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Diffstat (limited to 'game/server/ai_planesolver.h')
| -rw-r--r-- | game/server/ai_planesolver.h | 174 |
1 files changed, 174 insertions, 0 deletions
diff --git a/game/server/ai_planesolver.h b/game/server/ai_planesolver.h new file mode 100644 index 0000000..867d1e8 --- /dev/null +++ b/game/server/ai_planesolver.h @@ -0,0 +1,174 @@ +//========= Copyright Valve Corporation, All rights reserved. ============// +// +// Purpose: +// +// $NoKeywords: $ +//=============================================================================// + +#ifndef AI_PLANE_SOLVER_H +#define AI_PLANE_SOLVER_H + +#ifdef _WIN32 +#pragma once +#endif + +#include "utlvector.h" +#include "ai_movesolver.h" +#include "ehandle.h" +#include "mathlib/vector.h" +#include "simtimer.h" +#include "ai_navtype.h" + +//----------------------------------------------------------------------------- +// Forward declarations +//----------------------------------------------------------------------------- +class Vector2D; +class CBaseEntity; +struct edict_t; +class CAI_BaseNPC; +class CAI_Motor; +class CAI_Navigator; +struct AILocalMoveGoal_t; +struct AIMoveTrace_t; + +//------------------------------------- + +enum AI_SuggestorResult_t +{ + SR_NONE, + SR_OK, + SR_FAIL +}; + +class CAI_PlaneSolver +{ +public: + // constructor + CAI_PlaneSolver( CAI_BaseNPC *pNpc ); + + // Attempt to find a valid move direction for the specifed goal + bool Solve( const AILocalMoveGoal_t &goal, float distClear, Vector *pSolution ); + + float CalcProbeDist( float speed ); + + // Flush any cached results (e.g., hull changed, results not valid) + void Reset(); + + void AddObstacle( const Vector &pos, float radius, CBaseEntity *pEntity = NULL, AI_MoveSuggType_t type = AIMST_AVOID_OBJECT ); + bool HaveObstacles() { return ( m_Obstacles.Count() != 0 ); } + +private: + + enum + { + DEGREES_POSITIVE_ARC = 270, + DEGREES_POSITIVE_ARC_CLOSE_OBSTRUCTION = 340, + NUM_PROBES = 5 + }; + + // How far ahead does the ground solver look (seconds) + float GetLookaheadTime() { return 1.0; } + + // -------------------------------- + + // For debugging purposes + void VisualizeRegulations(); + void VisualizeSolution( const Vector &vecGoal, const Vector& vecActual ); + + // -------------------------------- + bool MoveLimit( Navigation_t navType, const Vector &target, bool ignoreTransients, bool fCheckStep, AIMoveTrace_t *pMoveTrace ); + bool MoveLimit( Navigation_t navType, const Vector &target, bool ignoreTransients, bool fCheckStep, int contents, AIMoveTrace_t *pMoveTrace ); + + //----------------------------------------------------------------------------- + // Adjust the solution for fliers + //----------------------------------------------------------------------------- + void AdjustSolutionForFliers( const AILocalMoveGoal_t &goal, float flSolutionYaw, Vector *pSolution ); + + // -------------------------------- + // Convenience accessors + + CAI_BaseNPC * GetNpc(); + CAI_Motor * GetMotor(); + const Vector & GetLocalOrigin(); + + // -------------------------------- + + void GenerateObstacleNpcs( const AILocalMoveGoal_t &goal, float probeDist ); + AI_SuggestorResult_t GenerateObstacleSuggestions( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace, float distClear, float probeDist, float degreesToProbe, int nProbes ); + AI_SuggestorResult_t GenerateObstacleSuggestion( const AILocalMoveGoal_t &goal, float yawScanCenter, float probeDist, float spanPerProbe, int probeOffset ); + void GenerateSuggestionFromTrace( const AILocalMoveGoal_t &goal, + const AIMoveTrace_t &moveTrace, float probeDist, + float arcCenter, float arcSpan, int probeOffset ); + bool GenerateCircleObstacleSuggestions( const AILocalMoveGoal_t &moveGoal, float probeDist ); + + void CalcYawsFromOffset( float yawScanCenter, float spanPerProbe, int probeOffset, + float *pYawTest, float *pYawCenter ); + + float CalculateRegulationWeight( const AIMoveTrace_t &moveTrace, float pctBlockedt ); + float AdjustRegulationWeight( CBaseEntity *pEntity, float weight ); + unsigned ComputeTurnBiasFlags( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace ); + + + bool RunMoveSolver( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace, + float degreesPositiveArc, bool fDeterOscillation, + Vector *pResult ); + bool DetectUnsolvable( const AILocalMoveGoal_t &goal ); + + // -------------------------------- + + CAI_BaseNPC * m_pNpc; + + Vector m_PrevTarget; + bool m_fSolvedPrev; + float m_PrevSolution; + Vector m_PrevSolutionVector; + + float m_ClosestHaveBeenToCurrent; + float m_TimeLastProgress; + + bool m_fCannotSolveCurrent; + + CSimTimer m_RefreshSamplesTimer; + + // -------------------------------- + + struct CircleObstacles_t + { + CircleObstacles_t( const Vector ¢er, float radius, CBaseEntity *pEntity, AI_MoveSuggType_t type ) + : center(center), + radius(radius), + hEntity(pEntity), + type(type) + { + } + + Vector center; + float radius; + AI_MoveSuggType_t type; + EHANDLE hEntity; + }; + + CUtlVector<CircleObstacles_t> m_Obstacles; + + // -------------------------------- + + CAI_MoveSolver m_Solver; +}; + +//------------------------------------- + +inline void CAI_PlaneSolver::Reset() +{ + m_RefreshSamplesTimer.Force(); + + m_fSolvedPrev = false; + m_PrevTarget.Init( FLT_MAX, FLT_MAX, FLT_MAX ), + m_PrevSolution = 0; + m_ClosestHaveBeenToCurrent = FLT_MAX; + m_TimeLastProgress = FLT_MAX; + m_fCannotSolveCurrent = false; +} + +//============================================================================= + +#endif // AI_PLANE_SOLVER_H |