/*
============
GetObstacles
============
*/
int GetObstacles( const idPhysics *physics, const idAAS *aas, const idEntity *ignore, int areaNum, const idVec3 &startPos, const idVec3 &seekPos, obstacle_t *obstacles, int maxObstacles, idBounds &clipBounds ) {
int i, j, numListedClipModels, numObstacles, numVerts, clipMask, blockingObstacle, blockingEdgeNum;
int wallEdges[MAX_AAS_WALL_EDGES], numWallEdges, verts[2], lastVerts[2], nextVerts[2];
float stepHeight, headHeight, blockingScale, min, max;
idVec3 seekDelta, silVerts[32], start, end, nextStart, nextEnd;
idVec2 expBounds[2], edgeDir, edgeNormal, nextEdgeDir, nextEdgeNormal, lastEdgeNormal;
idVec2 obDelta;
idPhysics *obPhys;
idBox box;
idEntity *obEnt;
idClipModel *clipModel;
idClipModel *clipModelList[ MAX_GENTITIES ];
numObstacles = 0;
seekDelta = seekPos - startPos;
expBounds[0] = physics->GetBounds()[0].ToVec2() - idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
expBounds[1] = physics->GetBounds()[1].ToVec2() + idVec2( CM_BOX_EPSILON, CM_BOX_EPSILON );
physics->GetAbsBounds().AxisProjection( -physics->GetGravityNormal(), stepHeight, headHeight );
stepHeight += aas->GetSettings()->maxStepHeight;
// clip bounds for the obstacle search space
clipBounds[0] = clipBounds[1] = startPos;
clipBounds.AddPoint( seekPos );
clipBounds.ExpandSelf( MAX_OBSTACLE_RADIUS );
clipMask = physics->GetClipMask();
// find all obstacles touching the clip bounds
numListedClipModels = gameLocal.clip.ClipModelsTouchingBounds( clipBounds, clipMask, clipModelList, MAX_GENTITIES );
for ( i = 0; i < numListedClipModels && numObstacles < MAX_OBSTACLES; i++ ) {
clipModel = clipModelList[i];
obEnt = clipModel->GetEntity();
if ( !clipModel->IsTraceModel() ) {
continue;
}
if ( obEnt->IsType( idActor::Type ) ) {
obPhys = obEnt->GetPhysics();
// ignore myself, my enemy, and dead bodies
if ( ( obPhys == physics ) || ( obEnt == ignore ) || ( obEnt->health <= 0 ) ) {
continue;
}
// if the actor is moving
idVec3 v1 = obPhys->GetLinearVelocity();
if ( v1.LengthSqr() > Square( 10.0f ) ) {
idVec3 v2 = physics->GetLinearVelocity();
if ( v2.LengthSqr() > Square( 10.0f ) ) {
// if moving in about the same direction
if ( v1 * v2 > 0.0f ) {
continue;
}
}
}
} else if ( obEnt->IsType( idMoveable::Type ) ) {
// moveables are considered obstacles
} else {
// ignore everything else
continue;
}
// check if we can step over the object
clipModel->GetAbsBounds().AxisProjection( -physics->GetGravityNormal(), min, max );
if ( max < stepHeight || min > headHeight ) {
// can step over this one
continue;
}
// project a box containing the obstacle onto the floor plane
box = idBox( clipModel->GetBounds(), clipModel->GetOrigin(), clipModel->GetAxis() );
numVerts = box.GetParallelProjectionSilhouetteVerts( physics->GetGravityNormal(), silVerts );
// create a 2D winding for the obstacle;
obstacle_t &obstacle = obstacles[numObstacles++];
obstacle.winding.Clear();
for ( j = 0; j < numVerts; j++ ) {
obstacle.winding.AddPoint( silVerts[j].ToVec2() );
}
if ( ai_showObstacleAvoidance.GetBool() ) {
for ( j = 0; j < numVerts; j++ ) {
silVerts[j].z = startPos.z;
}
for ( j = 0; j < numVerts; j++ ) {
gameRenderWorld->DebugArrow( colorWhite, silVerts[j], silVerts[(j+1)%numVerts], 4 );
}
}
// expand the 2D winding for collision with a 2D box
obstacle.winding.ExpandForAxialBox( expBounds );
obstacle.winding.GetBounds( obstacle.bounds );
obstacle.entity = obEnt;
}
// if there are no dynamic obstacles the path should be through valid AAS space
if ( numObstacles == 0 ) {
return 0;
}
// if the current path doesn't intersect any dynamic obstacles the path should be through valid AAS space
if ( PointInsideObstacle( obstacles, numObstacles, startPos.ToVec2() ) == -1 ) {
if ( !GetFirstBlockingObstacle( obstacles, numObstacles, -1, startPos.ToVec2(), seekDelta.ToVec2(), blockingScale, blockingObstacle, blockingEdgeNum ) ) {
return 0;
}
}
// create obstacles for AAS walls
if ( aas ) {
float halfBoundsSize = ( expBounds[ 1 ].x - expBounds[ 0 ].x ) * 0.5f;
numWallEdges = aas->GetWallEdges( areaNum, clipBounds, TFL_WALK, wallEdges, MAX_AAS_WALL_EDGES );
aas->SortWallEdges( wallEdges, numWallEdges );
lastVerts[0] = lastVerts[1] = 0;
lastEdgeNormal.Zero();
nextVerts[0] = nextVerts[1] = 0;
for ( i = 0; i < numWallEdges && numObstacles < MAX_OBSTACLES; i++ ) {
aas->GetEdge( wallEdges[i], start, end );
aas->GetEdgeVertexNumbers( wallEdges[i], verts );
edgeDir = end.ToVec2() - start.ToVec2();
edgeDir.Normalize();
edgeNormal.x = edgeDir.y;
edgeNormal.y = -edgeDir.x;
if ( i < numWallEdges-1 ) {
aas->GetEdge( wallEdges[i+1], nextStart, nextEnd );
aas->GetEdgeVertexNumbers( wallEdges[i+1], nextVerts );
nextEdgeDir = nextEnd.ToVec2() - nextStart.ToVec2();
nextEdgeDir.Normalize();
nextEdgeNormal.x = nextEdgeDir.y;
nextEdgeNormal.y = -nextEdgeDir.x;
}
obstacle_t &obstacle = obstacles[numObstacles++];
obstacle.winding.Clear();
obstacle.winding.AddPoint( end.ToVec2() );
obstacle.winding.AddPoint( start.ToVec2() );
obstacle.winding.AddPoint( start.ToVec2() - edgeDir - edgeNormal * halfBoundsSize );
obstacle.winding.AddPoint( end.ToVec2() + edgeDir - edgeNormal * halfBoundsSize );
if ( lastVerts[1] == verts[0] ) {
obstacle.winding[2] -= lastEdgeNormal * halfBoundsSize;
} else {
obstacle.winding[1] -= edgeDir;
}
if ( verts[1] == nextVerts[0] ) {
obstacle.winding[3] -= nextEdgeNormal * halfBoundsSize;
} else {
obstacle.winding[0] += edgeDir;
}
obstacle.winding.GetBounds( obstacle.bounds );
obstacle.entity = NULL;
memcpy( lastVerts, verts, sizeof( lastVerts ) );
lastEdgeNormal = edgeNormal;
}
}
// show obstacles
if ( ai_showObstacleAvoidance.GetBool() ) {
for ( i = 0; i < numObstacles; i++ ) {
obstacle_t &obstacle = obstacles[i];
for ( j = 0; j < obstacle.winding.GetNumPoints(); j++ ) {
silVerts[j].ToVec2() = obstacle.winding[j];
silVerts[j].z = startPos.z;
}
for ( j = 0; j < obstacle.winding.GetNumPoints(); j++ ) {
gameRenderWorld->DebugArrow( colorGreen, silVerts[j], silVerts[(j+1)%obstacle.winding.GetNumPoints()], 4 );
}
}
}
return numObstacles;
}
