AIMotorMoveResult_t CAI_BlendedMotor::MoveGroundExecute( const AILocalMoveGoal_t &move, AIMoveTrace_t *pTraceResult )
{
if ( move.curExpectedDist < 0.001 )
{
AIMotorMoveResult_t result = BaseClass::MoveGroundExecute( move, pTraceResult );
// Msg(" BaseClass::MoveGroundExecute() - remaining %.2f\n", GetMoveInterval() );
SetMoveScriptAnim( 0.0 );
return result;
}
BuildMoveScript( move, pTraceResult );
float flNewSpeed = GetCurSpeed();
float flTotalDist = GetMoveScriptDist( flNewSpeed );
//Assert( move.maxDist < 0.01 || flTotalDist > 0.0 );
// --------------------------------------------
// turn in the direction of movement
// --------------------------------------------
float flNewYaw = GetMoveScriptYaw( );
// get facing based on movement yaw
AILocalMoveGoal_t move2 = move;
move2.facing = UTIL_YawToVector( flNewYaw );
// turn in the direction needed
MoveFacing( move2 );
// reset actual "sequence" ground speed based current movement sequence, orientation
// FIXME: this should be based on
GetOuter()->m_flGroundSpeed = GetSequenceGroundSpeed( GetSequence());
/*
if (1 || flNewSpeed > GetIdealSpeed())
{
// DevMsg( "%6.2f : Speed %.1f : %.1f (%.1f) : %d\n", gpGlobals->curtime, flNewSpeed, move.maxDist, move.transitionDist, GetOuter()->m_pHintNode != NULL );
// DevMsg( "%6.2f : Speed %.1f : %.1f\n", gpGlobals->curtime, flNewSpeed, GetIdealSpeed() );
}
*/
SetMoveScriptAnim( flNewSpeed );
/*
if ((GetOuter()->m_debugOverlays & OVERLAY_NPC_SELECTED_BIT))
{
DevMsg( "%6.2f : Speed %.1f : %.1f : %.2f\n", gpGlobals->curtime, flNewSpeed, GetIdealSpeed(), flNewSpeed / GetIdealSpeed() );
}
*/
AIMotorMoveResult_t result = MoveGroundExecuteWalk( move, flNewSpeed, flTotalDist, pTraceResult );
return result;
}
void CAI_StandoffBehavior::UpdateBattleLines()
{
if ( m_UpdateBattleLinesSemaphore.EnterThink() )
{
// @TODO (toml 06-19-03): This is the quick to code thing. Could use some optimization/caching to not recalc everything (up to) each think
m_BattleLines.RemoveAll();
bool bHaveGoalPosition = ( m_vecStandoffGoalPosition != GOAL_POSITION_INVALID );
if ( bHaveGoalPosition )
{
// If we have a valid standoff goal position, it takes precendence.
const float DIST_GOAL_PLANE = 180;
BattleLine_t goalLine;
if ( GetDirectionOfStandoff( &goalLine.normal ) )
{
goalLine.point = GetStandoffGoalPosition() + goalLine.normal * DIST_GOAL_PLANE;
m_BattleLines.AddToTail( goalLine );
}
}
else if ( PlayerIsLeading() && GetEnemy() )
{
if ( m_params.fPlayerIsBattleline )
{
const float DIST_PLAYER_PLANE = 180;
CBaseEntity *pPlayer = UTIL_PlayerByIndex( 1 );
BattleLine_t playerLine;
if ( GetDirectionOfStandoff( &playerLine.normal ) )
{
playerLine.point = pPlayer->GetAbsOrigin() + playerLine.normal * DIST_PLAYER_PLANE;
m_BattleLines.AddToTail( playerLine );
}
}
}
CAI_BattleLine *pBattleLine = NULL;
for (;;)
{
pBattleLine = (CAI_BattleLine *)gEntList.FindEntityByClassname( pBattleLine, "ai_battle_line" );
if ( !pBattleLine )
break;
if ( pBattleLine->m_fActive && (!bHaveGoalPosition || !pBattleLine->m_fStrict ) && pBattleLine->Affects( GetOuter() ) )
{
BattleLine_t battleLine;
battleLine.point = pBattleLine->GetAbsOrigin();
battleLine.normal = UTIL_YawToVector( pBattleLine->GetAbsAngles().y );
m_BattleLines.AddToTail( battleLine );
}
}
}
}
//-----------------------------------------------------------------------------
// Visualization
//-----------------------------------------------------------------------------
void CAI_MoveSolver::VisualizeRegulations( const Vector& origin )
{
if ( m_Regulations.Count() )
{
CAI_MoveSuggestions regulations;
regulations.AddVectorToTail( m_Regulations );
NormalizeSuggestions( ®ulations[0], (®ulations[0]) + regulations.Count() );
Vector side1, mid, side2;
for (int i = regulations.Count(); --i >= 0; )
{
// Compute the positions of the angles...
float flMinAngle = regulations[i].arc.center - regulations[i].arc.span * 0.5f;
float flMaxAngle = regulations[i].arc.center + regulations[i].arc.span * 0.5f;
side1 = UTIL_YawToVector( flMinAngle );
side2 = UTIL_YawToVector( flMaxAngle );
mid = UTIL_YawToVector( regulations[i].arc.center );
// Stronger weighted ones are bigger
if ( regulations[i].weight < 0 )
{
float flLength = 10 + 40 * ( regulations[i].weight * -1.0);
side1 *= flLength;
side2 *= flLength;
mid *= flLength;
side1 += origin;
side2 += origin;
mid += origin;
NDebugOverlay::Triangle(origin, mid, side1, 255, 0, 0, 48, true, 0.1f );
NDebugOverlay::Triangle(origin, side2, mid, 255, 0, 0, 48, true, 0.1f );
}
}
}
}
// Эффект пыли для шагов крематора (аналогично шагам страйдера или охотника, но в меньших масштабах
void CNPC_Cremator::FootstepEffect( const Vector &origin )
{
trace_t tr;
AI_TraceLine( origin, origin - Vector(0,0,0), MASK_SOLID_BRUSHONLY, this, COLLISION_GROUP_NONE, &tr );
float yaw = random->RandomInt(0,0);
for ( int i = 0; i < 2; i++ )
{
if ( UTIL_PointContents( tr.endpos + Vector( 0, 0, 1 ) ) & MASK_WATER )
{
float flWaterZ = UTIL_FindWaterSurface( tr.endpos, tr.endpos.z, tr.endpos.z + 100.0f );
CEffectData data;
data.m_fFlags = 0;
data.m_vOrigin = tr.endpos;
data.m_vOrigin.z = flWaterZ;
data.m_vNormal = Vector( 0, 0, 1 );
data.m_flScale = random->RandomFloat( 10.0, 14.0 );
// Если крематор идет по неглубокой воде, образуются всплески.
DispatchEffect( "watersplash", data );
}
else
{
Vector dir = UTIL_YawToVector( yaw + i*180 ) * 10;
VectorNormalize( dir );
dir.z = 0.25;
VectorNormalize( dir );
g_pEffects->Dust( tr.endpos, dir, 12, 50 );
/*g_pEffects->FootprintDecal( tr.endpos, dir, 12, 50 );
virtual void FootprintDecal( IRecipientFilter& filer, float delay, const Vector *origin, const Vector* right,
int entity, int index, unsigned char materialType ) = 0;
virtual void Dust( IRecipientFilter& filer, float delay,
const Vector &pos, const Vector &dir, float size, float speed ) = 0;*/
}
}
}
bool CAI_ScriptConditions::EvalPlayerBlockingActor( const EvalArgs_t &args )
{
if ( m_fPlayerBlockingActor == TRS_NONE )
return true;
#if 0
CAI_BaseNPC *pNpc = args.pActor->MyNPCPointer();
const float testDist = 30.0;
Vector origin = args.pActor->WorldSpaceCenter();
Vector delta = UTIL_YawToVector( args.pActor->GetAngles().y ) * testDist;
Vector vecAbsMins, vecAbsMaxs;
args.pActor->CollisionProp()->WorldSpaceAABB( &vecAbsMins, &vecAbsMaxs );
bool intersect = IsBoxIntersectingRay( vecAbsMins, vecAbsMaxs, origin, delta );
#endif
if ( m_fPlayerBlockingActor == TRS_FALSE )
return true;
return false; // for now, never say player is blocking
}
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;
}
AIMoveResult_t CAI_LocalNavigator::MoveCalc( AILocalMoveGoal_t *pMoveGoal, bool bPreviouslyValidated )
{
bool bOnlyCurThink = ( bPreviouslyValidated && !HaveObstacles() );
AIMoveResult_t result = MoveCalcRaw( pMoveGoal, bOnlyCurThink );
if ( pMoveGoal->curExpectedDist > pMoveGoal->maxDist )
pMoveGoal->curExpectedDist = pMoveGoal->maxDist;
// If success, try to dampen really fast turning movement
if ( result == AIMR_OK)
{
float interval = GetOuter()->GetMotor()->GetMoveInterval();
float currentYaw = UTIL_AngleMod( GetLocalAngles().y );
float goalYaw;
float deltaYaw;
float speed;
float clampedYaw;
// Clamp yaw
goalYaw = UTIL_VecToYaw( pMoveGoal->facing );
deltaYaw = fabs( UTIL_AngleDiff( goalYaw, currentYaw ) );
if ( deltaYaw > 15 )
{
speed = deltaYaw * 4.0; // i.e., any maneuver takes a quarter a second
clampedYaw = AI_ClampYaw( speed, currentYaw, goalYaw, interval );
if ( clampedYaw != goalYaw )
{
pMoveGoal->facing = UTIL_YawToVector( clampedYaw );
}
}
}
return result;
}
CAI_BaseNPC *CASW_Sentry_Top_Cannon::SelectOptimalEnemy()
{
// prioritize unfrozen aliens who are going to leave the cone soon.
// prioritize aliens less the more frozen they get.
CUtlVectorFixedGrowable< CAI_BaseNPC *,16 > candidates;
CUtlVectorFixedGrowable< float, 16 > candidatescores;
// search through all npcs, any that are in LOS and have health
CAI_BaseNPC **ppAIs = g_AI_Manager.AccessAIs();
for ( int i = 0; i < g_AI_Manager.NumAIs(); i++ )
{
if (ppAIs[i]->GetHealth() > 0 && CanSee(ppAIs[i]))
{
// don't shoot marines
if ( !asw_sentry_friendly_target.GetBool() && ppAIs[i]->Classify() == CLASS_ASW_MARINE )
continue;
if ( ppAIs[i]->Classify() == CLASS_SCANNER )
continue;
if ( !IsValidEnemy( ppAIs[i] ) )
continue;
candidates.AddToTail( ppAIs[i] );
}
}
// bail out if we don't have anyone
if ( candidates.Count() < 1 )
return NULL;
else if ( candidates.Count() == 1 ) // just one candidate is an obvious result
return candidates[0];
// score each of the candidates
candidatescores.EnsureCount( candidates.Count() );
for ( int i = candidates.Count() - 1; i >= 0 ; --i )
{
CAI_BaseNPC * RESTRICT pCandidate = candidates[i];
// is the candidate moving into or out of the cone?
Vector vCandVel = GetEnemyVelocity(pCandidate);
Vector vMeToTarget = pCandidate->GetAbsOrigin() - GetFiringPosition();
Vector vBaseForward = UTIL_YawToVector( m_fDeployYaw );
// crush everything to 2d for simplicity
vMeToTarget.z = 0.0f;
vCandVel.z = 0.0f;
vBaseForward.z = 0.0f;
Vector velCross = vBaseForward.Cross(vCandVel); // this encodes also some info on perpendicularity
Vector vAimCross = vBaseForward.Cross(vMeToTarget);
bool bTargetHeadedOutOfCone = !vCandVel.IsZero() && velCross.z * vAimCross.z >= 0; // true if same sign
float flConeLeavingUrgency;
if ( bTargetHeadedOutOfCone )
{
flConeLeavingUrgency = fabs( velCross.z / vCandVel.Length2D() );
// just the sin; varies 0..1 where 1 means moving perpendicular to my aim
}
else
{
flConeLeavingUrgency = 0; // not at threat of leaving just yet
}
// the angle between my current yaw and what's needed to hit the target
float flSwivelNeeded = fabs( UTIL_AngleDiff( // i wish we weren't storing euler angles
UTIL_VecToYaw( vMeToTarget ), m_fDeployYaw ) );
flSwivelNeeded /= ASW_SENTRY_ANGLE; // normalize to 0..2
float fBigness = 0.0f;
int nClassify = pCandidate->Classify();
switch( nClassify )
{
case CLASS_ASW_SHIELDBUG:
case CLASS_ASW_MORTAR_BUG:
fBigness = 4.0f;
break;
case CLASS_ASW_HARVESTER:
case CLASS_ASW_RANGER:
fBigness = 2.0f;
break;
}
candidatescores[i] = Vector( 3.0f, -1.5f, 4.0f ).Dot( Vector( flConeLeavingUrgency, flSwivelNeeded, fBigness ) );
}
// find the highest scoring candidate
int best = 0;
for ( int i = 1 ; i < candidatescores.Count() ; ++i )
{
if ( candidatescores[i] > candidatescores[best] )
best = i;
}
// NDebugOverlay::EntityBounds(candidates[best], 255, 255, 0, 255, 0.2f );
return candidates[best];
}
bool CAI_PlaneSolver::RunMoveSolver( const AILocalMoveGoal_t &goal, const AIMoveTrace_t &directTrace, float degreesPositiveArc,
bool fDeterOscillation, Vector *pResult )
{
PLANESOLVER_PROFILE_SCOPE( CAI_PlaneSolver_RunMoveSolver );
AI_MoveSolution_t solution;
if ( m_Solver.HaveRegulations() )
{
// @TODO (toml 07-19-02): add a movement threshhold here (the target may be the same,
// but the ai is nowhere near where the last solution was derived)
bool fNewTarget = ( !m_fSolvedPrev || m_PrevTarget != goal.target );
// For debugging, visualize our regulations
VisualizeRegulations();
AI_MoveSuggestion_t moveSuggestions[2];
int nSuggestions = 1;
moveSuggestions[0].Set( AIMST_MOVE, 1, UTIL_VecToYaw( goal.dir ), degreesPositiveArc );
moveSuggestions[0].flags |= ComputeTurnBiasFlags( goal, directTrace );
if ( fDeterOscillation && !fNewTarget )
{
#ifndef TESTING_SUGGESTIONS
moveSuggestions[nSuggestions++].Set( AIMST_OSCILLATION_DETERRANCE, 1, m_PrevSolution - 180, 180 );
#endif
}
if ( m_Solver.Solve( moveSuggestions, nSuggestions, &solution ) )
{
*pResult = UTIL_YawToVector( solution.dir );
if (goal.navType == NAV_FLY)
{
// FIXME: Does the z component have to occur during the goal
// setting because it's there & only there where MoveLimit
// will report contact with the world if we move up?
AdjustSolutionForFliers( goal, solution.dir, pResult );
}
// A crude attempt at oscillation detection: if we solved last time, and this time, and the same target is
// involved, and we resulted in nearly a 180, we are probably oscillating
#ifndef TESTING_SUGGESTIONS
if ( !fNewTarget )
{
float delta = solution.dir - m_PrevSolution;
if ( delta < 0 )
delta += 360;
if ( delta > 165 && delta < 195 )
return false;
}
#endif
m_PrevSolution = solution.dir;
m_PrevSolutionVector = *pResult;
Vector curVelocity = m_pNpc->GetSmoothedVelocity();
if ( curVelocity != vec3_origin )
{
VectorNormalize( curVelocity );
if ( !fNewTarget )
{
*pResult = curVelocity * 0.1 + m_PrevSolutionVector * 0.1 + *pResult * 0.8;
}
else
{
*pResult = curVelocity * 0.2 + *pResult * 0.8;
}
}
return true;
}
}
else
{
if (goal.navType != NAV_FLY)
{
*pResult = goal.dir;
}
else
{
VectorSubtract( goal.target, GetLocalOrigin(), *pResult );
VectorNormalize( *pResult );
}
return true;
}
return false;
}
AIMotorMoveResult_t CAI_BlendedMotor::MoveFlyExecute( const AILocalMoveGoal_t &move, AIMoveTrace_t *pTraceResult )
{
if ( move.curExpectedDist < 0.001 )
return BaseClass::MoveFlyExecute( move, pTraceResult );
BuildMoveScript( move, pTraceResult );
float flNewSpeed = GetCurSpeed();
float flTotalDist = GetMoveScriptDist( flNewSpeed );
Assert( move.maxDist < 0.01 || flTotalDist > 0.0 );
// --------------------------------------------
// turn in the direction of movement
// --------------------------------------------
float flNewYaw = GetMoveScriptYaw( );
// get facing based on movement yaw
AILocalMoveGoal_t move2 = move;
move2.facing = UTIL_YawToVector( flNewYaw );
// turn in the direction needed
MoveFacing( move2 );
GetOuter()->m_flGroundSpeed = GetSequenceGroundSpeed( GetSequence());
SetMoveScriptAnim( flNewSpeed );
// DevMsg( "%6.2f : Speed %.1f : %.1f\n", gpGlobals->curtime, flNewSpeed, GetIdealSpeed() );
// reset actual "sequence" ground speed based current movement sequence, orientation
// FIXME: the above is redundant with MoveGroundExecute, and the below is a mix of MoveGroundExecuteWalk and MoveFlyExecute
bool bReachingLocalGoal = ( flTotalDist > move.maxDist );
// can I move farther in this interval than I'm supposed to?
if ( bReachingLocalGoal )
{
if ( !(move.flags & AILMG_CONSUME_INTERVAL) )
{
// only use a portion of the time interval
SetMoveInterval( GetMoveInterval() * (1 - move.maxDist / flTotalDist) );
}
else
SetMoveInterval( 0 );
flTotalDist = move.maxDist;
}
else
{
// use all the time
SetMoveInterval( 0 );
}
SetMoveVel( move.dir * flNewSpeed );
// orig
Vector vecStart, vecEnd;
vecStart = GetLocalOrigin();
VectorMA( vecStart, flTotalDist, move.dir, vecEnd );
AIMoveTrace_t moveTrace;
GetMoveProbe()->MoveLimit( NAV_FLY, vecStart, vecEnd, MASK_NPCSOLID, NULL, &moveTrace );
if ( pTraceResult )
*pTraceResult = moveTrace;
// Check for total blockage
if (fabs(moveTrace.flDistObstructed - flTotalDist) <= 1e-1)
{
// But if we bumped into our target, then we succeeded!
if ( move.pMoveTarget && (moveTrace.pObstruction == move.pMoveTarget) )
return AIM_PARTIAL_HIT_TARGET;
return AIM_FAILED;
}
// The true argument here causes it to touch all triggers
// in the volume swept from the previous position to the current position
UTIL_SetOrigin(GetOuter(), moveTrace.vEndPosition, true);
return (IsMoveBlocked(moveTrace.fStatus)) ? AIM_PARTIAL_HIT_WORLD : AIM_SUCCESS;
}
static int luasrc_UTIL_YawToVector (lua_State *L) {
Vector v = UTIL_YawToVector(luaL_checknumber(L, 1));
lua_pushvector(L, v);
return 1;
}
//------------------------------------------------------------------------------
// Purpose : If connected to a node returns node direction, otherwise
// returns local hint direction
//
// NOTE: Assumes not using multiple AI networks
// Input :
// Output :
//------------------------------------------------------------------------------
Vector CAI_Hint::GetDirection( )
{
return UTIL_YawToVector( Yaw() );
}
//-----------------------------------------------------------------------------
// Purpose : Draw a horizontal arrow pointing in the specified direction by yaw value
//-----------------------------------------------------------------------------
void NDebugOverlay::YawArrow( const Vector &startPos, float yaw, float length, float width, int r, int g, int b, int a, bool noDepthTest, float flDuration)
{
Vector forward = UTIL_YawToVector( yaw );
HorzArrow( startPos, startPos + forward * length, width, r, g, b, a, noDepthTest, flDuration );
}
