//-----------------------------------------------------------------------------
// 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;
}
//-----------------------------------------------------------------------------
// TASK_RANGE_ATTACK1 / TASK_RANGE_ATTACK2 / etc.
//-----------------------------------------------------------------------------
void CAI_BaseHumanoid::RunTaskRangeAttack1( const Task_t *pTask )
{
if ( ( CapabilitiesGet() & bits_CAP_USE_SHOT_REGULATOR ) == 0 )
{
BaseClass::RunTask( pTask );
return;
}
AutoMovement( );
Vector vecEnemyLKP = GetEnemyLKP();
// If our enemy was killed, but I'm not done animating, the last known position comes
// back as the origin and makes the me face the world origin if my attack schedule
// doesn't break when my enemy dies. (sjb)
if( vecEnemyLKP != vec3_origin )
{
if ( ( pTask->iTask == TASK_RANGE_ATTACK1 || pTask->iTask == TASK_RELOAD ) &&
( CapabilitiesGet() & bits_CAP_AIM_GUN ) &&
FInAimCone( vecEnemyLKP ) )
{
// Arms will aim, so leave body yaw as is
GetMotor()->SetIdealYawAndUpdate( GetMotor()->GetIdealYaw(), AI_KEEP_YAW_SPEED );
}
else
{
GetMotor()->SetIdealYawToTargetAndUpdate( vecEnemyLKP, AI_KEEP_YAW_SPEED );
}
}
if ( IsActivityFinished() )
{
if ( !GetEnemy() || !GetEnemy()->IsAlive() )
{
TaskComplete();
return;
}
if ( !GetShotRegulator()->IsInRestInterval() )
{
if ( GetShotRegulator()->ShouldShoot() )
{
OnRangeAttack1();
ResetIdealActivity( ACT_RANGE_ATTACK1 );
}
return;
}
TaskComplete();
}
}
void CNPC_Infected::RunAttackTask( int task )
{
AutoMovement( );
Vector vecEnemyLKP = GetEnemyLKP();
// If our enemy was killed, but I'm not done animating, the last known position comes
// back as the origin and makes the me face the world origin if my attack schedule
// doesn't break when my enemy dies. (sjb)
if( vecEnemyLKP != vec3_origin )
{
if ( ( task == TASK_RANGE_ATTACK1 || task == TASK_RELOAD ) &&
( CapabilitiesGet() & bits_CAP_AIM_GUN ) &&
FInAimCone( vecEnemyLKP ) )
{
// Arms will aim, so leave body yaw as is
GetMotor()->SetIdealYawAndUpdate( GetMotor()->GetIdealYaw(), AI_KEEP_YAW_SPEED );
}
else
{
GetMotor()->SetIdealYawToTargetAndUpdate( vecEnemyLKP, AI_KEEP_YAW_SPEED );
}
}
CAnimationLayer *pPlayer = GetAnimOverlay( m_iAttackLayer );
if ( pPlayer->m_bSequenceFinished )
{
if ( task == TASK_RELOAD && GetShotRegulator() )
{
GetShotRegulator()->Reset( false );
}
TaskComplete();
}
}
//-----------------------------------------------------------------------------
// TASK_RANGE_ATTACK1
//-----------------------------------------------------------------------------
void CAI_BaseHumanoid::StartTaskRangeAttack1( const Task_t *pTask )
{
if ( ( CapabilitiesGet() & bits_CAP_USE_SHOT_REGULATOR ) == 0 )
{
BaseClass::StartTask( pTask );
return;
}
// Can't shoot if we're in the rest interval; fail the schedule
if ( GetShotRegulator()->IsInRestInterval() )
{
TaskFail( "Shot regulator in rest interval" );
return;
}
if ( GetShotRegulator()->ShouldShoot() )
{
OnRangeAttack1();
ResetIdealActivity( ACT_RANGE_ATTACK1 );
}
else
{
// This can happen if we start while in the middle of a burst
// which shouldn't happen, but given the chaotic nature of our AI system,
// does occasionally happen.
ResetIdealActivity( ACT_IDLE_ANGRY );
}
}
//-----------------------------------------------------------------------------
// TASK_RANGE_ATTACK1
//-----------------------------------------------------------------------------
void CAI_BaseHumanoid::BuildScheduleTestBits( )
{
BaseClass::BuildScheduleTestBits();
if ( CapabilitiesGet() & bits_CAP_USE_SHOT_REGULATOR )
{
if ( GetShotRegulator()->IsInRestInterval() )
{
ClearCustomInterruptCondition( COND_CAN_RANGE_ATTACK1 );
}
}
}
bool CAI_StandoffBehavior::CanSelectSchedule()
{
if ( !m_fActive )
return false;
if ( !( CapabilitiesGet() & bits_CAP_DUCK ) || !HaveSequenceForActivity( ACT_COVER_LOW ) )
{
m_fActive = false;
return false;
}
return ( GetNpcState() == NPC_STATE_COMBAT && GetOuter()->GetActiveWeapon() != NULL );
}
void CAI_StandoffBehavior::UpdateTranslateActivityMap()
{
BaseClass::UpdateTranslateActivityMap();
Activity lowCoverActivity = GetMappedActivity( AIP_CROUCHING, ACT_COVER_LOW );
if ( lowCoverActivity == ACT_INVALID )
lowCoverActivity = ACT_COVER_LOW;
m_bHasLowCoverActivity = ( ( CapabilitiesGet() & bits_CAP_DUCK ) && (GetOuter()->TranslateActivity( lowCoverActivity ) != ACT_INVALID));
CBaseCombatWeapon *pWeapon = GetOuter()->GetActiveWeapon();
if ( pWeapon && (GetOuter()->TranslateActivity( lowCoverActivity ) == ACT_INVALID ))
DevMsg( "Note: NPC class %s lacks ACT_COVER_LOW, therefore cannot participate in standoff\n", GetOuter()->GetClassname() );
}
bool CASW_Alien_Jumper::DoJumpTo(Vector &vecDest)
{
//Too soon to try to jump
if ( m_flJumpTime > gpGlobals->curtime )
return false;
// only jump if you're on the ground
if (!(GetFlags() & FL_ONGROUND) || GetNavType() == NAV_JUMP )
return false;
// Don't jump if I'm not allowed
if ( ( CapabilitiesGet() & bits_CAP_MOVE_JUMP ) == false )
return false;
// Try the jump
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_JUMP, GetAbsOrigin(), vecDest, MASK_NPCSOLID, NULL, &moveTrace );
//See if it succeeded
if ( IsMoveBlocked( moveTrace.fStatus ) )
{
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( vecDest, GetHullMins(), GetHullMaxs(), 255, 0, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), vecDest, 255, 0, 0, 0, 5 );
}
m_flJumpTime = gpGlobals->curtime + random->RandomFloat( 1.0f, 2.0f );
return false;
}
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( vecDest, GetHullMins(), GetHullMaxs(), 0, 255, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), vecDest, 0, 255, 0, 0, 5 );
}
//Save this jump in case the next time fails
m_vecSavedJump = moveTrace.vJumpVelocity;
m_vecLastJumpAttempt = vecDest;
SetSchedule(SCHED_ASW_ALIEN_JUMP);
m_bForcedStuckJump = true;
//Msg("Drone saving jump vec %f %f %f\n", m_vecSavedJump.x, m_vecSavedJump.y, m_vecSavedJump.z);
return true;
}
void CHL1NPCTalker::IdleHeadTurn( const Vector &vTargetPos, float flDuration, float flImportance )
{
if (!(CapabilitiesGet() & bits_CAP_TURN_HEAD))
return;
if ( flDuration == 0.0f )
flDuration = random->RandomFloat( 2.0, 4.0 );
if ( vTargetPos == vec3_origin || m_NPCState == NPC_STATE_SCRIPT )
{
SetHeadDirection( vTargetPos, GetAnimTimeInterval() );
}
else
{
AddLookTarget( vTargetPos, 1.0, flDuration );
}
}
void CHL1NPCTalker::IdleHeadTurn( CBaseEntity *pTarget, float flDuration, float flImportance )
{
// Must be able to turn our head
if (!(CapabilitiesGet() & bits_CAP_TURN_HEAD))
return;
// If the target is invalid, or we're in a script, do nothing
if ( ( !pTarget ) || ( m_NPCState == NPC_STATE_SCRIPT ) )
return;
// Fill in a duration if we haven't specified one
if ( flDuration == 0.0f )
{
flDuration = random->RandomFloat( 2.0, 4.0 );
}
// Add a look target
AddLookTarget( pTarget, 1.0, flDuration );
}
bool CASW_Alien_Jumper::DoForcedJump( Vector &vecVelocity )
{
//Too soon to try to jump
if ( m_flJumpTime > gpGlobals->curtime )
return false;
// only jump if you're on the ground
if (!(GetFlags() & FL_ONGROUND) || GetNavType() == NAV_JUMP )
return false;
// Don't jump if I'm not allowed
if ( ( CapabilitiesGet() & bits_CAP_MOVE_JUMP ) == false )
return false;
m_vecSavedJump = vecVelocity;
m_vecLastJumpAttempt = GetAbsOrigin() + vecVelocity * 100;
SetSchedule(SCHED_ASW_ALIEN_JUMP);
m_bForcedStuckJump = true;
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
// Output : Returns true on success, false on failure.
//-----------------------------------------------------------------------------
bool CASW_Alien_Jumper::ShouldJump( void )
{
if ( GetEnemy() == NULL )
return false;
// don't jump if we're stunned
if (m_bElectroStunned)
return false;
//Too soon to try to jump
if ( m_flJumpTime > gpGlobals->curtime )
return false;
// only jump if you're on the ground
if (!(GetFlags() & FL_ONGROUND) || GetNavType() == NAV_JUMP )
return false;
// Don't jump if I'm not allowed
if ( ( CapabilitiesGet() & bits_CAP_MOVE_JUMP ) == false )
return false;
Vector vEnemyForward, vForward;
GetEnemy()->GetVectors( &vEnemyForward, NULL, NULL );
GetVectors( &vForward, NULL, NULL );
float flDot = DotProduct( vForward, vEnemyForward );
if ( flDot < 0.5f )
flDot = 0.5f;
Vector vecPredictedPos;
//Get our likely position in two seconds
UTIL_PredictedPosition( GetEnemy(), flDot * 2.5f, &vecPredictedPos );
// Don't jump if we're already near the target
if ( ( GetAbsOrigin() - vecPredictedPos ).LengthSqr() < (512*512) )
return false;
//Don't retest if the target hasn't moved enough
//FIXME: Check your own distance from last attempt as well
if ( ( ( m_vecLastJumpAttempt - vecPredictedPos ).LengthSqr() ) < (128*128) )
{
m_flJumpTime = gpGlobals->curtime + random->RandomFloat( 1.0f, 2.0f );
return false;
}
Vector targetDir = ( vecPredictedPos - GetAbsOrigin() );
float flDist = VectorNormalize( targetDir );
// don't jump at target it it's very close
if (flDist < ANTLION_JUMP_MIN)
return false;
Vector targetPos = vecPredictedPos + ( targetDir * (GetHullWidth()*4.0f) );
// Try the jump
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_JUMP, GetAbsOrigin(), targetPos, MASK_NPCSOLID, GetNavTargetEntity(), &moveTrace );
//See if it succeeded
if ( IsMoveBlocked( moveTrace.fStatus ) )
{
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( targetPos, GetHullMins(), GetHullMaxs(), 255, 0, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), targetPos, 255, 0, 0, 0, 5 );
}
m_flJumpTime = gpGlobals->curtime + random->RandomFloat( 1.0f, 2.0f );
return false;
}
if ( asw_debug_aliens.GetInt() == 2 )
{
NDebugOverlay::Box( targetPos, GetHullMins(), GetHullMaxs(), 0, 255, 0, 0, 5 );
NDebugOverlay::Line( GetAbsOrigin(), targetPos, 0, 255, 0, 0, 5 );
}
//Save this jump in case the next time fails
m_vecSavedJump = moveTrace.vJumpVelocity;
m_vecLastJumpAttempt = targetPos;
return true;
}
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;
}
bool CAI_Pathfinder::IsLinkUsable(CAI_Link *pLink, int startID)
{
// --------------------------------------------------------------------------
// Skip if link turned off
// --------------------------------------------------------------------------
if (pLink->m_LinkInfo & bits_LINK_OFF)
{
CDynamicLink *pDynamicLink = dynamic_cast<CDynamicLink *>(CEntity::Instance(pLink->m_pDynamicLink));
if ( !pDynamicLink || *(pDynamicLink->m_strAllowUse.ptr) == NULL_STRING )
return false;
const char *pszAllowUse = STRING( *(pDynamicLink->m_strAllowUse) );
if ( *(pDynamicLink->m_bInvertAllow) )
{
// Exlude only the specified entity name or classname
if ( GetOuter()->NameMatches(pszAllowUse) || GetOuter()->ClassMatches( pszAllowUse ) )
return false;
}
else
{
// Exclude everything but the allowed entity name or classname
if ( !GetOuter()->NameMatches( pszAllowUse) && !GetOuter()->ClassMatches( pszAllowUse ) )
return false;
}
}
// --------------------------------------------------------------------------
// Get the destination nodeID
// --------------------------------------------------------------------------
int endID = pLink->DestNodeID(startID);
// --------------------------------------------------------------------------
// Make sure I have the ability to do the type of movement specified by the link
// --------------------------------------------------------------------------
int linkMoveTypes = pLink->m_iAcceptedMoveTypes[GetHullType()];
int moveType = ( linkMoveTypes & CapabilitiesGet() );
CAI_Node *pStartNode,*pEndNode;
pStartNode = GetNetwork()->GetNode(startID);
pEndNode = GetNetwork()->GetNode(endID);
if ( (linkMoveTypes & bits_CAP_MOVE_JUMP) && !moveType )
{
CE_AI_Hint *pStartHint = dynamic_cast<CE_AI_Hint *>(pStartNode->GetHint());
CE_AI_Hint *pEndHint = dynamic_cast<CE_AI_Hint *>(pEndNode->GetHint());
if ( pStartHint && pEndHint )
{
if ( pStartHint->HintType() == HINT_JUMP_OVERRIDE &&
pEndHint->HintType() == HINT_JUMP_OVERRIDE &&
( ( ( pStartHint->GetSpawnFlags() | pEndHint->GetSpawnFlags() ) & SF_ALLOW_JUMP_UP ) || pStartHint->GetAbsOrigin().z > pEndHint->GetAbsOrigin().z ) )
{
if ( !pStartNode->IsLocked() )
{
if ( pStartHint->GetTargetNode() == -1 || pStartHint->GetTargetNode() == endID )
moveType = bits_CAP_MOVE_JUMP;
}
}
}
}
if (!moveType)
{
return false;
}
// --------------------------------------------------------------------------
// Check if NPC has a reason not to use the desintion node
// --------------------------------------------------------------------------
CEntity *cent = pEndNode->GetHint();
if (GetOuter()->IsUnusableNode(endID, ((cent) ? cent->BaseEntity() : NULL)))
{
return false;
}
// --------------------------------------------------------------------------
// If a jump make sure the jump is within NPC's legal parameters for jumping
// --------------------------------------------------------------------------
if (moveType == bits_CAP_MOVE_JUMP)
{
if (!GetOuter()->IsJumpLegal(pStartNode->GetPosition(GetHullType()),
pEndNode->GetPosition(GetHullType()),
pEndNode->GetPosition(GetHullType())))
{
return false;
}
}
// --------------------------------------------------------------------------
// If an NPC suggested that this link is stale and I haven't checked it yet
// I should make sure the link is still valid before proceeding
// --------------------------------------------------------------------------
if (pLink->m_LinkInfo & bits_LINK_STALE_SUGGESTED)
{
if (IsLinkStillStale(moveType, pLink))
{
return false;
}
}
return true;
}
