247 lines
8.0 KiB
C
247 lines
8.0 KiB
C
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//========= Copyright <20> 1996-2005, Valve Corporation, All rights reserved. ============//
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//
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// Purpose:
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//
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// $NoKeywords: $
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//=============================================================================//
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#ifndef AI_NETWORK_H
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#define AI_NETWORK_H
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#ifdef _WIN32
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#pragma once
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#endif
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#include "ispatialpartition.h"
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#include "utlpriorityqueue.h"
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// ------------------------------------
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class CAI_Node;
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class CVarBitVec;
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class INodeListFilter;
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struct AI_Waypoint_t;
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class CAI_BaseNPC;
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class CAI_Link;
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class CAI_DynamicLink;
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//-----------------------------------------------------------------------------
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class CAI_NetworkManager;
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//-----------------------------------------------------------------------------
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#define AI_MAX_NODE_LINKS 30
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#define MAX_NODES 1500
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//-----------------------------------------------------------------------------
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//
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// Utility classes used by CAI_Network
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//
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//-----------------------------------------------------------------------------
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abstract_class INearestNodeFilter
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{
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public:
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virtual bool IsValid( CAI_Node *pNode ) = 0;
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virtual bool ShouldContinue() = 0;
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};
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//-------------------------------------
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struct AI_NearNode_t
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{
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AI_NearNode_t() {}
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AI_NearNode_t( int index, float nodedist ) { dist = nodedist; nodeIndex = index; }
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float dist;
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int nodeIndex;
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};
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//-------------------------------------
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class CNodeList : public CUtlPriorityQueue<AI_NearNode_t>
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{
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public:
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static bool IsLowerPriority( const AI_NearNode_t &node1, const AI_NearNode_t &node2 )
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{
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// nodes with greater distance are lower priority
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return node1.dist > node2.dist;
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}
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static bool RevIsLowerPriority( const AI_NearNode_t &node1, const AI_NearNode_t &node2 )
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{
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// nodes with lower distance are lower priority
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return node2.dist > node1.dist;
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}
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CNodeList( int growSize = 0, int initSize = 0 ) : CUtlPriorityQueue<AI_NearNode_t>( growSize, initSize, IsLowerPriority ) {}
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CNodeList( AI_NearNode_t *pMemory, int count ) : CUtlPriorityQueue<AI_NearNode_t>( pMemory, count, IsLowerPriority ) {}
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};
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//-----------------------------------------------------------------------------
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// CAI_Network
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//
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// Purpose: Stores a node graph through which an AI may pathfind
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//-----------------------------------------------------------------------------
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class CAI_Network : public IPartitionEnumerator
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{
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public:
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// Core data management
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CAI_Network();
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~CAI_Network();
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CAI_Node * AddNode( const Vector &origin, float yaw ); // Returns a new node in the network
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CAI_Link * CreateLink( int srcID, int destID, CAI_DynamicLink *pDynamicLink = NULL );
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bool IsConnected(int srcID, int destID); // Use during run time
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void TestIsConnected(int startID, int endID); // Use only for initialization!
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Vector GetNodePosition( CBaseCombatCharacter *pNPC, int nodeID );
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Vector GetNodePosition( Hull_t hull, int nodeID );
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float GetNodeYaw( int nodeID );
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static int FindBSSmallest(CVarBitVec *bitString, float *float_array, int array_size);
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int NumNodes() const { return m_iNumNodes; }
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CAI_Node* GetNode( int id, bool bHandleError = true ) const
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{
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if ( id >= 0 &&
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id < m_iNumNodes )
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{
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return m_pAInode[id];
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}
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if ( bHandleError )
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{
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static int warningCount = 0;
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if ( ++warningCount < 10 )
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{
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AssertMsg2( 0, "Node (%i) out of range (%i total)\n", id, m_iNumNodes );
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}
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}
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return NULL;
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}
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CAI_Node** AccessNodes() const { return m_pAInode; }
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//////////////////////////////////
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// Tools and utility functions
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int NearestNodeToPoint( CAI_BaseNPC* pNPC, const Vector &vecOrigin, bool bCheckVisiblity, INearestNodeFilter *pFilter );
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int NearestNodeToPoint( CAI_BaseNPC* pNPC, const Vector &vecOrigin, bool bCheckVisiblity = true ) { return NearestNodeToPoint( pNPC, vecOrigin, bCheckVisiblity, NULL ); }
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int NearestNodeToPoint(const Vector &vPosition, bool bCheckVisiblity = true );
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/** @brief Callback lets you customize FindNodeDistanceAwayFromStart to accept or reject specific nodes based on other criteria
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To use, inherit from this and override Validate(). It's like a closure.
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*/
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class IPathingNodeValidator
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{
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public:
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/// FindNodeDistanceAwayFromStart will pass each node it considers acceptable into this function and will reject ones that return false.
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/// NOTE: this must be const!
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virtual bool Validate( const CAI_Node *pNode, const CAI_Network * const pNetwork ) const { return true; } /// < default impl accepts everything
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};
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/// Experimental: starting at a given nav-node, walk the network to try to find a node at least
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/// mindist away from a point yet no more than maxdist. Returns NULL on failure. Recursive.
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/// supply squares of min, max distance.
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CAI_Node * FindNodeDistanceAwayFromStart( CAI_Node *pStartNode, const Vector &point, float minDistSq, float maxDistSq, const Hull_t hulltype, const Capability_t movetype, const IPathingNodeValidator &validator = IPathingNodeValidator() );
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private:
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friend class CAI_NetworkManager;
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virtual IterationRetval_t EnumElement( IHandleEntity *pHandleEntity );
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int GetCachedNearestNode(const Vector &checkPos, CAI_BaseNPC *pNPC, int *pCachePos );
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void SetCachedNearestNode(const Vector &checkPos, int nodeID, Hull_t nHull);
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int GetCachedNode(const Vector &checkPos, Hull_t nHull, int *pCachePos);
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int ListNodesInBox( CNodeList &list, int maxListCount, const Vector &mins, const Vector &maxs, INodeListFilter *pFilter );
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//---------------------------------
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enum
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{
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NEARNODE_CACHE_SIZE = 32,
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NEARNODE_CACHE_LIFE = 10,
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};
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struct NearNodeCache_T
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{
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Vector vTestPosition;
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float expiration; // Time tested
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int node; // Nearest Node to position
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int hull; // Hull type tested (or HULL_NONE is only visibility tested)
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};
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int m_iNumNodes; // Number of nodes in this network
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CAI_Node** m_pAInode; // Array of all nodes in this network
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enum
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{
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PARTITION_NODE = ( 1 << 0 )
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};
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NearNodeCache_T m_NearestCache[NEARNODE_CACHE_SIZE]; // Cache of nearest nodes
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int m_iNearestCacheNext; // Oldest record in the cache
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#ifdef AI_NODE_TREE
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ISpatialPartition * m_pNodeTree;
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CUtlVector<int> m_GatheredNodes;
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#endif
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};
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//-----------------------------------------------------------------------------
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// CAI_NetworkEditTools
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//
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// Purpose: Provides the operations used when building levels, whether in-game
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// debugging tools or editor related items.
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//
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//-----------------------------------------------------------------------------
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// ------------------------------------
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// Debug overlay bits
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enum DebugNetOverlayBits_e
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{
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bits_debugOverlayNodes = 0x00000001, // show node
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bits_debugOverlayNodesLev2 = 0x00000002, // show nodes and text
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bits_debugOverlayHulls = 0x00000004, // show hulls
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bits_debugOverlayConnections = 0x00000008, // show connections
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bits_debugOverlayVisibility = 0x00000010, // show visibility
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bits_debugOverlayGraphConnect = 0x00000020, // show graph connectivity
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bits_debugOverlayGrid = 0x00000040, // show grid
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bits_debugOverlayHints = 0x00000080, // show hints
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bits_debugOverlayJumpConnections= 0x00000100, // show jump connections
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bits_debugOverlayFlyConnections = 0x00000200, // show fly connections
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bits_debugOverlayCrawlConnections = 0x00000400, // show crawl connections
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bits_debugNeedRebuild = 0x10000000, // network needs rebuilding
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};
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// ------------------------------------
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// ----------------
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//-----------------------------------------------------------------------------
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// Useful utility function defined by AI_network.cpp
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Vector PointOnLineNearestPoint(const Vector& vStartPos, const Vector& vEndPos, const Vector& vPoint);
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//-----------------------------------------------------------------------------
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// For now just using one big AI network
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extern CAI_NetworkManager * g_pAINetworkManager;
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extern CAI_Network * g_pBigAINet;
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//=============================================================================
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#endif // AI_NETWORK_H
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