//-----------------------------------------------------------------------------
// Computes the link type
//-----------------------------------------------------------------------------
Navigation_t CAI_Pathfinder::ComputeWaypointType( CAI_Node **ppNodes, int parentID, int destID )
{
Navigation_t navType = NAV_NONE;
CAI_Node *pNode = ppNodes[parentID];
for (int link=0; link < pNode->NumLinks();link++)
{
if (pNode->GetLinkByIndex(link)->DestNodeID(parentID) == destID)
{
// BRJ 10/1/02
// FIXME: pNPC->CapabilitiesGet() is actually the mechanism by which fliers
// filter out the bitfields in the waypoint type (most importantly, bits_MOVE_CAP_GROUND)
// that would cause the waypoint distance to be computed in a 2D, as opposed to 3D fashion
// This is a super-scary weak link if you ask me.
int linkMoveTypeBits = pNode->GetLinkByIndex(link)->m_iAcceptedMoveTypes[GetHullType()];
int moveTypeBits = ( linkMoveTypeBits & CapabilitiesGet());
if ( !moveTypeBits && linkMoveTypeBits == bits_CAP_MOVE_JUMP )
{
Assert( pNode->GetHint() && pNode->GetHint()->HintType() == HINT_JUMP_OVERRIDE );
ppNodes[destID]->Lock(0.3);
moveTypeBits = linkMoveTypeBits;
}
Navigation_t linkType = MoveBitsToNavType( moveTypeBits );
// This will only trigger if the links disagree about their nav type
Assert( (navType == NAV_NONE) || (navType == linkType) );
navType = linkType;
break;
}
}
// @TODO (toml 10-15-02): one would not expect to come out of the above logic
// with NAV_NONE. However, if a graph is newly built, it can contain malformed
// links that are referred to by the destination node, not the source node.
// This has to be fixed
if ( navType == NAV_NONE )
{
pNode = ppNodes[destID];
for (int link=0; link < pNode->NumLinks();link++)
{
if (pNode->GetLinkByIndex(link)->DestNodeID(parentID) == destID)
{
int npcMoveBits = CapabilitiesGet();
int nodeMoveBits = pNode->GetLinkByIndex(link)->m_iAcceptedMoveTypes[GetHullType()];
int moveTypeBits = ( npcMoveBits & nodeMoveBits );
Navigation_t linkType = MoveBitsToNavType( moveTypeBits );
Assert( (navType == NAV_NONE) || (navType == linkType) );
navType = linkType;
DevMsg( "Note: Strange link found between nodes in AI node graph\n" );
break;
}
}
}
AssertMsg( navType != NAV_NONE, "Pathfinder appears to have output a path with consecutive nodes thate are not actually connected\n" );
return navType;
}
//-----------------------------------------------------------------------------
// Purpose: For destroying nodes in wc edit mode
// Input :
// Output :
//-----------------------------------------------------------------------------
void NWCEdit::DestroyAINode( CBasePlayer *pPlayer )
{
// -------------------------------------------------------------
// Check that WC is running with the right map version
// -------------------------------------------------------------
if (!IsWCVersionValid())
{
return;
}
if (!pPlayer)
{
return;
}
NodeType_e nNodeType = NODE_GROUND;
if (g_pAINetworkManager->GetEditOps()->m_bAirEditMode)
{
nNodeType = NODE_AIR;
}
CAI_Node* pAINode = FindPickerAINode(pPlayer, nNodeType);
if (pAINode)
{
int status = Editor_DeleteNode(g_pAINetworkManager->GetEditOps()->m_pNodeIndexTable[pAINode->GetId()], false);
if (status == Editor_BadCommand)
{
Msg( "Worldcraft failed on deletion...\n" );
}
else if (status == Editor_OK)
{
// Mark this node as deleted and changed
pAINode->SetType( NODE_DELETED );
pAINode->m_eNodeInfo |= bits_NODE_WC_CHANGED;
// Note that network needs to be rebuild
g_pAINetworkManager->GetEditOps()->SetRebuildFlags();
g_pAINetworkManager->GetEditOps()->m_pLastDeletedNode = pAINode;
// Now go through at delete any dynamic links that were attached to this node
for (int link = 0; link < pAINode->NumLinks(); link++)
{
int nSrcID = pAINode->GetLinkByIndex(link)->m_iSrcID;
int nDstID = pAINode->GetLinkByIndex(link)->m_iDestID;
if (CAI_DynamicLink::GetDynamicLink(nSrcID, nDstID))
{
int nWCSrcID = g_pAINetworkManager->GetEditOps()->m_pNodeIndexTable[nSrcID];
int nWCDstID = g_pAINetworkManager->GetEditOps()->m_pNodeIndexTable[nDstID];
int status = Editor_DeleteNodeLink(nWCSrcID, nWCDstID);
if (status == Editor_BadCommand)
{
Msg( "Worldcraft failed on node link deletion...\n" );
}
}
}
}
}
}
void CAI_DynamicLinkController::GenerateLinksFromVolume()
{
Assert( m_ControlledLinks.Count() == 0 );
int nNodes = g_pBigAINet->NumNodes();
CAI_Node **ppNodes = g_pBigAINet->AccessNodes();
const float MinDistCareSq = Square(MAX_NODE_LINK_DIST + 0.1);
const Vector &origin = WorldSpaceCenter();
Vector vAbsMins, vAbsMaxs;
CollisionProp()->WorldSpaceAABB( &vAbsMins, &vAbsMaxs );
vAbsMins -= Vector( 1, 1, 1 );
vAbsMaxs += Vector( 1, 1, 1 );
for ( int i = 0; i < nNodes; i++ )
{
CAI_Node *pNode = ppNodes[i];
const Vector &nodeOrigin = pNode->GetOrigin();
if ( origin.DistToSqr(nodeOrigin) < MinDistCareSq )
{
int nLinks = pNode->NumLinks();
for ( int j = 0; j < nLinks; j++ )
{
CAI_Link *pLink = pNode->GetLinkByIndex( j );
int iLinkDest = pLink->DestNodeID( i );
if ( iLinkDest > i )
{
const Vector &originOther = ppNodes[iLinkDest]->GetOrigin();
if ( origin.DistToSqr(originOther) < MinDistCareSq )
{
if ( IsBoxIntersectingRay( vAbsMins, vAbsMaxs, nodeOrigin, originOther - nodeOrigin ) )
{
Assert( IsBoxIntersectingRay( vAbsMins, vAbsMaxs, originOther, nodeOrigin - originOther ) );
CAI_DynamicLink *pLink = (CAI_DynamicLink *)CreateEntityByName( "info_node_link" );
pLink->m_nSrcID = i;
pLink->m_nDestID = iLinkDest;
pLink->m_nSrcEditID = g_pAINetworkManager->GetEditOps()->GetWCIdFromNodeId( pLink->m_nSrcID );
pLink->m_nDestEditID = g_pAINetworkManager->GetEditOps()->GetWCIdFromNodeId( pLink->m_nDestID );
pLink->m_nLinkState = m_nLinkState;
pLink->m_strAllowUse = m_strAllowUse;
pLink->m_bFixedUpIds = true;
pLink->m_bNotSaved = true;
pLink->Spawn();
m_ControlledLinks.AddToTail( pLink );
}
}
}
}
}
}
}
void CAI_RadialLinkController::ModifyNodeLinks( bool bMakeStale )
{
int nNodes = g_pBigAINet->NumNodes();
CAI_Node **ppNodes = g_pBigAINet->AccessNodes();
VPROF_BUDGET("ModifyLinks", "ModifyLinks");
const float MinDistCareSq = Square( ai_radial_max_link_dist.GetFloat() + 0.1 );
for ( int i = 0; i < nNodes; i++ )
{
CAI_Node *pNode = ppNodes[i];
const Vector &nodeOrigin = pNode->GetOrigin();
if ( m_vecAtRestOrigin.DistToSqr(nodeOrigin) < MinDistCareSq )
{
int nLinks = pNode->NumLinks();
for ( int j = 0; j < nLinks; j++ )
{
CAI_Link *pLink = pNode->GetLinkByIndex( j );
int iLinkDest = pLink->DestNodeID( i );
if ( iLinkDest > i )
{
bool bQualify = true;
if( ( (pLink->m_iAcceptedMoveTypes[HULL_HUMAN]||pLink->m_iAcceptedMoveTypes[HULL_WIDE_HUMAN]) & bits_CAP_MOVE_GROUND) == 0 )
{
// Micro-optimization: Ignore any connection that's not a walking connection for humans.(sjb)
bQualify = false;
}
const Vector &originOther = ppNodes[iLinkDest]->GetOrigin();
if ( bQualify && m_vecAtRestOrigin.DistToSqr(originOther) < MinDistCareSq )
{
if ( IsRayIntersectingSphere(nodeOrigin, originOther - nodeOrigin, m_vecAtRestOrigin, m_flRadius) )
{
if( bMakeStale )
{
pLink->m_LinkInfo |= bits_LINK_STALE_SUGGESTED;
pLink->m_timeStaleExpires = FLT_MAX;
}
else
{
pLink->m_LinkInfo &= ~bits_LINK_STALE_SUGGESTED;
}
}
}
}
}
}
}
}
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
CAI_Link *CAI_DynamicLink::FindLink()
{
CAI_Node * pSrcNode = g_pBigAINet->GetNode(m_nSrcID, false);
if ( pSrcNode )
{
int numLinks = pSrcNode->NumLinks();
for (int i=0;i<numLinks;i++)
{
CAI_Link* pLink = pSrcNode->GetLinkByIndex(i);
if (((pLink->m_iSrcID == m_nSrcID )&&
(pLink->m_iDestID == m_nDestID)) ||
((pLink->m_iSrcID == m_nDestID)&&
(pLink->m_iDestID == m_nSrcID )) )
{
return pLink;
}
}
}
return NULL;
}
AI_Waypoint_t *CAI_Pathfinder::FindBestPath(int startID, int endID)
{
if ( !GetNetwork()->NumNodes() )
return NULL;
int nNodes = GetNetwork()->NumNodes();
CAI_Node **pAInode = GetNetwork()->AccessNodes();
CVarBitVec openBS(nNodes);
CVarBitVec closeBS(nNodes);
// ------------- INITIALIZE ------------------------
float* nodeG = (float *)stackalloc( nNodes * sizeof(float) );
float* nodeH = (float *)stackalloc( nNodes * sizeof(float) );
float* nodeF = (float *)stackalloc( nNodes * sizeof(float) );
int* nodeP = (int *)stackalloc( nNodes * sizeof(int) ); // Node parent
for (int node=0;node<nNodes;node++)
{
nodeG[node] = FLT_MAX;
nodeP[node] = -1;
}
nodeG[startID] = 0;
nodeH[startID] = 0.1*(pAInode[startID]->GetPosition(GetHullType())-pAInode[endID]->GetPosition(GetHullType())).Length(); // Don't want to over estimate
nodeF[startID] = nodeG[startID] + nodeH[startID];
openBS.Set(startID);
closeBS.Set( startID );
// --------------- FIND BEST PATH ------------------
while (!openBS.IsAllClear())
{
int smallestID = CAI_Network::FindBSSmallest(&openBS,nodeF,nNodes);
openBS.Clear(smallestID);
CAI_Node *pSmallestNode = pAInode[smallestID];
if (GetOuter()->IsUnusableNode(smallestID, pSmallestNode->m_pHint))
continue;
if (smallestID == endID)
{
AI_Waypoint_t* route = MakeRouteFromParents(&nodeP[0], endID);
return route;
}
// Check this if the node is immediately in the path after the startNode
// that it isn't blocked
for (int link=0; link < pSmallestNode->NumLinks();link++)
{
CAI_Link *nodeLink = pSmallestNode->GetLinkByIndex(link);
if (!IsLinkUsable(nodeLink,smallestID))
continue;
// FIXME: the cost function should take into account Node costs (danger, flanking, etc).
int moveType = nodeLink->m_iAcceptedMoveTypes[GetHullType()] & CapabilitiesGet();
int testID = nodeLink->DestNodeID(smallestID);
Vector r1 = pSmallestNode->GetPosition(GetHullType());
Vector r2 = pAInode[testID]->GetPosition(GetHullType());
float dist = GetOuter()->GetNavigator()->MovementCost( moveType, r1, r2 ); // MovementCost takes ref parameters!!
if ( dist == FLT_MAX )
continue;
float new_g = nodeG[smallestID] + dist;
if ( !closeBS.IsBitSet(testID) || (new_g < nodeG[testID]) )
{
nodeP[testID] = smallestID;
nodeG[testID] = new_g;
nodeH[testID] = (pAInode[testID]->GetPosition(GetHullType())-pAInode[endID]->GetPosition(GetHullType())).Length();
nodeF[testID] = nodeG[testID] + nodeH[testID];
closeBS.Set( testID );
openBS.Set( testID );
}
}
}
return NULL;
}
// heuristic to find reasonably open space - searches for areas with high node connectivity
CASW_Open_Area* CASW_Spawn_Manager::FindNearbyOpenArea( const Vector &vecSearchOrigin, int nSearchHull )
{
CBaseEntity *pStartEntity = gEntList.FindEntityByClassname( NULL, "info_player_start" );
int iNumNodes = g_pBigAINet->NumNodes();
CAI_Node *pHighestConnectivity = NULL;
int nHighestLinks = 0;
for ( int i=0 ; i<iNumNodes; i++ )
{
CAI_Node *pNode = g_pBigAINet->GetNode( i );
if ( !pNode || pNode->GetType() != NODE_GROUND )
continue;
Vector vecPos = pNode->GetOrigin();
float flDist = vecPos.DistTo( vecSearchOrigin );
if ( flDist > 400.0f )
continue;
// discard if node is too near start location
if ( pStartEntity && vecPos.DistTo( pStartEntity->GetAbsOrigin() ) < 1400.0f ) // NOTE: assumes all start points are clustered near one another
continue;
// discard if node is inside an escape area
bool bInsideEscapeArea = false;
for ( int d=0; d<m_EscapeTriggers.Count(); d++ )
{
if ( m_EscapeTriggers[d]->CollisionProp()->IsPointInBounds( vecPos ) )
{
bInsideEscapeArea = true;
break;
}
}
if ( bInsideEscapeArea )
continue;
// count links that drones could follow
int nLinks = pNode->NumLinks();
int nValidLinks = 0;
for ( int k = 0; k < nLinks; k++ )
{
CAI_Link *pLink = pNode->GetLinkByIndex( k );
if ( !pLink )
continue;
if ( !( pLink->m_iAcceptedMoveTypes[nSearchHull] & bits_CAP_MOVE_GROUND ) )
continue;
nValidLinks++;
}
if ( nValidLinks > nHighestLinks )
{
nHighestLinks = nValidLinks;
pHighestConnectivity = pNode;
}
if ( asw_director_debug.GetBool() )
{
NDebugOverlay::Text( vecPos, UTIL_VarArgs( "%d", nValidLinks ), false, 10.0f );
}
}
if ( !pHighestConnectivity )
return NULL;
// now, starting at the new node, find all nearby nodes with a minimum connectivity
CASW_Open_Area *pArea = new CASW_Open_Area();
pArea->m_vecOrigin = pHighestConnectivity->GetOrigin();
pArea->m_pNode = pHighestConnectivity;
int nMinLinks = nHighestLinks * 0.3f;
nMinLinks = MAX( nMinLinks, 4 );
pArea->m_aAreaNodes.AddToTail( pHighestConnectivity );
if ( asw_director_debug.GetBool() )
{
Msg( "minLinks = %d\n", nMinLinks );
}
pArea->m_nTotalLinks = 0;
for ( int i=0 ; i<iNumNodes; i++ )
{
CAI_Node *pNode = g_pBigAINet->GetNode( i );
if ( !pNode || pNode->GetType() != NODE_GROUND )
continue;
Vector vecPos = pNode->GetOrigin();
float flDist = vecPos.DistTo( pArea->m_vecOrigin );
if ( flDist > 400.0f )
continue;
// discard if node is inside an escape area
bool bInsideEscapeArea = false;
for ( int d=0; d<m_EscapeTriggers.Count(); d++ )
{
if ( m_EscapeTriggers[d]->CollisionProp()->IsPointInBounds( vecPos ) )
{
bInsideEscapeArea = true;
break;
}
}
if ( bInsideEscapeArea )
continue;
// count links that drones could follow
int nLinks = pNode->NumLinks();
int nValidLinks = 0;
for ( int k = 0; k < nLinks; k++ )
{
CAI_Link *pLink = pNode->GetLinkByIndex( k );
if ( !pLink )
continue;
if ( !( pLink->m_iAcceptedMoveTypes[nSearchHull] & bits_CAP_MOVE_GROUND ) )
continue;
nValidLinks++;
}
if ( nValidLinks >= nMinLinks )
{
pArea->m_aAreaNodes.AddToTail( pNode );
pArea->m_nTotalLinks += nValidLinks;
}
}
// highlight and measure bounds
Vector vecAreaMins = Vector( FLT_MAX, FLT_MAX, FLT_MAX );
Vector vecAreaMaxs = Vector( -FLT_MAX, -FLT_MAX, -FLT_MAX );
for ( int i = 0; i < pArea->m_aAreaNodes.Count(); i++ )
{
vecAreaMins = VectorMin( vecAreaMins, pArea->m_aAreaNodes[i]->GetOrigin() );
vecAreaMaxs = VectorMax( vecAreaMaxs, pArea->m_aAreaNodes[i]->GetOrigin() );
if ( asw_director_debug.GetBool() )
{
if ( i == 0 )
{
NDebugOverlay::Cross3D( pArea->m_aAreaNodes[i]->GetOrigin(), 20.0f, 255, 255, 64, true, 10.0f );
}
else
{
NDebugOverlay::Cross3D( pArea->m_aAreaNodes[i]->GetOrigin(), 10.0f, 255, 128, 0, true, 10.0f );
}
}
}
Vector vecArea = ( vecAreaMaxs - vecAreaMins );
float flArea = vecArea.x * vecArea.y;
if ( asw_director_debug.GetBool() )
{
Msg( "area mins = %f %f %f\n", VectorExpand( vecAreaMins ) );
Msg( "area maxs = %f %f %f\n", VectorExpand( vecAreaMaxs ) );
NDebugOverlay::Box( vec3_origin, vecAreaMins, vecAreaMaxs, 255, 128, 128, 10, 10.0f );
Msg( "Total links = %d Area = %f\n", pArea->m_nTotalLinks, flArea );
}
return pArea;
}
