void CAI_PlaneSolver::GenerateObstacleNpcs( const AILocalMoveGoal_t &goal, float probeDist )
{
if ( !ProbeForNpcs() )
{
CAI_BaseNPC **ppAIs = g_AI_Manager.AccessAIs();
Vector minsSelf, maxsSelf;
m_pNpc->CollisionProp()->WorldSpaceSurroundingBounds( &minsSelf, &maxsSelf );
float radiusSelf = (minsSelf.AsVector2D() - maxsSelf.AsVector2D()).Length() * 0.5;
for ( int i = 0; i < g_AI_Manager.NumAIs(); i++ )
{
CAI_BaseNPC *pAI = ppAIs[i];
if ( pAI != m_pNpc && pAI->IsAlive() && ( !goal.pPath || pAI != goal.pPath->GetTarget() ) )
{
Vector mins, maxs;
pAI->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
if ( mins.z < maxsSelf.z + 12.0 && maxs.z > minsSelf.z - 12.0 )
{
float radius = (mins.AsVector2D() - maxs.AsVector2D()).Length() * 0.5;
float distance = ( pAI->GetAbsOrigin().AsVector2D() - m_pNpc->GetAbsOrigin().AsVector2D() ).Length();
if ( distance - radius < radiusSelf + probeDist )
{
AddObstacle( pAI->WorldSpaceCenter(), radius, pAI, AIMST_AVOID_NPC );
}
}
}
}
#ifdef SecobMod__Enable_Fixed_Multiplayer_AI
CBaseEntity *pPlayer = UTIL_GetNearestPlayer(m_pNpc->GetAbsOrigin());
#else
CBaseEntity *pPlayer = UTIL_PlayerByIndex( 1 );
#endif //SecobMod__Enable_Fixed_Multiplayer_AI
if ( pPlayer )
{
Vector mins, maxs;
pPlayer->CollisionProp()->WorldSpaceSurroundingBounds( &mins, &maxs );
if ( mins.z < maxsSelf.z + 12.0 && maxs.z > minsSelf.z - 12.0 )
{
float radius = (mins.AsVector2D() - maxs.AsVector2D()).Length();
float distance = ( pPlayer->GetAbsOrigin().AsVector2D() - m_pNpc->GetAbsOrigin().AsVector2D() ).Length();
if ( distance - radius < radiusSelf + probeDist )
{
AddObstacle( pPlayer->WorldSpaceCenter(), radius, pPlayer, AIMST_AVOID_NPC );
}
}
}
}
}
AI_SuggestorResult_t CAI_PlaneSolver::GenerateObstacleSuggestion( const AILocalMoveGoal_t &goal, float yawScanCenter,
float probeDist, float spanPerProbe, int probeOffset)
{
AIMoveTrace_t moveTrace;
float yawTest;
float arcCenter;
CalcYawsFromOffset( yawScanCenter, spanPerProbe, probeOffset, &yawTest, &arcCenter );
Vector probeDir = UTIL_YawToVector( yawTest );
float requiredMovement = goal.speed * GetMotor()->GetMoveInterval();
// Probe immediate move with footing, then look further out ignoring footing
bool fTraceClear = true;
if ( probeDist > requiredMovement )
{
if ( !MoveLimit( goal.navType, GetLocalOrigin() + probeDir * requiredMovement, !ProbeForNpcs(), true, &moveTrace ) )
{
fTraceClear = false;
moveTrace.flDistObstructed = (probeDist - requiredMovement) + moveTrace.flDistObstructed;
}
}
if ( fTraceClear )
{
fTraceClear = MoveLimit( goal.navType, GetLocalOrigin() + probeDir * probeDist, !ProbeForNpcs(), false, &moveTrace );
}
if ( !fTraceClear )
{
GenerateSuggestionFromTrace( goal, moveTrace, probeDist, arcCenter, spanPerProbe, probeOffset );
return SR_OK;
}
return SR_NONE;
}
bool CAI_PlaneSolver::MoveLimit( Navigation_t navType, const Vector &target, bool ignoreTransients, bool fCheckStep, int contents, AIMoveTrace_t *pMoveTrace )
{
AI_PROFILE_SCOPE( CAI_PlaneSolver_MoveLimit );
int flags = ( navType == NAV_GROUND ) ? AIMLF_2D : AIMLF_DEFAULT;
if ( ignoreTransients )
{
Assert( !ProbeForNpcs() );
flags |= AIMLF_IGNORE_TRANSIENTS;
}
CAI_MoveProbe *pProbe = m_pNpc->GetMoveProbe();
return pProbe->MoveLimit( navType, GetLocalOrigin(), target, contents,
m_pNpc->GetNavTargetEntity(), (fCheckStep) ? 100 : 0,
flags,
pMoveTrace );
}
AI_SuggestorResult_t CAI_PlaneSolver::GenerateObstacleSuggestions( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace,
float distClear, float probeDist, float degreesToProbe, int nProbes )
{
Assert( nProbes % 2 == 1 );
PLANESOLVER_PROFILE_SCOPE( CAI_PlaneSolver_GenerateObstacleSuggestions );
AI_SuggestorResult_t seekResult = SR_NONE;
bool fNewTarget = ( !m_fSolvedPrev || m_PrevTarget != goal.target );
if ( fNewTarget )
m_RefreshSamplesTimer.Force();
if ( PLANE_SOLVER_THINK_FREQUENCY[AIStrongOpt()] == 0.0 || m_RefreshSamplesTimer.Expired() )
{
m_Solver.ClearRegulations();
if ( !ProbeForNpcs() )
GenerateObstacleNpcs( goal, probeDist );
if ( GenerateCircleObstacleSuggestions( goal, probeDist ) )
seekResult = SR_OK;
float spanPerProbe = degreesToProbe / nProbes;
int nSideProbes = (nProbes - 1) / 2;
float yawGoalDir = UTIL_VecToYaw( goal.dir );
Vector probeTarget;
AIMoveTrace_t moveTrace;
int i;
// Generate suggestion from direct trace, or probe if direct trace doesn't match
if ( fabs( probeDist - ( distClear + directTrace.flDistObstructed ) ) < 0.1 &&
( ProbeForNpcs() || directTrace.fStatus != AIMR_BLOCKED_NPC ) )
{
if ( directTrace.fStatus != AIMR_OK )
{
seekResult = SR_OK;
GenerateSuggestionFromTrace( goal, directTrace, probeDist, yawGoalDir, spanPerProbe, 0 );
}
}
else if ( GenerateObstacleSuggestion( goal, yawGoalDir, probeDist, spanPerProbe, 0 ) == SR_OK )
{
seekResult = SR_OK;
}
// Scan left. Note that in the left and right scan, the algorithm stops as soon
// as there is a clear path. This is an optimization in anticipation of the
// behavior of the underlying solver. This will break more often the higher
// PLANE_SOLVER_THINK_FREQUENCY becomes
bool foundClear = false;
for ( i = 1; i <= nSideProbes; i++ )
{
if ( !foundClear )
{
AI_SuggestorResult_t curSeekResult = GenerateObstacleSuggestion( goal, yawGoalDir, probeDist,
spanPerProbe, i );
if ( curSeekResult == SR_OK )
{
seekResult = SR_OK;
}
else
foundClear = true;
}
else
{
float ignored;
float arcCenter;
CalcYawsFromOffset( yawGoalDir, spanPerProbe, i, &ignored, &arcCenter );
m_Solver.AddRegulation( AI_MoveSuggestion_t( AIMST_NO_KNOWLEDGE, 1, arcCenter, spanPerProbe ) );
}
}
// Scan right
foundClear = false;
for ( i = -1; i >= -nSideProbes; i-- )
{
if ( !foundClear )
{
AI_SuggestorResult_t curSeekResult = GenerateObstacleSuggestion( goal, yawGoalDir, probeDist,
spanPerProbe, i );
if ( curSeekResult == SR_OK )
{
seekResult = SR_OK;
}
else
foundClear = true;
}
else
{
float ignored;
float arcCenter;
CalcYawsFromOffset( yawGoalDir, spanPerProbe, i, &ignored, &arcCenter );
m_Solver.AddRegulation( AI_MoveSuggestion_t( AIMST_NO_KNOWLEDGE, 1, arcCenter, spanPerProbe ) );
}
}
if ( seekResult == SR_OK )
{
float arcCenter = yawGoalDir - 180;
if ( arcCenter < 0 )
arcCenter += 360;
// Since these are not sampled every think, place a negative arc in all directions not sampled
m_Solver.AddRegulation( AI_MoveSuggestion_t( AIMST_NO_KNOWLEDGE, 1, arcCenter, 360 - degreesToProbe ) );
}
m_RefreshSamplesTimer.Reset( PLANE_SOLVER_THINK_FREQUENCY[AIStrongOpt()] );
}
else if ( m_Solver.HaveRegulations() )
seekResult = SR_OK;
return seekResult;
}