//-----------------------------------------------------------------------------
// Visualizes the regulations for debugging purposes
//-----------------------------------------------------------------------------
void CAI_PlaneSolver::VisualizeRegulations()
{
// Visualization of regulations
if ((GetNpc()->m_debugOverlays & OVERLAY_NPC_STEERING_REGULATIONS) != 0)
{
m_Solver.VisualizeRegulations( GetNpc()->WorldSpaceCenter() );
}
}
void CAI_PlaneSolver::VisualizeSolution( const Vector &vecGoal, const Vector& vecActual )
{
if ((GetNpc()->m_debugOverlays & OVERLAY_NPC_STEERING_REGULATIONS) != 0)
{
// Compute centroid...
Vector centroid = GetNpc()->WorldSpaceCenter();
Vector goalPt, actualPt;
VectorMA( centroid, 20, vecGoal, goalPt );
VectorMA( centroid, 20, vecActual, actualPt );
NDebugOverlay::Line(centroid, goalPt, 255, 255, 255, true, 0.1f );
NDebugOverlay::Line(centroid, actualPt, 255, 255, 0, true, 0.1f );
}
}
float CAI_PlaneSolver::AdjustRegulationWeight( CBaseEntity *pEntity, float weight )
{
if ( pEntity->MyNPCPointer() != NULL )
{
// @TODO (toml 10-03-02): How to do this with non-NPC entities. Should be using intended solve velocity...
Vector2D velOwner = GetNpc()->GetMotor()->GetCurVel().AsVector2D();
Vector2D velBlocker = ((CAI_BaseNPC *)pEntity)->GetMotor()->GetCurVel().AsVector2D();
Vector2D velOwnerNorm = velOwner;
Vector2D velBlockerNorm = velBlocker;
float speedOwner = Vector2DNormalize( velOwnerNorm );
float speedBlocker = Vector2DNormalize( velBlockerNorm );
float dot = velOwnerNorm.Dot( velBlockerNorm );
if ( speedBlocker > 0 )
{
if ( dot > 0 && speedBlocker >= speedOwner * 0.9 )
{
if ( dot > 0.86 )
{
// @Note (toml 10-10-02): Even in the case of no obstacle, we generate
// a suggestion in because we still want to continue sweeping the
// search
weight = 0;
}
else if ( dot > 0.7 )
{
weight *= sq( weight );
}
else
weight *= weight;
}
}
}
return weight;
}
KSceneObject* GetSceneObject(DWORD dwObjectType, DWORD dwObject)
{
KSceneObject* pObject = NULL;
switch (dwObjectType)
{
case RL_OBJECT_PLAYER:
case RL_OBJECT_RIDES:
pObject = GetPlayer(dwObject);
break;
case RL_OBJECT_NPC:
pObject = GetNpc(dwObject);
break;
case RL_OBJECT_DOODAD:
pObject = GetDoodad(dwObject);
break;
case RL_OBJECT_UNKNOWN: /* fall through */
default:
break;
}
return pObject;
}
//-----------------------------------------------------------------------------
bool CAI_PlaneSolver::GenerateCircleObstacleSuggestions( const AILocalMoveGoal_t &moveGoal, float probeDist )
{
bool result = false;
Vector npcLoc = m_pNpc->WorldSpaceCenter();
Vector mins, maxs;
m_pNpc->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
float radiusNpc = (mins.AsVector2D() - maxs.AsVector2D()).Length() * 0.5;
for ( int i = 0; i < m_Obstacles.Count(); i++ )
{
CBaseEntity *pObstacleEntity = NULL;
float zDistTooFar;
if ( m_Obstacles[i].hEntity && m_Obstacles[i].hEntity->CollisionProp() )
{
pObstacleEntity = m_Obstacles[i].hEntity.Get();
if( pObstacleEntity == moveGoal.pMoveTarget && (pObstacleEntity->IsNPC() || pObstacleEntity->IsPlayer()) )
{
// HEY! I'm trying to avoid the very thing I'm trying to get to. This will make we wobble like a drunk as I approach. Don't do it.
continue;
}
pObstacleEntity->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
zDistTooFar = ( maxs.z - mins.z ) * 0.5 + GetNpc()->GetHullHeight() * 0.5;
}
else
zDistTooFar = GetNpc()->GetHullHeight();
if ( fabs( m_Obstacles[i].center.z - npcLoc.z ) > zDistTooFar )
continue;
Vector vecToNpc = npcLoc - m_Obstacles[i].center;
vecToNpc.z = 0;
float distToObstacleSq = sq(vecToNpc.x) + sq(vecToNpc.y);
float radius = m_Obstacles[i].radius + radiusNpc;
if ( distToObstacleSq > 0.001 && distToObstacleSq < sq( radius + probeDist ) )
{
Vector vecToObstacle = vecToNpc * -1;
float distToObstacle = VectorNormalize( vecToObstacle );
float weight;
float arc;
float radiusSq = sq(radius);
float flDot = DotProduct( vecToObstacle, moveGoal.dir );
// Don't steer around to avoid obstacles we've already passed, unless we're right up against them.
// That is, do this computation without the probeDist added in.
if( flDot < 0.0f && distToObstacleSq > radiusSq )
{
continue;
}
if ( radiusSq < distToObstacleSq )
{
Vector vecTangent;
float distToTangent = FastSqrt( distToObstacleSq - radiusSq );
float oneOverDistToObstacleSq = 1 / distToObstacleSq;
vecTangent.x = ( -distToTangent * vecToNpc.x + radius * vecToNpc.y ) * oneOverDistToObstacleSq;
vecTangent.y = ( -distToTangent * vecToNpc.y - radius * vecToNpc.x ) * oneOverDistToObstacleSq;
vecTangent.z = 0;
float cosHalfArc = vecToObstacle.Dot( vecTangent );
arc = RAD2DEG(acosf( cosHalfArc )) * 2.0;
weight = 1.0 - (distToObstacle - radius) / probeDist;
if ( weight > 0.75 )
arc += (arc * 0.5) * (weight - 0.75) / 0.25;
Assert( weight >= 0.0 && weight <= 1.0 );
#if DEBUG_OBSTACLES
// -------------------------
Msg( "Adding arc %f, w %f\n", arc, weight );
Vector pointTangent = npcLoc + ( vecTangent * distToTangent );
NDebugOverlay::Line( npcLoc - Vector( 0, 0, 64 ), npcLoc + Vector(0,0,64), 0,255,0, false, 0.1 );
NDebugOverlay::Line( center - Vector( 0, 0, 64 ), center + Vector(0,0,64), 0,255,0, false, 0.1 );
NDebugOverlay::Line( pointTangent - Vector( 0, 0, 64 ), pointTangent + Vector(0,0,64), 0,255,0, false, 0.1 );
NDebugOverlay::Line( npcLoc + Vector(0,0,64), center + Vector(0,0,64), 0,0,255, false, 0.1 );
NDebugOverlay::Line( center + Vector(0,0,64), pointTangent + Vector(0,0,64), 0,0,255, false, 0.1 );
NDebugOverlay::Line( pointTangent + Vector(0,0,64), npcLoc + Vector(0,0,64), 0,0,255, false, 0.1 );
#endif
}
else
{
arc = 210;
weight = 1.0;
}
if ( m_Obstacles[i].hEntity != NULL )
{
weight = AdjustRegulationWeight( m_Obstacles[i].hEntity, weight );
}
AI_MoveSuggestion_t suggestion( m_Obstacles[i].type, weight, UTIL_VecToYaw(vecToObstacle), arc );
m_Solver.AddRegulation( suggestion );
result = true;
}
}
m_Obstacles.RemoveAll();
return result;
}
bool CAI_PlaneSolver::GenerateCircleObstacleSuggestions( float probeDist )
{
bool result = false;
Vector npcLoc = m_pNpc->WorldSpaceCenter();
Vector mins, maxs;
m_pNpc->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
float radiusNpc = (mins.AsVector2D() - maxs.AsVector2D()).Length() * 0.5;
for ( int i = 0; i < m_Obstacles.Count(); i++ )
{
float zDistTooFar;
if ( m_Obstacles[i].hEntity && m_Obstacles[i].hEntity->CollisionProp() )
{
m_Obstacles[i].hEntity->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
zDistTooFar = ( maxs.z - mins.z ) * 0.5 + GetNpc()->GetHullHeight() * 0.5;
}
else
zDistTooFar = GetNpc()->GetHullHeight();
if ( fabs( m_Obstacles[i].center.z - npcLoc.z ) > zDistTooFar )
continue;
Vector vecToNpc = npcLoc - m_Obstacles[i].center;
vecToNpc.z = 0;
float distToObstacleSq = sq(vecToNpc.x) + sq(vecToNpc.y);
float radius = m_Obstacles[i].radius + radiusNpc;
if ( distToObstacleSq > 0.001 && distToObstacleSq < sq(radius + probeDist))
{
Vector vecToObstacle = vecToNpc * -1;
float distToObstacle = VectorNormalize( vecToObstacle );
float weight;
float arc;
float radiusSq = sq(radius);
if ( radiusSq < distToObstacleSq )
{
Vector vecTangent;
float distToTangent = FastSqrt( distToObstacleSq - radiusSq );
float oneOverDistToObstacleSq = 1 / distToObstacleSq;
vecTangent.x = ( -distToTangent * vecToNpc.x + radius * vecToNpc.y ) * oneOverDistToObstacleSq;
vecTangent.y = ( -distToTangent * vecToNpc.y - radius * vecToNpc.x ) * oneOverDistToObstacleSq;
vecTangent.z = 0;
float cosHalfArc = vecToObstacle.Dot( vecTangent );
arc = RAD2DEG(acosf( cosHalfArc )) * 2.0;
weight = 1.0 - (distToObstacle - radius) / probeDist;
if ( weight > 0.75 )
arc += (arc * 0.5) * (weight - 0.75) / 0.25;
Assert( weight >= 0.0 && weight <= 1.0 );
#if DEBUG_OBSTACLES
// -------------------------
Msg( "Adding arc %f, w %f\n", arc, weight );
Vector pointTangent = npcLoc + ( vecTangent * distToTangent );
NDebugOverlay::Line( npcLoc - Vector( 0, 0, 64 ), npcLoc + Vector(0,0,64), 0,255,0, false, 0.1 );
NDebugOverlay::Line( center - Vector( 0, 0, 64 ), center + Vector(0,0,64), 0,255,0, false, 0.1 );
NDebugOverlay::Line( pointTangent - Vector( 0, 0, 64 ), pointTangent + Vector(0,0,64), 0,255,0, false, 0.1 );
NDebugOverlay::Line( npcLoc + Vector(0,0,64), center + Vector(0,0,64), 0,0,255, false, 0.1 );
NDebugOverlay::Line( center + Vector(0,0,64), pointTangent + Vector(0,0,64), 0,0,255, false, 0.1 );
NDebugOverlay::Line( pointTangent + Vector(0,0,64), npcLoc + Vector(0,0,64), 0,0,255, false, 0.1 );
#endif
}
else
{
arc = 210;
weight = 1.0;
}
if ( m_Obstacles[i].hEntity != NULL )
{
weight = AdjustRegulationWeight( m_Obstacles[i].hEntity, weight );
}
AI_MoveSuggestion_t suggestion( m_Obstacles[i].type, weight, UTIL_VecToYaw(vecToObstacle), arc );
m_Solver.AddRegulation( suggestion );
result = true;
}
}
m_Obstacles.RemoveAll();
return result;
}
bool CAI_PlaneSolver::MoveLimit( Navigation_t navType, const Vector &target, bool ignoreTransients, bool fCheckStep, AIMoveTrace_t *pMoveTrace )
{
return MoveLimit( navType, target, ignoreTransients, fCheckStep, GetNpc()->GetAITraceMask(), pMoveTrace );
}
