount() < MAX_PATH_NODES; node = pathNodeQueue.Get() ) {
|
|
|
|
treeQueue.Add( node );
|
|
|
|
// if this path has more than twice the number of nodes than the best path so far
|
|
if ( node->numNodes > bestNumNodes * 2 ) {
|
|
continue;
|
|
}
|
|
|
|
// don't move outside of the clip bounds
|
|
idVec2 endPos = node->pos + node->delta;
|
|
if ( endPos.x - CLIP_BOUNDS_EPSILON < clipBounds[0].x || endPos.x + CLIP_BOUNDS_EPSILON > clipBounds[1].x ||
|
|
endPos.y - CLIP_BOUNDS_EPSILON < clipBounds[0].y || endPos.y + CLIP_BOUNDS_EPSILON > clipBounds[1].y ) {
|
|
continue;
|
|
}
|
|
|
|
// if an obstacle is blocking the path
|
|
if ( GetFirstBlockingObstacle( obstacles, numObstacles, node->obstacle, node->pos, node->delta, blockingScale, blockingObstacle, blockingEdgeNum ) ) {
|
|
|
|
if ( path.firstObstacle == NULL ) {
|
|
path.firstObstacle = obstacles[blockingObstacle].entity;
|
|
}
|
|
|
|
node->delta *= blockingScale;
|
|
|
|
if ( node->edgeNum == -1 ) {
|
|
node->children[0] = pathNodeAllocator.Alloc();
|
|
node->children[0]->Init();
|
|
node->children[1] = pathNodeAllocator.Alloc();
|
|
node->children[1]->Init();
|
|
node->children[0]->dir = 0;
|
|
node->children[1]->dir = 1;
|
|
node->children[0]->parent = node->children[1]->parent = node;
|
|
node->children[0]->pos = node->children[1]->pos = node->pos + node->delta;
|
|
node->children[0]->obstacle = node->children[1]->obstacle = blockingObstacle;
|
|
node->children[0]->edgeNum = node->children[1]->edgeNum = blockingEdgeNum;
|
|
node->children[0]->numNodes = node->children[1]->numNodes = node->numNodes + 1;
|
|
if ( GetPathNodeDelta( node->children[0], obstacles, seekPos, true ) ) {
|
|
pathNodeQueue.Add( node->children[0] );
|
|
}
|
|
if ( GetPathNodeDelta( node->children[1], obstacles, seekPos, true ) ) {
|
|
pathNodeQueue.Add( node->children[1] );
|
|
}
|
|
} else {
|
|
node->children[node->dir] = child = pathNodeAllocator.Alloc();
|
|
child->Init();
|
|
child->dir = node->dir;
|
|
child->parent = node;
|
|
child->pos = node->pos + node->delta;
|
|
child->obstacle = blockingObstacle;
|
|
child->edgeNum = blockingEdgeNum;
|
|
child->numNodes = node->numNodes + 1;
|
|
if ( GetPathNodeDelta( child, obstacles, seekPos, true ) ) {
|
|
pathNodeQueue.Add( child );
|
|
}
|
|
}
|
|
} else {
|
|
node->children[node->dir] = child = pathNodeAllocator.Alloc();
|
|
child->Init();
|
|
child->dir = node->dir;
|
|
child->parent = node;
|
|
child->pos = node->pos + node->delta;
|
|
child->numNodes = node->numNodes + 1;
|
|
|
|
// there is a free path towards goal
|
|
if ( node->edgeNum == -1 ) {
|
|
if ( node->numNodes < bestNumNodes ) {
|
|
bestNumNodes = node->numNodes;
|
|
}
|
|
continue;
|
|
}
|
|
|
|
child->obstacle = node->obstacle;
|
|
obstaclePoints = obstacles[node->obstacle].winding.GetNumPoints();
|
|
child->edgeNum = ( node->edgeNum + obstaclePoints + ( 2 * node->dir - 1 ) ) % obstaclePoints;
|
|
|
|
if ( GetPathNodeDelta( child, obstacles, seekPos, false ) ) {
|
|
pathNodeQueue.Add( child );
|
|
}
|
|
}
|
|
}
|
|
|
|
return root;
|
|
}
|
|
|
|
/*
|
|
============
|
|
PrunePathTree
|
|
============
|
|
*/
|
|
void PrunePathTree( pathNode_t *root, const idVec2 &seekPos ) {
|
|
int i;
|
|
float bestDist;
|
|
pathNode_t *node, *lastNode, *n, *bestNode;
|
|
|
|
node = root;
|
|
while( node ) {
|
|
|
|
node->dist = ( seekPos - node->pos ).LengthSqr();
|
|
|
|
if ( node->children[0] ) {
|
|
node = node->children[0];
|
|
} else if ( node->children[1] ) {
|
|
node = node->children[1];
|
|
} else {
|
|
|
|
// find the node closest to the goal along this path
|
|
bestDist = idMath::INFINITY;
|
|
bestNode = node;
|
|
for ( n = node; n; n = n->parent ) {
|
|
if ( n->children[0] && n->children[1] ) {
|
|
break;
|
|
}
|
|
if ( n->dist < bestDist ) {
|
|
bestDist = n->dist;
|
|
bestNode = n;
|
|
}
|
|
}
|
|
|
|
// free tree down from the best node
|
|
for ( i = 0; i < 2; i++ ) {
|
|
if ( bestNode->children[i] ) {
|
|
FreePathTree_r( bestNode->children[i] );
|
|
bestNode->children[i] = NULL;
|
|
}
|
|
}
|
|
|
|
for ( lastNode = bestNode, node = bestNode->parent; node; lastNode = node, node = node->parent ) {
|
|
if ( node->children[1] && ( node->children[1] != lastNode ) ) {
|
|
node = node->children[1];
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
============
|
|
OptimizePath
|
|
============
|
|
*/
|
|
int OptimizePath( const pathNode_t *root, const pathNode_t *leafNode, const obstacle_t *obstacles, int numObstacles, idVec2 optimizedPath[MAX_OBSTACLE_PATH] ) {
|
|
int i, numPathPoints, edgeNums[2];
|
|
const pathNode_t *curNode, *nextNode;
|
|
idVec2 curPos, curDelta, bounds[2];
|
|
float scale1, scale2, curLength;
|
|
|
|
optimizedPath[0] = root->pos;
|
|
numPathPoints = 1;
|
|
|
|
for ( nextNode = curNode = root; curNode != leafNode; curNode = nextNode ) {
|
|
|
|
for ( nextNode = leafNode; nextNode->parent != curNode; nextNode = nextNode->parent ) {
|
|
|
|
// can only take shortcuts when going from one object to another
|
|
if ( nextNode->obstacle == curNode->obstacle ) {
|
|
continue;
|
|
}
|
|
|
|
curPos = curNode->pos;
|
|
curDelta = nextNode->pos - curPos;
|
|
curLength = curDelta.Length();
|
|
|
|
// get bounds for the current movement delta
|
|
bounds[0] = curPos - idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
|
|
bounds[1] = curPos + idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
|
|
bounds[FLOATSIGNBITNOTSET(curDelta.x)].x += curDelta.x;
|
|
bounds[FLOATSIGNBITNOTSET(curDelta.y)].y += curDelta.y;
|
|
|
|
// test if the shortcut intersects with any obstacles
|
|
for ( i = 0; i < numObstacles; i++ ) {
|
|
if ( bounds[0].x > obstacles[i].bounds[1].x || bounds[0].y > obstacles[i].bounds[1].y ||
|
|
bounds[1].x < obstacles[i].bounds[0].x || bounds[1].y < obstacles[i].bounds[0].y ) {
|
|
continue;
|
|
}
|
|
if ( obstacles[i].winding.RayIntersection( curPos, curDelta, scale1, scale2, edgeNums ) ) {
|
|
if ( scale1 >= 0.0f && scale1 <= 1.0f && ( i != nextNode->obstacle || scale1 * curLength < curLength - 0.5f ) ) {
|
|
break;
|
|
}
|
|
if ( scale2 >= 0.0f && scale2 <= 1.0f && ( i != nextNode->obstacle || scale2 * curLength < curLength - 0.5f ) ) {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
if ( i >= numObstacles ) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
// store the next position along the optimized path
|
|
optimizedPath[numPathPoints++] = nextNode->pos;
|
|
}
|
|
|
|
return numPathPoints;
|
|
}
|
|
|
|
/*
|
|
============
|
|
PathLength
|
|
============
|
|
*/
|
|
float PathLength( idVec2 optimizedPath[MAX_OBSTACLE_PATH], int numPathPoints, const idVec2 &curDir ) {
|
|
int i;
|
|
float pathLength;
|
|
|
|
// calculate the path length
|
|
pathLength = 0.0f;
|
|
for ( i = 0; i < numPathPoints-1; i++ ) {
|
|
pathLength += ( optimizedPath[i+1] - optimizedPath[i] ).LengthFast();
|
|
}
|
|
|
|
// add penalty if this path does not go in the current direction
|
|
if ( curDir * ( optimizedPath[1] - optimizedPath[0] ) < 0.0f ) {
|
|
pathLength += 100.0f;
|
|
}
|
|
return pathLength;
|
|
}
|
|
|
|
/*
|
|
============
|
|
FindOptimalPath
|
|
|
|
Returns true if there is a path all the way to the goal.
|
|
============
|
|
*/
|
|
bool FindOptimalPath( const pathNode_t *root, const obstacle_t *obstacles, int numObstacles, const float height, const idVec3 &curDir, idVec3 &seekPos ) {
|
|
int i, numPathPoints, bestNumPathPoints;
|
|
const pathNode_t *node, *lastNode, *bestNode;
|
|
idVec2 optimizedPath[MAX_OBSTACLE_PATH];
|
|
float pathLength, bestPathLength;
|
|
bool pathToGoalExists, optimizedPathCalculated;
|
|
|
|
seekPos.Zero();
|
|
seekPos.z = height;
|
|
|
|
pathToGoalExists = false;
|
|
optimizedPathCalculated = false;
|
|
|
|
bestNode = root;
|
|
bestNumPathPoints = 0;
|
|
bestPathLength = idMath::INFINITY;
|
|
|
|
node = root;
|
|
while( node ) {
|
|
|
|
pathToGoalExists |= ( node->dist < 0.1f );
|
|
|
|
if ( node->dist <= bestNode->dist ) {
|
|
|
|
if ( idMath::Fabs( node->dist - bestNode->dist ) < 0.1f ) {
|
|
|
|
if ( !optimizedPathCalculated ) {
|
|
bestNumPathPoints = OptimizePath( root, bestNode, obstacles, numObstacles, optimizedPath );
|
|
bestPathLength = PathLength( optimizedPath, bestNumPathPoints, curDir.ToVec2() );
|
|
seekPos.ToVec2() = optimizedPath[1];
|
|
}
|
|
|
|
numPathPoints = OptimizePath( root, node, obstacles, numObstacles, optimizedPath );
|
|
pathLength = PathLength( optimizedPath, numPathPoints, curDir.ToVec2() );
|
|
|
|
if ( pathLength < bestPathLength ) {
|
|
bestNode = node;
|
|
bestNumPathPoints = numPathPoints;
|
|
bestPathLength = pathLength;
|
|
seekPos.ToVec2() = optimizedPath[1];
|
|
}
|
|
optimizedPathCalculated = true;
|
|
|
|
} else {
|
|
|
|
bestNode = node;
|
|
optimizedPathCalculated = false;
|
|
}
|
|
}
|
|
|
|
if ( node->children[0] ) {
|
|
node = node->children[0];
|
|
} else if ( node->children[1] ) {
|
|
node = node->children[1];
|
|
} else {
|
|
for ( lastNode = node, node = node->parent; node; lastNode = node, node = node->parent ) {
|
|
if ( node->children[1] && node->children[1] != lastNode ) {
|
|
node = node->children[1];
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if ( !pathToGoalExists ) {
|
|
seekPos.ToVec2() = root->children[0]->pos;
|
|
} else if ( !optimizedPathCalculated ) {
|
|
OptimizePath( root, bestNode, obstacles, numObstacles, optimizedPath );
|
|
seekPos.ToVec2() = optimizedPath[1];
|
|
}
|
|
|
|
if ( ai_showObstacleAvoidance.GetBool() ) {
|
|
idVec3 start, end;
|
|
start.z = end.z = height + 4.0f;
|
|
numPathPoints = OptimizePath( root, bestNode, obstacles, numObstacles, optimizedPath );
|
|
for ( i = 0; i < numPathPoints-1; i++ ) {
|
|
start.ToVec2() = optimizedPath[i];
|
|
end.ToVec2() = optimizedPath[i+1];
|
|
gameRenderWorld->DebugArrow( colorCyan, start, end, 1 );
|
|
}
|
|
}
|
|
|
|
return pathToGoalExists;
|
|
}
|
|
|
|
/*
|
|
============
|
|
idAI::FindPathAroundObstacles
|
|
|
|
Finds a path around dynamic obstacles using a path tree with clockwise and counter clockwise edge walks.
|
|
============
|
|
*/
|
|
bool idAI::FindPathAroundObstacles( const idPhysics *physics, const idAAS *aas, const idEntity *ignore, const idVec3 &startPos, const idVec3 &seekPos, obstaclePath_t &path ) {
|
|
int numObstacles, areaNum, insideObstacle;
|
|
obstacle_t obstacles[MAX_OBSTACLES];
|
|
idBounds clipBounds;
|
|
idBounds bounds;
|
|
pathNode_t *root;
|
|
bool pathToGoalExists;
|
|
|
|
path.seekPos = seekPos;
|
|
path.firstObstacle = NULL;
|
|
path.startPosOutsideObstacles = startPos;
|
|
path.startPosObstacle = NULL;
|
|
path.seekPosOutsideObstacles = seekPos;
|
|
path.seekPosObstacle = NULL;
|
|
|
|
if ( !aas ) {
|
|
return true;
|
|
}
|
|
|
|
bounds[1] = aas->GetSettings()->boundingBoxes[0][1];
|
|
bounds[0] = -bounds[1];
|
|
bounds[1].z = 32.0f;
|
|
|
|
// get the AAS area number and a valid point inside that area
|
|
areaNum = aas->PointReachableAreaNum( path.startPosOutsideObstacles, bounds, (AREA_REACHABLE_WALK|AREA_REACHABLE_FLY) );
|
|
aas->PushPointIntoAreaNum( areaNum, path.startPosOutsideObstacles );
|
|
|
|
// get all the nearby obstacles
|
|
numObstacles = GetObstacles( physics, aas, ignore, areaNum, path.startPosOutsideObstacles, path.seekPosOutsideObstacles, obstacles, MAX_OBSTACLES, clipBounds );
|
|
|
|
// get a source position outside the obstacles
|
|
GetPointOutsideObstacles( obstacles, numObstacles, path.startPosOutsideObstacles.ToVec2(), &insideObstacle, NULL );
|
|
if ( insideObstacle != -1 ) {
|
|
path.startPosObstacle = obstacles[insideObstacle].entity;
|
|
}
|
|
|
|
// get a goal position outside the obstacles
|
|
GetPointOutsideObstacles( obstacles, numObstacles, path.seekPosOutsideObstacles.ToVec2(), &insideObstacle, NULL );
|
|
if ( insideObstacle != -1 ) {
|
|
path.seekPosObstacle = obstacles[insideObstacle].entity;
|
|
}
|
|
|
|
// if start and destination are pushed to the same point, we don't have a path around the obstacle
|
|
if ( ( path.seekPosOutsideObstacles.ToVec2() - path.startPosOutsideObstacles.ToVec2() ).LengthSqr() < Square( 1.0f ) ) {
|
|
if ( ( seekPos.ToVec2() - startPos.ToVec2() ).LengthSqr() > Square( 2.0f ) ) {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// build a path tree
|
|
root = BuildPathTree( obstacles, numObstacles, clipBounds, path.startPosOutsideObstacles.ToVec2(), path.seekPosOutsideObstacles.ToVec2(), path );
|
|
|
|
// draw the path tree
|
|
if ( ai_showObstacleAvoidance.GetBool() ) {
|
|
DrawPathTree( root, physics->GetOrigin().z );
|
|
}
|
|
|
|
// prune the tree
|
|
PrunePathTree( root, path.seekPosOutsideObstacles.ToVec2() );
|
|
|
|
// find the optimal path
|
|
pathToGoalExists = FindOptimalPath( root, obstacles, numObstacles, physics->GetOrigin().z, physics->GetLinearVelocity(), path.seekPos );
|
|
|
|
// free the tree
|
|
FreePathTree_r( root );
|
|
|
|
return pathToGoalExists;
|
|
}
|
|
|
|
/*
|
|
============
|
|
idAI::FreeObstacleAvoidanceNodes
|
|
============
|
|
*/
|
|
void idAI::FreeObstacleAvoidanceNodes( void ) {
|
|
pathNodeAllocator.Shutdown();
|
|
}
|
|
|
|
|
|
/*
|
|
===============================================================================
|
|
|
|
Path Prediction
|
|
|
|
Uses the AAS to quickly and accurately predict a path for a certain
|
|
period of time based on an initial position and velocity.
|
|
|
|
===============================================================================
|
|
*/
|
|
|
|
const float OVERCLIP = 1.001f;
|
|
const int MAX_FRAME_SLIDE = 5;
|
|
|
|
typedef struct pathTrace_s {
|
|
float fraction;
|
|
idVec3 endPos;
|
|
idVec3 normal;
|
|
const idEntity * blockingEntity;
|
|
} pathTrace_t;
|
|
|
|
/*
|
|
============
|
|
PathTrace
|
|
|
|
Returns true if a stop event was triggered.
|
|
============
|
|
*/
|
|
bool PathTrace( const idEntity *ent, const idAAS *aas, const idVec3 &start, const idVec3 &end, int stopEvent, struct pathTrace_s &trace, predictedPath_t &path ) {
|
|
trace_t clipTrace;
|
|
aasTrace_t aasTrace;
|
|
|
|
memset( &trace, 0, sizeof( trace ) );
|
|
|
|
if ( !aas || !aas->GetSettings() ) {
|
|
|
|
gameLocal.clip.Translation( clipTrace, start, end, ent->GetPhysics()->GetClipModel(),
|
|
ent->GetPhysics()->GetClipModel()->GetAxis(), MASK_MONSTERSOLID, ent );
|
|
|
|
// NOTE: could do (expensive) ledge detection here for when there is no AAS file
|
|
|
|
trace.fraction = clipTrace.fraction;
|
|
trace.endPos = clipTrace.endpos;
|
|
trace.normal = clipTrace.c.normal;
|
|
trace.blockingEntity = gameLocal.entities[ clipTrace.c.entityNum ];
|
|
} else {
|
|
aasTrace.getOutOfSolid = true;
|
|
if ( stopEvent & SE_ENTER_LEDGE_AREA ) {
|
|
aasTrace.flags |= AREA_LEDGE;
|
|
}
|
|
if ( stopEvent & SE_ENTER_OBSTACLE ) {
|
|
aasTrace.travelFlags |= TFL_INVALID;
|
|
}
|
|
|
|
aas->Trace( aasTrace, start, end );
|
|
|
|
gameLocal.clip.TranslationEntities( clipTrace, start, aasTrace.endpos, ent->GetPhysics()->GetClipModel(),
|
|
ent->GetPhysics()->GetClipModel()->GetAxis(), MASK_MONSTERSOLID, ent );
|
|
|
|
if ( clipTrace.fraction >= 1.0f ) {
|
|
|
|
trace.fraction = aasTrace.fraction;
|
|
trace.endPos = aasTrace.endpos;
|
|
trace.normal = aas->GetPlane( aasTrace.planeNum ).Normal();
|
|
trace.blockingEntity = gameLocal.world;
|
|
|
|
if ( aasTrace.fraction < 1.0f ) {
|
|
if ( stopEvent & SE_ENTER_LEDGE_AREA ) {
|
|
if ( aas->AreaFlags( aasTrace.blockingAreaNum ) & AREA_LEDGE ) {
|
|
path.endPos = trace.endPos;
|
|
path.endNormal = trace.normal;
|
|
path.endEvent = SE_ENTER_LEDGE_AREA;
|
|
path.blockingEntity = trace.blockingEntity;
|
|
|
|
if ( ai_debugMove.GetBool() ) {
|
|
gameRenderWorld->DebugLine( colorRed, start, aasTrace.endpos );
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
if ( stopEvent & SE_ENTER_OBSTACLE ) {
|
|
if ( aas->AreaTravelFlags( aasTrace.blockingAreaNum ) & TFL_INVALID ) {
|
|
path.endPos = trace.endPos;
|
|
path.endNormal = trace.normal;
|
|
path.endEvent = SE_ENTER_OBSTACLE;
|
|
path.blockingEntity = trace.blockingEntity;
|
|
|
|
if ( ai_debugMove.GetBool() ) {
|
|
gameRenderWorld->DebugLine( colorRed, start, aasTrace.endpos );
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
} else {
|
|
trace.fraction = clipTrace.fraction;
|
|
trace.endPos = clipTrace.endpos;
|
|
trace.normal = clipTrace.c.normal;
|
|
trace.blockingEntity = gameLocal.entities[ clipTrace.c.entityNum ];
|
|
}
|
|
}
|
|
|
|
if ( trace.fraction >= 1.0f ) {
|
|
trace.blockingEntity = NULL;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
/*
|
|
============
|
|
idAI::PredictPath
|
|
|
|
Can also be used when there is no AAS file available however ledges are not detected.
|
|
============
|
|
*/
|
|
bool idAI::PredictPath( const idEntity *ent, const idAAS *aas, const idVec3 &start, const idVec3 &velocity, int totalTime, int frameTime, int stopEvent, predictedPath_t &path ) {
|
|
int i, j, step, numFrames, curFrameTime;
|
|
idVec3 delta, curStart, curEnd, curVelocity, lastEnd, stepUp, tmpStart;
|
|
idVec3 gravity, gravityDir, invGravityDir;
|
|
float maxStepHeight, minFloorCos;
|
|
pathTrace_t trace;
|
|
|
|
if ( aas && aas->GetSettings() ) {
|
|
gravity = aas->GetSettings()->gravity;
|
|
gravityDir = aas->GetSettings()->gravityDir;
|
|
invGravityDir = aas->GetSettings()->invGravityDir;
|
|
maxStepHeight = aas->GetSettings()->maxStepHeight;
|
|
minFloorCos = aas->GetSettings()->minFloorCos;
|
|
} else {
|
|
gravity = DEFAULT_GRAVITY_VEC3;
|
|
gravityDir = idVec3( 0, 0, -1 );
|
|
invGravityDir = idVec3( 0, 0, 1 );
|
|
maxStepHeight = 14.0f;
|
|
minFloorCos = 0.7f;
|
|
}
|
|
|
|
path.endPos = start;
|
|
path.endVelocity = velocity;
|
|
path.endNormal.Zero();
|
|
path.endEvent = 0;
|
|
path.endTime = 0;
|
|
path.blockingEntity = NULL;
|
|
|
|
curStart = start;
|
|
curVelocity = velocity;
|
|
|
|
numFrames = ( totalTime + frameTime - 1 ) / frameTime;
|
|
curFrameTime = frameTime;
|
|
for ( i = 0; i < numFrames; i++ ) {
|
|
|
|
if ( i == numFrames-1 ) {
|
|
curFrameTime = totalTime - i * curFrameTime;
|
|
}
|
|
|
|
delta = curVelocity * curFrameTime * 0.001f;
|
|
|
|
path.endVelocity = curVelocity;
|
|
path.endTime = i * frameTime;
|
|
|
|
// allow sliding along a few surfaces per frame
|
|
for ( j = 0; j < MAX_FRAME_SLIDE; j++ ) {
|
|
|
|
idVec3 lineStart = curStart;
|
|
|
|
// allow stepping up three times per frame
|
|
for ( step = 0; step < 3; step++ ) {
|
|
|
|
curEnd = curStart + delta;
|
|
if ( PathTrace( ent, aas, curStart, curEnd, stopEvent, trace, path ) ) {
|
|
return true;
|
|
}
|
|
|
|
if ( step ) {
|
|
|
|
// step down at end point
|
|
tmpStart = trace.endPos;
|
|
curEnd = tmpStart - stepUp;
|
|
if ( PathTrace( ent, aas, tmpStart, curEnd, stopEvent, trace, path ) ) {
|
|
return true;
|
|
}
|
|
|
|
// if not moved any further than without stepping up, or if not on a floor surface
|
|
if ( (lastEnd - start).LengthSqr() > (trace.endPos - start).LengthSqr() - 0.1f ||
|
|
( trace.normal * invGravityDir ) < minFloorCos ) {
|
|
if ( stopEvent & SE_BLOCKED ) {
|
|
path.endPos = lastEnd;
|
|
path.endEvent = SE_BLOCKED;
|
|
|
|
if ( ai_debugMove.GetBool() ) {
|
|
gameRenderWorld->DebugLine( colorRed, lineStart, lastEnd );
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
curStart = lastEnd;
|
|
break;
|
|
}
|
|
}
|
|
|
|
path.endNormal = trace.normal;
|
|
path.blockingEntity = trace.blockingEntity;
|
|
|
|
// if the trace is not blocked or blocked by a floor surface
|
|
if ( trace.fraction >= 1.0f || ( trace.normal * invGravityDir ) > minFloorCos ) {
|
|
curStart = trace.endPos;
|
|
break;
|
|
}
|
|
|
|
// save last result
|
|
lastEnd = trace.endPos;
|
|
|
|
// step up
|
|
stepUp = invGravityDir * maxStepHeight;
|
|
if ( PathTrace( ent, aas, curStart, curStart + stepUp, stopEvent, trace, path ) ) {
|
|
return true;
|
|
}
|
|
stepUp *= trace.fraction;
|
|
curStart = trace.endPos;
|
|
}
|
|
|
|
if ( ai_debugMove.GetBool() ) {
|
|
gameRenderWorld->DebugLine( colorRed, lineStart, curStart );
|
|
}
|
|
|
|
if ( trace.fraction >= 1.0f ) {
|
|
break;
|
|
}
|
|
|
|
delta.ProjectOntoPlane( trace.normal, OVERCLIP );
|
|
curVelocity.ProjectOntoPlane( trace.normal, OVERCLIP );
|
|
|
|
if ( stopEvent & SE_BLOCKED ) {
|
|
// if going backwards
|
|
if ( (curVelocity - gravityDir * curVelocity * gravityDir ) *
|
|
(velocity - gravityDir * velocity * gravityDir) < 0.0f ) {
|
|
path.endPos = curStart;
|
|
path.endEvent = SE_BLOCKED;
|
|
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
|
|
if ( j >= MAX_FRAME_SLIDE ) {
|
|
if ( stopEvent & SE_BLOCKED ) {
|
|
path.endPos = curStart;
|
|
path.endEvent = SE_BLOCKED;
|
|
return true;
|
|
}
|
|
}
|
|
|
|
// add gravity
|
|
curVelocity += gravity * frameTime * 0.001f;
|
|
}
|
|
|
|
path.endTime = totalTime;
|
|
path.endVelocity = curVelocity;
|
|
path.endPos = curStart;
|
|
path.endEvent = 0;
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
/*
|
|
===============================================================================
|
|
|
|
Trajectory Prediction
|
|
|
|
Finds the best collision free trajectory for a clip model based on an
|
|
initial position, target position and speed.
|
|
|
|
===============================================================================
|
|
*/
|
|
|
|
/*
|
|
=====================
|
|
Ballistics
|
|
|
|
get the ideal aim pitch angle in order to hit the target
|
|
also get the time it takes for the projectile to arrive at the target
|
|
=====================
|
|
*/
|
|
typedef struct ballistics_s {
|
|
float angle; // angle in degrees in the range [-180, 180]
|
|
float time; // time it takes before the projectile arrives
|
|
} ballistics_t;
|
|
|
|
static int Ballistics( const idVec3 &start, const idVec3 &end, float speed, float gravity, ballistics_t bal[2] ) {
|
|
int n, i;
|
|
float x, y, a, b, c, d, sqrtd, inva, p[2];
|
|
|
|
x = ( end.ToVec2() - start.ToVec2() ).Length();
|
|
y = end[2] - start[2];
|
|
|
|
a = 4.0f * y * y + 4.0f * x * x;
|
|
b = -4.0f * speed * speed - 4.0f * y * gravity;
|
|
c = gravity * gravity;
|
|
|
|
d = b * b - 4.0f * a * c;
|
|
if ( d <= 0.0f || a == 0.0f ) {
|
|
return 0;
|
|
}
|
|
sqrtd = idMath::Sqrt( d );
|
|
inva = 0.5f / a;
|
|
p[0] = ( - b + sqrtd ) * inva;
|
|
p[1] = ( - b - sqrtd ) * inva;
|
|
n = 0;
|
|
for ( i = 0; i < 2; i++ ) {
|
|
if ( p[i] <= 0.0f ) {
|
|
continue;
|
|
}
|
|
d = idMath::Sqrt( p[i] );
|
|
bal[n].angle = atan2( 0.5f * ( 2.0f * y * p[i] - gravity ) / d, d * x );
|
|
bal[n].time = x / ( cos( bal[n].angle ) * speed );
|
|
bal[n].angle = idMath::AngleNormalize180( RAD2DEG( bal[n].angle ) );
|
|
n++;
|
|
}
|
|
|
|
return n;
|
|
}
|
|
|
|
/*
|
|
=====================
|
|
HeightForTrajectory
|
|
|
|
Returns the maximum hieght of a given trajectory
|
|
=====================
|
|
*/
|
|
static float HeightForTrajectory( const idVec3 &start, float zVel, float gravity ) {
|
|
float maxHeight, t;
|
|
|
|
t = zVel / gravity;
|
|
// maximum height of projectile
|
|
maxHeight = start.z - 0.5f * gravity * ( t * t );
|
|
|
|
return maxHeight;
|
|
}
|
|
|
|
/*
|
|
=====================
|
|
idAI::TestTrajectory
|
|
=====================
|
|
*/
|
|
bool idAI::TestTrajectory( const idVec3 &start, const idVec3 &end, float zVel, float gravity, float time, float max_height, const idClipModel *clip, int clipmask, const idEntity *ignore, const idEntity *targetEntity, int drawtime ) {
|
|
int i, numSegments;
|
|
float maxHeight, t, t2;
|
|
idVec3 points[5];
|
|
trace_t trace;
|
|
bool result;
|
|
|
|
t = zVel / gravity;
|
|
// maximum height of projectile
|
|
maxHeight = start.z - 0.5f * gravity * ( t * t );
|
|
// time it takes to fall from the top to the end height
|
|
t = idMath::Sqrt( ( maxHeight - end.z ) / ( 0.5f * -gravity ) );
|
|
|
|
// start of parabolic
|
|
points[0] = start;
|
|
|
|
if ( t < time ) {
|
|
numSegments = 4;
|
|
// point in the middle between top and start
|
|
t2 = ( time - t ) * 0.5f;
|
|
points[1].ToVec2() = start.ToVec2() + (end.ToVec2() - start.ToVec2()) * ( t2 / time );
|
|
points[1].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
|
|
// top of parabolic
|
|
t2 = time - t;
|
|
points[2].ToVec2() = start.ToVec2() + (end.ToVec2() - start.ToVec2()) * ( t2 / time );
|
|
points[2].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
|
|
// point in the middel between top and end
|
|
t2 = time - t * 0.5f;
|
|
points[3].ToVec2() = start.ToVec2() + (end.ToVec2() - start.ToVec2()) * ( t2 / time );
|
|
points[3].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
|
|
} else {
|
|
numSegments = 2;
|
|
// point halfway through
|
|
t2 = time * 0.5f;
|
|
points[1].ToVec2() = start.ToVec2() + ( end.ToVec2() - start.ToVec2() ) * 0.5f;
|
|
points[1].z = start.z + t2 * zVel + 0.5f * gravity * t2 * t2;
|
|
}
|
|
|
|
// end of parabolic
|
|
points[numSegments] = end;
|
|
|
|
if ( drawtime ) {
|
|
for ( i = 0; i < numSegments; i++ ) {
|
|
gameRenderWorld->DebugLine( colorRed, points[i], points[i+1], drawtime );
|
|
}
|
|
}
|
|
|
|
// make sure projectile doesn't go higher than we want it to go
|
|
for ( i = 0; i < numSegments; i++ ) {
|
|
if ( points[i].z > max_height ) {
|
|
// goes higher than we want to allow
|
|
return false;
|
|
}
|
|
}
|
|
|
|
result = true;
|
|
for ( i = 0; i < numSegments; i++ ) {
|
|
gameLocal.clip.Translation( trace, points[i], points[i+1], clip, mat3_identity, clipmask, ignore );
|
|
if ( trace.fraction < 1.0f ) {
|
|
if ( gameLocal.GetTraceEntity( trace ) == targetEntity ) {
|
|
result = true;
|
|
} else {
|
|
result = false;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
if ( drawtime ) {
|
|
if ( clip ) {
|
|
gameRenderWorld->DebugBounds( result ? colorGreen : colorYellow, clip->GetBounds().Expand( 1.0f ), trace.endpos, drawtime );
|
|
} else {
|
|
idBounds bnds( trace.endpos );
|
|
bnds.ExpandSelf( 1.0f );
|
|
gameRenderWorld->DebugBounds( result ? colorGreen : colorYellow, bnds, vec3_zero, drawtime );
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
/*
|
|
=====================
|
|
idAI::PredictTrajectory
|
|
|
|
returns true if there is a collision free trajectory for the clip model
|
|
aimDir is set to the ideal aim direction in order to hit the target
|
|
=====================
|
|
*/
|
|
bool idAI::PredictTrajectory( const idVec3 &firePos, const idVec3 &target, float projectileSpeed, const idVec3 &projGravity, const idClipModel *clip, int clipmask, float max_height, const idEntity *ignore, const idEntity *targetEntity, int drawtime, idVec3 &aimDir ) {
|
|
int n, i, j;
|
|
float zVel, a, t, pitch, s, c;
|
|
trace_t trace;
|
|
ballistics_t ballistics[2];
|
|
idVec3 dir[2];
|
|
idVec3 velocity;
|
|
idVec3 lastPos, pos;
|
|
|
|
assert( targetEntity );
|
|
|
|
// check if the projectile starts inside the target
|
|
if ( targetEntity->GetPhysics()->GetAbsBounds().IntersectsBounds( clip->GetBounds().Translate( firePos ) ) ) {
|
|
aimDir = target - firePos;
|
|
aimDir.Normalize();
|
|
return true;
|
|
}
|
|
|
|
// if no velocity or the projectile is not affected by gravity
|
|
if ( projectileSpeed <= 0.0f || projGravity == vec3_origin ) {
|
|
|
|
aimDir = target - firePos;
|
|
aimDir.Normalize();
|
|
|
|
gameLocal.clip.Translation( trace, firePos, target, clip, mat3_identity, clipmask, ignore );
|
|
|
|
if ( drawtime ) {
|
|
gameRenderWorld->DebugLine( colorRed, firePos, target, drawtime );
|
|
idBounds bnds( trace.endpos );
|
|
bnds.ExpandSelf( 1.0f );
|
|
gameRenderWorld->DebugBounds( ( trace.fraction >= 1.0f || ( gameLocal.GetTraceEntity( trace ) == targetEntity ) ) ? colorGreen : colorYellow, bnds, vec3_zero, drawtime );
|
|
}
|
|
|
|
return ( trace.fraction >= 1.0f || ( gameLocal.GetTraceEntity( trace ) == targetEntity ) );
|
|
}
|
|
|
|
n = Ballistics( firePos, target, projectileSpeed, projGravity[2], ballistics );
|
|
if ( n == 0 ) {
|
|
// there is no valid trajectory
|
|
aimDir = target - firePos;
|
|
aimDir.Normalize();
|
|
return false;
|
|
}
|
|
|
|
// make sure the first angle is the smallest
|
|
if ( n == 2 ) {
|
|
if ( ballistics[1].angle < ballistics[0].angle ) {
|
|
a = ballistics[0].angle; ballistics[0].angle = ballistics[1].angle; ballistics[1].angle = a;
|
|
t = ballistics[0].time; ballistics[0].time = ballistics[1].time; ballistics[1].time = t;
|
|
}
|
|
}
|
|
|
|
// test if there is a collision free trajectory
|
|
for ( i = 0; i < n; i++ ) {
|
|
pitch = DEG2RAD( ballistics[i].angle );
|
|
idMath::SinCos( pitch, s, c );
|
|
dir[i] = target - firePos;
|
|
dir[i].z = 0.0f;
|
|
dir[i] *= c * idMath::InvSqrt( dir[i].LengthSqr() );
|
|
dir[i].z = s;
|
|
|
|
zVel = projectileSpeed * dir[i].z;
|
|
|
|
if ( ai_debugTrajectory.GetBool() ) {
|
|
t = ballistics[i].time / 100.0f;
|
|
velocity = dir[i] * projectileSpeed;
|
|
lastPos = firePos;
|
|
pos = firePos;
|
|
for ( j = 1; j < 100; j++ ) {
|
|
pos += velocity * t;
|
|
velocity += projGravity * t;
|
|
gameRenderWorld->DebugLine( colorCyan, lastPos, pos );
|
|
lastPos = pos;
|
|
}
|
|
}
|
|
|
|
if ( TestTrajectory( firePos, target, zVel, projGravity[2], ballistics[i].time, firePos.z + max_height, clip, clipmask, ignore, targetEntity, drawtime ) ) {
|
|
aimDir = dir[i];
|
|
return true;
|
|
}
|
|
}
|
|
|
|
aimDir = dir[0];
|
|
|
|
// there is no collision free trajectory
|
|
return false;
|
|
}
|