float CAI_PlaneSolver::CalcProbeDist( float speed )
{
// one second or one hull
float result = GetLookaheadTime() * speed;
if ( result < m_pNpc->GetMoveProbe()->GetHullWidth() )
return m_pNpc->GetMoveProbe()->GetHullWidth();
if ( result > MAX_PROBE_DIST[AIStrongOpt()] )
return MAX_PROBE_DIST[AIStrongOpt()];
return result;
}
CAI_PlaneSolver::CAI_PlaneSolver( CAI_BaseNPC *pNpc )
: m_pNpc( pNpc ),
m_fSolvedPrev( false ),
m_PrevTarget( FLT_MAX, FLT_MAX, FLT_MAX ),
m_PrevSolution( 0 ),
m_ClosestHaveBeenToCurrent( FLT_MAX ),
m_TimeLastProgress( FLT_MAX ),
m_fCannotSolveCurrent( false ),
m_RefreshSamplesTimer( PLANE_SOLVER_THINK_FREQUENCY[AIStrongOpt()] - 0.05 )
{
}
bool CAI_LocalNavigator::MoveCalcDirect( AILocalMoveGoal_t *pMoveGoal, bool bOnlyCurThink, float *pDistClear, AIMoveResult_t *pResult )
{
AI_PROFILE_SCOPE(CAI_LocalNavigator_MoveCalcDirect);
bool bRetVal = false;
if ( pMoveGoal->speed )
{
CAI_Motor *pMotor = GetOuter()->GetMotor();
float minCheckDist = pMotor->MinCheckDist();
float probeDist = m_pPlaneSolver->CalcProbeDist( pMoveGoal->speed ); // having this match steering allows one fewer traces
float checkDist = MAX( minCheckDist, probeDist );
float checkStepDist = MAX( 16.0, probeDist * 0.5 );
if ( pMoveGoal->flags & ( AILMG_TARGET_IS_TRANSITION | AILMG_TARGET_IS_GOAL ) )
{
// clamp checkDist to be no farther than MAX distance to goal
checkDist = MIN( checkDist, pMoveGoal->maxDist );
}
if ( checkDist <= 0.0 )
{
*pResult = AIMR_OK;
return true;
}
float moveThisInterval = pMotor->CalcIntervalMove();
bool bExpectingArrival = (moveThisInterval >= checkDist);
if ( !m_FullDirectTimer.Expired() )
{
if ( !m_fLastWasClear ||
( !VectorsAreEqual(pMoveGoal->target, m_LastMoveGoal.target, 0.1) ||
!VectorsAreEqual(pMoveGoal->dir, m_LastMoveGoal.dir, 0.1) ) ||
bExpectingArrival )
{
m_FullDirectTimer.Force();
}
}
if ( bOnlyCurThink ) // Outer code claims to have done a validation (probably a simplify operation)
{
m_FullDirectTimer.Set( TIME_DELAY_FULL_DIRECT_PROBE[AIStrongOpt()] );
}
// First, check the probable move for this cycle
bool bTraceClear = true;
Vector testPos;
if ( !bExpectingArrival )
{
testPos = GetLocalOrigin() + pMoveGoal->dir * moveThisInterval;
bTraceClear = GetMoveProbe()->MoveLimit( pMoveGoal->navType, GetLocalOrigin(), testPos,
GetOuter()->GetAITraceMask(), pMoveGoal->pMoveTarget,
100.0,
( pMoveGoal->navType == NAV_GROUND ) ? AIMLF_2D : AIMLF_DEFAULT,
&pMoveGoal->directTrace );
if ( !bTraceClear )
{
// Adjust probe top match expected probe dist (relied on later in process)
pMoveGoal->directTrace.flDistObstructed = (checkDist - moveThisInterval) + pMoveGoal->directTrace.flDistObstructed;
}
if ( !IsRetail() && ai_debug_directnavprobe.GetBool() )
{
if ( !bTraceClear )
{
DevMsg( GetOuter(), "Close obstruction %f\n", checkDist - pMoveGoal->directTrace.flDistObstructed );
NDebugOverlay::Line( WorldSpaceCenter(), Vector( testPos.x, testPos.y, WorldSpaceCenter().z ), 255, 0, 0, false, 0.1 );
if ( pMoveGoal->directTrace.pObstruction )
NDebugOverlay::Line( WorldSpaceCenter(), pMoveGoal->directTrace.pObstruction->WorldSpaceCenter(), 255, 0, 255, false, 0.1 );
}
else
{
NDebugOverlay::Line( WorldSpaceCenter(), Vector( testPos.x, testPos.y, WorldSpaceCenter().z ), 0, 255, 0, false, 0.1 );
}
}
pMoveGoal->thinkTrace = pMoveGoal->directTrace;
}
// Now project out for future obstructions
if ( bTraceClear )
{
if ( m_FullDirectTimer.Expired() )
{
testPos = GetLocalOrigin() + pMoveGoal->dir * checkDist;
float checkStepPct = (checkStepDist / checkDist) * 100.0;
if ( checkStepPct > 100.0 )
checkStepPct = 100.0;
bTraceClear = GetMoveProbe()->MoveLimit( pMoveGoal->navType, GetLocalOrigin(), testPos,
GetOuter()->GetAITraceMask(), pMoveGoal->pMoveTarget,
checkStepPct,
( pMoveGoal->navType == NAV_GROUND ) ? AIMLF_2D : AIMLF_DEFAULT,
&pMoveGoal->directTrace );
if ( bExpectingArrival )
pMoveGoal->thinkTrace = pMoveGoal->directTrace;
if (ai_debug_directnavprobe.GetBool() )
{
if ( !bTraceClear )
{
NDebugOverlay::Line( GetOuter()->EyePosition(), Vector( testPos.x, testPos.y, GetOuter()->EyePosition().z ), 255, 0, 0, false, 0.1 );
DevMsg( GetOuter(), "Obstruction %f\n", checkDist - pMoveGoal->directTrace.flDistObstructed );
}
else
{
NDebugOverlay::Line( GetOuter()->EyePosition(), Vector( testPos.x, testPos.y, GetOuter()->EyePosition().z ), 0, 255, 0, false, 0.1 );
DevMsg( GetOuter(), "No obstruction\n" );
}
}
}
else
{
if ( ai_debug_directnavprobe.GetBool() )
DevMsg( GetOuter(), "No obstruction (Near probe only)\n" );
}
}
pMoveGoal->bHasTraced = true;
float distClear = checkDist - pMoveGoal->directTrace.flDistObstructed;
if (distClear < 0.001)
distClear = 0;
if ( bTraceClear )
{
*pResult = AIMR_OK;
bRetVal = true;
m_fLastWasClear = true;
}
else if ( ( pMoveGoal->flags & ( AILMG_TARGET_IS_TRANSITION | AILMG_TARGET_IS_GOAL ) ) &&
pMoveGoal->maxDist < distClear )
{
*pResult = AIMR_OK;
bRetVal = true;
m_fLastWasClear = true;
}
else
{
*pDistClear = distClear;
m_fLastWasClear = false;
}
}
else
{
// Should never end up in this function with speed of zero. Probably an activity problem.
*pResult = AIMR_ILLEGAL;
bRetVal = true;
}
m_LastMoveGoal = *pMoveGoal;
if ( bRetVal && m_FullDirectTimer.Expired() )
m_FullDirectTimer.Set( TIME_DELAY_FULL_DIRECT_PROBE[AIStrongOpt()] );
return bRetVal;
}
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;
}
#include "cbase.h"
#include "ai_localnavigator.h"
#include "ai_basenpc.h"
#include "ai_planesolver.h"
#include "ai_moveprobe.h"
#include "ai_motor.h"
// memdbgon must be the last include file in a .cpp file!!!
#include "tier0/memdbgon.h"
ConVar ai_debug_directnavprobe("ai_debug_directnavprobe", "0");
const float TIME_DELAY_FULL_DIRECT_PROBE = ( !AIStrongOpt() ) ? 0.25 : 0.35;
//-----------------------------------------------------------------------------
BEGIN_SIMPLE_DATADESC(CAI_LocalNavigator)
// m_fLastWasClear (not saved)
// m_LastMoveGoal (not saved)
// m_FullDirectTimer (not saved)
// m_pPlaneSolver (not saved)
// m_pMoveProbe (not saved)
END_DATADESC();
//-------------------------------------
CAI_LocalNavigator::CAI_LocalNavigator(CAI_BaseNPC *pOuter) : CAI_Component( pOuter )
{
