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game/shared/cstrike15/bot/nav_path.h

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+//========= Copyright <20> 1996-2005, Valve Corporation, All rights reserved. ============//
+//
+// Purpose: 
+//
+// $NoKeywords: $
+//
+//=============================================================================//
+// nav_path.h
+// Navigation Path encapsulation
+// Author: Michael S. Booth (mike@turtlerockstudios.com), November 2003
+
+#ifndef _NAV_PATH_H_
+#define _NAV_PATH_H_
+
+#include "cs_nav_area.h"
+#include "bot_util.h"
+
+class CImprovLocomotor;
+
+//--------------------------------------------------------------------------------------------------------
+/**
+ * The CNavPath class encapsulates a path through space
+ */
+class CNavPath
+{
+public:
+	CNavPath( void )
+	{
+		m_segmentCount = 0;
+	}
+
+	struct PathSegment
+	{
+		CNavArea *area;											///< the area along the path
+		NavTraverseType how;									///< how to enter this area from the previous one
+		Vector pos;												///< our movement goal position at this point in the path
+		const CNavLadder *ladder;								///< if "how" refers to a ladder, this is it
+	};
+
+	const PathSegment * operator[] ( int i ) const		{ return (i >= 0 && i < m_segmentCount) ? &m_path[i] : NULL; }
+	const PathSegment *GetSegment( int i ) const		{ return (i >= 0 && i < m_segmentCount) ? &m_path[i] : NULL; }
+	int GetSegmentCount( void ) const					{ return m_segmentCount; }
+	const Vector &GetEndpoint( void ) const				{ return m_path[ m_segmentCount-1 ].pos; }
+	bool IsAtEnd( const Vector &pos ) const;					///< return true if position is at the end of the path
+
+	float GetLength( void ) const;								///< return length of path from start to finish
+	bool GetPointAlongPath( float distAlong, Vector *pointOnPath ) const;	///< return point a given distance along the path - if distance is out of path bounds, point is clamped to start/end
+
+	/// return the node index closest to the given distance along the path without going over - returns (-1) if error
+	int GetSegmentIndexAlongPath( float distAlong ) const;
+
+	bool IsValid( void ) const	{ return (m_segmentCount > 0); }
+	void Invalidate( void )		{ m_segmentCount = 0; }
+
+	void Draw( const Vector &color = Vector( 1.0f, 0.3f, 0 ) );	///< draw the path for debugging
+
+	/// compute closest point on path to given point
+	bool FindClosestPointOnPath( const Vector *worldPos, int startIndex, int endIndex, Vector *close ) const;
+
+	void Optimize( void );
+	
+	/**
+	 * Compute shortest path from 'start' to 'goal' via A* algorithm.
+	 * If returns true, path was build to the goal position.
+	 * If returns false, path may either be invalid (use IsValid() to check), or valid but 
+	 * doesn't reach all the way to the goal.
+	 */
+	template< typename CostFunctor >
+	bool Compute( const Vector &start, const Vector &goal, CostFunctor &costFunc )
+	{
+		Invalidate();
+
+		CNavArea *startArea = TheNavMesh->GetNearestNavArea( start + Vector( 0.0f, 0.0f, 1.0f ) );
+		if (startArea == NULL)
+		{
+			return false;
+		}
+
+		CNavArea *goalArea = TheNavMesh->GetNavArea( goal );
+
+		// if we are already in the goal area, build trivial path
+		if (startArea == goalArea)
+		{
+			BuildTrivialPath( start, goal );
+			return true;
+		}
+
+		// make sure path end position is on the ground
+		Vector pathEndPosition = goal;
+		if (goalArea)
+		{
+			pathEndPosition.z = goalArea->GetZ( pathEndPosition );
+		}
+		else
+		{
+			TheNavMesh->GetGroundHeight( pathEndPosition, &pathEndPosition.z );
+		}
+
+		//
+		// Compute shortest path to goal
+		//
+		CNavArea *closestArea;
+		bool pathResult = NavAreaBuildPath( startArea, goalArea, &goal, costFunc, &closestArea );
+
+		//
+		// Build path by following parent links
+		//
+
+		// get count
+		int count = 0;
+		CNavArea *area;
+		for( area = closestArea; area; area = area->GetParent() )
+		{
+			++count;
+		}
+
+		// save room for endpoint
+		if (count > MAX_PATH_SEGMENTS-1)
+		{
+			count = MAX_PATH_SEGMENTS-1;
+		}
+
+		if (count == 0)
+		{
+			return false;
+		}
+
+		if (count == 1)
+		{
+			BuildTrivialPath( start, goal );
+			return true;
+		}
+
+		// build path
+		m_segmentCount = count;
+		for( area = closestArea; count && area; area = area->GetParent() )
+		{
+			--count;
+			m_path[ count ].area = area;
+			m_path[ count ].how = area->GetParentHow();
+		}
+
+		// compute path positions
+		if (ComputePathPositions() == false)
+		{
+			//PrintIfWatched( "CNavPath::Compute: Error building path\n" );
+			Invalidate();
+			return false;
+		}
+
+		// append path end position
+		m_path[ m_segmentCount ].area = closestArea;
+		m_path[ m_segmentCount ].pos = pathEndPosition;
+		m_path[ m_segmentCount ].ladder = NULL;
+		m_path[ m_segmentCount ].how = NUM_TRAVERSE_TYPES;
+		++m_segmentCount;
+
+		return pathResult;
+	}
+
+private:
+	enum { MAX_PATH_SEGMENTS = 256 };
+	PathSegment m_path[ MAX_PATH_SEGMENTS ];
+	int m_segmentCount;
+
+	bool ComputePathPositions( void );									///< determine actual path positions 
+	bool BuildTrivialPath( const Vector &start, const Vector &goal );	///< utility function for when start and goal are in the same area
+
+	int FindNextOccludedNode( int anchor );								///< used by Optimize()
+};
+
+//--------------------------------------------------------------------------------------------------------
+/**
+ * Monitor improv movement and determine if it becomes stuck
+ */
+class CStuckMonitor
+{
+public:
+	CStuckMonitor( void );
+
+	void Reset( void );
+	void Update( CImprovLocomotor *improv );
+	bool IsStuck( void ) const		{ return m_isStuck; }
+
+	float GetDuration( void ) const	{ return (m_isStuck) ? m_stuckTimer.GetElapsedTime() : 0.0f; }
+
+private:
+	bool m_isStuck;													///< if true, we are stuck
+	Vector m_stuckSpot;												///< the location where we became stuck
+	IntervalTimer m_stuckTimer;										///< how long we have been stuck
+
+	enum { MAX_VEL_SAMPLES = 5 };
+	float m_avgVel[ MAX_VEL_SAMPLES ];
+	int m_avgVelIndex;
+	int m_avgVelCount;
+	Vector m_lastCentroid;
+	float m_lastTime;
+};
+
+//--------------------------------------------------------------------------------------------------------
+/**
+ * The CNavPathFollower class implements path following behavior
+ */
+class CNavPathFollower
+{
+public:
+	CNavPathFollower( void );
+
+	void SetImprov( CImprovLocomotor *improv ) { m_improv = improv; }
+	void SetPath( CNavPath *path ) { m_path = path; }
+
+	void Reset( void );
+
+	#define DONT_AVOID_OBSTACLES false
+	void Update( float deltaT, bool avoidObstacles = true );		///< move improv along path
+	void Debug( bool status )		{ m_isDebug = status; }			///< turn debugging on/off
+
+	bool IsStuck( void ) const		{ return m_stuckMonitor.IsStuck(); }	///< return true if improv is stuck 
+	void ResetStuck( void )			{ m_stuckMonitor.Reset(); }
+	float GetStuckDuration( void ) const	{ return m_stuckMonitor.GetDuration(); }	///< return how long we've been stuck
+
+	void FeelerReflexAdjustment( Vector *goalPosition, float height = -1.0f );	///< adjust goal position if "feelers" are touched
+
+private:
+	CImprovLocomotor *m_improv;										///< who is doing the path following
+
+	CNavPath *m_path;												///< the path being followed
+
+	int m_segmentIndex;												///< the point on the path the improv is moving towards
+	int m_behindIndex;												///< index of the node on the path just behind us
+	Vector m_goal;													///< last computed follow goal
+
+	bool m_isLadderStarted;
+
+	bool m_isDebug;
+
+	int FindOurPositionOnPath( Vector *close, bool local ) const;	///< return the closest point to our current position on current path
+	int FindPathPoint( float aheadRange, Vector *point, int *prevIndex );	///< compute a point a fixed distance ahead along our path.
+
+	CStuckMonitor m_stuckMonitor;
+};
+
+
+
+#endif	// _NAV_PATH_H_
+