// Draw a portion of our current path for debugging.
void CCSBot::DrawPath()
{
if (!HasPath())
return;
for (int i = 1; i < m_pathLength; i++)
{
UTIL_DrawBeamPoints(m_path[i - 1].pos, m_path[i].pos, 2, 255, 75, 0);
}
Vector close;
if (FindOurPositionOnPath(&close, true) >= 0)
{
UTIL_DrawBeamPoints(close + Vector(0, 0, 25), close, 1, 0, 255, 0);
UTIL_DrawBeamPoints(close + Vector(25, 0, 0), close + Vector(-25, 0, 0), 1, 0, 255, 0);
UTIL_DrawBeamPoints(close + Vector(0, 25, 0), close + Vector(0, -25, 0), 1, 0, 255, 0);
}
}
/**
* Compute a point a fixed distance ahead along our path.
* Returns path index just after point.
*/
int CNavPathFollower::FindPathPoint( float aheadRange, Vector *point, int *prevIndex )
{
// find path index just past aheadRange
int afterIndex;
// finds the closest point on local area of path, and returns the path index just prior to it
Vector close;
int startIndex = FindOurPositionOnPath( &close, true );
if (prevIndex)
*prevIndex = startIndex;
if (startIndex <= 0)
{
// went off the end of the path
// or next point in path is unwalkable (ie: jump-down)
// keep same point
return m_segmentIndex;
}
// if we are crouching, just follow the path exactly
if (m_improv->IsCrouching())
{
// we want to move to the immediately next point along the path from where we are now
int index = startIndex+1;
if (index >= m_path->GetSegmentCount())
index = m_path->GetSegmentCount()-1;
*point = (*m_path)[ index ]->pos;
// if we are very close to the next point in the path, skip ahead to the next one to avoid wiggling
// we must do a 2D check here, in case the goal point is floating in space due to jump down, etc
const float closeEpsilon = 20.0f; // 10
while ((*point - close).Make2D().IsLengthLessThan( closeEpsilon ))
{
++index;
if (index >= m_path->GetSegmentCount())
{
index = m_path->GetSegmentCount()-1;
break;
}
*point = (*m_path)[ index ]->pos;
}
return index;
}
// make sure we use a node a minimum distance ahead of us, to avoid wiggling
while (startIndex < m_path->GetSegmentCount()-1)
{
Vector pos = (*m_path)[ startIndex+1 ]->pos;
// we must do a 2D check here, in case the goal point is floating in space due to jump down, etc
const float closeEpsilon = 20.0f;
if ((pos - close).Make2D().IsLengthLessThan( closeEpsilon ))
{
++startIndex;
}
else
{
break;
}
}
// if we hit a ladder or jump area, must stop (dont use ladder behind us)
if (startIndex > m_segmentIndex && startIndex < m_path->GetSegmentCount() &&
((*m_path)[ startIndex ]->ladder || (*m_path)[ startIndex ]->area->GetAttributes() & NAV_JUMP))
{
*point = (*m_path)[ startIndex ]->pos;
return startIndex;
}
// we need the point just *ahead* of us
++startIndex;
if (startIndex >= m_path->GetSegmentCount())
startIndex = m_path->GetSegmentCount()-1;
// if we hit a ladder or jump area, must stop
if (startIndex < m_path->GetSegmentCount() &&
((*m_path)[ startIndex ]->ladder || (*m_path)[ startIndex ]->area->GetAttributes() & NAV_JUMP))
{
*point = (*m_path)[ startIndex ]->pos;
return startIndex;
}
// note direction of path segment we are standing on
Vector initDir = (*m_path)[ startIndex ]->pos - (*m_path)[ startIndex-1 ]->pos;
initDir.NormalizeInPlace();
Vector feet = m_improv->GetFeet();
Vector eyes = m_improv->GetEyes();
float rangeSoFar = 0;
// this flag is true if our ahead point is visible
bool visible = true;
Vector prevDir = initDir;
// step along the path until we pass aheadRange
bool isCorner = false;
int i;
for( i=startIndex; i<m_path->GetSegmentCount(); ++i )
{
Vector pos = (*m_path)[i]->pos;
Vector to = pos - (*m_path)[i-1]->pos;
Vector dir = to.Normalize();
// don't allow path to double-back from our starting direction (going upstairs, down curved passages, etc)
if (DotProduct( dir, initDir ) < 0.0f) // -0.25f
{
--i;
break;
}
// if the path turns a corner, we want to move towards the corner, not into the wall/stairs/etc
if (DotProduct( dir, prevDir ) < 0.5f)
{
isCorner = true;
--i;
break;
}
prevDir = dir;
// don't use points we cant see
Vector probe = pos + Vector( 0, 0, HalfHumanHeight );
if (!IsWalkableTraceLineClear( eyes, probe, WALK_THRU_BREAKABLES ))
{
// presumably, the previous point is visible, so we will interpolate
visible = false;
break;
}
// if we encounter a ladder or jump area, we must stop
if (i < m_path->GetSegmentCount() &&
((*m_path)[ i ]->ladder || (*m_path)[ i ]->area->GetAttributes() & NAV_JUMP))
break;
// Check straight-line path from our current position to this position
// Test for un-jumpable height change, or unrecoverable fall
//if (!IsStraightLinePathWalkable( &pos ))
//{
// --i;
// break;
//}
Vector along = (i == startIndex) ? (pos - feet) : (pos - (*m_path)[i-1]->pos);
rangeSoFar += along.Length2D();
// stop if we have gone farther than aheadRange
if (rangeSoFar >= aheadRange)
break;
}
if (i < startIndex)
afterIndex = startIndex;
else if (i < m_path->GetSegmentCount())
afterIndex = i;
else
afterIndex = m_path->GetSegmentCount()-1;
// compute point on the path at aheadRange
if (afterIndex == 0)
{
*point = (*m_path)[0]->pos;
}
else
{
// interpolate point along path segment
const Vector *afterPoint = &(*m_path)[ afterIndex ]->pos;
const Vector *beforePoint = &(*m_path)[ afterIndex-1 ]->pos;
Vector to = *afterPoint - *beforePoint;
float length = to.Length2D();
float t = 1.0f - ((rangeSoFar - aheadRange) / length);
if (t < 0.0f)
t = 0.0f;
else if (t > 1.0f)
t = 1.0f;
*point = *beforePoint + t * to;
// if afterPoint wasn't visible, slide point backwards towards beforePoint until it is
if (!visible)
{
const float sightStepSize = 25.0f;
float dt = sightStepSize / length;
Vector probe = *point + Vector( 0, 0, HalfHumanHeight );
while( t > 0.0f && !IsWalkableTraceLineClear( eyes, probe, WALK_THRU_BREAKABLES ) )
{
t -= dt;
*point = *beforePoint + t * to;
}
if (t <= 0.0f)
*point = *beforePoint;
}
}
// if position found is too close to us, or behind us, force it farther down the path so we don't stop and wiggle
if (!isCorner)
{
const float epsilon = 50.0f;
Vector2D toPoint;
Vector2D centroid( m_improv->GetCentroid().x, m_improv->GetCentroid().y );
toPoint.x = point->x - centroid.x;
toPoint.y = point->y - centroid.y;
if (DotProduct( toPoint, initDir.Make2D() ) < 0.0f || toPoint.IsLengthLessThan( epsilon ))
{
int i;
for( i=startIndex; i<m_path->GetSegmentCount(); ++i )
{
toPoint.x = (*m_path)[i]->pos.x - centroid.x;
toPoint.y = (*m_path)[i]->pos.y - centroid.y;
if ((*m_path)[i]->ladder || (*m_path)[i]->area->GetAttributes() & NAV_JUMP || toPoint.IsLengthGreaterThan( epsilon ))
{
*point = (*m_path)[i]->pos;
startIndex = i;
break;
}
}
if (i == m_path->GetSegmentCount())
{
*point = m_path->GetEndpoint();
startIndex = m_path->GetSegmentCount()-1;
}
}
}
// m_pathIndex should always be the next point on the path, even if we're not moving directly towards it
if (startIndex < m_path->GetSegmentCount())
return startIndex;
return m_path->GetSegmentCount()-1;
}
