ReGameDLL_CS/regamedll/game_shared/bot/nav_path.h

/*
*
*   This program is free software; you can redistribute it and/or modify it
*   under the terms of the GNU General Public License as published by the
*   Free Software Foundation; either version 2 of the License, or (at
*   your option) any later version.
*
*   This program is distributed in the hope that it will be useful, but
*   WITHOUT ANY WARRANTY; without even the implied warranty of
*   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
*   General Public License for more details.
*
*   You should have received a copy of the GNU General Public License
*   along with this program; if not, write to the Free Software Foundation,
*   Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*
*   In addition, as a special exception, the author gives permission to
*   link the code of this program with the Half-Life Game Engine ("HL
*   Engine") and Modified Game Libraries ("MODs") developed by Valve,
*   L.L.C ("Valve").  You must obey the GNU General Public License in all
*   respects for all of the code used other than the HL Engine and MODs
*   from Valve.  If you modify this file, you may extend this exception
*   to your version of the file, but you are not obligated to do so.  If
*   you do not wish to do so, delete this exception statement from your
*   version.
*
*/

#ifndef NAV_PATH_H
#define NAV_PATH_H
#ifdef _WIN32
#pragma once
#endif

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

/* <46efa3> ../game_shared/bot/nav_path.h:22 */
class CNavPath
{
public:
	CNavPath(void)
	{
		m_segmentCount = 0;
	}

	struct PathSegment
	{
		CNavArea *area;			// the area along the path
		NavTraverseType how;		// how to enter this area from the previous one
		Vector pos;			// our movement goal position at this point in the path
		const CNavLadder *ladder;	// if "how" refers to a ladder, this is it
	};

	const PathSegment *operator[](int i)
	{
		return (i >= 0 && i < m_segmentCount) ? &m_path[i] : NULL;
	}

	int GetSegmentCount(void) const
	{
		return m_segmentCount;
	}
	const Vector &GetEndpoint(void) const
	{
		return m_path[ m_segmentCount - 1 ].pos;
	}

	bool IsAtEnd(const Vector &pos) const;					// return true if position is at the end of the path
	float GetLength(void) const;						// return length of path from start to finish
	bool GetPointAlongPath(float distAlong, Vector *pointOnPath) const;	// return point a given distance along the path - if distance is out of path bounds, point is clamped to start/end

	/// return the node index closest to the given distance along the path without going over - returns (-1) if error
	int GetSegmentIndexAlongPath(float distAlong) const;

	bool IsValid(void) const
	{
		return (m_segmentCount > 0);
	}
	void Invalidate(void)
	{
		m_segmentCount = 0;
	}

	// draw the path for debugging
	void Draw(void);

	/// compute closest point on path to given point
	bool FindClosestPointOnPath(const Vector *worldPos, int startIndex, int endIndex, Vector *close) const;

	void Optimize(void);

	// Compute shortest path from 'start' to 'goal' via A* algorithm
	template<
		typename CostFunctor
	>
	bool Compute(const Vector *start, const Vector *goal, CostFunctor &costFunc)
	{
		Invalidate();

		if (start == NULL || goal == NULL)
			return false;

		CNavArea *startArea = TheNavAreaGrid.GetNearestNavArea(start);
		if (startArea == NULL)
			return false;

		CNavArea *goalArea = TheNavAreaGrid.GetNavArea(goal);

		// if we are already in the goal area, build trivial path
		if (startArea == goalArea)
		{
			BuildTrivialPath(start, goal);
			return true;
		}

		// make sure path end position is on the ground
		Vector pathEndPosition = *goal;

		if (goalArea)
			pathEndPosition.z = goalArea->GetZ(&pathEndPosition);
		else
			GetGroundHeight(&pathEndPosition, &pathEndPosition.z);

		// Compute shortest path to goal
		CNavArea *closestArea;
		bool pathToGoalExists = NavAreaBuildPath(startArea, goalArea, goal, costFunc, &closestArea);

		CNavArea *effectiveGoalArea = (pathToGoalExists) ? goalArea : closestArea;

		// Build path by following parent links
		int count = 0;
		CNavArea *area;
		for (area = effectiveGoalArea; area; area = area->GetParent())
			++count;

		// save room for endpoint
		if (count > MAX_PATH_SEGMENTS - 1)
			count = MAX_PATH_SEGMENTS - 1;

		if (count == 0)
			return false;

		if (count == 1)
		{
			BuildTrivialPath(start, goal);
			return true;
		}

		m_segmentCount = count;
		for (area = effectiveGoalArea; count && area; area = area->GetParent())
		{
			--count;
			m_path[ count ].area = area;
			m_path[ count ].how = area->GetParentHow();
		}

		// compute path positions
		if (ComputePathPositions() == false)
		{
			Invalidate();
			return false;
		}

		// append path end position
		m_path[ m_segmentCount ].area = effectiveGoalArea;
		m_path[ m_segmentCount ].pos = pathEndPosition;
		m_path[ m_segmentCount ].ladder = NULL;
		m_path[ m_segmentCount ].how = NUM_TRAVERSE_TYPES;
		++m_segmentCount;

		return true;
	}

private:
	enum { MAX_PATH_SEGMENTS = 256 };

	PathSegment m_path[ MAX_PATH_SEGMENTS ];
	int m_segmentCount;

	// determine actual path positions 
	bool ComputePathPositions(void);

	// utility function for when start and goal are in the same area
	bool BuildTrivialPath(const Vector *start, const Vector *goal);

	// used by Optimize()
	int FindNextOccludedNode(int anchor);

};/* size: 6148, cachelines: 97, members: 2 */


// Monitor improv movement and determine if it becomes stuck
class CStuckMonitor
{
public:
	CStuckMonitor(void);

	void Reset(void);
	void Update(CImprov *improv);
	bool IsStuck(void) const
	{
		return m_isStuck;
	}
	float GetDuration(void) const
	{
		return m_isStuck ? m_stuckTimer.GetElapsedTime() : 0.0f;
	}

private:
	bool m_isStuck;			// if true, we are stuck
	Vector m_stuckSpot;		// the location where we became stuck
	IntervalTimer m_stuckTimer;	// how long we have been stuck

	enum { MAX_VEL_SAMPLES = 5 };

	float m_avgVel[ MAX_VEL_SAMPLES ];
	int m_avgVelIndex;
	int m_avgVelCount;
	Vector m_lastCentroid;
	float m_lastTime;

};/* size: 64, cachelines: 1, members: 8 */

// The CNavPathFollower class implements path following behavior
class CNavPathFollower
{
public:
	CNavPathFollower(void);

	void SetImprov(CImprov *improv)
	{
		m_improv = improv;
	}
	void SetPath(CNavPath *path)
	{
		m_path = path;
	}
	void Reset(void);

	// move improv along path
	void Update(float deltaT, bool avoidObstacles = true);

	// turn debugging on/off
	void Debug(bool status)
	{
		m_isDebug = status;
	}
	// return true if improv is stuck 
	bool IsStuck(void) const
	{
		return m_stuckMonitor.IsStuck();
	}
	void ResetStuck(void)
	{
		m_stuckMonitor.Reset();
	}
	// return how long we've been stuck
	float GetStuckDuration(void) const
	{
		return m_stuckMonitor.GetDuration();
	}
	// adjust goal position if "feelers" are touched
	void FeelerReflexAdjustment(Vector *goalPosition, float height = -1.0f);

private:
	int FindOurPositionOnPath(Vector *close, bool local) const;		// return the closest point to our current position on current path
	int FindPathPoint(float aheadRange, Vector *point, int *prevIndex);	// compute a point a fixed distance ahead along our path.

	CImprov *m_improv;						// who is doing the path following
	CNavPath *m_path;						// the path being followed
	int m_segmentIndex;						// the point on the path the improv is moving towards
	int m_behindIndex;						// index of the node on the path just behind us
	Vector m_goal;							// last computed follow goal
	bool m_isLadderStarted;
	bool m_isDebug;
	CStuckMonitor m_stuckMonitor;

};/* size: 96, cachelines: 2, members: 8 */

#endif // NAV_PATH_H