ReGameDLL_CS/regamedll/game_shared/bot/nav_area.cpp

#include "precompiled.h"

// STL uses exceptions, but we are not compiling with them - ignore warning
#pragma warning(disable : 4530)

// long STL names get truncated in browse info.
#pragma warning(disable : 4786)

#include <list>
#include <vector>
#include <algorithm>

#include <fcntl.h>
#include <sys/stat.h>
#include <assert.h>

#ifdef _WIN32
#include <io.h>
#else
#include <unistd.h>
#endif // _WIN32

unsigned int CNavArea::m_nextID = 1;
unsigned int CNavArea::m_masterMarker = 1;

unsigned int HidingSpot::m_nextID = 1;
unsigned int HidingSpot::m_masterMarker = 0;

NavLadderList TheNavLadderList;
HidingSpotList TheHidingSpotList;
NavAreaList TheNavAreaList;

// The singleton for accessing the grid
CNavAreaGrid TheNavAreaGrid;

CNavArea *CNavArea::m_openList = nullptr;
bool CNavArea::m_isReset = false;

float lastDrawTimestamp = 0.0f;
NavAreaList goodSizedAreaList;

CNavArea *markedArea = nullptr;
CNavArea *lastSelectedArea = nullptr;
NavCornerType markedCorner = NUM_CORNERS;

bool isCreatingNavArea = false;
bool isAnchored = false;
Vector anchor;

bool isPlaceMode = false;
bool isPlacePainting = false;

float editTimestamp = 0.0f;

const int MAX_BLOCKED_AREAS = 256;
unsigned int BlockedID[MAX_BLOCKED_AREAS];
int BlockedIDCount = 0;

NOXREF void buildGoodSizedList()
{
	const float minSize = 200.0f;
	for (auto area : TheNavAreaList)
	{
		// skip the small areas
		const Extent *extent = area->GetExtent();
		if (extent->SizeX() < minSize || extent->SizeY() < minSize)
			continue;

		goodSizedAreaList.push_back(area);
	}
}

void DestroyHidingSpots()
{
	// remove all hiding spot references from the nav areas
	for (auto area : TheNavAreaList)
		area->m_hidingSpotList.clear();

	HidingSpot::m_nextID = 0;

	// free all the HidingSpots
	for (auto spot : TheHidingSpotList)
		delete spot;

	TheHidingSpotList.clear();
}

// For use when loading from a file
HidingSpot::HidingSpot()
{
	m_pos = Vector(0, 0, 0);
	m_id = 0;
	m_flags = 0;

	TheHidingSpotList.push_back(this);
}

// For use when generating - assigns unique ID
HidingSpot::HidingSpot(const Vector *pos, unsigned char flags)
{
	m_pos = *pos;
	m_id = m_nextID++;
	m_flags = flags;

	TheHidingSpotList.push_back(this);
}

void HidingSpot::Save(int fd, unsigned int version) const
{
	_write(fd, &m_id, sizeof(unsigned int));
	_write(fd, &m_pos, 3 * sizeof(float));
	_write(fd, &m_flags, sizeof(unsigned char));
}

void HidingSpot::Load(SteamFile *file, unsigned int version)
{
	file->Read(&m_id, sizeof(unsigned int));
	file->Read(&m_pos, 3 * sizeof(float));
	file->Read(&m_flags, sizeof(unsigned char));

	// update next ID to avoid ID collisions by later spots
	if (m_id >= m_nextID) {
		m_nextID = m_id + 1;
	}
}

// Given a HidingSpot ID, return the associated HidingSpot
HidingSpot *GetHidingSpotByID(unsigned int id)
{
	for (HidingSpotList::iterator iter = TheHidingSpotList.begin(); iter != TheHidingSpotList.end(); iter++)
	{
		HidingSpot *spot = (*iter);

		if (spot->GetID() == id)
			return spot;
	}

	return nullptr;
}

// To keep constructors consistent
void CNavArea::Initialize()
{
	m_marker = 0;
	m_parent = nullptr;
	m_parentHow = GO_NORTH;
	m_attributeFlags = 0;
	m_place = 0;

	for (int i = 0; i < MAX_AREA_TEAMS; i++)
	{
		m_danger[i] = 0.0f;
		m_dangerTimestamp[i] = 0.0f;
		m_clearedTimestamp[i] = 0.0f;
	}

	m_approachCount = 0;

	// set an ID for splitting and other interactive editing - loads will overwrite this
	m_id = m_nextID++;

	m_prevHash = nullptr;
	m_nextHash = nullptr;
}

// Constructor used during normal runtime
CNavArea::CNavArea()
{
	Initialize();
}

// Assumes Z is flat
CNavArea::CNavArea(const Vector *corner, const Vector *otherCorner)
{
	Initialize();

	if (corner->x < otherCorner->x)
	{
		m_extent.lo.x = corner->x;
		m_extent.hi.x = otherCorner->x;
	}
	else
	{
		m_extent.hi.x = corner->x;
		m_extent.lo.x = otherCorner->x;
	}

	if (corner->y < otherCorner->y)
	{
		m_extent.lo.y = corner->y;
		m_extent.hi.y = otherCorner->y;
	}
	else
	{
		m_extent.hi.y = corner->y;
		m_extent.lo.y = otherCorner->y;
	}

	m_extent.lo.z = corner->z;
	m_extent.hi.z = corner->z;

	m_center.x = (m_extent.lo.x + m_extent.hi.x) / 2.0f;
	m_center.y = (m_extent.lo.y + m_extent.hi.y) / 2.0f;
	m_center.z = (m_extent.lo.z + m_extent.hi.z) / 2.0f;

	m_neZ = corner->z;
	m_swZ = otherCorner->z;
}

// Constructor used during generation phase
CNavArea::CNavArea(const Vector *nwCorner, const Vector *neCorner, const Vector *seCorner, const Vector *swCorner)
{
	Initialize();

	m_extent.lo = *nwCorner;
	m_extent.hi = *seCorner;

	m_center.x = (m_extent.lo.x + m_extent.hi.x) / 2.0f;
	m_center.y = (m_extent.lo.y + m_extent.hi.y) / 2.0f;
	m_center.z = (m_extent.lo.z + m_extent.hi.z) / 2.0f;

	m_neZ = neCorner->z;
	m_swZ = swCorner->z;
}

CNavArea::CNavArea(CNavNode *nwNode, class CNavNode *neNode, class CNavNode *seNode, class CNavNode *swNode)
{
	Initialize();

	m_extent.lo = *nwNode->GetPosition();
	m_extent.hi = *seNode->GetPosition();

	m_center.x = (m_extent.lo.x + m_extent.hi.x) / 2.0f;
	m_center.y = (m_extent.lo.y + m_extent.hi.y) / 2.0f;
	m_center.z = (m_extent.lo.z + m_extent.hi.z) / 2.0f;

	m_neZ = neNode->GetPosition()->z;
	m_swZ = swNode->GetPosition()->z;

	m_node[NORTH_WEST] = nwNode;
	m_node[NORTH_EAST] = neNode;
	m_node[SOUTH_EAST] = seNode;
	m_node[SOUTH_WEST] = swNode;

	// mark internal nodes as part of this area
	AssignNodes(this);
}

// Destructor
CNavArea::~CNavArea()
{
	// if we are resetting the system, don't bother cleaning up - all areas are being destroyed
	if (m_isReset)
		return;

	// tell the other areas we are going away
	NavAreaList::iterator iter;
	for (iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
	{
		CNavArea *area = (*iter);

		if (area == this)
			continue;

		area->OnDestroyNotify(this);
	}

	// unhook from ladders
	for (int i = 0; i < NUM_LADDER_DIRECTIONS; i++)
	{
		for (NavLadderList::iterator liter = m_ladder[i].begin(); liter != m_ladder[i].end(); liter++)
		{
			CNavLadder *ladder = *liter;
			ladder->OnDestroyNotify(this);
		}
	}

	// remove the area from the grid
	TheNavAreaGrid.RemoveNavArea(this);
}

// This is invoked when an area is going away.
// Remove any references we have to it.
void CNavArea::OnDestroyNotify(CNavArea *dead)
{
	NavConnect con;
	con.area = dead;
	for (int d = 0; d < NUM_DIRECTIONS; d++)
		m_connect[d].remove(con);

	m_overlapList.remove(dead);
}

// Connect this area to given area in given direction
void CNavArea::ConnectTo(CNavArea *area, NavDirType dir)
{
	// check if already connected
	for (NavConnectList::iterator iter = m_connect[dir].begin(); iter != m_connect[dir].end(); iter++)
	{
		if ((*iter).area == area)
			return;
	}

	NavConnect con;
	con.area = area;
	m_connect[dir].push_back(con);

	//static char *dirName[] = { "NORTH", "EAST", "SOUTH", "WEST" };
	//CONSOLE_ECHO("  Connected area #%d to #%d, %s\n", m_id, area->m_id, dirName[dir]);
}

// Disconnect this area from given area
void CNavArea::Disconnect(CNavArea *area)
{
	NavConnect connect;
	connect.area = area;

	for (int dir = 0; dir < NUM_DIRECTIONS; dir++)
		m_connect[dir].remove(connect);
}

// Recompute internal data once nodes have been adjusted during merge
// Destroy adjArea.
void CNavArea::FinishMerge(CNavArea *adjArea)
{
	// update extent
	m_extent.lo = *m_node[NORTH_WEST]->GetPosition();
	m_extent.hi = *m_node[SOUTH_EAST]->GetPosition();

	m_center.x = (m_extent.lo.x + m_extent.hi.x) / 2.0f;
	m_center.y = (m_extent.lo.y + m_extent.hi.y) / 2.0f;
	m_center.z = (m_extent.lo.z + m_extent.hi.z) / 2.0f;

	m_neZ = m_node[NORTH_EAST]->GetPosition()->z;
	m_swZ = m_node[SOUTH_WEST]->GetPosition()->z;

	// reassign the adjacent area's internal nodes to the final area
	adjArea->AssignNodes(this);

	// merge adjacency links - we gain all the connections that adjArea had
	MergeAdjacentConnections(adjArea);

	// remove subsumed adjacent area
	TheNavAreaList.remove(adjArea);
	delete adjArea;
}

// For merging with "adjArea" - pick up all of "adjArea"s connections
void CNavArea::MergeAdjacentConnections(CNavArea *adjArea)
{
	// merge adjacency links - we gain all the connections that adjArea had
	NavConnectList::iterator iter;
	int dir;
	for (dir = 0; dir < NUM_DIRECTIONS; dir++)
	{
		for (iter = adjArea->m_connect[dir].begin(); iter != adjArea->m_connect[dir].end(); iter++)
		{
			NavConnect connect = (*iter);

			if (connect.area != adjArea && connect.area != this)
				ConnectTo(connect.area, (NavDirType)dir);
		}
	}

	// remove any references from this area to the adjacent area, since it is now part of us
	for (dir = 0; dir < NUM_DIRECTIONS; dir++)
	{
		NavConnect connect;
		connect.area = adjArea;

		m_connect[dir].remove(connect);
	}

	// Change other references to adjArea to refer instead to us
	// We can't just replace existing connections, as several adjacent areas may have been merged into one,
	// resulting in a large area adjacent to all of them ending up with multiple redunandant connections
	// into the merged area, one for each of the adjacent subsumed smaller ones.
	// If an area has a connection to the merged area, we must remove all references to adjArea, and add
	// a single connection to us.
	for (NavAreaList::iterator areaIter = TheNavAreaList.begin(); areaIter != TheNavAreaList.end(); areaIter++)
	{
		CNavArea *area = *areaIter;

		if (area == this || area == adjArea)
			continue;

		for (dir = 0; dir < NUM_DIRECTIONS; dir++)
		{
			// check if there are any references to adjArea in this direction
			bool connected = false;
			for (iter = area->m_connect[dir].begin(); iter != area->m_connect[dir].end(); iter++)
			{
				NavConnect connect = (*iter);

				if (connect.area == adjArea)
				{
					connected = true;
					break;
				}
			}

			if (connected)
			{
				// remove all references to adjArea
				NavConnect connect;
				connect.area = adjArea;
				area->m_connect[dir].remove(connect);

				// remove all references to the new area
				connect.area = this;
				area->m_connect[dir].remove(connect);

				// add a single connection to the new area
				connect.area = this;
				area->m_connect[dir].push_back(connect);
			}
		}
	}
}

// Assign internal nodes to the given area
// NOTE: "internal" nodes do not include the east or south border nodes
void CNavArea::AssignNodes(CNavArea *area)
{
	CNavNode *horizLast = m_node[NORTH_EAST];
	for (CNavNode *vertNode = m_node[NORTH_WEST]; vertNode != m_node[SOUTH_WEST]; vertNode = vertNode->GetConnectedNode(SOUTH))
	{
		for (CNavNode *horizNode = vertNode; horizNode != horizLast; horizNode = horizNode->GetConnectedNode(EAST))
		{
			horizNode->AssignArea(area);
		}

		horizLast = horizLast->GetConnectedNode(SOUTH);
	}
}

// Split this area into two areas at the given edge.
// Preserve all adjacency connections.
// NOTE: This does not update node connections, only areas.
bool CNavArea::SplitEdit(bool splitAlongX, float splitEdge, CNavArea **outAlpha, CNavArea **outBeta)
{
	CNavArea *alpha = nullptr;
	CNavArea *beta = nullptr;

	if (splitAlongX)
	{
		// +-----+->X
		// |  A  |
		// +-----+
		// |  B  |
		// +-----+
		// |
		// Y

		// don't do split if at edge of area
		if (splitEdge <= m_extent.lo.y + 1.0f)
			return false;

		if (splitEdge >= m_extent.hi.y - 1.0f)
			return false;

		alpha = new CNavArea;
		alpha->m_extent.lo = m_extent.lo;

		alpha->m_extent.hi.x = m_extent.hi.x;
		alpha->m_extent.hi.y = splitEdge;
		alpha->m_extent.hi.z = GetZ(&alpha->m_extent.hi);

		beta = new CNavArea;
		beta->m_extent.lo.x = m_extent.lo.x;
		beta->m_extent.lo.y = splitEdge;
		beta->m_extent.lo.z = GetZ(&beta->m_extent.lo);

		beta->m_extent.hi = m_extent.hi;

		alpha->ConnectTo(beta, SOUTH);
		beta->ConnectTo(alpha, NORTH);

		FinishSplitEdit(alpha, SOUTH);
		FinishSplitEdit(beta, NORTH);
	}
	else
	{
		// +--+--+->X
		// |  |  |
		// | A|B |
		// |  |  |
		// +--+--+
		// |
		// Y

		// don't do split if at edge of area
		if (splitEdge <= m_extent.lo.x + 1.0f)
			return false;

		if (splitEdge >= m_extent.hi.x - 1.0f)
			return false;

		alpha = new CNavArea;
		alpha->m_extent.lo = m_extent.lo;

		alpha->m_extent.hi.x = splitEdge;
		alpha->m_extent.hi.y = m_extent.hi.y;
		alpha->m_extent.hi.z = GetZ(&alpha->m_extent.hi);

		beta = new CNavArea;
		beta->m_extent.lo.x = splitEdge;
		beta->m_extent.lo.y = m_extent.lo.y;
		beta->m_extent.lo.z = GetZ(&beta->m_extent.lo);

		beta->m_extent.hi = m_extent.hi;

		alpha->ConnectTo(beta, EAST);
		beta->ConnectTo(alpha, WEST);

		FinishSplitEdit(alpha, EAST);
		FinishSplitEdit(beta, WEST);
	}

	// new areas inherit attributes from original area
	alpha->SetAttributes(GetAttributes());
	beta->SetAttributes(GetAttributes());

	// new areas inherit place from original area
	alpha->SetPlace(GetPlace());
	beta->SetPlace(GetPlace());

	// return new areas
	if (outAlpha)
		*outAlpha = alpha;

	if (outBeta)
		*outBeta = beta;

	// remove original area
	TheNavAreaList.remove(this);
	delete this;

	return true;
}

// Return true if given area is connected in given direction
// if dir == NUM_DIRECTIONS, check all directions (direction is unknown)
// TODO: Formalize "asymmetric" flag on connections
bool CNavArea::IsConnected(const CNavArea *area, NavDirType dir) const
{
	// we are connected to ourself
	if (area == this)
		return true;

	NavConnectList::const_iterator iter;

	if (dir == NUM_DIRECTIONS)
	{
		// search all directions
		for (int d = 0; d < NUM_DIRECTIONS; d++)
		{
			for (iter = m_connect[d].begin(); iter != m_connect[d].end(); iter++)
			{
				if (area == (*iter).area)
					return true;
			}
		}

		// check ladder connections
		NavLadderList::const_iterator liter;
		for (liter = m_ladder[LADDER_UP].begin(); liter != m_ladder[LADDER_UP].end(); liter++)
		{
			CNavLadder *ladder = *liter;

			if (ladder->m_topBehindArea == area || ladder->m_topForwardArea == area || ladder->m_topLeftArea == area || ladder->m_topRightArea == area)
				return true;
		}

		for (liter = m_ladder[LADDER_DOWN].begin(); liter != m_ladder[LADDER_DOWN].end(); liter++)
		{
			CNavLadder *ladder = *liter;

			if (ladder->m_bottomArea == area)
				return true;
		}
	}
	else
	{
		// check specific direction
		for (iter = m_connect[dir].begin(); iter != m_connect[dir].end(); iter++)
		{
			if (area == (*iter).area)
				return true;
		}
	}

	return false;
}

// Compute change in height from this area to given area
// TODO: This is approximate for now
float CNavArea::ComputeHeightChange(const CNavArea *area)
{
	float ourZ = GetZ(GetCenter());
	float areaZ = area->GetZ(area->GetCenter());

	return areaZ - ourZ;
}

// Given the portion of the original area, update its internal data
// The "ignoreEdge" direction defines the side of the original area that the new area does not include
void CNavArea::FinishSplitEdit(CNavArea *newArea, NavDirType ignoreEdge)
{
	newArea->m_center.x = (newArea->m_extent.lo.x + newArea->m_extent.hi.x) / 2.0f;
	newArea->m_center.y = (newArea->m_extent.lo.y + newArea->m_extent.hi.y) / 2.0f;
	newArea->m_center.z = (newArea->m_extent.lo.z + newArea->m_extent.hi.z) / 2.0f;

	newArea->m_neZ = GetZ(newArea->m_extent.hi.x, newArea->m_extent.lo.y);
	newArea->m_swZ = GetZ(newArea->m_extent.lo.x, newArea->m_extent.hi.y);

	// connect to adjacent areas
	for (int d = 0; d < NUM_DIRECTIONS; d++)
	{
		if (d == ignoreEdge)
			continue;

		int count = GetAdjacentCount((NavDirType)d);
		for (int a = 0; a < count; a++)
		{
			CNavArea *adj = GetAdjacentArea((NavDirType)d, a);

			switch (d)
			{
			case NORTH:
			case SOUTH:
				if (newArea->IsOverlappingX(adj))
				{
					newArea->ConnectTo(adj, (NavDirType)d);

					// add reciprocal connection if needed
					if (adj->IsConnected(this, OppositeDirection((NavDirType)d)))
						adj->ConnectTo(newArea, OppositeDirection((NavDirType)d));
				}
				break;

			case EAST:
			case WEST:
				if (newArea->IsOverlappingY(adj))
				{
					newArea->ConnectTo(adj, (NavDirType)d);

					// add reciprocal connection if needed
					if (adj->IsConnected(this, OppositeDirection((NavDirType)d)))
						adj->ConnectTo(newArea, OppositeDirection((NavDirType)d));
				}
				break;
			}
		}
	}

	TheNavAreaList.push_back(newArea);
	TheNavAreaGrid.AddNavArea(newArea);
}

// Create a new area between this area and given area
bool CNavArea::SpliceEdit(CNavArea *other)
{
	CNavArea *newArea = nullptr;
	Vector nw, ne, se, sw;

	if (m_extent.lo.x > other->m_extent.hi.x)
	{
		// 'this' is east of 'other'
		float top = Q_max(m_extent.lo.y, other->m_extent.lo.y);
		float bottom = Q_min(m_extent.hi.y, other->m_extent.hi.y);

		nw.x = other->m_extent.hi.x;
		nw.y = top;
		nw.z = other->GetZ(&nw);

		se.x = m_extent.lo.x;
		se.y = bottom;
		se.z = GetZ(&se);

		ne.x = se.x;
		ne.y = nw.y;
		ne.z = GetZ(&ne);

		sw.x = nw.x;
		sw.y = se.y;
		sw.z = other->GetZ(&sw);

		newArea = new CNavArea(&nw, &ne, &se, &sw);

		this->ConnectTo(newArea, WEST);
		newArea->ConnectTo(this, EAST);

		other->ConnectTo(newArea, EAST);
		newArea->ConnectTo(other, WEST);
	}
	else if (m_extent.hi.x < other->m_extent.lo.x)
	{
		// 'this' is west of 'other'
		float top = Q_max(m_extent.lo.y, other->m_extent.lo.y);
		float bottom = Q_min(m_extent.hi.y, other->m_extent.hi.y);

		nw.x = m_extent.hi.x;
		nw.y = top;
		nw.z = GetZ(&nw);

		se.x = other->m_extent.lo.x;
		se.y = bottom;
		se.z = other->GetZ(&se);

		ne.x = se.x;
		ne.y = nw.y;
		ne.z = other->GetZ(&ne);

		sw.x = nw.x;
		sw.y = se.y;
		sw.z = GetZ(&sw);

		newArea = new CNavArea(&nw, &ne, &se, &sw);

		this->ConnectTo(newArea, EAST);
		newArea->ConnectTo(this, WEST);

		other->ConnectTo(newArea, WEST);
		newArea->ConnectTo(other, EAST);
	}
	else	// 'this' overlaps in X
	{
		if (m_extent.lo.y > other->m_extent.hi.y)
		{
			// 'this' is south of 'other'
			float left = Q_max(m_extent.lo.x, other->m_extent.lo.x);
			float right = Q_min(m_extent.hi.x, other->m_extent.hi.x);

			nw.x = left;
			nw.y = other->m_extent.hi.y;
			nw.z = other->GetZ(&nw);

			se.x = right;
			se.y = m_extent.lo.y;
			se.z = GetZ(&se);

			ne.x = se.x;
			ne.y = nw.y;
			ne.z = other->GetZ(&ne);

			sw.x = nw.x;
			sw.y = se.y;
			sw.z = GetZ(&sw);

			newArea = new CNavArea(&nw, &ne, &se, &sw);

			this->ConnectTo(newArea, NORTH);
			newArea->ConnectTo(this, SOUTH);

			other->ConnectTo(newArea, SOUTH);
			newArea->ConnectTo(other, NORTH);
		}
		else if (m_extent.hi.y < other->m_extent.lo.y)
		{
			// 'this' is north of 'other'
			float left = Q_max(m_extent.lo.x, other->m_extent.lo.x);
			float right = Q_min(m_extent.hi.x, other->m_extent.hi.x);

			nw.x = left;
			nw.y = m_extent.hi.y;
			nw.z = GetZ(&nw);

			se.x = right;
			se.y = other->m_extent.lo.y;
			se.z = other->GetZ(&se);

			ne.x = se.x;
			ne.y = nw.y;
			ne.z = GetZ(&ne);

			sw.x = nw.x;
			sw.y = se.y;
			sw.z = other->GetZ(&sw);

			newArea = new CNavArea(&nw, &ne, &se, &sw);

			this->ConnectTo(newArea, SOUTH);
			newArea->ConnectTo(this, NORTH);

			other->ConnectTo(newArea, NORTH);
			newArea->ConnectTo(other, SOUTH);
		}
		else
		{
			// areas overlap
			return false;
		}
	}

	// if both areas have the same place, the new area inherits it
	if (GetPlace() == other->GetPlace())
	{
		newArea->SetPlace(GetPlace());
	}
	else if (GetPlace() == UNDEFINED_PLACE)
	{
		newArea->SetPlace(other->GetPlace());
	}
	else if (other->GetPlace() == UNDEFINED_PLACE)
	{
		newArea->SetPlace(GetPlace());
	}
	else
	{
		// both have valid, but different places - pick on at random
		if (RANDOM_LONG(0, 100) < 50)
			newArea->SetPlace(GetPlace());
		else
			newArea->SetPlace(other->GetPlace());
	}

	TheNavAreaList.push_back(newArea);
	TheNavAreaGrid.AddNavArea(newArea);
	return true;
}

// Merge this area and given adjacent area
bool CNavArea::MergeEdit(CNavArea *adj)
{
	// can only merge if attributes of both areas match
	// check that these areas can be merged
	const float tolerance = 1.0f;
	bool merge = false;
	if (Q_abs(m_extent.lo.x - adj->m_extent.lo.x) < tolerance &&
		Q_abs(m_extent.hi.x - adj->m_extent.hi.x) < tolerance)
		merge = true;

	if (Q_abs(m_extent.lo.y - adj->m_extent.lo.y) < tolerance &&
		Q_abs(m_extent.hi.y - adj->m_extent.hi.y) < tolerance)
		merge = true;

	if (merge == false)
		return false;

	Extent origExtent = m_extent;

	// update extent
	if (m_extent.lo.x > adj->m_extent.lo.x || m_extent.lo.y > adj->m_extent.lo.y)
		m_extent.lo = adj->m_extent.lo;

	if (m_extent.hi.x < adj->m_extent.hi.x || m_extent.hi.y < adj->m_extent.hi.y)
		m_extent.hi = adj->m_extent.hi;

	m_center.x = (m_extent.lo.x + m_extent.hi.x)/2.0f;
	m_center.y = (m_extent.lo.y + m_extent.hi.y)/2.0f;
	m_center.z = (m_extent.lo.z + m_extent.hi.z)/2.0f;

	if (m_extent.hi.x > origExtent.hi.x || m_extent.lo.y < origExtent.lo.y)
		m_neZ = adj->GetZ(m_extent.hi.x, m_extent.lo.y);
	else
		m_neZ = GetZ(m_extent.hi.x, m_extent.lo.y);

	if (m_extent.lo.x < origExtent.lo.x || m_extent.hi.y > origExtent.hi.y)
		m_swZ = adj->GetZ(m_extent.lo.x, m_extent.hi.y);
	else
		m_swZ = GetZ(m_extent.lo.x, m_extent.hi.y);

	// merge adjacency links - we gain all the connections that adjArea had
	MergeAdjacentConnections(adj);

	// remove subsumed adjacent area
	TheNavAreaList.remove(adj);
	delete adj;

	return true;
}

void ApproachAreaAnalysisPrep()
{
	// collect "good-sized" areas for computing approach areas
	buildGoodSizedList();
}

void CleanupApproachAreaAnalysisPrep()
{
	goodSizedAreaList.clear();
}

// Destroy ladder representations
void DestroyLadders()
{
	while (!TheNavLadderList.empty())
	{
		CNavLadder *ladder = TheNavLadderList.front();
		TheNavLadderList.pop_front();
		delete ladder;
	}
}

// Free navigation map data
void DestroyNavigationMap()
{
	CNavArea::m_isReset = true;

	// remove each element of the list and delete them
	while (!TheNavAreaList.empty())
	{
		CNavArea *area = TheNavAreaList.front();
		TheNavAreaList.pop_front();
		delete area;
	}

	CNavArea::m_isReset = false;

	// destroy ladder representations
	DestroyLadders();

	// destroy all hiding spots
	DestroyHidingSpots();

	// destroy navigation nodes created during map learning
	CNavNode *node, *next;
	for (node = CNavNode::m_list; node; node = next)
	{
		next = node->m_next;
		delete node;
	}

	CNavNode::m_list = nullptr;

	// reset the grid
	TheNavAreaGrid.Reset();
}

// Strip the "analyzed" data out of all navigation areas

void StripNavigationAreas()
{
	for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
	{
		CNavArea *area = (*iter);
		area->Strip();
	}
}

// Remove "analyzed" data from nav area
void CNavArea::Strip()
{
	m_approachCount = 0;
	m_spotEncounterList.clear();	// memory leak
}

// Start at given position and find first area in given direction
inline CNavArea *FindFirstAreaInDirection(const Vector *start, NavDirType dir, float range, float beneathLimit, CBaseEntity *traceIgnore = nullptr, Vector *closePos = nullptr)
{
	CNavArea *area = nullptr;
	Vector pos = *start;
	int end = int((range / GenerationStepSize) + 0.5f);

	for (int i = 1; i <= end; i++)
	{
		AddDirectionVector(&pos, dir, GenerationStepSize);

		// make sure we dont look thru the wall
		TraceResult result;

		if (traceIgnore)
			UTIL_TraceLine(*start, pos, ignore_monsters, ENT(traceIgnore->pev), &result);
		else
			UTIL_TraceLine(*start, pos, ignore_monsters, nullptr, &result);

		if (result.flFraction != 1.0f)
			break;

		area = TheNavAreaGrid.GetNavArea(&pos, beneathLimit);

		if (area)
		{
			if (closePos)
			{
				closePos->x = pos.x;
				closePos->y = pos.y;
				closePos->z = area->GetZ(pos.x, pos.y);
			}

			break;
		}
	}

	return area;
}

// Determine if we can "jump down" from given point
inline bool testJumpDown(const Vector *fromPos, const Vector *toPos)
{
	float dz = fromPos->z - toPos->z;

	// drop can't be too far, or too short (or nonexistant)
	if (dz <= JumpCrouchHeight || dz >= DeathDrop)
		return false;

	//
	// Check LOS out and down
	//
	// ------+
	//       |
	// F     |
	//       |
	//       T
	//

	Vector from(fromPos->x, fromPos->y, fromPos->z + HumanHeight);
	Vector to(toPos->x, toPos->y, from.z);

	TraceResult result;
	UTIL_TraceLine(from, to, ignore_monsters, nullptr, &result);
	if (result.flFraction != 1.0f || result.fStartSolid)
		return false;

	from = to;
	to.z = toPos->z + 2.0f;
	UTIL_TraceLine(from, to, ignore_monsters, nullptr, &result);
	if (result.flFraction != 1.0f || result.fStartSolid)
		return false;

	return true;
}

inline CNavArea *findJumpDownArea(const Vector *fromPos, NavDirType dir)
{
	Vector start(fromPos->x, fromPos->y, fromPos->z + HalfHumanHeight);
	AddDirectionVector(&start, dir, GenerationStepSize / 2.0f);

	Vector toPos;
	CNavArea *downArea = FindFirstAreaInDirection(&start, dir, 4.0f * GenerationStepSize, DeathDrop, nullptr, &toPos);

	if (downArea && testJumpDown(fromPos, &toPos))
		return downArea;

	return nullptr;
}

// Define connections between adjacent generated areas
void ConnectGeneratedAreas()
{
	CONSOLE_ECHO("  Connecting navigation areas...\n");

	for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
	{
		CNavArea *area = (*iter);

		// scan along edge nodes, stepping one node over into the next area
		// for now, only use bi-directional connections

		// north edge
		CNavNode *node;
		for (node = area->m_node[NORTH_WEST]; node != area->m_node[NORTH_EAST]; node = node->GetConnectedNode(EAST))
		{
			CNavNode *adj = node->GetConnectedNode(NORTH);

			if (adj && adj->GetArea() && adj->GetConnectedNode(SOUTH) == node)
			{
				area->ConnectTo(adj->GetArea(), NORTH);
			}
			else
			{
				CNavArea *downArea = findJumpDownArea(node->GetPosition(), NORTH);
				if (downArea && downArea != area)
					area->ConnectTo(downArea, NORTH);
			}
		}

		// west edge
		for (node = area->m_node[NORTH_WEST]; node != area->m_node[SOUTH_WEST]; node = node->GetConnectedNode(SOUTH))
		{
			CNavNode *adj = node->GetConnectedNode(WEST);

			if (adj && adj->GetArea() && adj->GetConnectedNode(EAST) == node)
			{
				area->ConnectTo(adj->GetArea(), WEST);
			}
			else
			{
				CNavArea *downArea = findJumpDownArea(node->GetPosition(), WEST);
				if (downArea && downArea != area)
					area->ConnectTo(downArea, WEST);
			}
		}

		// south edge - this edge's nodes are actually part of adjacent areas
		// move one node north, and scan west to east
		// TODO: This allows one-node-wide areas - do we want this?
		node = area->m_node[SOUTH_WEST];
		node = node->GetConnectedNode(NORTH);
		if (node)
		{
			CNavNode *end = area->m_node[SOUTH_EAST]->GetConnectedNode(NORTH);
			// TODO: Figure out why cs_backalley gets a NULL node in here...
			for (; node && node != end; node = node->GetConnectedNode(EAST))
			{
				CNavNode *adj = node->GetConnectedNode(SOUTH);

				if (adj && adj->GetArea() && adj->GetConnectedNode(NORTH) == node)
				{
					area->ConnectTo(adj->GetArea(), SOUTH);
				}
				else
				{
					CNavArea *downArea = findJumpDownArea(node->GetPosition(), SOUTH);
					if (downArea && downArea != area)
						area->ConnectTo(downArea, SOUTH);
				}
			}
		}

		// east edge - this edge's nodes are actually part of adjacent areas
		node = area->m_node[NORTH_EAST];
		node = node->GetConnectedNode(WEST);
		if (node)
		{
			CNavNode *end = area->m_node[SOUTH_EAST]->GetConnectedNode(WEST);
			for (; node && node != end; node = node->GetConnectedNode(SOUTH))
			{
				CNavNode *adj = node->GetConnectedNode(EAST);

				if (adj && adj->GetArea() && adj->GetConnectedNode(WEST) == node)
				{
					area->ConnectTo(adj->GetArea(), EAST);
				}
				else
				{
					CNavArea *downArea = findJumpDownArea(node->GetPosition(), EAST);
					if (downArea && downArea != area)
						area->ConnectTo(downArea, EAST);
				}
			}
		}
	}
}

// Merge areas together to make larger ones (must remain rectangular - convex).
// Areas can only be merged if their attributes match.
void MergeGeneratedAreas()
{
	CONSOLE_ECHO("  Merging navigation areas...\n");

	bool merged;

	do
	{
		merged = false;

		for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
		{
			CNavArea *area = (*iter);

			// north edge
			NavConnectList::iterator citer;
			for (citer = area->m_connect[NORTH].begin(); citer != area->m_connect[NORTH].end(); citer++)
			{
				CNavArea *adjArea = (*citer).area;

				if (area->m_node[NORTH_WEST] == adjArea->m_node[SOUTH_WEST] &&
						area->m_node[NORTH_EAST] == adjArea->m_node[SOUTH_EAST] &&
						area->GetAttributes() == adjArea->GetAttributes() &&
						area->IsCoplanar(adjArea))
				{
					// merge vertical
					area->m_node[NORTH_WEST] = adjArea->m_node[NORTH_WEST];
					area->m_node[NORTH_EAST] = adjArea->m_node[NORTH_EAST];

					merged = true;
					//CONSOLE_ECHO("  Merged (north) areas #%d and #%d\n", area->m_id, adjArea->m_id);

					area->FinishMerge(adjArea);

					// restart scan - iterator is invalidated
					break;
				}
			}

			if (merged)
				break;

			// south edge
			for (citer = area->m_connect[SOUTH].begin(); citer != area->m_connect[SOUTH].end(); citer++)
			{
				CNavArea *adjArea = (*citer).area;

				if (adjArea->m_node[NORTH_WEST] == area->m_node[SOUTH_WEST] &&
						adjArea->m_node[NORTH_EAST] == area->m_node[SOUTH_EAST] &&
						area->GetAttributes() == adjArea->GetAttributes() &&
						area->IsCoplanar(adjArea))
				{
					// merge vertical
					area->m_node[SOUTH_WEST] = adjArea->m_node[SOUTH_WEST];
					area->m_node[SOUTH_EAST] = adjArea->m_node[SOUTH_EAST];

					merged = true;
					//CONSOLE_ECHO("  Merged (south) areas #%d and #%d\n", area->m_id, adjArea->m_id);

					area->FinishMerge(adjArea);

					// restart scan - iterator is invalidated
					break;
				}

			}

			if (merged)
				break;

			// west edge
			for (citer = area->m_connect[WEST].begin(); citer != area->m_connect[WEST].end(); citer++)
			{
				CNavArea *adjArea = (*citer).area;

				if (area->m_node[NORTH_WEST] == adjArea->m_node[NORTH_EAST] &&
						area->m_node[SOUTH_WEST] == adjArea->m_node[SOUTH_EAST] &&
						area->GetAttributes() == adjArea->GetAttributes() &&
						area->IsCoplanar(adjArea))
				{
					// merge horizontal
					area->m_node[NORTH_WEST] = adjArea->m_node[NORTH_WEST];
					area->m_node[SOUTH_WEST] = adjArea->m_node[SOUTH_WEST];

					merged = true;
					//CONSOLE_ECHO("  Merged (west) areas #%d and #%d\n", area->m_id, adjArea->m_id);

					area->FinishMerge(adjArea);

					// restart scan - iterator is invalidated
					break;
				}

			}

			if (merged)
				break;

			// east edge
			for (citer = area->m_connect[EAST].begin(); citer != area->m_connect[EAST].end(); citer++)
			{
				CNavArea *adjArea = (*citer).area;

				if (adjArea->m_node[NORTH_WEST] == area->m_node[NORTH_EAST] &&
						adjArea->m_node[SOUTH_WEST] == area->m_node[SOUTH_EAST] &&
						area->GetAttributes() == adjArea->GetAttributes() &&
						area->IsCoplanar(adjArea))
				{
					// merge horizontal
					area->m_node[NORTH_EAST] = adjArea->m_node[NORTH_EAST];
					area->m_node[SOUTH_EAST] = adjArea->m_node[SOUTH_EAST];

					merged = true;
					//CONSOLE_ECHO("  Merged (east) areas #%d and #%d\n", area->m_id, adjArea->m_id);

					area->FinishMerge(adjArea);

					// restart scan - iterator is invalidated
					break;
				}
			}

			if (merged)
				break;
		}
	}
	while (merged);
}

// Return true if area is more or less square.
// This is used when merging to prevent long, thin, areas being created.
inline bool IsAreaRoughlySquare(const class CNavArea *area)
{
	float aspect = area->GetSizeX() / area->GetSizeY();

	const float maxAspect = 3.01;
	const float minAspect = 1.0f / maxAspect;
	if (aspect < minAspect || aspect > maxAspect)
		return false;

	return true;
}

// Recursively chop area in half along X until child areas are roughly square
void SplitX(CNavArea *area)
{
	if (IsAreaRoughlySquare(area))
		return;

	float split = area->GetSizeX();
	split /= 2.0f;
	split += area->GetExtent()->lo.x;

	SnapToGrid(&split);

	const float epsilon = 0.1f;
	if (Q_abs(split - area->GetExtent()->lo.x) < epsilon || Q_abs(split - area->GetExtent()->hi.x) < epsilon)
	{
		// too small to subdivide
		return;
	}

	CNavArea *alpha, *beta;
	if (area->SplitEdit(false, split, &alpha, &beta))
	{
		// split each new area until square
		SplitX(alpha);
		SplitX(beta);
	}
}

void SplitY(CNavArea *area)
{
	if (IsAreaRoughlySquare(area))
		return;

	float split = area->GetSizeY();
	split /= 2.0f;
	split += area->GetExtent()->lo.y;

	SnapToGrid(&split);

	const float epsilon = 0.1f;
	if (Q_abs(split - area->GetExtent()->lo.y) < epsilon
		|| Q_abs(split - area->GetExtent()->hi.y) < epsilon)
	{
		// too small to subdivide
		return;
	}

	CNavArea *alpha, *beta;
	if (area->SplitEdit(true, split, &alpha, &beta))
	{
		// split each new area until square
		SplitY(alpha);
		SplitY(beta);
	}
}

// Split any long, thin, areas into roughly square chunks.
void SquareUpAreas()
{
	auto iter = TheNavAreaList.begin();
	while (iter != TheNavAreaList.end())
	{
		CNavArea *area = (*iter);
		iter++;

		if (!IsAreaRoughlySquare(area))
		{
			// chop this area into square pieces
			if (area->GetSizeX() > area->GetSizeY())
				SplitX(area);
			else
				SplitY(area);
		}
	}
}

// Check if an rectangular area of the given size can be
// made starting from the given node as the NW corner.
// Only consider fully connected nodes for this check.
// All of the nodes within the test area must have the same attributes.
// All of the nodes must be approximately co-planar w.r.t the NW node's normal, with the
// exception of 1x1 areas which can be any angle.
bool TestArea(CNavNode *node, int width, int height)
{
	Vector normal = *node->GetNormal();
	float d = -DotProduct(normal, *node->GetPosition());

	const float offPlaneTolerance = 5.0f;

	CNavNode *vertNode, *horizNode;

	vertNode = node;
	for (int y = 0; y < height; y++)
	{
		horizNode = vertNode;

		for (int x = 0; x < width; x++)
		{
			// all nodes must have the same attributes
			if (horizNode->GetAttributes() != node->GetAttributes())
				return false;

			if (horizNode->IsCovered())
				return false;

			if (!horizNode->IsClosedCell())
				return false;

			horizNode = horizNode->GetConnectedNode(EAST);
			if (!horizNode)
				return false;

			// nodes must lie on/near the plane
			if (width > 1 || height > 1)
			{
				float dist = Q_abs(DotProduct(*horizNode->GetPosition(), normal) + d);
				if (dist > offPlaneTolerance)
					return false;
			}
		}

		vertNode = vertNode->GetConnectedNode(SOUTH);
		if (!vertNode)
			return false;

		// nodes must lie on/near the plane
		if (width > 1 || height > 1)
		{
			float dist = Q_abs(DotProduct(*vertNode->GetPosition(), normal) + d);
			if (dist > offPlaneTolerance)
				return false;
		}
	}

	// check planarity of southern edge
	if (width > 1 || height > 1)
	{
		horizNode = vertNode;

		for (int x = 0; x < width; x++)
		{
			horizNode = horizNode->GetConnectedNode(EAST);
			if (!horizNode)
				return false;

			// nodes must lie on/near the plane
			float dist = Q_abs(DotProduct(*horizNode->GetPosition(), normal) + d);
			if (dist > offPlaneTolerance)
				return false;
		}
	}

	return true;
}

// Create a nav area, and mark all nodes it overlaps as "covered"
// NOTE: Nodes on the east and south edges are not included.
// Returns number of nodes covered by this area, or -1 for error;
int BuildArea(CNavNode *node, int width, int height)
{
	//CONSOLE_ECHO("BuildArea(#%d, %d, %d)\n", node->GetID(), width, height);

	CNavNode *nwNode = node;
	CNavNode *neNode = nullptr;
	CNavNode *swNode = nullptr;
	CNavNode *seNode = nullptr;

	CNavNode *vertNode = node;
	CNavNode *horizNode;

	int coveredNodes = 0;
	for (int y = 0; y < height; y++)
	{
		horizNode = vertNode;

		for (int x = 0; x < width; x++)
		{
			horizNode->Cover();
			coveredNodes++;

			horizNode = horizNode->GetConnectedNode(EAST);
		}

		if (y == 0)
			neNode = horizNode;

		vertNode = vertNode->GetConnectedNode(SOUTH);
	}

	swNode = vertNode;
	horizNode = vertNode;

	for (int x = 0; x < width; x++)
	{
		horizNode = horizNode->GetConnectedNode(EAST);
	}

	seNode = horizNode;
	if (!nwNode || !neNode || !seNode || !swNode)
	{
		CONSOLE_ECHO("ERROR: BuildArea - NULL node. (%p)(%p)(%p)(%p)\n", nwNode, neNode, seNode, swNode);
		return -1;
	}

	CNavArea *area = new CNavArea(nwNode, neNode, seNode, swNode);
	TheNavAreaList.push_back(area);

	// since all internal nodes have the same attributes, set this area's attributes
	area->SetAttributes(node->GetAttributes());

	//Q_fprintf(fp, "f %d %d %d %d\n", nwNode->m_id, neNode->m_id, seNode->m_id, swNode->m_id);
	return coveredNodes;
}

// For each ladder in the map, create a navigation representation of it.
void BuildLadders()
{
	// remove any left-over ladders
	DestroyLadders();

	TraceResult result;
	CBaseEntity *pEntity = UTIL_FindEntityByClassname(nullptr, "func_ladder");
	while (pEntity && !FNullEnt(pEntity->edict()))
	{
		CNavLadder *ladder = new CNavLadder;

		// compute top & bottom of ladder
		ladder->m_top.x = (pEntity->pev->absmin.x + pEntity->pev->absmax.x) / 2.0f;
		ladder->m_top.y = (pEntity->pev->absmin.y + pEntity->pev->absmax.y) / 2.0f;
		ladder->m_top.z = pEntity->pev->absmax.z;

		ladder->m_bottom.x = ladder->m_top.x;
		ladder->m_bottom.y = ladder->m_top.y;
		ladder->m_bottom.z = pEntity->pev->absmin.z;

		// determine facing - assumes "normal" runged ladder
		float xSize = pEntity->pev->absmax.x - pEntity->pev->absmin.x;
		float ySize = pEntity->pev->absmax.y - pEntity->pev->absmin.y;

		if (xSize > ySize)
		{
			// ladder is facing north or south - determine which way
			// "pull in" traceline from bottom and top in case ladder abuts floor and/or ceiling
			Vector from = ladder->m_bottom + Vector(0.0f, GenerationStepSize, GenerationStepSize);
			Vector to = ladder->m_top + Vector(0.0f, GenerationStepSize, -GenerationStepSize);

			UTIL_TraceLine(from, to, ignore_monsters, ENT(pEntity->pev), &result);

			if (result.flFraction != 1.0f || result.fStartSolid)
				ladder->m_dir = NORTH;
			else
				ladder->m_dir = SOUTH;
		}
		else
		{
			// ladder is facing east or west - determine which way
			Vector from = ladder->m_bottom + Vector(GenerationStepSize, 0.0f, GenerationStepSize);
			Vector to = ladder->m_top + Vector(GenerationStepSize, 0.0f, -GenerationStepSize);

			UTIL_TraceLine(from, to, ignore_monsters, ENT(pEntity->pev), &result);

			if (result.flFraction != 1.0f || result.fStartSolid)
				ladder->m_dir = WEST;
			else
				ladder->m_dir = EAST;
		}

		// adjust top and bottom of ladder to make sure they are reachable
		// (cs_office has a crate right in front of the base of a ladder)
		Vector along = ladder->m_top - ladder->m_bottom;
		float length = along.NormalizeInPlace();

		Vector on, out;
		const float minLadderClearance = 32.0f;

		// adjust bottom to bypass blockages
		const float inc = 10.0f;
		float t;

		for (t = 0.0f; t <= length; t += inc)
		{
			on = ladder->m_bottom + t * along;

			out = on;
			AddDirectionVector(&out, ladder->m_dir, minLadderClearance);
			UTIL_TraceLine(on, out, ignore_monsters, ENT(pEntity->pev), &result);

			if (result.flFraction == 1.0f && !result.fStartSolid)
			{
				// found viable ladder bottom
				ladder->m_bottom = on;
				break;
			}
		}

		// adjust top to bypass blockages
		for (t = 0.0f; t <= length; t += inc)
		{
			on = ladder->m_top - t * along;

			out = on;
			AddDirectionVector(&out, ladder->m_dir, minLadderClearance);
			UTIL_TraceLine(on, out, ignore_monsters, ENT(pEntity->pev), &result);

			if (result.flFraction == 1.0f && !result.fStartSolid)
			{
				// found viable ladder top
				ladder->m_top = on;
				break;
			}
		}

		ladder->m_length = (ladder->m_top - ladder->m_bottom).Length();
		DirectionToVector2D(ladder->m_dir, &ladder->m_dirVector);

		ladder->m_entity = pEntity;
		const float nearLadderRange = 75.0f;

		// Find naviagtion area at bottom of ladder
		// get approximate postion of player on ladder

		Vector center = ladder->m_bottom + Vector(0, 0, GenerationStepSize);
		AddDirectionVector(&center, ladder->m_dir, HalfHumanWidth);

		ladder->m_bottomArea = TheNavAreaGrid.GetNearestNavArea(&center, true);
		if (!ladder->m_bottomArea)
		{
			ALERT(at_console, "ERROR: Unconnected ladder bottom at (%g, %g, %g)\n", ladder->m_bottom.x, ladder->m_bottom.y, ladder->m_bottom.z);
		}
		else
		{
			// store reference to ladder in the area
			ladder->m_bottomArea->AddLadderUp(ladder);
		}

		// Find adjacent navigation areas at the top of the ladder
		// get approximate postion of player on ladder
		center = ladder->m_top + Vector(0, 0, GenerationStepSize);
		AddDirectionVector(&center, ladder->m_dir, HalfHumanWidth);

		// find "ahead" area
		ladder->m_topForwardArea = FindFirstAreaInDirection(&center, OppositeDirection(ladder->m_dir), nearLadderRange, 120.0f, pEntity);
		if (ladder->m_topForwardArea == ladder->m_bottomArea)
			ladder->m_topForwardArea = nullptr;

		// find "left" area
		ladder->m_topLeftArea = FindFirstAreaInDirection(&center, DirectionLeft(ladder->m_dir), nearLadderRange, 120.0f, pEntity);
		if (ladder->m_topLeftArea == ladder->m_bottomArea)
			ladder->m_topLeftArea = nullptr;

		// find "right" area
		ladder->m_topRightArea = FindFirstAreaInDirection(&center, DirectionRight(ladder->m_dir), nearLadderRange, 120.0f, pEntity);
		if (ladder->m_topRightArea == ladder->m_bottomArea)
			ladder->m_topRightArea = nullptr;

		// find "behind" area - must look farther, since ladder is against the wall away from this area
		ladder->m_topBehindArea = FindFirstAreaInDirection(&center, ladder->m_dir, 2.0f * nearLadderRange, 120.0f, pEntity);
		if (ladder->m_topBehindArea == ladder->m_bottomArea)
			ladder->m_topBehindArea = nullptr;

		// can't include behind area, since it is not used when going up a ladder
		if (!ladder->m_topForwardArea && !ladder->m_topLeftArea && !ladder->m_topRightArea)
			ALERT(at_console, "ERROR: Unconnected ladder top at (%g, %g, %g)\n", ladder->m_top.x, ladder->m_top.y, ladder->m_top.z);

		// store reference to ladder in the area(s)
		if (ladder->m_topForwardArea)
			ladder->m_topForwardArea->AddLadderDown(ladder);

		if (ladder->m_topLeftArea)
			ladder->m_topLeftArea->AddLadderDown(ladder);

		if (ladder->m_topRightArea)
			ladder->m_topRightArea->AddLadderDown(ladder);

		if (ladder->m_topBehindArea)
			ladder->m_topBehindArea->AddLadderDown(ladder);

		// adjust top of ladder to highest connected area
		float topZ = -99999.9f;
		bool topAdjusted = false;

		CNavArea *topAreaList[NUM_CORNERS];
		topAreaList[NORTH_WEST] = ladder->m_topForwardArea;
		topAreaList[NORTH_EAST] = ladder->m_topLeftArea;
		topAreaList[SOUTH_EAST] = ladder->m_topRightArea;
		topAreaList[SOUTH_WEST] = ladder->m_topBehindArea;

		for (int a = 0; a < NUM_CORNERS; a++)
		{
			CNavArea *topArea = topAreaList[a];
			if (!topArea)
				continue;

			Vector close;
			topArea->GetClosestPointOnArea(&ladder->m_top, &close);
			if (topZ < close.z)
			{
				topZ = close.z;
				topAdjusted = true;
			}
		}

		if (topAdjusted)
			ladder->m_top.z = topZ;

		// Determine whether this ladder is "dangling" or not
		// "Dangling" ladders are too high to go up
		ladder->m_isDangling = false;
		if (ladder->m_bottomArea)
		{
			Vector bottomSpot;
			ladder->m_bottomArea->GetClosestPointOnArea(&ladder->m_bottom, &bottomSpot);
			if (ladder->m_bottom.z - bottomSpot.z > HumanHeight)
				ladder->m_isDangling = true;
		}

		// add ladder to global list
		TheNavLadderList.push_back(ladder);
		pEntity = UTIL_FindEntityByClassname(pEntity, "func_ladder");
	}
}

// Mark all areas that require a jump to get through them.
// This currently relies on jump areas having extreme slope.
void MarkJumpAreas()
{
	for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
	{
		CNavArea *area = (*iter);
		Vector u, v;

		// compute our unit surface normal
		u.x = area->m_extent.hi.x - area->m_extent.lo.x;
		u.y = 0.0f;
		u.z = area->m_neZ - area->m_extent.lo.z;

		v.x = 0.0f;
		v.y = area->m_extent.hi.y - area->m_extent.lo.y;
		v.z = area->m_swZ - area->m_extent.lo.z;

		Vector normal = CrossProduct(u, v);
		normal.NormalizeInPlace();

		if (normal.z < MaxUnitZSlope)
			area->SetAttributes(area->GetAttributes() | NAV_JUMP);
	}
}

// This function uses the CNavNodes that have been sampled from the map to
// generate CNavAreas - rectangular areas of "walkable" space. These areas
// are connected to each other, allowing the AI to know how to move from
// area to area.
//
// This is a "greedy" algorithm that attempts to cover the walkable area
// with the fewest, largest, rectangles.
void GenerateNavigationAreaMesh()
{
	// haven't yet seen a map use larger than 30...
	int tryWidth = 50;
	int tryHeight = 50;
	int uncoveredNodes = CNavNode::GetListLength();

	while (uncoveredNodes > 0)
	{
		for (CNavNode *node = CNavNode::GetFirst(); node; node = node->GetNext())
		{
			if (node->IsCovered())
				continue;

			if (TestArea(node, tryWidth, tryHeight))
			{
				int covered = BuildArea(node, tryWidth, tryHeight);
				if (covered < 0)
				{
					CONSOLE_ECHO("GenerateNavigationAreaMesh: Error - Data corrupt.\n");
					return;
				}

				uncoveredNodes -= covered;
			}
		}

		if (tryWidth >= tryHeight)
			tryWidth--;
		else
			tryHeight--;

		if (tryWidth <= 0 || tryHeight <= 0)
			break;
	}

	Extent extent;
	extent.lo.x = 9999999999.9f;
	extent.lo.y = 9999999999.9f;
	extent.hi.x = -9999999999.9f;
	extent.hi.y = -9999999999.9f;

	// compute total extent
	for (auto area : TheNavAreaList)
	{
		const Extent *areaExtent = area->GetExtent();

		if (areaExtent->lo.x < extent.lo.x)
			extent.lo.x = areaExtent->lo.x;
		if (areaExtent->lo.y < extent.lo.y)
			extent.lo.y = areaExtent->lo.y;
		if (areaExtent->hi.x > extent.hi.x)
			extent.hi.x = areaExtent->hi.x;
		if (areaExtent->hi.y > extent.hi.y)
			extent.hi.y = areaExtent->hi.y;
	}

	// add the areas to the grid
	TheNavAreaGrid.Initialize(extent.lo.x, extent.hi.x, extent.lo.y, extent.hi.y);

	for (auto area : TheNavAreaList)
	{
		TheNavAreaGrid.AddNavArea(area);
	}

	ConnectGeneratedAreas();
	MergeGeneratedAreas();
	SquareUpAreas();
	MarkJumpAreas();
}

// Return true if 'pos' is within 2D extents of area.
bool CNavArea::IsOverlapping(const Vector *pos) const
{
	if (pos->x >= m_extent.lo.x && pos->x <= m_extent.hi.x &&
		pos->y >= m_extent.lo.y && pos->y <= m_extent.hi.y)
		return true;

	return false;
}

// Return true if 'area' overlaps our 2D extents
bool CNavArea::IsOverlapping(const CNavArea *area) const
{
	if (area->m_extent.lo.x < m_extent.hi.x && area->m_extent.hi.x > m_extent.lo.x &&
		area->m_extent.lo.y < m_extent.hi.y && area->m_extent.hi.y > m_extent.lo.y)
		return true;

	return false;
}

// Return true if 'area' overlaps our X extent
bool CNavArea::IsOverlappingX(const CNavArea *area) const
{
	if (area->m_extent.lo.x < m_extent.hi.x && area->m_extent.hi.x > m_extent.lo.x)
		return true;

	return false;
}

// Return true if 'area' overlaps our Y extent
bool CNavArea::IsOverlappingY(const CNavArea *area) const
{
	if (area->m_extent.lo.y < m_extent.hi.y && area->m_extent.hi.y > m_extent.lo.y)
		return true;

	return false;
}

// Return true if given point is on or above this area, but no others
bool CNavArea::Contains(const Vector *pos) const
{
	// check 2D overlap
	if (!IsOverlapping(pos))
		return false;

	// the point overlaps us, check that it is above us, but not above any areas that overlap us
	float ourZ = GetZ(pos);

	// if we are above this point, fail
	if (ourZ > pos->z)
		return false;

	for (NavAreaList::const_iterator iter = m_overlapList.begin(); iter != m_overlapList.end(); iter++)
	{
		const CNavArea *area = (*iter);

		// skip self
		if (area == this)
			continue;

		// check 2D overlap
		if (!area->IsOverlapping(pos))
			continue;

		float theirZ = area->GetZ(pos);
		if (theirZ > pos->z)
		{
			// they are above the point
			continue;
		}

		if (theirZ > ourZ)
		{
			// we are below an area that is closer underneath the point
			return false;
		}
	}

	return true;
}

// Return true if this area and given area are approximately co-planar
bool CNavArea::IsCoplanar(const CNavArea *area) const
{
	Vector u, v;

	// compute our unit surface normal
	u.x = m_extent.hi.x - m_extent.lo.x;
	u.y = 0.0f;
	u.z = m_neZ - m_extent.lo.z;

	v.x = 0.0f;
	v.y = m_extent.hi.y - m_extent.lo.y;
	v.z = m_swZ - m_extent.lo.z;

	Vector normal = CrossProduct(u, v);
	normal.NormalizeInPlace();

	// compute their unit surface normal
	u.x = area->m_extent.hi.x - area->m_extent.lo.x;
	u.y = 0.0f;
	u.z = area->m_neZ - area->m_extent.lo.z;

	v.x = 0.0f;
	v.y = area->m_extent.hi.y - area->m_extent.lo.y;
	v.z = area->m_swZ - area->m_extent.lo.z;

	Vector otherNormal = CrossProduct(u, v);
	otherNormal.NormalizeInPlace();

	// can only merge areas that are nearly planar, to ensure areas do not differ from underlying geometry much
	const float tolerance = 0.99f; // 0.7071f;		// 0.9
	if (DotProduct(normal, otherNormal) > tolerance)
		return true;

	return false;
}

// Return Z of area at (x,y) of 'pos'
// Trilinear interpolation of Z values at quad edges.
// NOTE: pos->z is not used.
float CNavArea::GetZ(const Vector *pos) const
{
	float dx = m_extent.hi.x - m_extent.lo.x;
	float dy = m_extent.hi.y - m_extent.lo.y;

	// guard against division by zero due to degenerate areas
	if (dx == 0.0f || dy == 0.0f)
		return m_neZ;

	float u = (pos->x - m_extent.lo.x) / dx;
	float v = (pos->y - m_extent.lo.y) / dy;

	// clamp Z values to (x,y) volume
	if (u < 0.0f)
		u = 0.0f;
	else if (u > 1.0f)
		u = 1.0f;

	if (v < 0.0f)
		v = 0.0f;
	else if (v > 1.0f)
		v = 1.0f;

	float northZ = m_extent.lo.z + u * (m_neZ - m_extent.lo.z);
	float southZ = m_swZ + u * (m_extent.hi.z - m_swZ);

	return northZ + v * (southZ - northZ);
}

float CNavArea::GetZ(float x, float y) const
{
	Vector pos(x, y, 0.0f);
	return GetZ(&pos);
}

// Return closest point to 'pos' on 'area'.
// Returned point is in 'close'.
void CNavArea::GetClosestPointOnArea(const Vector *pos, Vector *close) const
{
	const Extent *extent = GetExtent();
	if (pos->x < extent->lo.x)
	{
		if (pos->y < extent->lo.y)
		{
			// position is north-west of area
			*close = extent->lo;
		}
		else if (pos->y > extent->hi.y)
		{
			// position is south-west of area
			close->x = extent->lo.x;
			close->y = extent->hi.y;
		}
		else
		{
			// position is west of area
			close->x = extent->lo.x;
			close->y = pos->y;
		}
	}
	else if (pos->x > extent->hi.x)
	{
		if (pos->y < extent->lo.y)
		{
			// position is north-east of area
			close->x = extent->hi.x;
			close->y = extent->lo.y;
		}
		else if (pos->y > extent->hi.y)
		{
			// position is south-east of area
			*close = extent->hi;
		}
		else
		{
			// position is east of area
			close->x = extent->hi.x;
			close->y = pos->y;
		}
	}
	else if (pos->y < extent->lo.y)
	{
		// position is north of area
		close->x = pos->x;
		close->y = extent->lo.y;
	}
	else if (pos->y > extent->hi.y)
	{
		// position is south of area
		close->x = pos->x;
		close->y = extent->hi.y;
	}
	else
	{
		// position is inside of area - it is the 'closest point' to itself
		*close = *pos;
	}

	close->z = GetZ(close);
}

// Return shortest distance squared between point and this area
float CNavArea::GetDistanceSquaredToPoint(const Vector *pos) const
{
	const Extent *extent = GetExtent();

	if (pos->x < extent->lo.x)
	{
		if (pos->y < extent->lo.y)
		{
			// position is north-west of area
			return (extent->lo - *pos).LengthSquared();
		}
		else if (pos->y > extent->hi.y)
		{
			// position is south-west of area
			Vector d;
			d.x = extent->lo.x - pos->x;
			d.y = extent->hi.y - pos->y;
			d.z = m_swZ - pos->z;
			return d.LengthSquared();
		}
		else
		{
			// position is west of area
			float d = extent->lo.x - pos->x;
			return d * d;
		}
	}
	else if (pos->x > extent->hi.x)
	{
		if (pos->y < extent->lo.y)
		{
			// position is north-east of area
			Vector d;
			d.x = extent->hi.x - pos->x;
			d.y = extent->lo.y - pos->y;
			d.z = m_neZ - pos->z;
			return d.LengthSquared();
		}
		else if (pos->y > extent->hi.y)
		{
			// position is south-east of area
			return (extent->hi - *pos).LengthSquared();
		}
		else
		{
			// position is east of area
			float d = pos->z - extent->hi.x;
			return d * d;
		}
	}
	else if (pos->y < extent->lo.y)
	{
		// position is north of area
		float d = extent->lo.y - pos->y;
		return d * d;
	}
	else if (pos->y > extent->hi.y)
	{
		// position is south of area
		float d = pos->y - extent->hi.y;
		return d * d;
	}
	else
	{
		// position is inside of 2D extent of area - find delta Z
		float z = GetZ(pos);
		float d = z - pos->z;
		return d * d;
	}
}

CNavArea *CNavArea::GetRandomAdjacentArea(NavDirType dir) const
{
	int count = m_connect[dir].size();
	int which = RANDOM_LONG(0, count - 1);

	int i = 0;
	NavConnectList::const_iterator iter;
	for (iter = m_connect[dir].begin(); iter != m_connect[dir].end(); iter++)
	{
		if (i == which)
			return (*iter).area;

		i++;
	}

	return nullptr;
}

// Compute "portal" between to adjacent areas.
// Return center of portal opening, and half-width defining sides of portal from center.
// NOTE: center->z is unset.
void CNavArea::ComputePortal(const CNavArea *to, NavDirType dir, Vector *center, float *halfWidth) const
{
	if (dir == NORTH || dir == SOUTH)
	{
		if (dir == NORTH)
			center->y = m_extent.lo.y;
		else
			center->y = m_extent.hi.y;

		float left = Q_max(m_extent.lo.x, to->m_extent.lo.x);
		float right = Q_min(m_extent.hi.x, to->m_extent.hi.x);

		// clamp to our extent in case areas are disjoint
		if (left < m_extent.lo.x)
			left = m_extent.lo.x;
		else if (left > m_extent.hi.x)
			left = m_extent.hi.x;

		if (right < m_extent.lo.x)
			right = m_extent.lo.x;
		else if (right > m_extent.hi.x)
			right = m_extent.hi.x;

		center->x = (left + right) / 2.0f;
		*halfWidth = (right - left) / 2.0f;
	}
	else	// EAST or WEST
	{
		if (dir == WEST)
			center->x = m_extent.lo.x;
		else
			center->x = m_extent.hi.x;

		float top = Q_max(m_extent.lo.y, to->m_extent.lo.y);
		float bottom = Q_min(m_extent.hi.y, to->m_extent.hi.y);

		// clamp to our extent in case areas are disjoint
		if (top < m_extent.lo.y)
			top = m_extent.lo.y;
		else if (top > m_extent.hi.y)
			top = m_extent.hi.y;

		if (bottom < m_extent.lo.y)
			bottom = m_extent.lo.y;
		else if (bottom > m_extent.hi.y)
			bottom = m_extent.hi.y;

		center->y = (top + bottom) / 2.0f;
		*halfWidth = (bottom - top) / 2.0f;
	}
}

// Compute closest point within the "portal" between to adjacent areas.
void CNavArea::ComputeClosestPointInPortal(const CNavArea *to, NavDirType dir, const Vector *fromPos, Vector *closePos) const
{
	const float margin = GenerationStepSize / 2.0f;

	if (dir == NORTH || dir == SOUTH)
	{
		if (dir == NORTH)
			closePos->y = m_extent.lo.y;
		else
			closePos->y = m_extent.hi.y;

		float left = Q_max(m_extent.lo.x, to->m_extent.lo.x);
		float right = Q_min(m_extent.hi.x, to->m_extent.hi.x);

		// clamp to our extent in case areas are disjoint
		if (left < m_extent.lo.x)
			left = m_extent.lo.x;
		else if (left > m_extent.hi.x)
			left = m_extent.hi.x;

		if (right < m_extent.lo.x)
			right = m_extent.lo.x;
		else if (right > m_extent.hi.x)
			right = m_extent.hi.x;

		// keep margin if against edge
		const float leftMargin = (to->IsEdge(WEST)) ? (left + margin) : left;
		const float rightMargin = (to->IsEdge(EAST)) ? (right - margin) : right;

		// limit x to within portal
		if (fromPos->x < leftMargin)
			closePos->x = leftMargin;
		else if (fromPos->x > rightMargin)
			closePos->x = rightMargin;
		else
			closePos->x = fromPos->x;

	}
	else	// EAST or WEST
	{
		if (dir == WEST)
			closePos->x = m_extent.lo.x;
		else
			closePos->x = m_extent.hi.x;

		float top = Q_max(m_extent.lo.y, to->m_extent.lo.y);
		float bottom = Q_min(m_extent.hi.y, to->m_extent.hi.y);

		// clamp to our extent in case areas are disjoint
		if (top < m_extent.lo.y)
			top = m_extent.lo.y;
		else if (top > m_extent.hi.y)
			top = m_extent.hi.y;

		if (bottom < m_extent.lo.y)
			bottom = m_extent.lo.y;
		else if (bottom > m_extent.hi.y)
			bottom = m_extent.hi.y;

		// keep margin if against edge
		const float topMargin = (to->IsEdge(NORTH)) ? (top + margin) : top;
		const float bottomMargin = (to->IsEdge(SOUTH)) ? (bottom - margin) : bottom;

		// limit y to within portal
		if (fromPos->y < topMargin)
			closePos->y = topMargin;
		else if (fromPos->y > bottomMargin)
			closePos->y = bottomMargin;
		else
			closePos->y = fromPos->y;
	}
}

// Return true if there are no bi-directional links on the given side
bool CNavArea::IsEdge(NavDirType dir) const
{
	for (NavConnectList::const_iterator it = m_connect[dir].begin(); it != m_connect[dir].end(); it++)
	{
		const NavConnect connect = (*it);

		if (connect.area->IsConnected(this, OppositeDirection(dir)))
			return false;
	}

	return true;
}

// Return direction from this area to the given point
NavDirType CNavArea::ComputeDirection(Vector *point) const
{
	if (point->x >= m_extent.lo.x && point->x <= m_extent.hi.x)
	{
		if (point->y < m_extent.lo.y)
			return NORTH;
		else if (point->y > m_extent.hi.y)
			return SOUTH;
	}
	else if (point->y >= m_extent.lo.y && point->y <= m_extent.hi.y)
	{
		if (point->x < m_extent.lo.x)
			return WEST;
		else if (point->x > m_extent.hi.x)
			return EAST;
	}

	// find closest direction
	Vector to = *point - m_center;

	if (Q_abs(to.x) > Q_abs(to.y))
	{
		if (to.x > 0.0f)
			return EAST;
		return WEST;
	}
	else
	{
		if (to.y > 0.0f)
			return SOUTH;
		return NORTH;
	}

	return NUM_DIRECTIONS;
}

// Draw area for debugging
void CNavArea::Draw(byte red, byte green, byte blue, int duration)
{
	Vector nw, ne, sw, se;

	nw = m_extent.lo;
	se = m_extent.hi;
	ne.x = se.x;
	ne.y = nw.y;
	ne.z = m_neZ;
	sw.x = nw.x;
	sw.y = se.y;
	sw.z = m_swZ;

	nw.z += cv_bot_nav_zdraw.value;
	ne.z += cv_bot_nav_zdraw.value;
	sw.z += cv_bot_nav_zdraw.value;
	se.z += cv_bot_nav_zdraw.value;

	float border = 2.0f;
	nw.x += border;
	nw.y += border;
	ne.x -= border;
	ne.y += border;
	sw.x += border;
	sw.y -= border;
	se.x -= border;
	se.y -= border;

	UTIL_DrawBeamPoints(nw, ne, duration, red, green, blue);
	UTIL_DrawBeamPoints(ne, se, duration, red, green, blue);
	UTIL_DrawBeamPoints(se, sw, duration, red, green, blue);
	UTIL_DrawBeamPoints(sw, nw, duration, red, green, blue);

	if (GetAttributes() & NAV_CROUCH)
		UTIL_DrawBeamPoints(nw, se, duration, red, green, blue);

	if (GetAttributes() & NAV_JUMP)
	{
		UTIL_DrawBeamPoints(nw, se, duration, red, green, blue);
		UTIL_DrawBeamPoints(ne, sw, duration, red, green, blue);
	}

	if (GetAttributes() & NAV_PRECISE)
	{
		float size = 8.0f;
		Vector up(m_center.x, m_center.y - size, m_center.z + cv_bot_nav_zdraw.value);
		Vector down(m_center.x, m_center.y + size, m_center.z + cv_bot_nav_zdraw.value);
		UTIL_DrawBeamPoints(up, down, duration, red, green, blue);

		Vector left(m_center.x - size, m_center.y, m_center.z + cv_bot_nav_zdraw.value);
		Vector right(m_center.x + size, m_center.y, m_center.z + cv_bot_nav_zdraw.value);
		UTIL_DrawBeamPoints(left, right, duration, red, green, blue);
	}

	if (GetAttributes() & NAV_NO_JUMP)
	{
		float size = 8.0f;
		Vector up(m_center.x, m_center.y - size, m_center.z + cv_bot_nav_zdraw.value);
		Vector down(m_center.x, m_center.y + size, m_center.z + cv_bot_nav_zdraw.value);
		Vector left(m_center.x - size, m_center.y, m_center.z + cv_bot_nav_zdraw.value);
		Vector right(m_center.x + size, m_center.y, m_center.z + cv_bot_nav_zdraw.value);
		UTIL_DrawBeamPoints(up, right, duration, red, green, blue);
		UTIL_DrawBeamPoints(right, down, duration, red, green, blue);
		UTIL_DrawBeamPoints(down, left, duration, red, green, blue);
		UTIL_DrawBeamPoints(left, up, duration, red, green, blue);
	}
}

// Draw selected corner for debugging
void CNavArea::DrawMarkedCorner(NavCornerType corner, byte red, byte green, byte blue, int duration)
{
	Vector nw, ne, sw, se;

	nw = m_extent.lo;
	se = m_extent.hi;
	ne.x = se.x;
	ne.y = nw.y;
	ne.z = m_neZ;
	sw.x = nw.x;
	sw.y = se.y;
	sw.z = m_swZ;

	nw.z += cv_bot_nav_zdraw.value;
	ne.z += cv_bot_nav_zdraw.value;
	sw.z += cv_bot_nav_zdraw.value;
	se.z += cv_bot_nav_zdraw.value;

	float border = 2.0f;
	nw.x += border;
	nw.y += border;
	ne.x -= border;
	ne.y += border;
	sw.x += border;
	sw.y -= border;
	se.x -= border;
	se.y -= border;

	switch (corner)
	{
	case NORTH_WEST:
		UTIL_DrawBeamPoints(nw + Vector(0, 0, 10), nw, duration, red, green, blue);
		break;
	case NORTH_EAST:
		UTIL_DrawBeamPoints(ne + Vector(0, 0, 10), ne, duration, red, green, blue);
		break;
	case SOUTH_EAST:
		UTIL_DrawBeamPoints(se + Vector(0, 0, 10), se, duration, red, green, blue);
		break;
	case SOUTH_WEST:
		UTIL_DrawBeamPoints(sw + Vector(0, 0, 10), sw, duration, red, green, blue);
		break;
	}
}

// Add to open list in decreasing value order
void CNavArea::AddToOpenList()
{
	// mark as being on open list for quick check
	m_openMarker = m_masterMarker;

	// if list is empty, add and return
	if (!m_openList)
	{
		m_openList = this;
		this->m_prevOpen = nullptr;
		this->m_nextOpen = nullptr;
		return;
	}

	// insert self in ascending cost order
	CNavArea *area, *last = nullptr;
	for (area = m_openList; area; area = area->m_nextOpen)
	{
		if (this->GetTotalCost() < area->GetTotalCost())
			break;

		last = area;
	}

	if (area)
	{
		// insert before this area
		this->m_prevOpen = area->m_prevOpen;
		if (this->m_prevOpen)
			this->m_prevOpen->m_nextOpen = this;
		else
			m_openList = this;

		this->m_nextOpen = area;
		area->m_prevOpen = this;
	}
	else
	{
		// append to end of list
		last->m_nextOpen = this;

		this->m_prevOpen = last;
		this->m_nextOpen = nullptr;
	}
}

// A smaller value has been found, update this area on the open list
// TODO: "bubbling" does unnecessary work, since the order of all other nodes will be unchanged - only this node is altered
void CNavArea::UpdateOnOpenList()
{
	// since value can only decrease, bubble this area up from current spot
	while (m_prevOpen && this->GetTotalCost() < m_prevOpen->GetTotalCost())
	{
		// swap position with predecessor
		CNavArea *other = m_prevOpen;
		CNavArea *before = other->m_prevOpen;
		CNavArea *after  = this->m_nextOpen;

		this->m_nextOpen = other;
		this->m_prevOpen = before;

		other->m_prevOpen = this;
		other->m_nextOpen = after;

		if (before)
			before->m_nextOpen = this;
		else
			m_openList = this;

		if (after)
			after->m_prevOpen = other;
	}
}

void CNavArea::RemoveFromOpenList()
{
	if (m_prevOpen)
		m_prevOpen->m_nextOpen = m_nextOpen;
	else
		m_openList = m_nextOpen;

	if (m_nextOpen)
		m_nextOpen->m_prevOpen = m_prevOpen;

	// zero is an invalid marker
	m_openMarker = 0;
}

// Clears the open and closed lists for a new search
void CNavArea::ClearSearchLists()
{
	CNavArea::MakeNewMarker();
	m_openList = nullptr;
}

// Return the coordinates of the area's corner.
// NOTE: Do not retain the returned pointer - it is temporary.
const Vector *CNavArea::GetCorner(NavCornerType corner) const
{
	static Vector pos;

	switch (corner)
	{
	case NORTH_WEST:
		return &m_extent.lo;

	case NORTH_EAST:
		pos.x = m_extent.hi.x;
		pos.y = m_extent.lo.y;
		pos.z = m_neZ;
		return &pos;

	case SOUTH_WEST:
		pos.x = m_extent.lo.x;
		pos.y = m_extent.hi.y;
		pos.z = m_swZ;
		return &pos;

	case SOUTH_EAST:
		return &m_extent.hi;
	}

	return nullptr;
}

// Returns true if an existing hiding spot is too close to given position
bool CNavArea::IsHidingSpotCollision(const Vector *pos) const
{
	const float collisionRange = 30.0f;

	for (HidingSpotList::const_iterator iter = m_hidingSpotList.begin(); iter != m_hidingSpotList.end(); iter++)
	{
		const HidingSpot *spot = (*iter);

		if ((*spot->GetPosition() - *pos).IsLengthLessThan(collisionRange))
			return true;
	}

	return false;
}

bool IsHidingSpotInCover(const Vector *spot)
{
	int coverCount = 0;
	TraceResult result;

	Vector from = *spot;
	from.z += HalfHumanHeight;

	Vector to;

	// if we are crouched underneath something, that counts as good cover
	to = from + Vector(0, 0, 20.0f);
	UTIL_TraceLine(from, to, ignore_monsters, nullptr, &result);
	if (result.flFraction != 1.0f)
		return true;

	const float coverRange = 100.0f;
	const float inc = M_PI / 8.0f;

	for (float angle = 0.0f; angle < 2.0f * M_PI; angle += inc)
	{
		to = from + Vector(coverRange * Q_cos(angle), coverRange * Q_sin(angle), HalfHumanHeight);

		UTIL_TraceLine(from, to, ignore_monsters, nullptr, &result);

		// if traceline hit something, it hit "cover"
		if (result.flFraction != 1.0f)
			coverCount++;
	}

	// if more than half of the circle has no cover, the spot is not "in cover"
	const int halfCover = 8;
	if (coverCount < halfCover)
		return false;

	return true;
}

// Analyze local area neighborhood to find "hiding spots" for this area
void CNavArea::ComputeHidingSpots()
{
	struct
	{
		float lo, hi;
	} extent;

	// "jump areas" cannot have hiding spots
	if (GetAttributes() & NAV_JUMP)
		return;

	int cornerCount[NUM_CORNERS];
	for (int i = 0; i < NUM_CORNERS; i++)
		cornerCount[i] = 0;

	const float cornerSize = 20.0f;

	// for each direction, find extents of adjacent areas along the wall
	for (int d = 0; d < NUM_DIRECTIONS; d++)
	{
		extent.lo = 999999.9f;
		extent.hi = -999999.9f;

		bool isHoriz = (d == NORTH || d == SOUTH) ? true : false;
		for (auto &connect : m_connect[d])
		{
			// if connection is only one-way, it's a "jump down" connection (ie: a discontinuity that may mean cover)
			// ignore it
			if (connect.area->IsConnected(this, OppositeDirection(static_cast<NavDirType>(d))) == false)
				continue;

			// ignore jump areas
			if (connect.area->GetAttributes() & NAV_JUMP)
				continue;

			if (isHoriz)
			{
				if (connect.area->m_extent.lo.x < extent.lo)
					extent.lo = connect.area->m_extent.lo.x;

				if (connect.area->m_extent.hi.x > extent.hi)
					extent.hi = connect.area->m_extent.hi.x;
			}
			else
			{
				if (connect.area->m_extent.lo.y < extent.lo)
					extent.lo = connect.area->m_extent.lo.y;

				if (connect.area->m_extent.hi.y > extent.hi)
					extent.hi = connect.area->m_extent.hi.y;
			}
		}

		switch (d)
		{
		case NORTH:
			if (extent.lo - m_extent.lo.x >= cornerSize)
				cornerCount[NORTH_WEST]++;

			if (m_extent.hi.x - extent.hi >= cornerSize)
				cornerCount[NORTH_EAST]++;
			break;

		case SOUTH:
			if (extent.lo - m_extent.lo.x >= cornerSize)
				cornerCount[SOUTH_WEST]++;

			if (m_extent.hi.x - extent.hi >= cornerSize)
				cornerCount[SOUTH_EAST]++;
			break;

		case EAST:
			if (extent.lo - m_extent.lo.y >= cornerSize)
				cornerCount[NORTH_EAST]++;

			if (m_extent.hi.y - extent.hi >= cornerSize)
				cornerCount[SOUTH_EAST]++;
			break;

		case WEST:
			if (extent.lo - m_extent.lo.y >= cornerSize)
				cornerCount[NORTH_WEST]++;

			if (m_extent.hi.y - extent.hi >= cornerSize)
				cornerCount[SOUTH_WEST]++;
			break;
		}
	}

	// if a corner count is 2, then it really is a corner (walls on both sides)
	float offset = 12.5f;

	if (cornerCount[NORTH_WEST] == 2)
	{
		Vector pos = *GetCorner(NORTH_WEST) + Vector(offset,  offset, 0.0f);

		m_hidingSpotList.push_back(new HidingSpot(&pos, (IsHidingSpotInCover(&pos)) ? HidingSpot::IN_COVER : 0));
	}
	if (cornerCount[NORTH_EAST] == 2)
	{
		Vector pos = *GetCorner(NORTH_EAST) + Vector(-offset,  offset, 0.0f);
		if (!IsHidingSpotCollision(&pos))
			m_hidingSpotList.push_back(new HidingSpot(&pos, (IsHidingSpotInCover(&pos)) ? HidingSpot::IN_COVER : 0));
	}
	if (cornerCount[SOUTH_WEST] == 2)
	{
		Vector pos = *GetCorner(SOUTH_WEST) + Vector(offset, -offset, 0.0f);
		if (!IsHidingSpotCollision(&pos))
			m_hidingSpotList.push_back(new HidingSpot(&pos, (IsHidingSpotInCover(&pos)) ? HidingSpot::IN_COVER : 0));
	}
	if (cornerCount[SOUTH_EAST] == 2)
	{
		Vector pos = *GetCorner(SOUTH_EAST) + Vector(-offset, -offset, 0.0f);
		if (!IsHidingSpotCollision(&pos))
			m_hidingSpotList.push_back(new HidingSpot(&pos, (IsHidingSpotInCover(&pos)) ? HidingSpot::IN_COVER : 0));
	}
}

// Determine how much walkable area we can see from the spot, and how far away we can see.
void ClassifySniperSpot(HidingSpot *spot)
{
	// assume we are crouching
	Vector eye = *spot->GetPosition() + Vector(0, 0, HalfHumanHeight);
	Vector walkable;
	TraceResult result;

	Extent sniperExtent;
	float farthestRangeSq = 0.0f;
	const float minSniperRangeSq = 1000.0f * 1000.0f;
	bool found = false;

	for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
	{
		CNavArea *area = (*iter);

		const Extent *extent = area->GetExtent();

		// scan this area
		for (walkable.y = extent->lo.y + GenerationStepSize / 2.0f; walkable.y < extent->hi.y; walkable.y += GenerationStepSize)
		{
			for (walkable.x = extent->lo.x + GenerationStepSize / 2.0f; walkable.x < extent->hi.x; walkable.x += GenerationStepSize)
			{
				walkable.z = area->GetZ(&walkable) + HalfHumanHeight;

				// check line of sight
				UTIL_TraceLine(eye, walkable, ignore_monsters, ignore_glass, nullptr, &result);

				if (result.flFraction == 1.0f && !result.fStartSolid)
				{
					// can see this spot

					// keep track of how far we can see
					float rangeSq = (eye - walkable).LengthSquared();
					if (rangeSq > farthestRangeSq)
					{
						farthestRangeSq = rangeSq;

						if (rangeSq >= minSniperRangeSq)
						{
							// this is a sniper spot
							// determine how good of a sniper spot it is by keeping track of the snipable area
							if (found)
							{
								if (walkable.x < sniperExtent.lo.x)
									sniperExtent.lo.x = walkable.x;
								if (walkable.x > sniperExtent.hi.x)
									sniperExtent.hi.x = walkable.x;

								if (walkable.y < sniperExtent.lo.y)
									sniperExtent.lo.y = walkable.y;
								if (walkable.y > sniperExtent.hi.y)
									sniperExtent.hi.y = walkable.y;
							}
							else
							{
								sniperExtent.lo = walkable;
								sniperExtent.hi = walkable;
								found = true;
							}
						}
					}
				}
			}
		}
	}

	if (found)
	{
		// if we can see a large snipable area, it is an "ideal" spot
		float snipableArea = sniperExtent.Area();

		const float minIdealSniperArea = 200.0f * 200.0f;
		const float longSniperRangeSq = 1500.0f * 1500.0f;

		if (snipableArea >= minIdealSniperArea || farthestRangeSq >= longSniperRangeSq)
			spot->SetFlags(HidingSpot::IDEAL_SNIPER_SPOT);
		else
			spot->SetFlags(HidingSpot::GOOD_SNIPER_SPOT);
	}
}

// Analyze local area neighborhood to find "sniper spots" for this area
void CNavArea::ComputeSniperSpots()
{
	if (cv_bot_quicksave.value > 0.0f)
		return;

	for (HidingSpotList::iterator iter = m_hidingSpotList.begin(); iter != m_hidingSpotList.end(); iter++)
	{
		HidingSpot *spot = (*iter);
		ClassifySniperSpot(spot);
	}
}

// Given the areas we are moving between, return the spots we will encounter
SpotEncounter *CNavArea::GetSpotEncounter(const CNavArea *from, const CNavArea *to)
{
	if (from && to)
	{
		SpotEncounter *e;

		for (SpotEncounterList::iterator iter = m_spotEncounterList.begin(); iter != m_spotEncounterList.end(); iter++)
		{
			e = &(*iter);

			if (e->from.area == from && e->to.area == to)
				return e;
		}
	}

	return nullptr;
}

// Add spot encounter data when moving from area to area
void CNavArea::AddSpotEncounters(const class CNavArea *from, NavDirType fromDir, const CNavArea *to, NavDirType toDir)
{
	SpotEncounter e;

	e.from.area = const_cast<CNavArea *>(from);
	e.fromDir = fromDir;

	e.to.area = const_cast<CNavArea *>(to);
	e.toDir = toDir;

	float halfWidth;
	ComputePortal(to, toDir, &e.path.to, &halfWidth);
	ComputePortal(from, fromDir, &e.path.from, &halfWidth);

	const float eyeHeight = HalfHumanHeight;
	e.path.from.z = from->GetZ(&e.path.from) + eyeHeight;
	e.path.to.z = to->GetZ(&e.path.to) + eyeHeight;

	// step along ray and track which spots can be seen
	Vector dir = e.path.to - e.path.from;
	float length = dir.NormalizeInPlace();

	// create unique marker to flag used spots
	HidingSpot::ChangeMasterMarker();

	const float stepSize = 25.0f;		// 50
	const float seeSpotRange = 2000.0f;	// 3000
	TraceResult result;

	Vector eye, delta;
	HidingSpot *spot;
	SpotOrder spotOrder;

	// step along path thru this area
	bool done = false;
	for (float along = 0.0f; !done; along += stepSize)
	{
		// make sure we check the endpoint of the path segment
		if (along >= length)
		{
			along = length;
			done = true;
		}

		// move the eyepoint along the path segment
		eye = e.path.from + along * dir;

		// check each hiding spot for visibility
		for (HidingSpotList::iterator iter = TheHidingSpotList.begin(); iter != TheHidingSpotList.end(); iter++)
		{
			spot = (*iter);

			// only look at spots with cover (others are out in the open and easily seen)
			if (!spot->HasGoodCover())
				continue;

			if (spot->IsMarked())
				continue;

			const Vector *spotPos = spot->GetPosition();

			delta.x = spotPos->x - eye.x;
			delta.y = spotPos->y - eye.y;
			delta.z = (spotPos->z + eyeHeight) - eye.z;

			// check if in range
			if (delta.IsLengthGreaterThan(seeSpotRange))
				continue;

			// check if we have LOS
			UTIL_TraceLine(eye, Vector(spotPos->x, spotPos->y, spotPos->z + HalfHumanHeight), ignore_monsters, ignore_glass, nullptr, &result);
			if (result.flFraction != 1.0f)
				continue;

			// if spot is in front of us along our path, ignore it
			delta.NormalizeInPlace();
			float dot = DotProduct(dir, delta);
			if (dot < 0.7071f && dot > -0.7071f)
			{
				// we only want to keep spots that BECOME visible as we walk past them
				// therefore, skip ALL visible spots at the start of the path segment
				if (along > 0.0f)
				{
					// add spot to encounter
					spotOrder.spot = spot;
					spotOrder.t = along / length;
					e.spotList.push_back(spotOrder);
				}
			}

			// mark spot as encountered
			spot->Mark();
		}
	}

	// add encounter to list
	m_spotEncounterList.push_back(e);
}

// Compute "spot encounter" data. This is an ordered list of spots to look at
// for each possible path thru a nav area.
void CNavArea::ComputeSpotEncounters()
{
	m_spotEncounterList.clear();

	if (cv_bot_quicksave.value > 0.0f)
		return;

	// for each adjacent area
	for (int fromDir = 0; fromDir < NUM_DIRECTIONS; fromDir++)
	{
		for (NavConnectList::iterator fromIter = m_connect[fromDir].begin(); fromIter != m_connect[fromDir].end(); fromIter++)
		{
			NavConnect *fromCon = &(*fromIter);

			// compute encounter data for path to each adjacent area
			for (int toDir = 0; toDir < NUM_DIRECTIONS; toDir++)
			{
				for (NavConnectList::iterator toIter = m_connect[toDir].begin(); toIter != m_connect[toDir].end(); toIter++)
				{
					NavConnect *toCon = &(*toIter);

					if (toCon == fromCon)
						continue;

					// just do our direction, as we'll loop around for other direction
					AddSpotEncounters(fromCon->area, (NavDirType)fromDir, toCon->area, (NavDirType)toDir);
				}
			}
		}
	}
}

// Decay the danger values
void CNavArea::DecayDanger()
{
	// one kill == 1.0, which we will forget about in two minutes
	const float decayRate = 1.0f / 120.0f;

	for (int i = 0; i < MAX_AREA_TEAMS; i++)
	{
		float deltaT = gpGlobals->time - m_dangerTimestamp[i];
		float decayAmount = decayRate * deltaT;

		m_danger[i] -= decayAmount;
		if (m_danger[i] < 0.0f)
			m_danger[i] = 0.0f;

		// update timestamp
		m_dangerTimestamp[i] = gpGlobals->time;
	}
}

// Increase the danger of this area for the given team
void CNavArea::IncreaseDanger(int teamID, float amount)
{
	// before we add the new value, decay what's there
	DecayDanger();

	m_danger[teamID] += amount;
	m_dangerTimestamp[teamID] = gpGlobals->time;
}

// Return the danger of this area (decays over time)
float CNavArea::GetDanger(int teamID)
{
	DecayDanger();
	return m_danger[teamID];
}

// Increase the danger of nav areas containing and near the given position
void IncreaseDangerNearby(int teamID, float amount, class CNavArea *startArea, const Vector *pos, float maxRadius)
{
	if (!startArea)
		return;

	CNavArea::MakeNewMarker();
	CNavArea::ClearSearchLists();

	startArea->AddToOpenList();
	startArea->SetTotalCost(0.0f);
	startArea->Mark();
	startArea->IncreaseDanger(teamID, amount);

	while (!CNavArea::IsOpenListEmpty())
	{
		// get next area to check
		CNavArea *area = CNavArea::PopOpenList();

		// area has no hiding spots, explore adjacent areas
		for (int dir = 0; dir < NUM_DIRECTIONS; dir++)
		{
			int count = area->GetAdjacentCount((NavDirType)dir);
			for (int i = 0; i < count; i++)
			{
				CNavArea *adjArea = area->GetAdjacentArea((NavDirType)dir, i);

				if (!adjArea->IsMarked())
				{
					// compute distance from danger source
					float cost = (*adjArea->GetCenter() - *pos).Length();
					if (cost <= maxRadius)
					{
						adjArea->AddToOpenList();
						adjArea->SetTotalCost(cost);
						adjArea->Mark();
						adjArea->IncreaseDanger(teamID, amount * cost/maxRadius);
					}
				}
			}
		}
	}
}

// Show danger levels for debugging
void DrawDanger()
{
	for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
	{
		CNavArea *area = (*iter);

		Vector center = *area->GetCenter();
		Vector top;
		center.z = area->GetZ(&center);

		float danger = area->GetDanger(0);
		if (danger > 0.1f)
		{
			top.x = center.x;
			top.y = center.y;
			top.z = center.z + 10.0f * danger;
			UTIL_DrawBeamPoints(center, top, 3.0f, 255, 0, 0);
		}

		danger = area->GetDanger(1);
		if (danger > 0.1f)
		{
			top.x = center.x;
			top.y = center.y;
			top.z = center.z + 10.0f * danger;
			UTIL_DrawBeamPoints(center, top, 3.0f, 0, 0, 255);
		}
	}
}

// If a player is at the given spot, return true
bool IsSpotOccupied(CBaseEntity *pEntity, const Vector *pos)
{
	const float closeRange = 75.0f;

	// is there a player in this spot
	float range;
	CBasePlayer *pClosest = UTIL_GetClosestPlayer(pos, &range);

	if (pEntity != pClosest)
	{
		if (pClosest && range < closeRange)
			return true;
	}

	// is there is a hostage in this spot
	if (g_pHostages)
	{
		CHostage *pHostage = g_pHostages->GetClosestHostage(*pos, &range);
		if (pHostage && pEntity != pHostage && range < closeRange)
			return true;
	}

	return false;
}

class CollectHidingSpotsFunctor
{
public:
	CollectHidingSpotsFunctor(CBaseEntity *me, const Vector *origin, float range, unsigned char flags, Place place = UNDEFINED_PLACE, bool useCrouchAreas = true)
	{
		m_me = me;
		m_count = 0;
		m_origin = origin;
		m_range = range;
		m_flags = flags;
		m_place = place;
		m_useCrouchAreas = useCrouchAreas;
	}
	enum { MAX_SPOTS = 256 };

	bool operator()(CNavArea *area)
	{
		// if a place is specified, only consider hiding spots from areas in that place
		if (m_place != UNDEFINED_PLACE && area->GetPlace() != m_place)
			return true;

		// collect all the hiding spots in this area
		const HidingSpotList *list = area->GetHidingSpotList();

		for (HidingSpotList::const_iterator iter = list->begin(); iter != list->end() && m_count < MAX_SPOTS; iter++)
		{
			const HidingSpot *spot = (*iter);
			if (m_useCrouchAreas == false)
			{
				CNavArea *area = TheNavAreaGrid.GetNavArea(spot->GetPosition());
				if (area && (area->GetAttributes() & NAV_CROUCH))
					continue;
			}

			// make sure hiding spot is in range
			if (m_range > 0.0f)
			{
				if ((*spot->GetPosition() - *m_origin).IsLengthGreaterThan(m_range))
					continue;
			}

			// if a Player is using this hiding spot, don't consider it
			if (IsSpotOccupied(m_me, spot->GetPosition()))
			{
				// player is in hiding spot
				// TODO: Check if player is moving or sitting still
				continue;
			}

			// only collect hiding spots with matching flags
			if (m_flags & spot->GetFlags())
			{
				m_hidingSpot[m_count++] = spot->GetPosition();
			}
		}

		// if we've filled up, stop searching
		if (m_count == MAX_SPOTS)
			return false;

		return true;
	}
	// Remove the spot at index "i"
	void RemoveSpot(int i)
	{
		if (m_count == 0)
			return;

		for (int j = i + 1; j < m_count; j++)
			m_hidingSpot[j - 1] = m_hidingSpot[j];

		m_count--;
	}

	CBaseEntity *m_me;
	const Vector *m_origin;
	float m_range;

	const Vector *m_hidingSpot[MAX_SPOTS];
	int m_count;

	unsigned char m_flags;
	Place m_place;
	bool m_useCrouchAreas;
};

// Do a breadth-first search to find a nearby hiding spot and return it.
// Don't pick a hiding spot that a Player is currently occupying.
// TODO: Clean up this mess
const Vector *FindNearbyHidingSpot(CBaseEntity *me, const Vector *pos, CNavArea *startArea, float maxRange, bool isSniper, bool useNearest)
{
	if (!startArea)
		return nullptr;

	// collect set of nearby hiding spots
	if (isSniper)
	{
		CollectHidingSpotsFunctor collector(me, pos, maxRange, HidingSpot::IDEAL_SNIPER_SPOT);
		SearchSurroundingAreas(startArea, pos, collector, maxRange);

		if (collector.m_count)
		{
			int which = RANDOM_LONG(0, collector.m_count - 1);
			return collector.m_hidingSpot[which];
		}
		else
		{
			// no ideal sniping spots, look for "good" sniping spots
			CollectHidingSpotsFunctor collector(me, pos, maxRange, HidingSpot::GOOD_SNIPER_SPOT);
			SearchSurroundingAreas(startArea, pos, collector, maxRange);

			if (collector.m_count)
			{
				int which = RANDOM_LONG(0, collector.m_count - 1);
				return collector.m_hidingSpot[which];
			}

			// no sniping spots at all.. fall through and pick a normal hiding spot
		}
	}

	// collect hiding spots with decent "cover"
	CollectHidingSpotsFunctor collector(me, pos, maxRange, HidingSpot::IN_COVER);
	SearchSurroundingAreas(startArea, pos, collector, maxRange);

	if (collector.m_count == 0)
		return nullptr;

	if (useNearest)
	{
		// return closest hiding spot
		const Vector *closest = nullptr;
		float closeRangeSq = 9999999999.9f;
		for (int i = 0; i < collector.m_count; i++)
		{
			float rangeSq = (*collector.m_hidingSpot[i] - *pos).LengthSquared();
			if (rangeSq < closeRangeSq)
			{
				closeRangeSq = rangeSq;
				closest = collector.m_hidingSpot[i];
			}
		}

		return closest;
	}

	// select a hiding spot at random
	int which = RANDOM_LONG(0, collector.m_count - 1);
	return collector.m_hidingSpot[which];
}

// Return true if moving from "start" to "finish" will cross a player's line of fire
// The path from "start" to "finish" is assumed to be a straight line
// "start" and "finish" are assumed to be points on the ground
bool IsCrossingLineOfFire(const Vector &start, const Vector &finish, CBaseEntity *pEntIgnore, int ignoreTeam)
{
	for (int i = 1; i <= gpGlobals->maxClients; i++)
	{
		CBasePlayer *pPlayer = UTIL_PlayerByIndex(i);

		if (!IsEntityValid(pPlayer))
			continue;

		if (pPlayer == pEntIgnore)
			continue;

		if (!pPlayer->IsAlive())
			continue;

		if (ignoreTeam && pPlayer->m_iTeam == ignoreTeam)
			continue;

		UTIL_MakeVectors(pPlayer->pev->v_angle + pPlayer->pev->punchangle);

		const float longRange = 5000.0f;
		Vector playerTarget = pPlayer->pev->origin + longRange * gpGlobals->v_forward;

		Vector result;
		if (IsIntersecting2D(start, finish, pPlayer->pev->origin, playerTarget, &result))
		{
			float loZ, hiZ;
			if (start.z < finish.z)
			{
				loZ = start.z;
				hiZ = finish.z;
			}
			else
			{
				loZ = finish.z;
				hiZ = start.z;
			}

			if (result.z >= loZ && result.z <= hiZ + HumanHeight)
				return true;
		}
	}

	return false;
}

// Select a random hiding spot among the nav areas that are tagged with the given place
const Vector *FindRandomHidingSpot(CBaseEntity *me, Place place, bool isSniper)
{
	// collect set of nearby hiding spots
	if (isSniper)
	{
		CollectHidingSpotsFunctor collector(me, nullptr, -1.0f, HidingSpot::IDEAL_SNIPER_SPOT, place);
		ForAllAreas(collector);

		if (collector.m_count)
		{
			int which = RANDOM_LONG(0, collector.m_count - 1);
			return collector.m_hidingSpot[which];
		}
		else
		{
			// no ideal sniping spots, look for "good" sniping spots
			CollectHidingSpotsFunctor collector(me, nullptr, -1.0f, HidingSpot::GOOD_SNIPER_SPOT, place);
			ForAllAreas(collector);

			if (collector.m_count)
			{
				int which = RANDOM_LONG(0, collector.m_count - 1);
				return collector.m_hidingSpot[which];
			}

			// no sniping spots at all.. fall through and pick a normal hiding spot
		}
	}

	// collect hiding spots with decent "cover"
	CollectHidingSpotsFunctor collector(me, nullptr, -1.0f, HidingSpot::IN_COVER, place);
	ForAllAreas(collector);

	if (collector.m_count == 0)
		return nullptr;

	// select a hiding spot at random
	int which = RANDOM_LONG(0, collector.m_count - 1);
	return collector.m_hidingSpot[which];
}

// Select a nearby retreat spot.
// Don't pick a hiding spot that a Player is currently occupying.
// If "avoidTeam" is nonzero, avoid getting close to members of that team.
const Vector *FindNearbyRetreatSpot(CBaseEntity *me, const Vector *start, CNavArea *startArea, float maxRange, int avoidTeam, bool useCrouchAreas)
{
	if (!startArea)
		return nullptr;

	// collect hiding spots with decent "cover"
	CollectHidingSpotsFunctor collector(me, start, maxRange, HidingSpot::IN_COVER, UNDEFINED_PLACE, useCrouchAreas);
	SearchSurroundingAreas(startArea, start, collector, maxRange);

	if (collector.m_count == 0)
		return nullptr;

	// find the closest unoccupied hiding spot that crosses the least lines of fire and has the best cover
	for (int i = 0; i < collector.m_count; i++)
	{
		// check if we would have to cross a line of fire to reach this hiding spot
		if (IsCrossingLineOfFire(*start, *collector.m_hidingSpot[i], me))
		{
			collector.RemoveSpot(i);
			// back up a step, so iteration won't skip a spot
			i--;
			continue;
		}

		// check if there is someone on the avoidTeam near this hiding spot
		if (avoidTeam)
		{
			float range;
			if (UTIL_GetClosestPlayer(collector.m_hidingSpot[i], avoidTeam, &range))
			{
				const float dangerRange = 150.0f;
				if (range < dangerRange)
				{
					// there is an avoidable player too near this spot - remove it
					collector.RemoveSpot(i);

					// back up a step, so iteration won't skip a spot
					i--;
					continue;
				}
			}
		}
	}

	if (collector.m_count <= 0)
		return nullptr;

	// all remaining spots are ok - pick one at random
	int which = RANDOM_LONG(0, collector.m_count - 1);
	return collector.m_hidingSpot[which];
}

// Return number of players with given teamID in this area (teamID == 0 means any/all)
// TODO: Keep pointers to contained Players to make this a zero-time query
int CNavArea::GetPlayerCount(int teamID, CBasePlayer *pEntIgnore) const
{
	int nCount = 0;
	for (int i = 1; i <= gpGlobals->maxClients; i++)
	{
		CBasePlayer *pPlayer = UTIL_PlayerByIndex(i);

		if (pPlayer == pEntIgnore)
			continue;

		if (!IsEntityValid(pPlayer))
			continue;

		if (!pPlayer->IsPlayer())
			continue;

		if (!pPlayer->IsAlive())
			continue;

		if (teamID == UNASSIGNED || pPlayer->m_iTeam == teamID)
		{
			if (Contains(&pPlayer->pev->origin))
				nCount++;
		}
	}

	return nCount;
}

CNavArea *GetMarkedArea()
{
	return markedArea;
}

void EditNavAreasReset()
{
	markedArea = nullptr;
	lastSelectedArea = nullptr;
	isCreatingNavArea = false;
	isPlacePainting = false;

	editTimestamp = 0.0f;
	lastDrawTimestamp = 0.0f;
}

void DrawHidingSpots(const class CNavArea *area)
{
	const HidingSpotList *list = area->GetHidingSpotList();
	for (HidingSpotList::const_iterator iter = list->begin(); iter != list->end(); iter++)
	{
		const HidingSpot *spot = (*iter);
		int r, g, b;

		if (spot->IsIdealSniperSpot())
		{
			r = 255; g = 0; b = 0;
		}
		else if (spot->IsGoodSniperSpot())
		{
			r = 255; g = 0; b = 255;
		}
		else if (spot->HasGoodCover())
		{
			r = 0; g = 255; b = 0;
		}
		else
		{
			r = 0; g = 0; b = 1;
		}

		UTIL_DrawBeamPoints(*spot->GetPosition(), *spot->GetPosition() + Vector(0, 0, 50), 3, r, g, b);
	}
}

// Draw ourselves and adjacent areas
void CNavArea::DrawConnectedAreas()
{
	CBasePlayer *pLocalPlayer = UTIL_GetLocalPlayer();
	if (!pLocalPlayer)
		return;

	const float maxRange = 500.0f;

	// draw self
	if (isPlaceMode)
	{
		if (GetPlace() == 0)
			Draw(50, 0, 0, 3);
		else if (GetPlace() != TheCSBots()->GetNavPlace())
			Draw(0, 0, 200, 3);
		else
			Draw(0, 255, 0, 3);
	}
	else
	{
		Draw(255, 255, 0, 3);
		DrawHidingSpots(this);
	}

	// randomize order of directions to make sure all connected areas are
	// drawn, since we may have too many to render all at once
	int dirSet[NUM_DIRECTIONS];
	int i;
	for (i = 0; i < NUM_DIRECTIONS; i++)
		dirSet[i] = i;

	// shuffle dirSet[]
	for (int swapCount = 0; swapCount < 3; swapCount++)
	{
		int swapI = RANDOM_LONG(0, NUM_DIRECTIONS - 1);
		int nextI = swapI + 1;
		if (nextI >= NUM_DIRECTIONS)
			nextI = 0;

		int tmp = dirSet[nextI];
		dirSet[nextI] = dirSet[swapI];
		dirSet[swapI] = tmp;
	}

	// draw connected areas
	for (i = 0; i < NUM_DIRECTIONS; i++)
	{
		NavDirType dir = (NavDirType)dirSet[i];

		int count = GetAdjacentCount(dir);
		for (int a = 0; a < count; a++)
		{
			CNavArea *adj = GetAdjacentArea(dir, a);

			if (isPlaceMode)
			{
				if (adj->GetPlace() == 0)
					adj->Draw(50, 0, 0, 3);
				else if (adj->GetPlace() != TheCSBots()->GetNavPlace())
					adj->Draw(0, 0, 200, 3);
				else
					adj->Draw(0, 255, 0, 3);
			}
			else
			{
				if (adj->IsDegenerate())
				{
					static IntervalTimer blink;
					static bool blinkOn = false;

					if (blink.GetElapsedTime() > 1.0f)
					{
						blink.Reset();
						blinkOn = !blinkOn;
					}

					if (blinkOn)
						adj->Draw(255, 255, 255, 3);
					else
						adj->Draw(255, 0, 255, 3);
				}
				else
				{
					adj->Draw(255, 0, 0, 3);
				}

				DrawHidingSpots(adj);

				Vector from, to;
				Vector hookPos;
				float halfWidth;
				float size = 5.0f;
				ComputePortal(adj, dir, &hookPos, &halfWidth);

				switch (dir)
				{
				case NORTH:
					from = hookPos + Vector(0.0f, size, 0.0f);
					to = hookPos + Vector(0.0f, -size, 0.0f);
					break;
				case SOUTH:
					from = hookPos + Vector(0.0f, -size, 0.0f);
					to = hookPos + Vector(0.0f, size, 0.0f);
					break;
				case EAST:
					from = hookPos + Vector(-size, 0.0f, 0.0f);
					to = hookPos + Vector(+size, 0.0f, 0.0f);
					break;
				case WEST:
					from = hookPos + Vector(size, 0.0f, 0.0f);
					to = hookPos + Vector(-size, 0.0f, 0.0f);
					break;
				}

				from.z = GetZ(&from) + cv_bot_nav_zdraw.value;
				to.z = adj->GetZ(&to) + cv_bot_nav_zdraw.value;

				Vector drawTo;
				adj->GetClosestPointOnArea(&to, &drawTo);

				if (adj->IsConnected(this, OppositeDirection(dir)))
					UTIL_DrawBeamPoints(from, drawTo, 3, 0, 255, 255);
				else
					UTIL_DrawBeamPoints(from, drawTo, 3, 0, 0, 255);
			}
		}
	}
}

// Raise/lower a corner
void CNavArea::RaiseCorner(NavCornerType corner, int amount)
{
	if (corner == NUM_CORNERS)
	{
		m_extent.lo.z += amount;
		m_extent.hi.z += amount;
		m_neZ += amount;
		m_swZ += amount;
	}
	else
	{
		switch (corner)
		{
		case NORTH_WEST:
			m_extent.lo.z += amount;
			break;
		case NORTH_EAST:
			m_neZ += amount;
			break;
		case SOUTH_WEST:
			m_swZ += amount;
			break;
		case SOUTH_EAST:
			m_extent.hi.z += amount;
			break;
		}
	}

	m_center.x = (m_extent.lo.x + m_extent.hi.x) / 2.0f;
	m_center.y = (m_extent.lo.y + m_extent.hi.y) / 2.0f;
	m_center.z = (m_extent.lo.z + m_extent.hi.z) / 2.0f;
}

// Flood fills all areas with current place
class PlaceFloodFillFunctor
{
public:
	PlaceFloodFillFunctor(CNavArea *area)
	{
		m_initialPlace = area->GetPlace();
	}
	bool operator()(CNavArea *area)
	{
		if (area->GetPlace() != m_initialPlace)
			return false;

		area->SetPlace(TheCSBots()->GetNavPlace());
		return true;
	}

private:
	unsigned int m_initialPlace;
};

// Draw navigation areas and edit them
void EditNavAreas(NavEditCmdType cmd)
{
	CBasePlayer *pLocalPlayer = UTIL_GetLocalPlayer();
	if (!pLocalPlayer)
		return;

	// don't draw too often on fast video cards or the areas may not appear (odd video effect)
	float drawTimestamp = gpGlobals->time;
	const float maxDrawRate = 0.05f;

	bool doDraw;
	if (drawTimestamp - lastDrawTimestamp < maxDrawRate)
	{
		doDraw = false;
	}
	else
	{
		doDraw = true;
		lastDrawTimestamp = drawTimestamp;
	}

	const float maxRange = 1000.0f;
	int beamTime = 1;

	if (doDraw)
	{
		// show ladder connections
		for (NavLadderList::iterator iter = TheNavLadderList.begin(); iter != TheNavLadderList.end(); iter++)
		{
			CNavLadder *ladder = (*iter);

			float dx = pLocalPlayer->pev->origin.x - ladder->m_bottom.x;
			float dy = pLocalPlayer->pev->origin.y - ladder->m_bottom.y;
			if (dx * dx + dy * dy > maxRange*maxRange)
				continue;

			UTIL_DrawBeamPoints(ladder->m_top, ladder->m_bottom, beamTime, 255, 0, 255);

			Vector bottom = ladder->m_bottom;
			Vector top = ladder->m_top;

			AddDirectionVector(&top, ladder->m_dir, HalfHumanWidth);
			AddDirectionVector(&bottom, ladder->m_dir, HalfHumanWidth);

			UTIL_DrawBeamPoints(top, bottom, beamTime, 0, 0, 255);

			if (ladder->m_bottomArea)
				UTIL_DrawBeamPoints(bottom + Vector(0, 0, GenerationStepSize), *ladder->m_bottomArea->GetCenter(), beamTime, 0, 0, 255);

			if (ladder->m_topForwardArea)
				UTIL_DrawBeamPoints(top, *ladder->m_topForwardArea->GetCenter(), beamTime, 0, 0, 255);

			if (ladder->m_topLeftArea)
				UTIL_DrawBeamPoints(top, *ladder->m_topLeftArea->GetCenter(), beamTime, 0, 0, 255);

			if (ladder->m_topRightArea)
				UTIL_DrawBeamPoints(top, *ladder->m_topRightArea->GetCenter(), beamTime, 0, 0, 255);

			if (ladder->m_topBehindArea)
				UTIL_DrawBeamPoints(top, *ladder->m_topBehindArea->GetCenter(), beamTime, 0, 0, 255);
		}

		// draw approach points for marked area
		if (cv_bot_traceview.value == 3 && markedArea)
		{
			Vector ap;
			float halfWidth;
			for (int i = 0; i < markedArea->GetApproachInfoCount(); i++)
			{
				const CNavArea::ApproachInfo *info = markedArea->GetApproachInfo(i);

				// compute approach point
				if (info->hereToNextHow <= GO_WEST)
				{
					info->here.area->ComputePortal(info->next.area, (NavDirType)info->hereToNextHow, &ap, &halfWidth);
					ap.z = info->next.area->GetZ(&ap);
				}
				else
				{
					// use the area's center as an approach point
					ap = *info->here.area->GetCenter();
				}

				UTIL_DrawBeamPoints(ap + Vector(0, 0, 50), ap + Vector(10, 0, 0), beamTime, 255, 100, 0);
				UTIL_DrawBeamPoints(ap + Vector(0, 0, 50), ap + Vector(-10, 0, 0), beamTime, 255, 100, 0);
				UTIL_DrawBeamPoints(ap + Vector(0, 0, 50), ap + Vector(0, 10, 0), beamTime, 255, 100, 0);
				UTIL_DrawBeamPoints(ap + Vector(0, 0, 50), ap + Vector(0, -10, 0), beamTime, 255, 100, 0);
			}
		}
	}

	Vector dir;
	UTIL_MakeVectorsPrivate(pLocalPlayer->pev->v_angle, dir, nullptr, nullptr);

	// eye position
	Vector from = pLocalPlayer->pev->origin + pLocalPlayer->pev->view_ofs;
	Vector to = from + maxRange * dir;

	TraceResult result;
	UTIL_TraceLine(from, to, ignore_monsters, ignore_glass, ENT(pLocalPlayer->pev), &result);

	if (result.flFraction != 1.0f)
	{
		// draw cursor
		Vector cursor = result.vecEndPos;
		float cursorSize = 10.0f;

		if (doDraw)
		{
			UTIL_DrawBeamPoints(cursor + Vector(0, 0, cursorSize), cursor, beamTime, 255, 255, 255);
			UTIL_DrawBeamPoints(cursor + Vector(cursorSize, 0, 0), cursor + Vector(-cursorSize, 0, 0), beamTime, 255, 255, 255);
			UTIL_DrawBeamPoints(cursor + Vector(0, cursorSize, 0), cursor + Vector(0, -cursorSize, 0), beamTime, 255, 255, 255);

			// show surface normal
			// UTIL_DrawBeamPoints(cursor + 50.0f * result.vecPlaneNormal, cursor, beamTime, 255, 0, 255);
		}

		if (isCreatingNavArea)
		{
			if (isAnchored)
			{
				// show drag rectangle
				if (doDraw)
				{
					float z = anchor.z + 2.0f;
					UTIL_DrawBeamPoints(Vector(cursor.x, cursor.y, z), Vector(anchor.x, cursor.y, z), beamTime, 0, 255, 255);
					UTIL_DrawBeamPoints(Vector(anchor.x, anchor.y, z), Vector(anchor.x, cursor.y, z), beamTime, 0, 255, 255);
					UTIL_DrawBeamPoints(Vector(anchor.x, anchor.y, z), Vector(cursor.x, anchor.y, z), beamTime, 0, 255, 255);
					UTIL_DrawBeamPoints(Vector(cursor.x, cursor.y, z), Vector(cursor.x, anchor.y, z), beamTime, 0, 255, 255);
				}
			}
			else
			{
				// anchor starting corner
				anchor = cursor;
				isAnchored = true;
			}
		}

		// find the area the player is pointing at
		CNavArea *area = TheNavAreaGrid.GetNearestNavArea(&result.vecEndPos);

		if (area)
		{
			// if area changed, print its ID
			if (area != lastSelectedArea)
			{
				lastSelectedArea = area;

				char buffer[190];
				char attrib[80];
				char locName[80];

				if (area->GetPlace())
				{
					const char *name = TheBotPhrases->IDToName(area->GetPlace());
					if (name)
						Q_strcpy(locName, name);
					else
						Q_strcpy(locName, "ERROR");
				}
				else
				{
					locName[0] = '\0';
				}

				if (isPlaceMode)
				{
					attrib[0] = '\0';
				}
				else
				{
					Q_snprintf(attrib, sizeof(attrib), "%s%s%s%s",
						(area->GetAttributes() & NAV_CROUCH)  ? "CROUCH "  : "",
						(area->GetAttributes() & NAV_JUMP)    ? "JUMP "    : "",
						(area->GetAttributes() & NAV_PRECISE) ? "PRECISE " : "",
						(area->GetAttributes() & NAV_NO_JUMP) ? "NO_JUMP " : "");
				}

				Q_snprintf(buffer, sizeof(buffer), "Area #%d %s %s\n", area->GetID(), locName, attrib);
				UTIL_SayTextAll(buffer, pLocalPlayer);

				// do "place painting"
				if (isPlacePainting)
				{
					if (area->GetPlace() != TheCSBots()->GetNavPlace())
					{
						area->SetPlace(TheCSBots()->GetNavPlace());
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/lightswitch2.wav", 1, ATTN_NORM, 0, 100);
					}
				}
			}

			if (isPlaceMode)
			{
				area->DrawConnectedAreas();

				switch (cmd)
				{
				case EDIT_TOGGLE_PLACE_MODE:
					EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
					isPlaceMode = false;
					return;

				case EDIT_TOGGLE_PLACE_PAINTING:
				{
					if (isPlacePainting)
					{
						isPlacePainting = false;
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/latchunlocked2.wav", 1, ATTN_NORM, 0, 100);
					}
					else
					{
						isPlacePainting = true;
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/lightswitch2.wav", 1, ATTN_NORM, 0, 100);

						// paint the initial area
						area->SetPlace(TheCSBots()->GetNavPlace());
					}
					break;
				}
				case EDIT_PLACE_PICK:
					EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
					TheCSBots()->SetNavPlace(area->GetPlace());
					break;
				case EDIT_PLACE_FLOODFILL:
					PlaceFloodFillFunctor pff(area);
					SearchSurroundingAreas(area, area->GetCenter(), pff);
					break;
				}
			}
			else	// normal editing mode
			{
				// draw the "marked" area
				if (markedArea && doDraw)
				{
					markedArea->Draw(0, 255, 255, beamTime);
					if (markedCorner != NUM_CORNERS)
						markedArea->DrawMarkedCorner(markedCorner, 0, 0, 255, beamTime);

					if (cv_bot_traceview.value == 11)
					{
						// draw areas connected to the marked area
						markedArea->DrawConnectedAreas();
					}
				}

				// draw split line
				const Extent *extent = area->GetExtent();

				float yaw = pLocalPlayer->pev->v_angle.y;
				while (yaw > 360.0f)
					yaw -= 360.0f;

				while (yaw < 0.0f)
					yaw += 360.0f;

				float splitEdge;
				bool splitAlongX;

				if ((yaw < 45.0f || yaw > 315.0f) || (yaw > 135.0f && yaw < 225.0f))
				{
					splitEdge = GenerationStepSize * int(result.vecEndPos.y / GenerationStepSize);

					from.x = extent->lo.x;
					from.y = splitEdge;
					from.z = area->GetZ(&from) + cv_bot_nav_zdraw.value;

					to.x = extent->hi.x;
					to.y = splitEdge;
					to.z = area->GetZ(&to) + cv_bot_nav_zdraw.value;

					splitAlongX = true;
				}
				else
				{
					splitEdge = GenerationStepSize * int(result.vecEndPos.x / GenerationStepSize);

					from.x = splitEdge;
					from.y = extent->lo.y;
					from.z = area->GetZ(&from) + cv_bot_nav_zdraw.value;

					to.x = splitEdge;
					to.y = extent->hi.y;
					to.z = area->GetZ(&to) + cv_bot_nav_zdraw.value;

					splitAlongX = false;
				}

				if (doDraw)
					UTIL_DrawBeamPoints(from, to, beamTime, 255, 255, 255);

				// draw the area we are pointing at and all connected areas
				if (doDraw && (cv_bot_traceview.value != 11 || !markedArea))
					area->DrawConnectedAreas();

				// do area-dependant edit commands, if any
				switch (cmd)
				{
					case EDIT_TOGGLE_PLACE_MODE:
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
						isPlaceMode = true;
						return;
					case EDIT_DELETE:
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
						TheNavAreaList.remove(area);
						delete area;
						return;
					case EDIT_ATTRIB_CROUCH:
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/bell1.wav", 1, ATTN_NORM, 0, 100);
						area->SetAttributes(area->GetAttributes() ^ NAV_CROUCH);
						break;
					case EDIT_ATTRIB_JUMP:
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/bell1.wav", 1, ATTN_NORM, 0, 100);
						area->SetAttributes(area->GetAttributes() ^ NAV_JUMP);
						break;
					case EDIT_ATTRIB_PRECISE:
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/bell1.wav", 1, ATTN_NORM, 0, 100);
						area->SetAttributes(area->GetAttributes() ^ NAV_PRECISE);
						break;
					case EDIT_ATTRIB_NO_JUMP:
						EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/bell1.wav", 1, ATTN_NORM, 0, 100);
						area->SetAttributes(area->GetAttributes() ^ NAV_NO_JUMP);
						break;
					case EDIT_SPLIT:
						if (area->SplitEdit(splitAlongX, splitEdge))
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "weapons/knife_hitwall1.wav", 1, ATTN_NORM, 0, 100);
						else
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						break;
					case EDIT_MERGE:
						if (markedArea)
						{
							if (area->MergeEdit(markedArea))
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
							else
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						else
						{
							HintMessageToAllPlayers("To merge, mark an area, highlight a second area, then invoke the merge command");
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
					case EDIT_MARK:
						if (markedArea)
						{
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
							markedArea = nullptr;
						}
						else
						{
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip2.wav", 1, ATTN_NORM, 0, 100);
							markedArea = area;

							int connected = 0;
							connected += markedArea->GetAdjacentCount(NORTH);
							connected += markedArea->GetAdjacentCount(SOUTH);
							connected += markedArea->GetAdjacentCount(EAST);
							connected += markedArea->GetAdjacentCount(WEST);

							char buffer[190];
							Q_snprintf(buffer, sizeof(buffer), "Marked Area is connected to %d other Areas\n", connected);
							UTIL_SayTextAll(buffer, pLocalPlayer);
						}
						break;
					case EDIT_MARK_UNNAMED:
						if (markedArea)
						{
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
							markedArea = nullptr;
						}
						else
						{
							markedArea = nullptr;
							for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
							{
								CNavArea *area = (*iter);
								if (area->GetPlace() == 0)
								{
									markedArea = area;
									break;
								}
							}
							if (!markedArea)
							{
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
							}
							else
							{
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip2.wav", 1, ATTN_NORM, 0, 100);

								int connected = 0;
								connected += markedArea->GetAdjacentCount(NORTH);
								connected += markedArea->GetAdjacentCount(SOUTH);
								connected += markedArea->GetAdjacentCount(EAST);
								connected += markedArea->GetAdjacentCount(WEST);

								int totalUnnamedAreas = 0;
								for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
								{
									CNavArea *area = (*iter);
									if (area->GetPlace() == 0)
									{
										totalUnnamedAreas++;
									}
								}

								char buffer[190];
								Q_snprintf(buffer, sizeof(buffer), "Marked Area is connected to %d other Areas - there are %d total unnamed areas\n", connected, totalUnnamedAreas);
								UTIL_SayTextAll(buffer, pLocalPlayer);
							}
						}
						break;
					case EDIT_WARP_TO_MARK:
						if (markedArea)
						{
							if (pLocalPlayer->m_iTeam == SPECTATOR && pLocalPlayer->pev->iuser1 == OBS_ROAMING)
							{
								Vector origin = *markedArea->GetCenter() + Vector(0, 0, 0.75f * HumanHeight);
								UTIL_SetOrigin(pLocalPlayer->pev, origin);
							}
						}
						else
						{
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
					case EDIT_CONNECT:
						if (markedArea)
						{
							NavDirType dir = markedArea->ComputeDirection(&cursor);
							if (dir == NUM_DIRECTIONS)
							{
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
							}
							else
							{
								markedArea->ConnectTo(area, dir);
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
							}
						}
						else
						{
							HintMessageToAllPlayers("To connect areas, mark an area, highlight a second area, then invoke the connect command. Make sure the cursor is directly north, south, east, or west of the marked area.");
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
					case EDIT_DISCONNECT:
						if (markedArea)
						{
							markedArea->Disconnect(area);
							area->Disconnect(markedArea);
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
						}
						else
						{
							HintMessageToAllPlayers("To disconnect areas, mark an area, highlight a second area, then invoke the disconnect command. This will remove all connections between the two areas.");
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
					case EDIT_SPLICE:
						if (markedArea)
						{
							if (area->SpliceEdit(markedArea))
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
							else
								EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						else
						{
							HintMessageToAllPlayers("To splice, mark an area, highlight a second area, then invoke the splice command to create an area between them");
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
					case EDIT_SELECT_CORNER:
						if (markedArea)
						{
							int corner = (markedCorner + 1) % (NUM_CORNERS + 1);
							markedCorner = (NavCornerType)corner;
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
						}
						else
						{
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
					case EDIT_RAISE_CORNER:
						if (markedArea)
						{
							markedArea->RaiseCorner(markedCorner, 1);
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
						}
						else
						{
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
					case EDIT_LOWER_CORNER:
						if (markedArea)
						{
							markedArea->RaiseCorner(markedCorner, -1);
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);
						}
						else
						{
							EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
						}
						break;
				}
			}
		}

		// do area-independant edit commands, if any
		switch (cmd)
		{
			case EDIT_BEGIN_AREA:
			{
				if (isCreatingNavArea)
				{
					isCreatingNavArea = false;
					EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
				}
				else
				{
					EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip2.wav", 1, ATTN_NORM, 0, 100);
					isCreatingNavArea = true;
					isAnchored = false;
				}
				break;
			}
			case EDIT_END_AREA:
			{
				if (isCreatingNavArea)
				{
					// create the new nav area
					CNavArea *newArea = new CNavArea(&anchor, &cursor);

#ifdef REGAMEDLL_FIXES
					if (TheNavAreaList.empty())
					{
						// first add the areas to the grid
						TheNavAreaGrid.Initialize(8192.0f, -8192.0f, 8192.0f, -8192.0f);
					}
#endif

					TheNavAreaList.push_back(newArea);
					TheNavAreaGrid.AddNavArea(newArea);

					EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/blip1.wav", 1, ATTN_NORM, 0, 100);

					// if we have a marked area, inter-connect the two
					if (markedArea)
					{
						const Extent *extent = markedArea->GetExtent();

						if (anchor.x > extent->hi.x && cursor.x > extent->hi.x)
						{
							markedArea->ConnectTo(newArea, EAST);
							newArea->ConnectTo(markedArea, WEST);
						}
						else if (anchor.x < extent->lo.x && cursor.x < extent->lo.x)
						{
							markedArea->ConnectTo(newArea, WEST);
							newArea->ConnectTo(markedArea, EAST);
						}
						else if (anchor.y > extent->hi.y && cursor.y > extent->hi.y)
						{
							markedArea->ConnectTo(newArea, SOUTH);
							newArea->ConnectTo(markedArea, NORTH);
						}
						else if (anchor.y < extent->lo.y && cursor.y < extent->lo.y)
						{
							markedArea->ConnectTo(newArea, NORTH);
							newArea->ConnectTo(markedArea, SOUTH);
						}

						// propogate marked area to new area
						markedArea = newArea;
					}

					isCreatingNavArea = false;
				}
				else
				{
					EMIT_SOUND_DYN(ENT(pLocalPlayer->pev), CHAN_ITEM, "buttons/button11.wav", 1, ATTN_NORM, 0, 100);
				}

				break;
			}
		}
	}

	// if our last command was not mark (or no command), clear the mark area
	if (cmd != EDIT_MARK && cmd != EDIT_BEGIN_AREA && cmd != EDIT_END_AREA &&
		cmd != EDIT_MARK_UNNAMED && cmd != EDIT_WARP_TO_MARK &&
		cmd != EDIT_SELECT_CORNER && cmd != EDIT_RAISE_CORNER && cmd != EDIT_LOWER_CORNER &&
		cmd != EDIT_NONE)
		markedArea = nullptr;

	// if our last command was not affecting the corner, clear the corner selection
	if (cmd != EDIT_SELECT_CORNER && cmd != EDIT_RAISE_CORNER && cmd != EDIT_LOWER_CORNER && cmd != EDIT_NONE)
		markedCorner = NUM_CORNERS;

	if (isCreatingNavArea && cmd != EDIT_BEGIN_AREA && cmd != EDIT_END_AREA && cmd != EDIT_NONE)
		isCreatingNavArea = false;
}

bool GetGroundHeight(const Vector *pos, float *height, Vector *normal)
{
	Vector to;
	to.x = pos->x;
	to.y = pos->y;
	to.z = pos->z - 9999.9f;

	float offset;
	Vector from;
	TraceResult result;
	edict_t *ignore = nullptr;
	float ground = 0.0f;

	const float maxOffset = 100.0f;
	const float inc = 10.0f;

	const int MAX_GROUND_LAYERS = 16;

	struct GroundLayerInfo
	{
		float ground;
		Vector normal;

	} layer[MAX_GROUND_LAYERS];

	int layerCount = 0;
	for (offset = 1.0f; offset < maxOffset; offset += inc)
	{
		from = *pos + Vector(0, 0, offset);

		UTIL_TraceLine(from, to, ignore_monsters, dont_ignore_glass, ignore, &result);

		if (result.flFraction != 1.0f && result.pHit)
		{
			// ignoring any entities that we can walk through
			if (IsEntityWalkable(VARS(result.pHit), WALK_THRU_DOORS | WALK_THRU_BREAKABLES))
			{
				ignore = result.pHit;
				continue;
			}
		}

		if (!result.fStartSolid)
		{
			if (layerCount == 0 || result.vecEndPos.z > layer[layerCount - 1].ground)
			{
				layer[layerCount].ground = result.vecEndPos.z;
				layer[layerCount].normal = result.vecPlaneNormal;
				layerCount++;

				if (layerCount == MAX_GROUND_LAYERS)
					break;
			}
		}
	}

	if (layerCount == 0)
		return false;

	int i;
	for (i = 0; i < layerCount - 1; i++)
	{
		if (layer[i + 1].ground - layer[i].ground >= HalfHumanHeight)
			break;
	}

	*height = layer[i].ground;

	if (normal)
	{
		*normal = layer[i].normal;
	}

	return true;
}

// Return the "simple" ground height below this point in "height".
// This function is much faster, but less tolerant. Make sure the give position is "well behaved".
// Return false if position is invalid (outside of map, in a solid area, etc).
bool GetSimpleGroundHeight(const Vector *pos, float *height, Vector *normal)
{
	Vector to;
	to.x = pos->x;
	to.y = pos->y;
	to.z = pos->z - 9999.9f;

	TraceResult result;

	UTIL_TraceLine(*pos, to, ignore_monsters, dont_ignore_glass, nullptr, &result);

	if (result.fStartSolid)
		return false;

	*height = result.vecEndPos.z;

	if (normal)
	{
		*normal = result.vecPlaneNormal;
	}

	return true;
}

// Shortest path cost, paying attention to "blocked" areas
class ApproachAreaCost
{
public:
	float operator()(CNavArea *area, CNavArea *fromArea, const CNavLadder *ladder)
	{
		// check if this area is "blocked"
		for (int i = 0; i < BlockedIDCount; i++)
		{
			if (area->GetID() == BlockedID[i])
				return -1.0f;
		}

		// first area in path, no cost
		if (!fromArea)
			return 0.0f;
		else
		{
			// compute distance travelled along path so far
			float dist;
			if (ladder)
				dist = ladder->m_length;
			else
				dist = (*area->GetCenter() - *fromArea->GetCenter()).Length();

			float cost = dist + fromArea->GetCostSoFar();
			return cost;
		}
	}
};

// Can we see this area?
// For now, if we can see any corner, we can see the area
// TODO: Need to check LOS to more than the corners for large and/or long areas
inline bool IsAreaVisible(const Vector *pos, const CNavArea *area)
{
	Vector corner;
	TraceResult result;

	for (int c = 0; c < NUM_CORNERS; c++)
	{
		corner = *area->GetCorner((NavCornerType)c);
		corner.z += 0.75f * HumanHeight;

		UTIL_TraceLine(*pos, corner, ignore_monsters, nullptr, &result);
		if (result.flFraction == 1.0f)
		{
			// we can see this area
			return true;
		}
	}

	return false;
}

// Determine the set of "approach areas".
// An approach area is an area representing a place where players
// move into/out of our local neighborhood of areas.
void CNavArea::ComputeApproachAreas()
{
	m_approachCount = 0;

	if (cv_bot_quicksave.value > 0.0f)
		return;

	// use the center of the nav area as the "view" point
	Vector eye = m_center;
	if (GetGroundHeight(&eye, &eye.z) == false)
		return;

	// approximate eye position
	if (GetAttributes() & NAV_CROUCH)
		eye.z += 0.9f * HalfHumanHeight;
	else
		eye.z += 0.9f * HumanHeight;

	enum { MAX_PATH_LENGTH = 256 };
	CNavArea *path[MAX_PATH_LENGTH];

	// In order to enumerate all of the approach areas, we need to
	// run the algorithm many times, once for each "far away" area
	// and keep the union of the approach area sets
	for (auto farArea : goodSizedAreaList)
	{
		BlockedIDCount = 0;

		// if we can see 'farArea', try again - the whole point is to go "around the bend", so to speak
		if (IsAreaVisible(&eye, farArea))
			continue;

		// make first path to far away area
		ApproachAreaCost cost;
		if (NavAreaBuildPath(this, farArea, nullptr, cost) == false)
			continue;

		//
		// Keep building paths to farArea and blocking them off until we
		// cant path there any more.
		// As areas are blocked off, all exits will be enumerated.
		//
		while (m_approachCount < MAX_APPROACH_AREAS)
		{
			// find number of areas on path
			int count = 0;
			CNavArea *area;
			for (area = farArea; area; area = area->GetParent())
				count++;

			if (count > MAX_PATH_LENGTH)
				count = MAX_PATH_LENGTH;

			// build path in correct order - from eye outwards
			int i = count;
			for (area = farArea; i && area; area = area->GetParent())
			{
				path[--i] = area;
			}

			// traverse path to find first area we cannot see (skip the first area)
			for (i = 1; i < count; i++)
			{
				// if we see this area, continue on
				if (IsAreaVisible(&eye, path[i]))
					continue;

				// we can't see this area.
				// mark this area as "blocked" and unusable by subsequent approach paths
				if (BlockedIDCount == MAX_BLOCKED_AREAS)
				{
					CONSOLE_ECHO("Overflow computing approach areas for area #%d.\n", m_id);
					return;
				}

				// if the area to be blocked is actually farArea, block the one just prior
				// (blocking farArea will cause all subsequent pathfinds to fail)
				int block = (path[i] == farArea) ? i - 1 : i;

				BlockedID[BlockedIDCount++] = path[block]->GetID();

				if (block == 0)
					break;

				// store new approach area if not already in set
				int a;
				for (a = 0; a < m_approachCount; a++)
					if (m_approach[a].here.area == path[block - 1])
						break;

				if (a == m_approachCount)
				{
					m_approach[m_approachCount].prev.area = (block >= 2) ? path[block-2] : nullptr;
					m_approach[m_approachCount].here.area = path[block - 1];
					m_approach[m_approachCount].prevToHereHow = path[block - 1]->GetParentHow();
					m_approach[m_approachCount].next.area = path[block];
					m_approach[m_approachCount].hereToNextHow = path[block]->GetParentHow();
					m_approachCount++;
				}

				// we are done with this path
				break;
			}

			// find another path to 'farArea'
			ApproachAreaCost cost;
			if (NavAreaBuildPath(this, farArea, nullptr, cost) == false)
			{
				// can't find a path to 'farArea' means all exits have been already tested and blocked
				break;
			}
		}
	}
}

CNavAreaGrid::CNavAreaGrid() : m_cellSize(300.0f)
{
	m_grid = nullptr;
	Reset();
}

CNavAreaGrid::~CNavAreaGrid()
{
	delete[] m_grid;
	m_grid = nullptr;
}

// Clear the grid
void CNavAreaGrid::Reset()
{
	if (m_grid)
	{
		delete[] m_grid;
		m_grid = nullptr;
	}

	m_gridSizeX = 0;
	m_gridSizeY = 0;

	// clear the hash table
	for (int i = 0; i < HASH_TABLE_SIZE; i++)
		m_hashTable[i] = nullptr;

	m_areaCount = 0;

	// reset static vars
	EditNavAreasReset();
}

// Allocate the grid and define its extents
void CNavAreaGrid::Initialize(float minX, float maxX, float minY, float maxY)
{
	if (m_grid)
		Reset();

	m_minX = minX;
	m_minY = minY;

	m_gridSizeX = int((maxX - minX) / m_cellSize + 1);
	m_gridSizeY = int((maxY - minY) / m_cellSize + 1);

	m_grid = new NavAreaList[m_gridSizeX * m_gridSizeY];
}

// Add an area to the grid
void CNavAreaGrid::AddNavArea(CNavArea *area)
{
	// add to grid
	const Extent *extent = area->GetExtent();

	int loX = WorldToGridX(extent->lo.x);
	int loY = WorldToGridY(extent->lo.y);
	int hiX = WorldToGridX(extent->hi.x);
	int hiY = WorldToGridY(extent->hi.y);

	for (int y = loY; y <= hiY; y++)
	{
		for (int x = loX; x <= hiX; x++)
			m_grid[x + y * m_gridSizeX].push_back(const_cast<CNavArea *>(area));
	}

	// add to hash table
	int key = ComputeHashKey(area->GetID());

	if (m_hashTable[key])
	{
		// add to head of list in this slot
		area->m_prevHash = nullptr;
		area->m_nextHash = m_hashTable[key];
		m_hashTable[key]->m_prevHash = area;
		m_hashTable[key] = area;
	}
	else
	{
		// first entry in this slot
		m_hashTable[key] = area;
		area->m_nextHash = nullptr;
		area->m_prevHash = nullptr;
	}

	m_areaCount++;
}

// Remove an area from the grid
void CNavAreaGrid::RemoveNavArea(CNavArea *area)
{
	// add to grid
	const Extent *extent = area->GetExtent();

	int loX = WorldToGridX(extent->lo.x);
	int loY = WorldToGridY(extent->lo.y);
	int hiX = WorldToGridX(extent->hi.x);
	int hiY = WorldToGridY(extent->hi.y);

	for (int y = loY; y <= hiY; y++)
	{
		for (int x = loX; x <= hiX; x++)
		{
			m_grid[x + y * m_gridSizeX].remove(area);
		}
	}

	// remove from hash table
	int key = ComputeHashKey(area->GetID());

	if (area->m_prevHash)
	{
		area->m_prevHash->m_nextHash = area->m_nextHash;
	}
	else
	{
		// area was at start of list
		m_hashTable[key] = area->m_nextHash;

		if (m_hashTable[key])
			m_hashTable[key]->m_prevHash = nullptr;
	}

	if (area->m_nextHash)
	{
		area->m_nextHash->m_prevHash = area->m_prevHash;
	}

	m_areaCount--;
}

// Given a position, return the nav area that IsOverlapping and is *immediately* beneath it
CNavArea *CNavAreaGrid::GetNavArea(const Vector *pos, float beneathLimit) const
{
	if (!m_grid)
		return nullptr;

	// get list in cell that contains position
	int x = WorldToGridX(pos->x);
	int y = WorldToGridY(pos->y);
	NavAreaList *list = &m_grid[x + y * m_gridSizeX];

	// search cell list to find correct area
	CNavArea *use = nullptr;
	float useZ = -99999999.9f;
	Vector testPos = *pos + Vector(0, 0, 5);

	for (NavAreaList::iterator iter = list->begin(); iter != list->end(); iter++)
	{
		CNavArea *area = (*iter);

		// check if position is within 2D boundaries of this area
		if (area->IsOverlapping(&testPos))
		{
			// project position onto area to get Z
			float z = area->GetZ(&testPos);

			// if area is above us, skip it
			if (z > testPos.z)
				continue;

			// if area is too far below us, skip it
			if (z < pos->z - beneathLimit)
				continue;

			// if area is higher than the one we have, use this instead
			if (z > useZ)
			{
				use = area;
				useZ = z;
			}
		}
	}

	return use;
}

// Given a position in the world, return the nav area that is closest
// and at the same height, or beneath it.
// Used to find initial area if we start off of the mesh.
CNavArea *CNavAreaGrid::GetNearestNavArea(const Vector *pos, bool anyZ) const
{
	if (!m_grid)
		return nullptr;

	CNavArea *close = nullptr;
	float closeDistSq = 100000000.0f;

	// quick check
	close = GetNavArea(pos);
	if (close)
		return close;

	// ensure source position is well behaved
	Vector source;
	source.x = pos->x;
	source.y = pos->y;

	if (GetGroundHeight(pos, &source.z) == false)
		return nullptr;

	source.z += HalfHumanHeight;

	// TODO: Step incrementally using grid for speed

	// find closest nav area
	for (NavAreaList::iterator iter = TheNavAreaList.begin(); iter != TheNavAreaList.end(); iter++)
	{
		CNavArea *area = (*iter);

		Vector areaPos;
		area->GetClosestPointOnArea(&source, &areaPos);

		float distSq = (areaPos - source).LengthSquared();

		// keep the closest area
		if (distSq < closeDistSq)
		{
			// check LOS to area
			if (!anyZ)
			{
				TraceResult result;
				UTIL_TraceLine(source, areaPos + Vector(0, 0, HalfHumanHeight), ignore_monsters, ignore_glass, nullptr, &result);
				if (result.flFraction != 1.0f)
					continue;
			}

			closeDistSq = distSq;
			close = area;
		}
	}

	return close;
}

// Given an ID, return the associated area
CNavArea *CNavAreaGrid::GetNavAreaByID(unsigned int id) const
{
	if (id == 0)
		return nullptr;

	int key = ComputeHashKey(id);
	for (CNavArea *area = m_hashTable[key]; area; area = area->m_nextHash)
	{
		if (area->GetID() == id)
			return area;
	}

	return nullptr;
}

// Return radio chatter place for given coordinate
Place CNavAreaGrid::GetPlace(const Vector *pos) const
{
	CNavArea *area = GetNearestNavArea(pos, true);
	if (area)
	{
		return area->GetPlace();
	}

	return UNDEFINED_PLACE;
}