231 lines
6.9 KiB
C++
231 lines
6.9 KiB
C++
// nav_path.h
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// Navigation Path encapsulation
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// Author: Michael S. Booth (mike@turtlerockstudios.com), November 2003
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#ifndef _NAV_PATH_H_
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#define _NAV_PATH_H_
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#pragma warning( disable : 4530 ) // STL uses exceptions, but we are not compiling with them - ignore warning
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#include "nav_area.h"
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#include "bot_util.h"
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class CImprov;
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//--------------------------------------------------------------------------------------------------------
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/**
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* The CNavPath class encapsulates a path through space
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*/
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class CNavPath
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{
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public:
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CNavPath( void )
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{
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m_segmentCount = 0;
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}
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struct PathSegment
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{
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CNavArea *area; ///< the area along the path
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NavTraverseType how; ///< how to enter this area from the previous one
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Vector pos; ///< our movement goal position at this point in the path
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const CNavLadder *ladder; ///< if "how" refers to a ladder, this is it
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};
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const PathSegment * operator[] ( int i ) { return (i >= 0 && i < m_segmentCount) ? &m_path[i] : NULL; }
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int GetSegmentCount( void ) const { return m_segmentCount; }
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const Vector &GetEndpoint( void ) const { return m_path[ m_segmentCount-1 ].pos; }
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bool IsAtEnd( const Vector &pos ) const; ///< return true if position is at the end of the path
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float GetLength( void ) const; ///< return length of path from start to finish
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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
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/// return the node index closest to the given distance along the path without going over - returns (-1) if error
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int GetSegmentIndexAlongPath( float distAlong ) const;
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bool IsValid( void ) const { return (m_segmentCount > 0); }
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void Invalidate( void ) { m_segmentCount = 0; }
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void Draw( void ); ///< draw the path for debugging
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/// compute closest point on path to given point
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bool FindClosestPointOnPath( const Vector *worldPos, int startIndex, int endIndex, Vector *close ) const;
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void Optimize( void );
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/**
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* Compute shortest path from 'start' to 'goal' via A* algorithm
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*/
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template< typename CostFunctor >
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bool Compute( const Vector *start, const Vector *goal, CostFunctor &costFunc )
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{
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Invalidate();
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if (start == NULL || goal == NULL)
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return false;
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CNavArea *startArea = TheNavAreaGrid.GetNearestNavArea( start );
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if (startArea == NULL)
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return false;
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CNavArea *goalArea = TheNavAreaGrid.GetNavArea( goal );
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// if we are already in the goal area, build trivial path
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if (startArea == goalArea)
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{
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BuildTrivialPath( start, goal );
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return true;
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}
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// make sure path end position is on the ground
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Vector pathEndPosition = *goal;
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if (goalArea)
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pathEndPosition.z = goalArea->GetZ( &pathEndPosition );
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else
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GetGroundHeight( &pathEndPosition, &pathEndPosition.z );
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//
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// Compute shortest path to goal
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//
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CNavArea *closestArea;
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bool pathToGoalExists = NavAreaBuildPath( startArea, goalArea, goal, costFunc, &closestArea );
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CNavArea *effectiveGoalArea = (pathToGoalExists) ? goalArea : closestArea;
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//
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// Build path by following parent links
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//
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// get count
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int count = 0;
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CNavArea *area;
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for( area = effectiveGoalArea; area; area = area->GetParent() )
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++count;
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// save room for endpoint
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if (count > MAX_PATH_SEGMENTS-1)
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count = MAX_PATH_SEGMENTS-1;
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if (count == 0)
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return false;
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if (count == 1)
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{
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BuildTrivialPath( start, goal );
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return true;
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}
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// build path
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m_segmentCount = count;
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for( area = effectiveGoalArea; count && area; area = area->GetParent() )
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{
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--count;
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m_path[ count ].area = area;
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m_path[ count ].how = area->GetParentHow();
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}
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// compute path positions
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if (ComputePathPositions() == false)
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{
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//PrintIfWatched( "Error building path\n" );
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Invalidate();
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return false;
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}
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// append path end position
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m_path[ m_segmentCount ].area = effectiveGoalArea;
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m_path[ m_segmentCount ].pos = pathEndPosition;
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m_path[ m_segmentCount ].ladder = NULL;
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m_path[ m_segmentCount ].how = NUM_TRAVERSE_TYPES;
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++m_segmentCount;
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return true;
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}
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private:
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enum { MAX_PATH_SEGMENTS = 256 };
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PathSegment m_path[ MAX_PATH_SEGMENTS ];
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int m_segmentCount;
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bool ComputePathPositions( void ); ///< determine actual path positions
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bool BuildTrivialPath( const Vector *start, const Vector *goal ); ///< utility function for when start and goal are in the same area
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int FindNextOccludedNode( int anchor ); ///< used by Optimize()
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};
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//--------------------------------------------------------------------------------------------------------
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/**
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* Monitor improv movement and determine if it becomes stuck
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*/
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class CStuckMonitor
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{
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public:
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CStuckMonitor( void );
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void Reset( void );
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void Update( CImprov *improv );
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bool IsStuck( void ) const { return m_isStuck; }
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float GetDuration( void ) const { return (m_isStuck) ? m_stuckTimer.GetElapsedTime() : 0.0f; }
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private:
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bool m_isStuck; ///< if true, we are stuck
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Vector m_stuckSpot; ///< the location where we became stuck
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IntervalTimer m_stuckTimer; ///< how long we have been stuck
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enum { MAX_VEL_SAMPLES = 5 };
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float m_avgVel[ MAX_VEL_SAMPLES ];
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int m_avgVelIndex;
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int m_avgVelCount;
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Vector m_lastCentroid;
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float m_lastTime;
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};
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//--------------------------------------------------------------------------------------------------------
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/**
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* The CNavPathFollower class implements path following behavior
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*/
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class CNavPathFollower
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{
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public:
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CNavPathFollower( void );
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void SetImprov( CImprov *improv ) { m_improv = improv; }
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void SetPath( CNavPath *path ) { m_path = path; }
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void Reset( void );
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#define DONT_AVOID_OBSTACLES false
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void Update( float deltaT, bool avoidObstacles = true ); ///< move improv along path
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void Debug( bool status ) { m_isDebug = status; } ///< turn debugging on/off
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bool IsStuck( void ) const { return m_stuckMonitor.IsStuck(); } ///< return true if improv is stuck
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void ResetStuck( void ) { m_stuckMonitor.Reset(); }
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float GetStuckDuration( void ) const { return m_stuckMonitor.GetDuration(); } ///< return how long we've been stuck
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void FeelerReflexAdjustment( Vector *goalPosition, float height = -1.0f ); ///< adjust goal position if "feelers" are touched
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private:
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CImprov *m_improv; ///< who is doing the path following
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CNavPath *m_path; ///< the path being followed
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int m_segmentIndex; ///< the point on the path the improv is moving towards
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int m_behindIndex; ///< index of the node on the path just behind us
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Vector m_goal; ///< last computed follow goal
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bool m_isLadderStarted;
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bool m_isDebug;
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int FindOurPositionOnPath( Vector *close, bool local ) const; ///< return the closest point to our current position on current path
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int FindPathPoint( float aheadRange, Vector *point, int *prevIndex ); ///< compute a point a fixed distance ahead along our path.
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CStuckMonitor m_stuckMonitor;
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};
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#endif // _NAV_PATH_H_
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