489 lines
13 KiB
C++
489 lines
13 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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//=============================================================================//
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// nav_node.cpp
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// AI Navigation Nodes
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// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
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#include "cbase.h"
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#include "nav_node.h"
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#include "nav_colors.h"
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#include "nav_mesh.h"
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#include "tier1/utlhash.h"
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#include "tier1/generichash.h"
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// NOTE: This has to be the last file included!
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#include "tier0/memdbgon.h"
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NavDirType Opposite[ NUM_DIRECTIONS ] = { SOUTH, WEST, NORTH, EAST };
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CNavNode *CNavNode::m_list = NULL;
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unsigned int CNavNode::m_listLength = 0;
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unsigned int CNavNode::m_nextID = 1;
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extern Vector NavTraceMins;
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extern Vector NavTraceMaxs;
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//--------------------------------------------------------------------------------------------------------------
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// Node hash
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class CNodeHashFuncs
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{
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public:
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CNodeHashFuncs( int ) {}
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bool operator()( const CNavNode *pLhs, const CNavNode *pRhs ) const
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{
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return pRhs->GetPosition()->AsVector2D() == pLhs->GetPosition()->AsVector2D();
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}
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unsigned int operator()( const CNavNode *pItem ) const
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{
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return Hash8( &pItem->GetPosition()->AsVector2D() );
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}
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};
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CUtlHash<CNavNode *, CNodeHashFuncs, CNodeHashFuncs> *g_pNavNodeHash;
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Constructor
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*/
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CNavNode::CNavNode( const Vector &pos, const Vector &normal, CNavNode *parent, bool isOnDisplacement )
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{
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m_pos = pos;
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m_normal = normal;
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m_id = m_nextID++;
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int i;
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for( i=0; i<NUM_DIRECTIONS; ++i )
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{
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m_to[ i ] = NULL;
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m_obstacleHeight[ i ] = 0;
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m_obstacleStartDist[ i ] = 0;
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m_obstacleEndDist[ i ] = 0;
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}
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for ( i=0; i<NUM_CORNERS; ++i )
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{
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m_crouch[ i ] = false;
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m_isBlocked[ i ] = false;
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}
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m_visited = 0;
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m_parent = parent;
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m_next = m_list;
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m_list = this;
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m_listLength++;
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m_isCovered = false;
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m_area = NULL;
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m_attributeFlags = 0;
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m_isOnDisplacement = isOnDisplacement;
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if ( !g_pNavNodeHash )
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{
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g_pNavNodeHash = new CUtlHash<CNavNode *, CNodeHashFuncs, CNodeHashFuncs>( 16*1024 );
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}
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bool bDidInsert;
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UtlHashHandle_t hHash = g_pNavNodeHash->Insert( this, &bDidInsert );
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if ( !bDidInsert )
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{
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CNavNode *pExistingNode = g_pNavNodeHash->Element( hHash );
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m_nextAtXY = pExistingNode;
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g_pNavNodeHash->Element( hHash ) = this;
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}
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else
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{
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m_nextAtXY = NULL;
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}
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}
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CNavNode::~CNavNode()
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{
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}
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//--------------------------------------------------------------------------------------------------------------
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void CNavNode::CleanupGeneration()
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{
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delete g_pNavNodeHash;
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g_pNavNodeHash = NULL;
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CNavNode *node, *next;
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for( node = CNavNode::m_list; node; node = next )
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{
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next = node->m_next;
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delete node;
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}
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CNavNode::m_list = NULL;
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CNavNode::m_listLength = 0;
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CNavNode::m_nextID = 1;
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}
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//--------------------------------------------------------------------------------------------------------------
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#if DEBUG_NAV_NODES
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ConVar nav_show_nodes( "nav_show_nodes", "0", FCVAR_CHEAT );
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ConVar nav_show_node_id( "nav_show_node_id", "0", FCVAR_CHEAT );
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ConVar nav_test_node( "nav_test_node", "0", FCVAR_CHEAT );
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ConVar nav_test_node_crouch( "nav_test_node_crouch", "0", FCVAR_CHEAT );
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ConVar nav_test_node_crouch_dir( "nav_test_node_crouch_dir", "4", FCVAR_CHEAT );
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ConVar nav_show_node_grid( "nav_show_node_grid", "0", FCVAR_CHEAT );
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#endif // DEBUG_NAV_NODES
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//--------------------------------------------------------------------------------------------------------------
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void CNavNode::Draw( void )
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{
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#if DEBUG_NAV_NODES
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if ( !nav_show_nodes.GetBool() )
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return;
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int r = 0, g = 0, b = 0;
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if ( m_isCovered )
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{
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if ( GetAttributes() & NAV_MESH_CROUCH )
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{
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b = 255;
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}
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else
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{
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r = 255;
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}
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}
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else
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{
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if ( GetAttributes() & NAV_MESH_CROUCH )
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{
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b = 255;
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}
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g = 255;
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}
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NDebugOverlay::Cross3D( m_pos, 2, r, g, b, true, 0.1f );
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if ( (!m_isCovered && nav_show_node_id.GetBool()) || (m_isCovered && nav_show_node_id.GetInt() < 0) )
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{
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char text[16];
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Q_snprintf( text, sizeof( text ), "%d", m_id );
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NDebugOverlay::Text( m_pos, text, true, 0.1f );
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}
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if ( (unsigned int)(nav_test_node.GetInt()) == m_id )
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{
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TheNavMesh->TestArea( this, 1, 1 );
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nav_test_node.SetValue( 0 );
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}
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if ( (unsigned int)(nav_test_node_crouch.GetInt()) == m_id )
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{
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CheckCrouch();
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nav_test_node_crouch.SetValue( 0 );
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}
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if ( GetAttributes() & NAV_MESH_CROUCH )
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{
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int i;
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for( i=0; i<NUM_CORNERS; i++ )
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{
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if ( m_isBlocked[i] || m_crouch[i] )
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{
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Vector2D dir;
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CornerToVector2D( (NavCornerType)i, &dir );
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const float scale = 3.0f;
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Vector scaled( dir.x * scale, dir.y * scale, 0 );
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if ( m_isBlocked[i] )
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{
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NDebugOverlay::HorzArrow( m_pos, m_pos + scaled, 0.5, 255, 0, 0, 255, true, 0.1f );
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}
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else
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{
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NDebugOverlay::HorzArrow( m_pos, m_pos + scaled, 0.5, 0, 0, 255, 255, true, 0.1f );
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}
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}
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}
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}
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if ( nav_show_node_grid.GetBool() )
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{
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for ( int i = NORTH; i < NUM_DIRECTIONS; i++ )
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{
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CNavNode *nodeNext = GetConnectedNode( (NavDirType) i );
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if ( nodeNext )
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{
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NDebugOverlay::Line( *GetPosition(), *nodeNext->GetPosition(), 255, 255, 0, false, 0.1f );
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float obstacleHeight = m_obstacleHeight[i];
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if ( obstacleHeight > 0 )
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{
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float z = GetPosition()->z + obstacleHeight;
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Vector from = *GetPosition();
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Vector to = from;
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AddDirectionVector( &to, (NavDirType) i, m_obstacleStartDist[i] );
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NDebugOverlay::Line( from, to, 255, 0, 255, false, 0.1f );
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from = to;
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to.z = z;
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NDebugOverlay::Line( from, to, 255, 0, 255, false, 0.1f );
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from = to;
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to = *GetPosition();
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to.z = z;
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AddDirectionVector( &to, (NavDirType) i, m_obstacleEndDist[i] );
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NDebugOverlay::Line( from, to, 255, 0, 255, false, 0.1f );
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}
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}
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}
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}
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#endif // DEBUG_NAV_NODES
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}
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//--------------------------------------------------------------------------------------------------------
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// return ground height above node in given corner direction (NUM_CORNERS for highest in any direction)
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float CNavNode::GetGroundHeightAboveNode( NavCornerType cornerType ) const
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{
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if ( cornerType >= 0 && cornerType < NUM_CORNERS )
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return m_groundHeightAboveNode[ cornerType ];
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float blockedHeight = 0.0f;
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for ( int i=0; i<NUM_CORNERS; ++i )
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{
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blockedHeight = MAX( blockedHeight, m_groundHeightAboveNode[i] );
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}
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return blockedHeight;
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}
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Look up to JumpCrouchHeight in the air to see if we can fit a whole HumanHeight box
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*/
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bool CNavNode::TestForCrouchArea( NavCornerType cornerNum, const Vector& mins, const Vector& maxs, float *groundHeightAboveNode )
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{
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CTraceFilterWalkableEntities filter( NULL, COLLISION_GROUP_PLAYER_MOVEMENT, WALK_THRU_EVERYTHING );
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trace_t tr;
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Vector start( m_pos );
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Vector end( start );
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end.z += JumpCrouchHeight;
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UTIL_TraceHull( start, end, NavTraceMins, NavTraceMaxs, MASK_NPCSOLID_BRUSHONLY, &filter, &tr );
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float maxHeight = tr.endpos.z - start.z;
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Vector realMaxs( maxs );
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for ( float height = 0; height <= maxHeight; height += 1.0f )
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{
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start = m_pos;
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start.z += height;
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realMaxs.z = HumanCrouchHeight;
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UTIL_TraceHull( start, start, mins, realMaxs, MASK_NPCSOLID_BRUSHONLY, &filter, &tr );
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if ( !tr.startsolid )
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{
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*groundHeightAboveNode = start.z - m_pos.z;
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// We found a crouch-sized space. See if we can stand up.
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realMaxs.z = HumanHeight;
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UTIL_TraceHull( start, start, mins, realMaxs, MASK_NPCSOLID_BRUSHONLY, &filter, &tr );
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if ( !tr.startsolid )
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{
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// We found a crouch-sized space. See if we can stand up.
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#if DEBUG_NAV_NODES
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if ( (unsigned int)(nav_test_node_crouch.GetInt()) == GetID() )
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{
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NDebugOverlay::Box( start, mins, maxs, 0, 255, 255, 100, 100 );
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}
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#endif // DEBUG_NAV_NODES
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return true;
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}
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#if DEBUG_NAV_NODES
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if ( (unsigned int)(nav_test_node_crouch.GetInt()) == GetID() )
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{
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NDebugOverlay::Box( start, mins, maxs, 255, 0, 0, 100, 100 );
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}
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#endif // DEBUG_NAV_NODES
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return false;
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}
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}
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*groundHeightAboveNode = JumpCrouchHeight;
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m_isBlocked[ cornerNum ] = true;
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return false;
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}
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//--------------------------------------------------------------------------------------------------------------
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void CNavNode::CheckCrouch( void )
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{
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// For each direction, trace upwards from our best ground height to VEC_HULL_MAX.z to see if we have standing room.
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for ( int i=0; i<NUM_CORNERS; ++i )
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{
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#if DEBUG_NAV_NODES
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if ( nav_test_node_crouch_dir.GetInt() != NUM_CORNERS && i != nav_test_node_crouch_dir.GetInt() )
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continue;
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#endif // DEBUG_NAV_NODES
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NavCornerType corner = (NavCornerType)i;
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Vector2D cornerVec;
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CornerToVector2D( corner, &cornerVec );
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// Build a mins/maxs pair for the HumanWidth x HalfHumanWidth box facing the appropriate direction
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Vector mins( 0, 0, 0 );
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Vector maxs( 0, 0, 0 );
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if ( cornerVec.x < 0 )
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{
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mins.x = -HalfHumanWidth;
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}
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else if ( cornerVec.x > 0 )
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{
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maxs.x = HalfHumanWidth;
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}
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if ( cornerVec.y < 0 )
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{
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mins.y = -HalfHumanWidth;
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}
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else if ( cornerVec.y > 0 )
|
|||
|
|
{
|
|||
|
|
maxs.y = HalfHumanWidth;
|
|||
|
|
}
|
|||
|
|
maxs.z = HumanHeight;
|
|||
|
|
|
|||
|
|
// now make sure that mins is smaller than maxs
|
|||
|
|
for ( int j=0; j<3; ++j )
|
|||
|
|
{
|
|||
|
|
if ( mins[j] > maxs[j] )
|
|||
|
|
{
|
|||
|
|
float tmp = mins[j];
|
|||
|
|
mins[j] = maxs[j];
|
|||
|
|
maxs[j] = tmp;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if ( !TestForCrouchArea( corner, mins, maxs, &m_groundHeightAboveNode[i] ) )
|
|||
|
|
{
|
|||
|
|
SetAttributes( NAV_MESH_CROUCH );
|
|||
|
|
m_crouch[corner] = true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
//--------------------------------------------------------------------------------------------------------------
|
|||
|
|
/**
|
|||
|
|
* Create a connection FROM this node TO the given node, in the given direction
|
|||
|
|
*/
|
|||
|
|
void CNavNode::ConnectTo( CNavNode *node, NavDirType dir, float obstacleHeight, float obstacleStartDist, float obstacleEndDist )
|
|||
|
|
{
|
|||
|
|
Assert( obstacleStartDist >= 0 && obstacleStartDist <= GenerationStepSize );
|
|||
|
|
Assert( obstacleEndDist >= 0 && obstacleStartDist <= GenerationStepSize );
|
|||
|
|
Assert( obstacleStartDist < obstacleEndDist );
|
|||
|
|
|
|||
|
|
m_to[ dir ] = node;
|
|||
|
|
m_obstacleHeight[ dir ] = obstacleHeight;
|
|||
|
|
m_obstacleStartDist[ dir ] = obstacleStartDist;
|
|||
|
|
m_obstacleEndDist[ dir ] = obstacleEndDist;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//--------------------------------------------------------------------------------------------------------------
|
|||
|
|
/**
|
|||
|
|
* Return node at given position.
|
|||
|
|
* @todo Need a hash table to make this lookup fast
|
|||
|
|
*/
|
|||
|
|
CNavNode *CNavNode::GetNode( const Vector &pos )
|
|||
|
|
{
|
|||
|
|
const float tolerance = 0.45f * GenerationStepSize; // 1.0f
|
|||
|
|
CNavNode *pNode = NULL;
|
|||
|
|
if ( g_pNavNodeHash )
|
|||
|
|
{
|
|||
|
|
static CNavNode lookup;
|
|||
|
|
lookup.m_pos = pos;
|
|||
|
|
UtlHashHandle_t hNode = g_pNavNodeHash->Find( &lookup );
|
|||
|
|
|
|||
|
|
if ( hNode != g_pNavNodeHash->InvalidHandle() )
|
|||
|
|
{
|
|||
|
|
for( pNode = g_pNavNodeHash->Element( hNode ); pNode; pNode = pNode->m_nextAtXY )
|
|||
|
|
{
|
|||
|
|
float dz = fabs( pNode->m_pos.z - pos.z );
|
|||
|
|
|
|||
|
|
if (dz < tolerance)
|
|||
|
|
{
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#ifdef DEBUG_NODE_HASH
|
|||
|
|
CNavNode *pTestNode = NULL;
|
|||
|
|
for( CNavNode *node = m_list; node; node = node->m_next )
|
|||
|
|
{
|
|||
|
|
float dx = fabs( node->m_pos.x - pos.x );
|
|||
|
|
float dy = fabs( node->m_pos.y - pos.y );
|
|||
|
|
float dz = fabs( node->m_pos.z - pos.z );
|
|||
|
|
|
|||
|
|
if (dx < tolerance && dy < tolerance && dz < tolerance)
|
|||
|
|
{
|
|||
|
|
pTestNode = node;
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
AssertFatal( pTestNode == pNode );
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
return pNode;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//--------------------------------------------------------------------------------------------------------------
|
|||
|
|
/**
|
|||
|
|
* Return true if this node is bidirectionally linked to
|
|||
|
|
* another node in the given direction
|
|||
|
|
*/
|
|||
|
|
BOOL CNavNode::IsBiLinked( NavDirType dir ) const
|
|||
|
|
{
|
|||
|
|
if (m_to[ dir ] && m_to[ dir ]->m_to[ Opposite[dir] ] == this)
|
|||
|
|
{
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
//--------------------------------------------------------------------------------------------------------------
|
|||
|
|
/**
|
|||
|
|
* Return true if this node is the NW corner of a quad of nodes
|
|||
|
|
* that are all bidirectionally linked.
|
|||
|
|
*/
|
|||
|
|
BOOL CNavNode::IsClosedCell( void ) const
|
|||
|
|
{
|
|||
|
|
if (IsBiLinked( SOUTH ) &&
|
|||
|
|
IsBiLinked( EAST ) &&
|
|||
|
|
m_to[ EAST ]->IsBiLinked( SOUTH ) &&
|
|||
|
|
m_to[ SOUTH ]->IsBiLinked( EAST ) &&
|
|||
|
|
m_to[ EAST ]->m_to[ SOUTH ] == m_to[ SOUTH ]->m_to[ EAST ])
|
|||
|
|
{
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|