152 lines
6.2 KiB
C++
152 lines
6.2 KiB
C++
//========= Copyright © 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.h
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// Navigation Nodes are used when generating a Navigation Mesh by point sampling the map
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// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003
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#ifndef _NAV_NODE_H_
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#define _NAV_NODE_H_
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#include "nav.h"
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// If DEBUG_NAV_NODES is true, nav_show_nodes controls drawing node positions, and
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// nav_show_node_id allows you to show the IDs of nodes that didn't get used to create areas.
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#define DEBUG_NAV_NODES 1
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//--------------------------------------------------------------------------------------------------------------
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/**
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* Navigation Nodes.
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* These Nodes encapsulate world locations, and ways to get from one location to an adjacent one.
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* Note that these links are not necessarily commutative (falling off of a ledge, for example).
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*/
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class CNavNode
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{
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public:
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CNavNode( const Vector &pos, const Vector &normal, CNavNode *parent, bool onDisplacement );
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~CNavNode();
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static CNavNode *GetNode( const Vector &pos ); ///< return navigation node at the position, or NULL if none exists
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static void CleanupGeneration();
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CNavNode *GetConnectedNode( NavDirType dir ) const; ///< get navigation node connected in given direction, or NULL if cant go that way
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const Vector *GetPosition( void ) const;
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const Vector *GetNormal( void ) const { return &m_normal; }
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unsigned int GetID( void ) const { return m_id; }
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static CNavNode *GetFirst( void ) { return m_list; }
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static unsigned int GetListLength( void ) { return m_listLength; }
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CNavNode *GetNext( void ) { return m_next; }
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void Draw( void );
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void ConnectTo( CNavNode *node, NavDirType dir, float obstacleHeight, float flObstacleStartDist, float flObstacleEndDist ); ///< create a connection FROM this node TO the given node, in the given direction
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CNavNode *GetParent( void ) const;
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void MarkAsVisited( NavDirType dir ); ///< mark the given direction as having been visited
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BOOL HasVisited( NavDirType dir ); ///< return TRUE if the given direction has already been searched
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BOOL IsBiLinked( NavDirType dir ) const; ///< node is bidirectionally linked to another node in the given direction
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BOOL IsClosedCell( void ) const; ///< node is the NW corner of a bi-linked quad of nodes
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void Cover( void ) { m_isCovered = true; } ///< @todo Should pass in area that is covering
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BOOL IsCovered( void ) const { return m_isCovered; } ///< return true if this node has been covered by an area
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void AssignArea( CNavArea *area ); ///< assign the given area to this node
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CNavArea *GetArea( void ) const; ///< return associated area
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void SetAttributes( int bits ) { m_attributeFlags = bits; }
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int GetAttributes( void ) const { return m_attributeFlags; }
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float GetGroundHeightAboveNode( NavCornerType cornerType ) const; ///< return ground height above node in given corner direction (NUM_CORNERS for highest in any direction)
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bool IsBlockedInAnyDirection( void) const; ///< return true if the node is blocked in any direction
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bool IsOnDisplacement( void ) const { return m_isOnDisplacement; }
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private:
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CNavNode() {} // constructor used only for hash lookup
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friend class CNavMesh;
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bool TestForCrouchArea( NavCornerType cornerNum, const Vector& mins, const Vector& maxs, float *groundHeightAboveNode );
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void CheckCrouch( void );
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Vector m_pos; ///< position of this node in the world
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Vector m_normal; ///< surface normal at this location
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CNavNode *m_to[ NUM_DIRECTIONS ]; ///< links to north, south, east, and west. NULL if no link
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float m_obstacleHeight[ NUM_DIRECTIONS ]; ///< obstacle height (delta from nav node z position) that must be climbed to reach next node in this direction
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float m_obstacleStartDist[ NUM_DIRECTIONS ]; ///< distance along this direction to reach the beginning of the obstacle
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float m_obstacleEndDist[ NUM_DIRECTIONS ]; ///< distance along this direction to reach the end of the obstacle
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unsigned int m_id; ///< unique ID of this node
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int m_attributeFlags; ///< set of attribute bit flags (see NavAttributeType)
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static CNavNode *m_list; ///< the master list of all nodes for this map
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static unsigned int m_listLength;
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static unsigned int m_nextID;
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CNavNode *m_next; ///< next link in master list
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CNavNode *m_nextAtXY; ///< next link at a particular position
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// below are only needed when generating
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unsigned char m_visited; ///< flags for automatic node generation. If direction bit is clear, that direction hasn't been explored yet.
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CNavNode *m_parent; ///< the node prior to this in the search, which we pop back to when this node's search is done (a stack)
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bool m_isCovered; ///< true when this node is "covered" by a CNavArea
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CNavArea *m_area; ///< the area this node is contained within
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bool m_isBlocked[ NUM_CORNERS ];
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bool m_crouch[ NUM_CORNERS ];
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float m_groundHeightAboveNode[ NUM_CORNERS ];
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bool m_isOnDisplacement;
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};
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//--------------------------------------------------------------------------------------------------------------
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//
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// Inlines
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//
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inline CNavNode *CNavNode::GetConnectedNode( NavDirType dir ) const
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{
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return m_to[ dir ];
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}
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inline const Vector *CNavNode::GetPosition( void ) const
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{
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return &m_pos;
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}
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inline CNavNode *CNavNode::GetParent( void ) const
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{
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return m_parent;
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}
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inline void CNavNode::MarkAsVisited( NavDirType dir )
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{
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m_visited |= (1 << dir);
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}
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inline BOOL CNavNode::HasVisited( NavDirType dir )
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{
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if (m_visited & (1 << dir))
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return true;
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return false;
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}
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inline void CNavNode::AssignArea( CNavArea *area )
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{
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m_area = area;
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}
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inline CNavArea *CNavNode::GetArea( void ) const
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{
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return m_area;
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}
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inline bool CNavNode::IsBlockedInAnyDirection( void ) const
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{
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return m_isBlocked[ SOUTH_EAST ] || m_isBlocked[ SOUTH_WEST ] || m_isBlocked[ NORTH_EAST ] || m_isBlocked[ NORTH_WEST ];
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}
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#endif // _NAV_NODE_H_
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