void CNPC_Stalker::AddZigZagToPath(void)
{
// If already on a detour don't add a zigzag
if (GetNavigator()->GetCurWaypointFlags() & bits_WP_TO_DETOUR)
{
return;
}
// If enemy isn't facing me or occluded, don't add a zigzag
if (HasCondition(COND_ENEMY_OCCLUDED) || !HasCondition ( COND_ENEMY_FACING_ME ))
{
return;
}
Vector waypointPos = GetNavigator()->GetCurWaypointPos();
Vector waypointDir = (waypointPos - GetAbsOrigin());
// If the distance to the next node is greater than ZIG_ZAG_SIZE
// then add a random zig/zag to the path
if (waypointDir.LengthSqr() > ZIG_ZAG_SIZE)
{
// Pick a random distance for the zigzag (less that sqrt(ZIG_ZAG_SIZE)
float distance = random->RandomFloat( 30, 60 );
// Get me a vector orthogonal to the direction of motion
VectorNormalize( waypointDir );
Vector vDirUp(0,0,1);
Vector vDir;
CrossProduct( waypointDir, vDirUp, vDir);
// Pick a random direction (left/right) for the zigzag
if (random->RandomInt(0,1))
{
vDir = -1 * vDir;
}
// Get zigzag position in direction of target waypoint
Vector zigZagPos = GetAbsOrigin() + waypointDir * 60;
// Now offset
zigZagPos = zigZagPos + (vDir * distance);
// Now make sure that we can still get to the zigzag position and the waypoint
AIMoveTrace_t moveTrace1, moveTrace2;
GetMoveProbe()->MoveLimit( NAV_GROUND, GetAbsOrigin(), zigZagPos, GetAITraceMask(), NULL, &moveTrace1);
GetMoveProbe()->MoveLimit( NAV_GROUND, zigZagPos, waypointPos, GetAITraceMask(), NULL, &moveTrace2);
if ( !IsMoveBlocked( moveTrace1 ) && !IsMoveBlocked( moveTrace2 ) )
{
GetNavigator()->PrependWaypoint( zigZagPos, NAV_GROUND, bits_WP_TO_DETOUR );
}
}
}
//-----------------------------------------------------------------------------
// Step iteratively toward a destination position
//-----------------------------------------------------------------------------
AIMotorMoveResult_t CAI_Motor::MoveGroundStep( const Vector &newPos, CBaseEntity *pMoveTarget, float yaw, bool bAsFarAsCan, AIMoveTrace_t *pTraceResult )
{
// By definition, this will produce different results than GroundMoveLimit()
// because there's no guarantee that it will step exactly one step
// See how far toward the new position we can step...
// But don't actually test for ground geometric validity;
// if it isn't valid, there's not much we can do about it
AIMoveTrace_t moveTrace;
GetMoveProbe()->TestGroundMove( GetLocalOrigin(), newPos, MASK_NPCSOLID, AITGM_IGNORE_FLOOR, &moveTrace );
if ( pTraceResult )
{
*pTraceResult = moveTrace;
}
bool bHitTarget = (moveTrace.pObstruction && (pMoveTarget == moveTrace.pObstruction ));
// Move forward either if there was no obstruction or if we're told to
// move as far as we can, regardless
bool bIsBlocked = IsMoveBlocked(moveTrace.fStatus);
if ( !bIsBlocked || bAsFarAsCan || bHitTarget )
{
// The true argument here causes it to touch all triggers
// in the volume swept from the previous position to the current position
UTIL_SetOrigin(GetOuter(), moveTrace.vEndPosition, true);
// skip tiny steps, but notify the shadow object of any large steps
if ( moveTrace.flStepUpDistance > 0.1f )
{
float height = clamp( moveTrace.flStepUpDistance, 0, StepHeight() );
IPhysicsObject *pPhysicsObject = GetOuter()->VPhysicsGetObject();
if ( pPhysicsObject )
{
IPhysicsShadowController *pShadow = pPhysicsObject->GetShadowController();
if ( pShadow )
{
pShadow->StepUp( height );
}
}
}
if ( yaw != -1 )
{
QAngle angles = GetLocalAngles();
angles.y = yaw;
SetLocalAngles( angles );
}
if ( bHitTarget )
return AIM_PARTIAL_HIT_TARGET;
if ( !bIsBlocked )
return AIM_SUCCESS;
if ( moveTrace.fStatus == AIMR_BLOCKED_NPC )
return AIM_PARTIAL_HIT_NPC;
return AIM_PARTIAL_HIT_WORLD;
}
return AIM_FAILED;
}
// make this alien jump off the head of the ent he's standing on
bool CASW_Alien_Jumper::DoJumpOffHead()
{
//Too soon to try to jump
if ( m_flJumpTime > gpGlobals->curtime )
return false;
if (!(GetGroundEntity()) || GetNavType() == NAV_JUMP )
return false;
// force this drone to have jumping capabilities
m_bDisableJump = false;
CapabilitiesAdd( bits_CAP_MOVE_JUMP );
//Vector vecDest = RandomVector(-1, 1);
//vecDest.z = 0;
//vecDest *= random->RandomFloat(30, 100);
Vector vecDest;
AngleVectors(GetAbsAngles(), &vecDest);
vecDest *= 200.0f;
vecDest += GetAbsOrigin();
// Try the jump
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_JUMP, GetAbsOrigin(), vecDest, MASK_NPCSOLID, NULL, &moveTrace );
//See if it succeeded
if ( IsMoveBlocked( moveTrace.fStatus ) )
{
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( vecDest, GetHullMins(), GetHullMaxs(), 255, 0, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), vecDest, 255, 0, 0, 0, 5 );
}
m_flJumpTime = gpGlobals->curtime + random->RandomFloat( 1.0f, 2.0f );
return false;
}
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( vecDest, GetHullMins(), GetHullMaxs(), 0, 255, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), vecDest, 0, 255, 0, 0, 5 );
}
//Save this jump in case the next time fails
m_vecSavedJump = moveTrace.vJumpVelocity;
m_vecLastJumpAttempt = vecDest;
SetSchedule(SCHED_ASW_ALIEN_JUMP);
m_bForcedStuckJump = true;
return true;
}
//-----------------------------------------------------------------------------
// Purpose: Handles movement towards the last move target.
// Input : flInterval -
//-----------------------------------------------------------------------------
bool CNPC_Controller::OverridePathMove( float flInterval )
{
CBaseEntity *pMoveTarget = (GetTarget()) ? GetTarget() : GetEnemy();
Vector waypointDir = GetNavigator()->GetCurWaypointPos() - GetLocalOrigin();
float flWaypointDist = waypointDir.Length2D();
VectorNormalize(waypointDir);
// cut corner?
if (flWaypointDist < 128)
{
if (m_flGroundSpeed > 100)
m_flGroundSpeed -= 40;
}
else
{
if (m_flGroundSpeed < 400)
m_flGroundSpeed += 10;
}
m_velocity = m_velocity * 0.8 + m_flGroundSpeed * waypointDir * 0.5;
SetAbsVelocity( m_velocity );
// -----------------------------------------------------------------
// Check route is blocked
// ------------------------------------------------------------------
Vector checkPos = GetLocalOrigin() + (waypointDir * (m_flGroundSpeed * flInterval));
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_FLY, GetLocalOrigin(), checkPos, MASK_NPCSOLID|CONTENTS_WATER,
pMoveTarget, &moveTrace);
if (IsMoveBlocked( moveTrace ))
{
TaskFail(FAIL_NO_ROUTE);
GetNavigator()->ClearGoal();
return true;
}
// ----------------------------------------------
Vector lastPatrolDir = GetNavigator()->GetCurWaypointPos() - GetLocalOrigin();
if ( ProgressFlyPath( flInterval, pMoveTarget, MASK_NPCSOLID, false, 64 ) == AINPP_COMPLETE )
{
{
m_vLastPatrolDir = lastPatrolDir;
VectorNormalize(m_vLastPatrolDir);
}
return true;
}
return false;
}
AIMotorMoveResult_t CAI_Motor::MoveFlyExecute( const AILocalMoveGoal_t &move, AIMoveTrace_t *pTraceResult )
{
// turn in the direction of movement
MoveFacing( move );
// calc accel/decel rates
float flNewSpeed = GetIdealSpeed();
SetMoveVel( move.dir * flNewSpeed );
float flTotal = 0.5 * (GetCurSpeed() + flNewSpeed) * GetMoveInterval();
float distance = move.maxDist;
// can I move farther in this interval than I'm supposed to?
if (flTotal > distance)
{
// only use a portion of the time interval
SetMoveInterval( GetMoveInterval() * (1 - distance / flTotal) );
flTotal = distance;
}
else
{
// use all the time
SetMoveInterval( 0 );
}
Vector vecStart, vecEnd;
vecStart = GetLocalOrigin();
VectorMA( vecStart, flTotal, move.dir, vecEnd );
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_FLY, vecStart, vecEnd, MASK_NPCSOLID, NULL, &moveTrace );
if ( pTraceResult )
*pTraceResult = moveTrace;
// Check for total blockage
if (fabs(moveTrace.flDistObstructed - flTotal) <= 1e-1)
{
// But if we bumped into our target, then we succeeded!
if ( move.pMoveTarget && (moveTrace.pObstruction == move.pMoveTarget) )
return AIM_PARTIAL_HIT_TARGET;
return AIM_FAILED;
}
// The true argument here causes it to touch all triggers
// in the volume swept from the previous position to the current position
UTIL_SetOrigin(GetOuter(), moveTrace.vEndPosition, true);
return (IsMoveBlocked(moveTrace.fStatus)) ? AIM_PARTIAL_HIT_WORLD : AIM_SUCCESS;
}
bool CASW_Alien_Jumper::DoJumpTo(Vector &vecDest)
{
//Too soon to try to jump
if ( m_flJumpTime > gpGlobals->curtime )
return false;
// only jump if you're on the ground
if (!(GetFlags() & FL_ONGROUND) || GetNavType() == NAV_JUMP )
return false;
// Don't jump if I'm not allowed
if ( ( CapabilitiesGet() & bits_CAP_MOVE_JUMP ) == false )
return false;
// Try the jump
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_JUMP, GetAbsOrigin(), vecDest, MASK_NPCSOLID, NULL, &moveTrace );
//See if it succeeded
if ( IsMoveBlocked( moveTrace.fStatus ) )
{
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( vecDest, GetHullMins(), GetHullMaxs(), 255, 0, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), vecDest, 255, 0, 0, 0, 5 );
}
m_flJumpTime = gpGlobals->curtime + random->RandomFloat( 1.0f, 2.0f );
return false;
}
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( vecDest, GetHullMins(), GetHullMaxs(), 0, 255, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), vecDest, 0, 255, 0, 0, 5 );
}
//Save this jump in case the next time fails
m_vecSavedJump = moveTrace.vJumpVelocity;
m_vecLastJumpAttempt = vecDest;
SetSchedule(SCHED_ASW_ALIEN_JUMP);
m_bForcedStuckJump = true;
//Msg("Drone saving jump vec %f %f %f\n", m_vecSavedJump.x, m_vecSavedJump.y, m_vecSavedJump.z);
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
// Output : Returns true on success, false on failure.
//-----------------------------------------------------------------------------
bool CASW_Alien_Jumper::ShouldJump( void )
{
if ( GetEnemy() == NULL )
return false;
// don't jump if we're stunned
if (m_bElectroStunned)
return false;
//Too soon to try to jump
if ( m_flJumpTime > gpGlobals->curtime )
return false;
// only jump if you're on the ground
if (!(GetFlags() & FL_ONGROUND) || GetNavType() == NAV_JUMP )
return false;
// Don't jump if I'm not allowed
if ( ( CapabilitiesGet() & bits_CAP_MOVE_JUMP ) == false )
return false;
Vector vEnemyForward, vForward;
GetEnemy()->GetVectors( &vEnemyForward, NULL, NULL );
GetVectors( &vForward, NULL, NULL );
float flDot = DotProduct( vForward, vEnemyForward );
if ( flDot < 0.5f )
flDot = 0.5f;
Vector vecPredictedPos;
//Get our likely position in two seconds
UTIL_PredictedPosition( GetEnemy(), flDot * 2.5f, &vecPredictedPos );
// Don't jump if we're already near the target
if ( ( GetAbsOrigin() - vecPredictedPos ).LengthSqr() < (512*512) )
return false;
//Don't retest if the target hasn't moved enough
//FIXME: Check your own distance from last attempt as well
if ( ( ( m_vecLastJumpAttempt - vecPredictedPos ).LengthSqr() ) < (128*128) )
{
m_flJumpTime = gpGlobals->curtime + random->RandomFloat( 1.0f, 2.0f );
return false;
}
Vector targetDir = ( vecPredictedPos - GetAbsOrigin() );
float flDist = VectorNormalize( targetDir );
// don't jump at target it it's very close
if (flDist < ANTLION_JUMP_MIN)
return false;
Vector targetPos = vecPredictedPos + ( targetDir * (GetHullWidth()*4.0f) );
// Try the jump
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_JUMP, GetAbsOrigin(), targetPos, MASK_NPCSOLID, GetNavTargetEntity(), &moveTrace );
//See if it succeeded
if ( IsMoveBlocked( moveTrace.fStatus ) )
{
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( targetPos, GetHullMins(), GetHullMaxs(), 255, 0, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), targetPos, 255, 0, 0, 0, 5 );
}
m_flJumpTime = gpGlobals->curtime + random->RandomFloat( 1.0f, 2.0f );
return false;
}
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( targetPos, GetHullMins(), GetHullMaxs(), 0, 255, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), targetPos, 0, 255, 0, 0, 5 );
}
//Save this jump in case the next time fails
m_vecSavedJump = moveTrace.vJumpVelocity;
m_vecLastJumpAttempt = targetPos;
return true;
}
//-----------------------------------------------------------------------------
// Step iteratively toward a destination position
//-----------------------------------------------------------------------------
AIMotorMoveResult_t CAI_Motor::MoveGroundStep( const Vector &newPos, CBaseEntity *pMoveTarget, float yaw, bool bAsFarAsCan, bool bTestZ, AIMoveTrace_t *pTraceResult )
{
// By definition, this will produce different results than GroundMoveLimit()
// because there's no guarantee that it will step exactly one step
// See how far toward the new position we can step...
// But don't actually test for ground geometric validity;
// if it isn't valid, there's not much we can do about it
AIMoveTrace_t moveTrace;
unsigned testFlags = AITGM_IGNORE_FLOOR;
char *pchHackBoolToInt = (char*)(&bTestZ);
if ( *pchHackBoolToInt == 2 )
{
testFlags |= AITGM_CRAWL_LARGE_STEPS;
}
else
{
if ( !bTestZ )
testFlags |= AITGM_2D;
}
#ifdef DEBUG
if ( ai_draw_motor_movement.GetBool() )
testFlags |= AITGM_DRAW_RESULTS;
#endif
GetMoveProbe()->TestGroundMove( GetLocalOrigin(), newPos, GetOuter()->GetAITraceMask(), testFlags, &moveTrace );
if ( pTraceResult )
{
*pTraceResult = moveTrace;
}
bool bHitTarget = (moveTrace.pObstruction && (pMoveTarget == moveTrace.pObstruction ));
// Move forward either if there was no obstruction or if we're told to
// move as far as we can, regardless
bool bIsBlocked = IsMoveBlocked(moveTrace.fStatus);
if ( !bIsBlocked || bAsFarAsCan || bHitTarget )
{
#ifdef DEBUG
if ( GetMoveProbe()->CheckStandPosition( GetLocalOrigin(), GetOuter()->GetAITraceMask() ) && !GetMoveProbe()->CheckStandPosition( moveTrace.vEndPosition, GetOuter()->GetAITraceMask() ) )
{
DevMsg( 2, "Warning: AI motor probably given invalid instructions\n" );
}
#endif
// The true argument here causes it to touch all triggers
// in the volume swept from the previous position to the current position
UTIL_SetOrigin(GetOuter(), moveTrace.vEndPosition, true);
// check to see if our ground entity has changed
// NOTE: This is to detect changes in ground entity as the movement code has optimized out
// ground checks. So now we have to do a simple recheck to make sure we detect when we've
// stepped onto a new entity.
if ( GetOuter()->GetFlags() & FL_ONGROUND )
{
GetOuter()->PhysicsStepRecheckGround();
}
// skip tiny steps, but notify the shadow object of any large steps
if ( moveTrace.flStepUpDistance > 0.1f )
{
float height = clamp( moveTrace.flStepUpDistance, 0, StepHeight() );
IPhysicsObject *pPhysicsObject = GetOuter()->VPhysicsGetObject();
if ( pPhysicsObject )
{
IPhysicsShadowController *pShadow = pPhysicsObject->GetShadowController();
if ( pShadow )
{
pShadow->StepUp( height );
}
}
}
if ( yaw != -1 )
{
QAngle angles = GetLocalAngles();
angles.y = yaw;
SetLocalAngles( angles );
}
if ( bHitTarget )
return AIM_PARTIAL_HIT_TARGET;
if ( !bIsBlocked )
return AIM_SUCCESS;
if ( moveTrace.fStatus == AIMR_BLOCKED_NPC )
return AIM_PARTIAL_HIT_NPC;
return AIM_PARTIAL_HIT_WORLD;
}
return AIM_FAILED;
}
//-----------------------------------------------------------------------------
// Purpose: Handles all flight movement.
// Input : flInterval - Seconds to simulate.
//-----------------------------------------------------------------------------
void CNPC_Crow::MoveCrowFly( float flInterval )
{
//
// Bound interval so we don't get ludicrous motion when debugging
// or when framerate drops catastrophically.
//
if (flInterval > 1.0)
{
flInterval = 1.0;
}
m_flDangerSoundTime = gpGlobals->curtime + 5.0f;
//
// Determine the goal of our movement.
//
Vector vecMoveGoal = GetAbsOrigin();
if ( GetNavigator()->IsGoalActive() )
{
vecMoveGoal = GetNavigator()->GetCurWaypointPos();
if ( GetNavigator()->CurWaypointIsGoal() == false )
{
AI_ProgressFlyPathParams_t params( MASK_NPCSOLID );
params.bTrySimplify = false;
GetNavigator()->ProgressFlyPath( params ); // ignore result, crow handles completion directly
// Fly towards the hint.
if ( GetNavigator()->GetPath()->GetCurWaypoint() )
{
vecMoveGoal = GetNavigator()->GetCurWaypointPos();
}
}
}
else
{
// No movement goal.
vecMoveGoal = GetAbsOrigin();
SetAbsVelocity( vec3_origin );
return;
}
Vector vecMoveDir = ( vecMoveGoal - GetAbsOrigin() );
Vector vForward;
AngleVectors( GetAbsAngles(), &vForward );
//
// Fly towards the movement goal.
//
float flDistance = ( vecMoveGoal - GetAbsOrigin() ).Length();
if ( vecMoveGoal != m_vDesiredTarget )
{
m_vDesiredTarget = vecMoveGoal;
}
else
{
m_vCurrentTarget = ( m_vDesiredTarget - GetAbsOrigin() );
VectorNormalize( m_vCurrentTarget );
}
float flLerpMod = 0.25f;
if ( flDistance <= 256.0f )
{
flLerpMod = 1.0f - ( flDistance / 256.0f );
}
VectorLerp( vForward, m_vCurrentTarget, flLerpMod, vForward );
if ( flDistance < CROW_AIRSPEED * flInterval )
{
if ( GetNavigator()->IsGoalActive() )
{
if ( GetNavigator()->CurWaypointIsGoal() )
{
m_bReachedMoveGoal = true;
}
else
{
GetNavigator()->AdvancePath();
}
}
else
m_bReachedMoveGoal = true;
}
if ( GetHintNode() )
{
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_FLY, GetAbsOrigin(), GetNavigator()->GetCurWaypointPos(), MASK_NPCSOLID, GetNavTargetEntity(), &moveTrace );
//See if it succeeded
if ( IsMoveBlocked( moveTrace.fStatus ) )
{
Vector vNodePos = vecMoveGoal;
GetHintNode()->GetPosition(this, &vNodePos);
GetNavigator()->SetGoal( vNodePos );
}
}
//
// Look to see if we are going to hit anything.
//
VectorNormalize( vForward );
Vector vecDeflect;
if ( Probe( vForward, CROW_AIRSPEED * flInterval, vecDeflect ) )
{
vForward = vecDeflect;
VectorNormalize( vForward );
}
SetAbsVelocity( vForward * CROW_AIRSPEED );
if ( GetAbsVelocity().Length() > 0 && GetNavigator()->CurWaypointIsGoal() && flDistance < CROW_AIRSPEED )
{
SetIdealActivity( (Activity)ACT_CROW_LAND );
}
//Bank and set angles.
Vector vRight;
QAngle vRollAngle;
VectorAngles( vForward, vRollAngle );
vRollAngle.z = 0;
AngleVectors( vRollAngle, NULL, &vRight, NULL );
float flRoll = DotProduct( vRight, vecMoveDir ) * 45;
flRoll = clamp( flRoll, -45, 45 );
vRollAngle[ROLL] = flRoll;
SetAbsAngles( vRollAngle );
}
//-----------------------------------------------------------------------------
// Purpose:
// Input : right -
// Output : Returns true on success, false on failure.
//-----------------------------------------------------------------------------
bool CNPC_Assassin::CanFlip( int flipType, Activity &activity, const Vector *avoidPosition )
{
Vector testDir;
Activity act = ACT_INVALID;
switch( flipType )
{
case FLIP_RIGHT:
GetVectors( NULL, &testDir, NULL );
act = NPC_TranslateActivity( (Activity) ACT_ASSASSIN_FLIP_RIGHT );
break;
case FLIP_LEFT:
GetVectors( NULL, &testDir, NULL );
testDir.Negate();
act = NPC_TranslateActivity( (Activity) ACT_ASSASSIN_FLIP_LEFT );
break;
case FLIP_FORWARD:
GetVectors( &testDir, NULL, NULL );
act = NPC_TranslateActivity( (Activity) ACT_ASSASSIN_FLIP_FORWARD );
break;
case FLIP_BACKWARD:
GetVectors( &testDir, NULL, NULL );
testDir.Negate();
act = NPC_TranslateActivity( (Activity) ACT_ASSASSIN_FLIP_BACK );
break;
default:
assert(0); //NOTENOTE: Invalid flip type
activity = ACT_INVALID;
return false;
break;
}
// Make sure we don't flip towards our avoidance position/
if ( avoidPosition != NULL )
{
Vector avoidDir = (*avoidPosition) - GetAbsOrigin();
VectorNormalize( avoidDir );
if ( DotProduct( avoidDir, testDir ) > 0.0f )
return false;
}
int seq = SelectWeightedSequence( act );
// Find out the length of this sequence
float testDist = GetSequenceMoveDist( seq );
// Find the resulting end position from the sequence's movement
Vector endPos = GetAbsOrigin() + ( testDir * testDist );
trace_t tr;
if ( ( flipType != FLIP_BACKWARD ) && ( avoidPosition != NULL ) )
{
UTIL_TraceLine( (*avoidPosition), endPos, MASK_SHOT, this, COLLISION_GROUP_NONE, &tr );
if ( tr.fraction == 1.0f )
return false;
}
/*
UTIL_TraceHull( GetAbsOrigin(), endPos, NAI_Hull::Mins(m_eHull) + Vector( 0, 0, StepHeight() ), NAI_Hull::Maxs(m_eHull), MASK_NPCSOLID, this, COLLISION_GROUP_NONE, &tr );
// See if we're hit an obstruction in that direction
if ( tr.fraction < 1.0f )
{
if ( g_debug_assassin.GetBool() )
{
NDebugOverlay::BoxDirection( GetAbsOrigin(), NAI_Hull::Mins(m_eHull) + Vector( 0, 0, StepHeight() ), NAI_Hull::Maxs(m_eHull) + Vector( testDist, 0, StepHeight() ), testDir, 255, 0, 0, true, 2.0f );
}
return false;
}
#define NUM_STEPS 2
float stepLength = testDist / NUM_STEPS;
for ( int i = 1; i <= NUM_STEPS; i++ )
{
endPos = GetAbsOrigin() + ( testDir * (stepLength*i) );
// Also check for a cliff edge
UTIL_TraceHull( endPos, endPos - Vector( 0, 0, StepHeight() * 4.0f ), NAI_Hull::Mins(m_eHull) + Vector( 0, 0, StepHeight() ), NAI_Hull::Maxs(m_eHull), MASK_NPCSOLID, this, COLLISION_GROUP_NONE, &tr );
if ( tr.fraction == 1.0f )
{
if ( g_debug_assassin.GetBool() )
{
NDebugOverlay::BoxDirection( endPos, NAI_Hull::Mins(m_eHull) + Vector( 0, 0, StepHeight() ), NAI_Hull::Maxs(m_eHull) + Vector( StepHeight() * 4.0f, 0, StepHeight() ), Vector(0,0,-1), 255, 0, 0, true, 2.0f );
}
return false;
}
}
if ( g_debug_assassin.GetBool() )
{
NDebugOverlay::BoxDirection( GetAbsOrigin(), NAI_Hull::Mins(m_eHull) + Vector( 0, 0, StepHeight() ), NAI_Hull::Maxs(m_eHull) + Vector( testDist, 0, StepHeight() ), testDir, 0, 255, 0, true, 2.0f );
}
*/
AIMoveTrace_t moveTrace;
GetMoveProbe()->TestGroundMove( GetAbsOrigin(), endPos, MASK_NPCSOLID, AITGM_DEFAULT, &moveTrace );
if ( moveTrace.fStatus != AIMR_OK )
return false;
// Return the activity to use
activity = (Activity) act;
return true;
}
bool CAI_LocalNavigator::MoveCalcDirect( AILocalMoveGoal_t *pMoveGoal, bool bOnlyCurThink, float *pDistClear, AIMoveResult_t *pResult )
{
AI_PROFILE_SCOPE(CAI_LocalNavigator_MoveCalcDirect);
bool bRetVal = false;
if ( pMoveGoal->speed )
{
CAI_Motor *pMotor = GetOuter()->GetMotor();
float minCheckDist = pMotor->MinCheckDist();
float probeDist = m_pPlaneSolver->CalcProbeDist( pMoveGoal->speed ); // having this match steering allows one fewer traces
float checkDist = MAX( minCheckDist, probeDist );
float checkStepDist = MAX( 16.0, probeDist * 0.5 );
if ( pMoveGoal->flags & ( AILMG_TARGET_IS_TRANSITION | AILMG_TARGET_IS_GOAL ) )
{
// clamp checkDist to be no farther than MAX distance to goal
checkDist = MIN( checkDist, pMoveGoal->maxDist );
}
if ( checkDist <= 0.0 )
{
*pResult = AIMR_OK;
return true;
}
float moveThisInterval = pMotor->CalcIntervalMove();
bool bExpectingArrival = (moveThisInterval >= checkDist);
if ( !m_FullDirectTimer.Expired() )
{
if ( !m_fLastWasClear ||
( !VectorsAreEqual(pMoveGoal->target, m_LastMoveGoal.target, 0.1) ||
!VectorsAreEqual(pMoveGoal->dir, m_LastMoveGoal.dir, 0.1) ) ||
bExpectingArrival )
{
m_FullDirectTimer.Force();
}
}
if ( bOnlyCurThink ) // Outer code claims to have done a validation (probably a simplify operation)
{
m_FullDirectTimer.Set( TIME_DELAY_FULL_DIRECT_PROBE[AIStrongOpt()] );
}
// First, check the probable move for this cycle
bool bTraceClear = true;
Vector testPos;
if ( !bExpectingArrival )
{
testPos = GetLocalOrigin() + pMoveGoal->dir * moveThisInterval;
bTraceClear = GetMoveProbe()->MoveLimit( pMoveGoal->navType, GetLocalOrigin(), testPos,
GetOuter()->GetAITraceMask(), pMoveGoal->pMoveTarget,
100.0,
( pMoveGoal->navType == NAV_GROUND ) ? AIMLF_2D : AIMLF_DEFAULT,
&pMoveGoal->directTrace );
if ( !bTraceClear )
{
// Adjust probe top match expected probe dist (relied on later in process)
pMoveGoal->directTrace.flDistObstructed = (checkDist - moveThisInterval) + pMoveGoal->directTrace.flDistObstructed;
}
if ( !IsRetail() && ai_debug_directnavprobe.GetBool() )
{
if ( !bTraceClear )
{
DevMsg( GetOuter(), "Close obstruction %f\n", checkDist - pMoveGoal->directTrace.flDistObstructed );
NDebugOverlay::Line( WorldSpaceCenter(), Vector( testPos.x, testPos.y, WorldSpaceCenter().z ), 255, 0, 0, false, 0.1 );
if ( pMoveGoal->directTrace.pObstruction )
NDebugOverlay::Line( WorldSpaceCenter(), pMoveGoal->directTrace.pObstruction->WorldSpaceCenter(), 255, 0, 255, false, 0.1 );
}
else
{
NDebugOverlay::Line( WorldSpaceCenter(), Vector( testPos.x, testPos.y, WorldSpaceCenter().z ), 0, 255, 0, false, 0.1 );
}
}
pMoveGoal->thinkTrace = pMoveGoal->directTrace;
}
// Now project out for future obstructions
if ( bTraceClear )
{
if ( m_FullDirectTimer.Expired() )
{
testPos = GetLocalOrigin() + pMoveGoal->dir * checkDist;
float checkStepPct = (checkStepDist / checkDist) * 100.0;
if ( checkStepPct > 100.0 )
checkStepPct = 100.0;
bTraceClear = GetMoveProbe()->MoveLimit( pMoveGoal->navType, GetLocalOrigin(), testPos,
GetOuter()->GetAITraceMask(), pMoveGoal->pMoveTarget,
checkStepPct,
( pMoveGoal->navType == NAV_GROUND ) ? AIMLF_2D : AIMLF_DEFAULT,
&pMoveGoal->directTrace );
if ( bExpectingArrival )
pMoveGoal->thinkTrace = pMoveGoal->directTrace;
if (ai_debug_directnavprobe.GetBool() )
{
if ( !bTraceClear )
{
NDebugOverlay::Line( GetOuter()->EyePosition(), Vector( testPos.x, testPos.y, GetOuter()->EyePosition().z ), 255, 0, 0, false, 0.1 );
DevMsg( GetOuter(), "Obstruction %f\n", checkDist - pMoveGoal->directTrace.flDistObstructed );
}
else
{
NDebugOverlay::Line( GetOuter()->EyePosition(), Vector( testPos.x, testPos.y, GetOuter()->EyePosition().z ), 0, 255, 0, false, 0.1 );
DevMsg( GetOuter(), "No obstruction\n" );
}
}
}
else
{
if ( ai_debug_directnavprobe.GetBool() )
DevMsg( GetOuter(), "No obstruction (Near probe only)\n" );
}
}
pMoveGoal->bHasTraced = true;
float distClear = checkDist - pMoveGoal->directTrace.flDistObstructed;
if (distClear < 0.001)
distClear = 0;
if ( bTraceClear )
{
*pResult = AIMR_OK;
bRetVal = true;
m_fLastWasClear = true;
}
else if ( ( pMoveGoal->flags & ( AILMG_TARGET_IS_TRANSITION | AILMG_TARGET_IS_GOAL ) ) &&
pMoveGoal->maxDist < distClear )
{
*pResult = AIMR_OK;
bRetVal = true;
m_fLastWasClear = true;
}
else
{
*pDistClear = distClear;
m_fLastWasClear = false;
}
}
else
{
// Should never end up in this function with speed of zero. Probably an activity problem.
*pResult = AIMR_ILLEGAL;
bRetVal = true;
}
m_LastMoveGoal = *pMoveGoal;
if ( bRetVal && m_FullDirectTimer.Expired() )
m_FullDirectTimer.Set( TIME_DELAY_FULL_DIRECT_PROBE[AIStrongOpt()] );
return bRetVal;
}
AIMotorMoveResult_t CAI_BlendedMotor::MoveFlyExecute( const AILocalMoveGoal_t &move, AIMoveTrace_t *pTraceResult )
{
if ( move.curExpectedDist < 0.001 )
return BaseClass::MoveFlyExecute( move, pTraceResult );
BuildMoveScript( move, pTraceResult );
float flNewSpeed = GetCurSpeed();
float flTotalDist = GetMoveScriptDist( flNewSpeed );
Assert( move.maxDist < 0.01 || flTotalDist > 0.0 );
// --------------------------------------------
// turn in the direction of movement
// --------------------------------------------
float flNewYaw = GetMoveScriptYaw( );
// get facing based on movement yaw
AILocalMoveGoal_t move2 = move;
move2.facing = UTIL_YawToVector( flNewYaw );
// turn in the direction needed
MoveFacing( move2 );
GetOuter()->m_flGroundSpeed = GetSequenceGroundSpeed( GetSequence());
SetMoveScriptAnim( flNewSpeed );
// DevMsg( "%6.2f : Speed %.1f : %.1f\n", gpGlobals->curtime, flNewSpeed, GetIdealSpeed() );
// reset actual "sequence" ground speed based current movement sequence, orientation
// FIXME: the above is redundant with MoveGroundExecute, and the below is a mix of MoveGroundExecuteWalk and MoveFlyExecute
bool bReachingLocalGoal = ( flTotalDist > move.maxDist );
// can I move farther in this interval than I'm supposed to?
if ( bReachingLocalGoal )
{
if ( !(move.flags & AILMG_CONSUME_INTERVAL) )
{
// only use a portion of the time interval
SetMoveInterval( GetMoveInterval() * (1 - move.maxDist / flTotalDist) );
}
else
SetMoveInterval( 0 );
flTotalDist = move.maxDist;
}
else
{
// use all the time
SetMoveInterval( 0 );
}
SetMoveVel( move.dir * flNewSpeed );
// orig
Vector vecStart, vecEnd;
vecStart = GetLocalOrigin();
VectorMA( vecStart, flTotalDist, move.dir, vecEnd );
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_FLY, vecStart, vecEnd, MASK_NPCSOLID, NULL, &moveTrace );
if ( pTraceResult )
*pTraceResult = moveTrace;
// Check for total blockage
if (fabs(moveTrace.flDistObstructed - flTotalDist) <= 1e-1)
{
// But if we bumped into our target, then we succeeded!
if ( move.pMoveTarget && (moveTrace.pObstruction == move.pMoveTarget) )
return AIM_PARTIAL_HIT_TARGET;
return AIM_FAILED;
}
// The true argument here causes it to touch all triggers
// in the volume swept from the previous position to the current position
UTIL_SetOrigin(GetOuter(), moveTrace.vEndPosition, true);
return (IsMoveBlocked(moveTrace.fStatus)) ? AIM_PARTIAL_HIT_WORLD : AIM_SUCCESS;
}
void CAI_BlendedMotor::BuildVelocityScript( const AILocalMoveGoal_t &move )
{
int i;
float a;
float idealVelocity = GetIdealSpeed();
if (idealVelocity == 0)
{
idealVelocity = 50;
}
float idealAccel = GetIdealAccel();
if (idealAccel == 0)
{
idealAccel = 100;
}
AI_Movementscript_t script;
// set current location as start of script
script.vecLocation = GetAbsOrigin();
script.flMaxVelocity = GetCurSpeed();
m_scriptMove.AddToTail( script );
//-------------------------
extern ConVar *npc_height_adjust;
if (npc_height_adjust->GetBool() && move.bHasTraced && move.directTrace.flTotalDist != move.thinkTrace.flTotalDist)
{
float flDist = (move.directTrace.vEndPosition - m_scriptMove[0].vecLocation).Length2D();
float flHeight = move.directTrace.vEndPosition.z - m_scriptMove[0].vecLocation.z;
float flDelta;
if (flDist > 0)
{
flDelta = flHeight / flDist;
}
else
{
flDelta = 0;
}
m_flPredictiveSpeedAdjust = 1.1 - fabs( flDelta );
m_flPredictiveSpeedAdjust = clamp( m_flPredictiveSpeedAdjust, (flHeight > 0.0) ? 0.5 : 0.8, 1.0 );
/*
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
{
Msg("m_flPredictiveSpeedAdjust %.3f %.1f %.1f\n", m_flPredictiveSpeedAdjust, flHeight, flDist );
NDebugOverlay::Box( move.directTrace.vEndPosition, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 0,255,255, 0, 0.12 );
}
*/
}
if (npc_height_adjust->GetBool())
{
float flDist = (move.thinkTrace.vEndPosition - m_vecPrevOrigin2).Length2D();
float flHeight = move.thinkTrace.vEndPosition.z - m_vecPrevOrigin2.z;
float flDelta;
if (flDist > 0)
{
flDelta = flHeight / flDist;
}
else
{
flDelta = 0;
}
float newSpeedAdjust = 1.1 - fabs( flDelta );
newSpeedAdjust = clamp( newSpeedAdjust, (flHeight > 0.0) ? 0.5 : 0.8, 1.0 );
// debounce speed adjust
if (newSpeedAdjust < m_flReactiveSpeedAdjust)
{
m_flReactiveSpeedAdjust = m_flReactiveSpeedAdjust * 0.2 + newSpeedAdjust * 0.8;
}
else
{
m_flReactiveSpeedAdjust = m_flReactiveSpeedAdjust * 0.5 + newSpeedAdjust * 0.5;
}
// filter through origins
m_vecPrevOrigin2 = m_vecPrevOrigin1;
m_vecPrevOrigin1 = GetAbsOrigin();
/*
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
{
NDebugOverlay::Box( m_vecPrevOrigin2, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255,0,255, 0, 0.12 );
NDebugOverlay::Box( move.thinkTrace.vEndPosition, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255,0,255, 0, 0.12 );
Msg("m_flReactiveSpeedAdjust %.3f %.1f %.1f\n", m_flReactiveSpeedAdjust, flHeight, flDist );
}
*/
}
idealVelocity = idealVelocity * min( m_flReactiveSpeedAdjust, m_flPredictiveSpeedAdjust );
//-------------------------
bool bAddedExpected = false;
// add all waypoint locations and velocities
AI_Waypoint_t *pCurWaypoint = GetNavigator()->GetPath()->GetCurWaypoint();
// there has to be at least one waypoint
Assert( pCurWaypoint );
while (pCurWaypoint && (pCurWaypoint->NavType() == NAV_GROUND || pCurWaypoint->NavType() == NAV_FLY) /*&& flTotalDist / idealVelocity < 3.0*/) // limit lookahead to 3 seconds
{
script.Init();
AI_Waypoint_t *pNext = pCurWaypoint->GetNext();
if (ai_path_adjust_speed_on_immediate_turns->GetBool() && !bAddedExpected)
{
// hack in next expected immediate location for move
script.vecLocation = GetAbsOrigin() + move.dir * move.curExpectedDist;
bAddedExpected = true;
pNext = pCurWaypoint;
}
else
{
script.vecLocation = pCurWaypoint->vecLocation;
script.pWaypoint = pCurWaypoint;
}
//DevMsg("waypoint %.1f %.1f %.1f\n", script.vecLocation.x, script.vecLocation.y, script.vecLocation.z );
if (pNext)
{
switch( pNext->NavType())
{
case NAV_GROUND:
case NAV_FLY:
{
Vector d1 = pNext->vecLocation - script.vecLocation;
Vector d2 = script.vecLocation - m_scriptMove[m_scriptMove.Count()-1].vecLocation;
// remove very short, non terminal ground links
// FIXME: is this safe? Maybe just check for co-located ground points?
if (d1.Length2D() < 1.0)
{
/*
if (m_scriptMove.Count() > 1)
{
int i = m_scriptMove.Count() - 1;
m_scriptMove[i].vecLocation = pCurWaypoint->vecLocation;
m_scriptMove[i].pWaypoint = pCurWaypoint;
}
*/
pCurWaypoint = pNext;
continue;
}
d1.z = 0;
VectorNormalize( d1 );
d2.z = 0;
VectorNormalize( d2 );
// figure velocity
float dot = (DotProduct( d1, d2 ) + 0.2);
if (dot > 0)
{
dot = clamp( dot, 0.0f, 1.0f );
script.flMaxVelocity = idealVelocity * dot;
}
else
{
script.flMaxVelocity = 0;
}
}
break;
case NAV_JUMP:
// FIXME: information about what the jump should look like isn't stored in the waypoints
// this'll need to call
// GetMoveProbe()->MoveLimit( NAV_JUMP, GetLocalOrigin(), GetPath()->CurWaypointPos(), MASK_NPCSOLID, GetNavTargetEntity(), &moveTrace );
// to get how far/fast the jump will be, but this is also stateless, so it'd call it per frame.
// So far it's not clear that the moveprobe doesn't also call this.....
{
float minJumpHeight = 0;
float maxHorzVel = max( GetCurSpeed(), 100 );
float gravity = sv_gravity->GetFloat() * GetOuter()->GetGravity();
Vector vecApex;
Vector rawJumpVel = GetMoveProbe()->CalcJumpLaunchVelocity(script.vecLocation, pNext->vecLocation, gravity, &minJumpHeight, maxHorzVel, &vecApex );
script.flMaxVelocity = rawJumpVel.Length2D();
// Msg("%.1f\n", script.flMaxVelocity );
}
break;
case NAV_CLIMB:
{
/*
CAI_Node *pClimbNode = GetNavigator()->GetNetwork()->GetNode(pNext->iNodeID);
check: pClimbNode->m_eNodeInfo
bits_NODE_CLIMB_BOTTOM,
bits_NODE_CLIMB_ON,
bits_NODE_CLIMB_OFF_FORWARD,
bits_NODE_CLIMB_OFF_LEFT,
bits_NODE_CLIMB_OFF_RIGHT
*/
script.flMaxVelocity = 0;
}
break;
/*
case NAV_FLY:
// FIXME: can there be a NAV_GROUND -> NAV_FLY transition?
script.flMaxVelocity = 0;
break;
*/
default:
break;
}
}
else
{
script.flMaxVelocity = GetNavigator()->GetArrivalSpeed();
// Assert( script.flMaxVelocity == 0 );
}
m_scriptMove.AddToTail( script );
pCurWaypoint = pNext;
}
//-------------------------
// update distances
float flTotalDist = 0;
for (i = 0; i < m_scriptMove.Count() - 1; i++ )
{
flTotalDist += m_scriptMove[i].flDist = (m_scriptMove[i+1].vecLocation - m_scriptMove[i].vecLocation).Length2D();
}
//-------------------------
if ( !m_bDeceleratingToGoal && m_scriptMove.Count() && flTotalDist > 0 )
{
float flNeededAccel = DeltaV( m_scriptMove[0].flMaxVelocity, m_scriptMove[m_scriptMove.Count() - 1].flMaxVelocity, flTotalDist );
m_bDeceleratingToGoal = (flNeededAccel < -idealAccel);
//Assert( flNeededAccel != idealAccel);
}
//-------------------------
// insert slowdown points due to blocking
if (ai_path_insert_pause_at_obstruction->GetBool() && move.directTrace.pObstruction)
{
float distToObstruction = (move.directTrace.vEndPosition - m_scriptMove[0].vecLocation).Length2D();
// HACK move obstruction out "stepsize" to account for it being based on stand position and not a trace
distToObstruction = distToObstruction + 16;
InsertSlowdown( distToObstruction, idealAccel, false );
}
if (ai_path_insert_pause_at_est_end->GetBool() && GetNavigator()->GetArrivalDistance() > 0.0)
{
InsertSlowdown( flTotalDist - GetNavigator()->GetArrivalDistance(), idealAccel, true );
}
// calc initial velocity based on immediate direction changes
if ( ai_path_adjust_speed_on_immediate_turns->GetBool() && m_scriptMove.Count() > 1)
{
/*
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
{
Vector tmp = m_scriptMove[1].vecLocation - m_scriptMove[0].vecLocation;
VectorNormalize( tmp );
NDebugOverlay::Line( m_scriptMove[0].vecLocation + Vector( 0, 0, 10 ), m_scriptMove[0].vecLocation + tmp * 32 + Vector( 0, 0, 10 ), 255,255,255, true, 0.1 );
NDebugOverlay::Line( m_scriptMove[0].vecLocation + Vector( 0, 0, 10 ), m_scriptMove[1].vecLocation + Vector( 0, 0, 10 ), 255,0,0, true, 0.1 );
tmp = GetCurVel();
VectorNormalize( tmp );
NDebugOverlay::Line( m_scriptMove[0].vecLocation + Vector( 0, 0, 10 ), m_scriptMove[0].vecLocation + tmp * 32 + Vector( 0, 0, 10 ), 0,0,255, true, 0.1 );
}
*/
Vector d1 = m_scriptMove[1].vecLocation - m_scriptMove[0].vecLocation;
d1.z = 0;
VectorNormalize( d1 );
Vector d2 = GetCurVel();
d2.z = 0;
VectorNormalize( d2 );
float dot = (DotProduct( d1, d2 ) + MIN_STEER_DOT);
dot = clamp( dot, 0.0f, 1.0f );
m_scriptMove[0].flMaxVelocity = m_scriptMove[0].flMaxVelocity * dot;
}
// clamp forward velocities
for (i = 0; i < m_scriptMove.Count() - 1; i++ )
{
// find needed acceleration
float dv = m_scriptMove[i+1].flMaxVelocity - m_scriptMove[i].flMaxVelocity;
if (dv > 0.0)
{
// find time, distance to accel to next max vel
float t1 = dv / idealAccel;
float d1 = m_scriptMove[i].flMaxVelocity * t1 + 0.5 * (idealAccel) * t1 * t1;
// is there enough distance
if (d1 > m_scriptMove[i].flDist)
{
float r1, r2;
// clamp the next velocity to the possible accel in the given distance
if (SolveQuadratic( 0.5 * idealAccel, m_scriptMove[i].flMaxVelocity, -m_scriptMove[i].flDist, r1, r2 ))
{
m_scriptMove[i+1].flMaxVelocity = m_scriptMove[i].flMaxVelocity + idealAccel * r1;
}
}
}
}
// clamp decel velocities
for (i = m_scriptMove.Count() - 1; i > 0; i-- )
{
// find needed deceleration
float dv = m_scriptMove[i].flMaxVelocity - m_scriptMove[i-1].flMaxVelocity;
if (dv < 0.0)
{
// find time, distance to decal to next max vel
float t1 = -dv / idealAccel;
float d1 = m_scriptMove[i].flMaxVelocity * t1 + 0.5 * (idealAccel) * t1 * t1;
// is there enough distance
if (d1 > m_scriptMove[i-1].flDist)
{
float r1, r2;
// clamp the next velocity to the possible decal in the given distance
if (SolveQuadratic( 0.5 * idealAccel, m_scriptMove[i].flMaxVelocity, -m_scriptMove[i-1].flDist, r1, r2 ))
{
m_scriptMove[i-1].flMaxVelocity = m_scriptMove[i].flMaxVelocity + idealAccel * r1;
}
}
}
}
/*
for (i = 0; i < m_scriptMove.Count(); i++)
{
NDebugOverlay::Text( m_scriptMove[i].vecLocation, (const char *)CFmtStr( "%.2f ", m_scriptMove[i].flMaxVelocity ), false, 0.1 );
// DevMsg("%.2f ", m_scriptMove[i].flMaxVelocity );
}
// DevMsg("\n");
*/
// insert intermediate ideal velocities
for (i = 0; i < m_scriptMove.Count() - 1;)
{
// accel to ideal
float t1 = (idealVelocity - m_scriptMove[i].flMaxVelocity) / idealAccel;
float d1 = m_scriptMove[i].flMaxVelocity * t1 + 0.5 * (idealAccel) * t1 * t1;
// decel from ideal
float t2 = (idealVelocity - m_scriptMove[i+1].flMaxVelocity) / idealAccel;
float d2 = m_scriptMove[i+1].flMaxVelocity * t2 + 0.5 * (idealAccel) * t2 * t2;
m_scriptMove[i].flDist = (m_scriptMove[i+1].vecLocation - m_scriptMove[i].vecLocation).Length2D();
// is it possible to accel and decal to idealVelocity between next two nodes
if (d1 + d2 < m_scriptMove[i].flDist)
{
Vector start = m_scriptMove[i].vecLocation;
Vector end = m_scriptMove[i+1].vecLocation;
float dist = m_scriptMove[i].flDist;
// insert the two points needed to end accel and start decel
if (d1 > 1.0 && t1 > 0.1)
{
a = d1 / dist;
script.Init();
script.vecLocation = end * a + start * (1 - a);
script.flMaxVelocity = idealVelocity;
m_scriptMove.InsertAfter( i, script );
i++;
}
if (dist - d2 > 1.0 && t2 > 0.1)
{
// DevMsg("%.2f : ", a );
a = (dist - d2) / dist;
script.Init();
script.vecLocation = end * a + start * (1 - a);
script.flMaxVelocity = idealVelocity;
m_scriptMove.InsertAfter( i, script );
i++;
}
i++;
}
else
{
// check to see if the amount of change needed to reach target is less than the ideal acceleration
float flNeededAccel = fabs( DeltaV( m_scriptMove[i].flMaxVelocity, m_scriptMove[i+1].flMaxVelocity, m_scriptMove[i].flDist ) );
if (flNeededAccel < idealAccel)
{
// if so, they it's possible to get a bit towards the ideal velocity
float v1 = m_scriptMove[i].flMaxVelocity;
float v2 = m_scriptMove[i+1].flMaxVelocity;
float dist = m_scriptMove[i].flDist;
// based on solving:
// v1+A*t1-v2-A*t2=0
// v1*t1+0.5*A*t1*t1+v2*t2+0.5*A*t2*t2-D=0
float tmp = idealAccel*dist+0.5*v1*v1+0.5*v2*v2;
Assert( tmp >= 0 );
t1 = (-v1+sqrt( tmp )) / idealAccel;
t2 = (v1+idealAccel*t1-v2)/idealAccel;
// if this assert hits, write down the v1, v2, dist, and idealAccel numbers and send them to me (Ken).
// go ahead the comment it out, it's safe, but I'd like to know a test case where it's happening
//Assert( t1 > 0 && t2 > 0 );
// check to make sure it's really worth it
if (t1 > 0.0 && t2 > 0.0)
{
d1 = v1 * t1 + 0.5 * idealAccel * t1 * t1;
/*
d2 = v2 * t2 + 0.5 * idealAccel * t2 * t2;
Assert( fabs( d1 + d2 - dist ) < 0.001 );
*/
float a = d1 / m_scriptMove[i].flDist;
script.Init();
script.vecLocation = m_scriptMove[i+1].vecLocation * a + m_scriptMove[i].vecLocation * (1 - a);
script.flMaxVelocity = m_scriptMove[i].flMaxVelocity + idealAccel * t1;
if (script.flMaxVelocity < idealVelocity)
{
// DevMsg("insert %.2f %.2f %.2f\n", m_scriptMove[i].flMaxVelocity, script.flMaxVelocity, m_scriptMove[i+1].flMaxVelocity );
m_scriptMove.InsertAfter( i, script );
i += 1;
}
}
}
i += 1;
}
}
// clamp min velocities
for (i = 0; i < m_scriptMove.Count(); i++)
{
m_scriptMove[i].flMaxVelocity = max( m_scriptMove[i].flMaxVelocity, MIN_VELOCITY );
}
// rebuild fields
m_scriptMove[0].flElapsedTime = 0;
for (i = 0; i < m_scriptMove.Count() - 1; )
{
m_scriptMove[i].flDist = (m_scriptMove[i+1].vecLocation - m_scriptMove[i].vecLocation).Length2D();
if (m_scriptMove[i].flMaxVelocity == 0 && m_scriptMove[i+1].flMaxVelocity == 0)
{
// force a minimum velocity
//CE_assert
//Assert( 0 );
m_scriptMove[i+1].flMaxVelocity = 1.0;
}
float t = m_scriptMove[i].flDist / (0.5 * (m_scriptMove[i].flMaxVelocity + m_scriptMove[i+1].flMaxVelocity));
m_scriptMove[i].flTime = t;
/*
if (m_scriptMove[i].flDist < 0.01)
{
// Assert( m_scriptMove[i+1].pWaypoint == NULL );
m_scriptMove.Remove( i + 1 );
continue;
}
*/
m_scriptMove[i+1].flElapsedTime = m_scriptMove[i].flElapsedTime + m_scriptMove[i].flTime;
i++;
}
/*
for (i = 0; i < m_scriptMove.Count(); i++)
{
DevMsg("(%.2f : %.2f : %.2f)", m_scriptMove[i].flMaxVelocity, m_scriptMove[i].flDist, m_scriptMove[i].flTime );
// DevMsg("(%.2f:%.2f)", m_scriptMove[i].flTime, m_scriptMove[i].flElapsedTime );
}
DevMsg("\n");
*/
}
