/**
* Move improv along path
*/
void CNavPathFollower::Update( float deltaT, bool avoidObstacles )
{
if (m_path == NULL || m_path->IsValid() == false)
return;
const CNavPath::PathSegment *node = (*m_path)[ m_segmentIndex ];
if (node == NULL)
{
m_improv->OnMoveToFailure( m_path->GetEndpoint(), IImprovEvent::FAIL_INVALID_PATH );
m_path->Invalidate();
return;
}
// handle ladders
if (node->ladder)
{
const Vector *approachPos = NULL;
const Vector *departPos = NULL;
if (m_segmentIndex)
approachPos = &(*m_path)[ m_segmentIndex-1 ]->pos;
if (m_segmentIndex < m_path->GetSegmentCount()-1)
departPos = &(*m_path)[ m_segmentIndex+1 ]->pos;
if (!m_isLadderStarted)
{
// set up ladder movement
m_improv->StartLadder( node->ladder, node->how, approachPos, departPos );
m_isLadderStarted = true;
}
// move improv along ladder
if (m_improv->TraverseLadder( node->ladder, node->how, approachPos, departPos, deltaT ))
{
// completed ladder
++m_segmentIndex;
}
return;
}
// reset ladder init flag
m_isLadderStarted = false;
//
// Check if we reached the end of the path
//
const float closeRange = 20.0f;
if ((m_improv->GetFeet() - node->pos).IsLengthLessThan( closeRange ))
{
++m_segmentIndex;
if (m_segmentIndex >= m_path->GetSegmentCount())
{
m_improv->OnMoveToSuccess( m_path->GetEndpoint() );
m_path->Invalidate();
return;
}
}
m_goal = node->pos;
const float aheadRange = 300.0f;
m_segmentIndex = FindPathPoint( aheadRange, &m_goal, &m_behindIndex );
if (m_segmentIndex >= m_path->GetSegmentCount())
m_segmentIndex = m_path->GetSegmentCount()-1;
bool isApproachingJumpArea = false;
//
// Crouching
//
if (!m_improv->IsUsingLadder())
{
// because hostage crouching is not really supported by the engine,
// if we are standing in a crouch area, we must crouch to avoid collisions
if (m_improv->GetLastKnownArea() &&
m_improv->GetLastKnownArea()->GetAttributes() & NAV_CROUCH &&
!(m_improv->GetLastKnownArea()->GetAttributes() & NAV_JUMP))
{
m_improv->Crouch();
}
// if we are approaching a crouch area, crouch
// if there are no crouch areas coming up, stand
const float crouchRange = 50.0f;
bool didCrouch = false;
for( int i=m_segmentIndex; i<m_path->GetSegmentCount(); ++i )
{
const CNavArea *to = (*m_path)[i]->area;
// if there is a jump area on the way to the crouch area, don't crouch as it messes up the jump
if (to->GetAttributes() & NAV_JUMP)
{
isApproachingJumpArea = true;
break;
}
Vector close;
to->GetClosestPointOnArea( &m_improv->GetCentroid(), &close );
if ((close - m_improv->GetFeet()).Make2D().IsLengthGreaterThan( crouchRange ))
break;
if (to->GetAttributes() & NAV_CROUCH)
{
m_improv->Crouch();
didCrouch = true;
break;
}
}
if (!didCrouch && !m_improv->IsJumping())
{
// no crouch areas coming up
m_improv->StandUp();
}
} // end crouching logic
if (m_isDebug)
{
m_path->Draw();
UTIL_DrawBeamPoints( m_improv->GetCentroid(), m_goal + Vector( 0, 0, StepHeight ), 1, 255, 0, 255 );
UTIL_DrawBeamPoints( m_goal + Vector( 0, 0, StepHeight ), m_improv->GetCentroid(), 1, 255, 0, 255 );
}
// check if improv becomes stuck
m_stuckMonitor.Update( m_improv );
// if improv has been stuck for too long, give up
const float giveUpTime = 2.0f;
if (m_stuckMonitor.GetDuration() > giveUpTime)
{
m_improv->OnMoveToFailure( m_path->GetEndpoint(), IImprovEvent::FAIL_STUCK );
m_path->Invalidate();
return;
}
// if our goal is high above us, we must have fallen
if (m_goal.z - m_improv->GetFeet().z > JumpCrouchHeight)
{
const float closeRange = 75.0f;
Vector2D to( m_improv->GetFeet().x - m_goal.x, m_improv->GetFeet().y - m_goal.y );
if (to.IsLengthLessThan( closeRange ))
{
// we can't reach the goal position
// check if we can reach the next node, in case this was a "jump down" situation
const CNavPath::PathSegment *nextNode = (*m_path)[ m_behindIndex+1 ];
if (m_behindIndex >=0 && nextNode)
{
if (nextNode->pos.z - m_improv->GetFeet().z > JumpCrouchHeight)
{
// the next node is too high, too - we really did fall of the path
m_improv->OnMoveToFailure( m_path->GetEndpoint(), IImprovEvent::FAIL_FELL_OFF );
m_path->Invalidate();
return;
}
}
else
{
// fell trying to get to the last node in the path
m_improv->OnMoveToFailure( m_path->GetEndpoint(), IImprovEvent::FAIL_FELL_OFF );
m_path->Invalidate();
return;
}
}
}
// avoid small obstacles
if (avoidObstacles && !isApproachingJumpArea && !m_improv->IsJumping() && m_segmentIndex < m_path->GetSegmentCount()-1)
{
FeelerReflexAdjustment( &m_goal );
// currently, this is only used for hostages, and their collision physics stinks
// do more feeler checks to avoid short obstacles
/*
const float inc = 0.25f;
for( float t = 0.5f; t < 1.0f; t += inc )
{
FeelerReflexAdjustment( &m_goal, t * StepHeight );
}
*/
}
// move improv along path
m_improv->TrackPath( m_goal, deltaT );
}
// Move along the path. Return false if end of path reached.
CCSBot::PathResult CCSBot::UpdatePathMovement(bool allowSpeedChange)
{
if (m_pathLength == 0)
return PATH_FAILURE;
if (cv_bot_walk.value != 0.0f)
Walk();
// If we are navigating a ladder, it overrides all other path movement until complete
if (UpdateLadderMovement())
return PROGRESSING;
// ladder failure can destroy the path
if (m_pathLength == 0)
return PATH_FAILURE;
// we are not supposed to be on a ladder - if we are, jump off
if (IsOnLadder())
Jump(MUST_JUMP);
assert(m_pathIndex < m_pathLength);
// Check if reached the end of the path
bool nearEndOfPath = false;
if (m_pathIndex >= m_pathLength - 1)
{
Vector toEnd(pev->origin.x, pev->origin.y, GetFeetZ());
Vector d = GetPathEndpoint() - toEnd; // can't use 2D because path end may be below us (jump down)
const float walkRange = 200.0f;
// walk as we get close to the goal position to ensure we hit it
if (d.IsLengthLessThan(walkRange))
{
// don't walk if crouching - too slow
if (allowSpeedChange && !IsCrouching())
Walk();
// note if we are near the end of the path
const float nearEndRange = 50.0f;
if (d.IsLengthLessThan(nearEndRange))
nearEndOfPath = true;
const float closeEpsilon = 20.0f;
if (d.IsLengthLessThan(closeEpsilon))
{
// reached goal position - path complete
DestroyPath();
// TODO: We should push and pop walk state here, in case we want to continue walking after reaching goal
if (allowSpeedChange)
Run();
return END_OF_PATH;
}
}
}
// To keep us moving smoothly, we will move towards
// a point farther ahead of us down our path.
int prevIndex = 0; // closest index on path just prior to where we are now
const float aheadRange = 300.0f;
int newIndex = FindPathPoint(aheadRange, &m_goalPosition, &prevIndex);
// BOTPORT: Why is prevIndex sometimes -1?
if (prevIndex < 0)
prevIndex = 0;
// if goal position is near to us, we must be about to go around a corner - so look ahead!
const float nearCornerRange = 100.0f;
if (m_pathIndex < m_pathLength - 1 && (m_goalPosition - pev->origin).IsLengthLessThan(nearCornerRange))
{
ClearLookAt();
InhibitLookAround(0.5f);
}
// if we moved to a new node on the path, setup movement
if (newIndex > m_pathIndex)
{
SetPathIndex(newIndex);
}
if (!IsUsingLadder())
{
// Crouching
// if we are approaching a crouch area, crouch
// if there are no crouch areas coming up, stand
const float crouchRange = 50.0f;
bool didCrouch = false;
for (int i = prevIndex; i < m_pathLength; i++)
{
const CNavArea *to = m_path[i].area;
// if there is a jump area on the way to the crouch area, don't crouch as it messes up the jump
// unless we are already higher than the jump area - we must've jumped already but not moved into next area
if ((to->GetAttributes() & NAV_JUMP)/* && to->GetCenter()->z > GetFeetZ()*/)
break;
Vector close;
to->GetClosestPointOnArea(&pev->origin, &close);
if ((close - pev->origin).Make2D().IsLengthGreaterThan(crouchRange))
break;
if (to->GetAttributes() & NAV_CROUCH)
{
Crouch();
didCrouch = true;
break;
}
}
if (!didCrouch && !IsJumping())
{
// no crouch areas coming up
StandUp();
}
// end crouching logic
}
// compute our forward facing angle
m_forwardAngle = UTIL_VecToYaw(m_goalPosition - pev->origin);
// Look farther down the path to "lead" our view around corners
Vector toGoal;
if (m_pathIndex == 0)
{
toGoal = m_path[1].pos;
}
else if (m_pathIndex < m_pathLength)
{
toGoal = m_path[m_pathIndex].pos - pev->origin;
// actually aim our view farther down the path
const float lookAheadRange = 500.0f;
if (!m_path[m_pathIndex].ladder && !IsNearJump() && toGoal.Make2D().IsLengthLessThan(lookAheadRange))
{
float along = toGoal.Length2D();
int i;
for (i = m_pathIndex + 1; i < m_pathLength; i++)
{
Vector delta = m_path[i].pos - m_path[i - 1].pos;
float segmentLength = delta.Length2D();
if (along + segmentLength >= lookAheadRange)
{
// interpolate between points to keep look ahead point at fixed distance
float t = (lookAheadRange - along) / (segmentLength + along);
Vector target;
if (t <= 0.0f)
target = m_path[i - 1].pos;
else if (t >= 1.0f)
target = m_path[i].pos;
else
target = m_path[i - 1].pos + t * delta;
toGoal = target - pev->origin;
break;
}
// if we are coming up to a ladder or a jump, look at it
if (m_path[i].ladder || (m_path[i].area->GetAttributes() & NAV_JUMP))
{
toGoal = m_path[i].pos - pev->origin;
break;
}
along += segmentLength;
}
if (i == m_pathLength)
{
toGoal = GetPathEndpoint() - pev->origin;
}
}
}
else
{
toGoal = GetPathEndpoint() - pev->origin;
}
m_lookAheadAngle = UTIL_VecToYaw(toGoal);
// initialize "adjusted" goal to current goal
Vector adjustedGoal = m_goalPosition;
// Use short "feelers" to veer away from close-range obstacles
// Feelers come from our ankles, just above StepHeight, so we avoid short walls, too
// Don't use feelers if very near the end of the path, or about to jump
// TODO: Consider having feelers at several heights to deal with overhangs, etc.
if (!nearEndOfPath && !IsNearJump() && !IsJumping())
{
FeelerReflexAdjustment(&adjustedGoal);
}
// draw debug visualization
if ((cv_bot_traceview.value == 1.0f && IsLocalPlayerWatchingMe()) || cv_bot_traceview.value == 10.0f)
{
DrawPath();
const Vector *pos = &m_path[m_pathIndex].pos;
UTIL_DrawBeamPoints(*pos, *pos + Vector(0, 0, 50), 1, 255, 255, 0);
UTIL_DrawBeamPoints(adjustedGoal, adjustedGoal + Vector(0, 0, 50), 1, 255, 0, 255);
UTIL_DrawBeamPoints(pev->origin, adjustedGoal + Vector(0, 0, 50), 1, 255, 0, 255);
}
// dont use adjustedGoal, as it can vary wildly from the feeler adjustment
if (!IsAttacking() && IsFriendInTheWay(&m_goalPosition))
{
if (!m_isWaitingBehindFriend)
{
m_isWaitingBehindFriend = true;
const float politeDuration = 5.0f - 3.0f * GetProfile()->GetAggression();
m_politeTimer.Start(politeDuration);
}
else if (m_politeTimer.IsElapsed())
{
// we have run out of patience
m_isWaitingBehindFriend = false;
ResetStuckMonitor();
// repath to avoid clump of friends in the way
DestroyPath();
}
}
else if (m_isWaitingBehindFriend)
{
// we're done waiting for our friend to move
m_isWaitingBehindFriend = false;
ResetStuckMonitor();
}
// Move along our path if there are no friends blocking our way,
// or we have run out of patience
if (!m_isWaitingBehindFriend || m_politeTimer.IsElapsed())
{
// Move along path
MoveTowardsPosition(&adjustedGoal);
// Stuck check
if (m_isStuck && !IsJumping())
{
Wiggle();
}
}
// if our goal is high above us, we must have fallen
bool didFall = false;
if (m_goalPosition.z - GetFeetZ() > JumpCrouchHeight)
{
const float closeRange = 75.0f;
Vector2D to(pev->origin.x - m_goalPosition.x, pev->origin.y - m_goalPosition.y);
if (to.IsLengthLessThan(closeRange))
{
// we can't reach the goal position
// check if we can reach the next node, in case this was a "jump down" situation
if (m_pathIndex < m_pathLength - 1)
{
if (m_path[m_pathIndex + 1].pos.z - GetFeetZ() > JumpCrouchHeight)
{
// the next node is too high, too - we really did fall of the path
didFall = true;
}
}
else
{
// fell trying to get to the last node in the path
didFall = true;
}
}
}
// This timeout check is needed if the bot somehow slips way off
// of its path and cannot progress, but also moves around
// enough that it never becomes "stuck"
const float giveUpDuration = 5.0f; // 4.0f
if (didFall || gpGlobals->time - m_areaEnteredTimestamp > giveUpDuration)
{
if (didFall)
{
PrintIfWatched("I fell off!\n");
}
// if we havent made any progress in a long time, give up
if (m_pathIndex < m_pathLength - 1)
{
PrintIfWatched("Giving up trying to get to area #%d\n", m_path[m_pathIndex].area->GetID());
}
else
{
PrintIfWatched("Giving up trying to get to end of path\n");
}
Run();
StandUp();
DestroyPath();
return PATH_FAILURE;
}
return PROGRESSING;
}
