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Diffstat (limited to 'mp/src/game/server/ai_pathfinder.h')
| -rw-r--r-- | mp/src/game/server/ai_pathfinder.h | 204 |
1 files changed, 204 insertions, 0 deletions
diff --git a/mp/src/game/server/ai_pathfinder.h b/mp/src/game/server/ai_pathfinder.h new file mode 100644 index 00000000..fde3f320 --- /dev/null +++ b/mp/src/game/server/ai_pathfinder.h @@ -0,0 +1,204 @@ +//========= 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
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