mirror of
https://github.com/alliedmodders/hl2sdk.git
synced 2024-12-22 17:47:38 +08:00
205 lines
7.8 KiB
C++
205 lines
7.8 KiB
C++
//========= Copyright Valve Corporation, All rights reserved. ============//
|
|
//
|
|
// Purpose:
|
|
//
|
|
// $NoKeywords: $
|
|
//=============================================================================//
|
|
|
|
#ifndef AI_PATHFINDER_H
|
|
#define AI_PATHFINDER_H
|
|
|
|
#include "ai_component.h"
|
|
#include "ai_navtype.h"
|
|
|
|
#if defined( _WIN32 )
|
|
#pragma once
|
|
#endif
|
|
|
|
struct AIMoveTrace_t;
|
|
struct OverlayLine_t;
|
|
struct AI_Waypoint_t;
|
|
class CAI_Link;
|
|
class CAI_Network;
|
|
class CAI_Node;
|
|
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// The type of route to build
|
|
enum RouteBuildFlags_e
|
|
{
|
|
bits_BUILD_GROUND = 0x00000001, //
|
|
bits_BUILD_JUMP = 0x00000002, //
|
|
bits_BUILD_FLY = 0x00000004, //
|
|
bits_BUILD_CLIMB = 0x00000008, //
|
|
bits_BUILD_GIVEWAY = 0x00000010, //
|
|
bits_BUILD_TRIANG = 0x00000020, //
|
|
bits_BUILD_IGNORE_NPCS = 0x00000040, // Ignore collisions with NPCs
|
|
bits_BUILD_COLLIDE_NPCS = 0x00000080, // Use collisions with NPCs (redundant for argument clarity)
|
|
bits_BUILD_GET_CLOSE = 0x00000100, // the route will be built even if it can't reach the destination
|
|
};
|
|
|
|
//-----------------------------------------------------------------------------
|
|
// CAI_Pathfinder
|
|
//
|
|
// Purpose: Executes pathfinds through an associated network.
|
|
//
|
|
//-----------------------------------------------------------------------------
|
|
|
|
class CAI_Pathfinder : public CAI_Component
|
|
{
|
|
public:
|
|
CAI_Pathfinder( CAI_BaseNPC *pOuter )
|
|
: CAI_Component(pOuter),
|
|
m_flLastStaleLinkCheckTime( 0 ),
|
|
m_pNetwork( NULL )
|
|
{
|
|
}
|
|
|
|
void Init( CAI_Network *pNetwork );
|
|
|
|
//---------------------------------
|
|
|
|
int NearestNodeToNPC();
|
|
int NearestNodeToPoint( const Vector &vecOrigin );
|
|
|
|
AI_Waypoint_t* FindBestPath (int startID, int endID);
|
|
AI_Waypoint_t* FindShortRandomPath (int startID, float minPathLength, const Vector &vDirection = vec3_origin);
|
|
|
|
// --------------------------------
|
|
|
|
bool IsLinkUsable(CAI_Link *pLink, int startID);
|
|
|
|
// --------------------------------
|
|
|
|
AI_Waypoint_t *BuildRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity *pTarget, float goalTolerance, Navigation_t curNavType = NAV_NONE, bool bLocalSucceedOnWithinTolerance = false );
|
|
void UnlockRouteNodes( AI_Waypoint_t * );
|
|
|
|
// --------------------------------
|
|
|
|
void SetIgnoreBadLinks() { m_bIgnoreStaleLinks = true; } // lasts only for the next pathfind
|
|
|
|
// --------------------------------
|
|
|
|
virtual AI_Waypoint_t *BuildNodeRoute( const Vector &vStart, const Vector &vEnd, int buildFlags, float goalTolerance );
|
|
virtual AI_Waypoint_t *BuildLocalRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float goalTolerance);
|
|
virtual AI_Waypoint_t *BuildRadialRoute( const Vector &vStartPos, const Vector &vCenterPos, const Vector &vGoalPos, float flRadius, float flArc, float flStepDist, bool bClockwise, float goalTolerance, bool bAirRoute );
|
|
|
|
virtual AI_Waypoint_t *BuildTriangulationRoute( const Vector &vStart,
|
|
const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID,
|
|
float flYaw, float flDistToBlocker, Navigation_t navType);
|
|
|
|
virtual AI_Waypoint_t *BuildOBBAvoidanceRoute( const Vector &vStart, const Vector &vEnd,
|
|
const CBaseEntity *pObstruction, const CBaseEntity *pTarget,
|
|
Navigation_t navType );
|
|
|
|
// --------------------------------
|
|
|
|
bool Triangulate( Navigation_t navType, const Vector &vecStart, const Vector &vecEnd,
|
|
float flDistToBlocker, CBaseEntity const *pTargetEnt, Vector *pApex );
|
|
|
|
// --------------------------------
|
|
|
|
void DrawDebugGeometryOverlays( int m_debugOverlays );
|
|
|
|
protected:
|
|
virtual bool CanUseLocalNavigation() { return true; }
|
|
|
|
private:
|
|
friend class CPathfindNearestNodeFilter;
|
|
|
|
//---------------------------------
|
|
|
|
AI_Waypoint_t* RouteToNode(const Vector &vecOrigin, int buildFlags, int nodeID, float goalTolerance);
|
|
AI_Waypoint_t* RouteFromNode(const Vector &vecOrigin, int buildFlags, int nodeID, float goalTolerance);
|
|
|
|
AI_Waypoint_t * BuildNearestNodeRoute( const Vector &vGoal, bool bToNode, int buildFlags, float goalTolerance, int *pNearestNode );
|
|
|
|
//---------------------------------
|
|
|
|
AI_Waypoint_t* MakeRouteFromParents(int *parentArray, int endID);
|
|
AI_Waypoint_t* CreateNodeWaypoint( Hull_t hullType, int nodeID, int nodeFlags = 0 );
|
|
|
|
AI_Waypoint_t* BuildRouteThroughPoints( Vector *vecPoints, int nNumPoints, int nDirection, int nStartIndex, int nEndIndex, Navigation_t navType, CBaseEntity *pTarget );
|
|
|
|
bool IsLinkStillStale(int moveType, CAI_Link *nodeLink);
|
|
|
|
// --------------------------------
|
|
|
|
// Builds a simple route (no triangulation, no making way)
|
|
AI_Waypoint_t *BuildSimpleRoute( Navigation_t navType, const Vector &vStart, const Vector &vEnd,
|
|
const CBaseEntity *pTarget, int endFlags, int nodeID, int nodeTargetType, float flYaw);
|
|
|
|
// Builds a complex route (triangulation, making way)
|
|
AI_Waypoint_t *BuildComplexRoute( Navigation_t navType, const Vector &vStart,
|
|
const Vector &vEnd, const CBaseEntity *pTarget, int endFlags, int nodeID,
|
|
int buildFlags, float flYaw, float goalTolerance, float maxLocalNavDistance );
|
|
|
|
AI_Waypoint_t *BuildGroundRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw, float goalTolerance );
|
|
AI_Waypoint_t *BuildFlyRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw, float goalTolerance );
|
|
AI_Waypoint_t *BuildJumpRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw );
|
|
AI_Waypoint_t *BuildClimbRoute( const Vector &vStart, const Vector &vEnd, CBaseEntity const *pTarget, int endFlags, int nodeID, int buildFlags, float flYaw );
|
|
|
|
// Computes the link type
|
|
Navigation_t ComputeWaypointType( CAI_Node **ppNodes, int parentID, int destID );
|
|
|
|
// --------------------------------
|
|
|
|
bool TestTriangulationRoute( Navigation_t navType, const Vector& vecStart,
|
|
const Vector &vecApex, const Vector &vecEnd, const CBaseEntity *pTargetEnt, AIMoveTrace_t *pStartTrace );
|
|
|
|
// --------------------------------
|
|
|
|
bool CheckStaleRoute( const Vector &vStart, const Vector &vEnd, int moveTypes);
|
|
bool CheckStaleNavTypeRoute( Navigation_t navType, const Vector &vStart, const Vector &vEnd );
|
|
|
|
// --------------------------------
|
|
|
|
bool CanGiveWay( const Vector& vStart, const Vector& vEnd, CBaseEntity *pNPCBlocker );
|
|
|
|
// --------------------------------
|
|
|
|
bool UseStrongOptimizations();
|
|
|
|
// --------------------------------
|
|
// Debugging fields and functions
|
|
|
|
class CTriDebugOverlay
|
|
{
|
|
public:
|
|
CTriDebugOverlay()
|
|
: m_debugTriOverlayLine( NULL )
|
|
{
|
|
}
|
|
void AddTriOverlayLines( const Vector &vecStart, const Vector &vecApex, const Vector &vecEnd, const AIMoveTrace_t &startTrace, const AIMoveTrace_t &endTrace, bool bPathClear );
|
|
void ClearTriOverlayLines(void);
|
|
void FadeTriOverlayLines(void);
|
|
|
|
void Draw(int npcDebugOverlays);
|
|
private:
|
|
void AddTriOverlayLine(const Vector &origin, const Vector &dest, int r, int g, int b, bool noDepthTest);
|
|
|
|
OverlayLine_t **m_debugTriOverlayLine;
|
|
};
|
|
|
|
CTriDebugOverlay m_TriDebugOverlay;
|
|
|
|
//---------------------------------
|
|
|
|
float m_flLastStaleLinkCheckTime; // Last time I check for a stale link
|
|
bool m_bIgnoreStaleLinks;
|
|
|
|
//---------------------------------
|
|
|
|
CAI_Network *GetNetwork() { return m_pNetwork; }
|
|
const CAI_Network *GetNetwork() const { return m_pNetwork; }
|
|
|
|
CAI_Network *m_pNetwork;
|
|
|
|
public:
|
|
DECLARE_SIMPLE_DATADESC();
|
|
};
|
|
|
|
//-----------------------------------------------------------------------------
|
|
|
|
#endif // AI_PATHFINDER_H
|