data/qcsrc/server/gamec/urrebot_nn_use.c

   1 /* --- ClampPointToSpace ---\r
   2 This function lets the bot know where to go to reach the next navnode.\r
   3 \r
   4 This is a highly optimized version, it used to also be direction based, so it\r
   5 was far more accurate. However, this accuracy was so slow, that it was a\r
   6 show-stopper. Now it merely takes the shortest path to the navnode. Due to this,\r
   7 navigation gets more and more inaccurate as the navnodes get larger.\r
   8 A regular indoor map doesn't require navnodes of the kind of size that would\r
   9 suffer from this. I hope to reinstate direction based some time in the future,\r
  10 if I get it fast enough.*/\r
  11 \r
  12 vector(vector point, entity current_space, entity goal_space) ClampPointToSpace =\r
  13 {\r
  14         local float North, South, West, East, Up, Down;\r
  15         local float f, f2;\r
  16         local vector ret_point, tvec;\r
  17         local entity e;\r
  18 \r
  19         if (!goal_space)\r
  20                 goal_space = current_space;\r
  21 \r
  22         North = min(current_space.origin_y + current_space.maxs_y, goal_space.origin_y + goal_space.maxs_y);\r
  23         South = max(current_space.origin_y + current_space.mins_y, goal_space.origin_y + goal_space.mins_y);\r
  24         East = min(current_space.origin_x + current_space.maxs_x, goal_space.origin_x + goal_space.maxs_x);\r
  25         West = max(current_space.origin_x + current_space.mins_x, goal_space.origin_x + goal_space.mins_x);\r
  26         Up = min(current_space.origin_z + current_space.maxs_z, goal_space.origin_z + goal_space.maxs_z);\r
  27         Down = max(current_space.origin_z + current_space.mins_z, goal_space.origin_z + goal_space.mins_z);\r
  28 \r
  29         f = (East + West) * 0.5;\r
  30         f2 = East - self.maxs_x;\r
  31         East = max(f, f2);\r
  32         f2 = West - self.mins_x;\r
  33         West = min(f, f2);\r
  34         f = (North + South) * 0.5;\r
  35         f2 = North - self.maxs_y;\r
  36         North = max(f, f2);\r
  37         f2 = South - self.mins_y;\r
  38         South = min(f, f2);\r
  39         f = (Up + Down) * 0.5;\r
  40         f2 = Up - self.maxs_z;\r
  41         Up = max(f, f2);\r
  42         f2 = Down - self.mins_z;\r
  43         Down = min(f, f2);\r
  44 \r
  45         ret_point_x = bound(West, point_x, East);\r
  46         ret_point_y = bound(South, point_y, North);\r
  47         ret_point_z = bound(Down, point_z, Up);\r
  48 \r
  49         e = goal_space.plane_chain;\r
  50         while (e)\r
  51         {\r
  52                 tvec = self.maxs;\r
  53                 if (e.mangle_x < 0)\r
  54                         tvec_x = self.mins_x;\r
  55                 if (e.mangle_y < 0)\r
  56                         tvec_y = self.mins_y;\r
  57                 if (e.mangle_z < 0)\r
  58                         tvec_z = self.mins_z;\r
  59                 tvec += ret_point;\r
  60                 f = tvec*e.mangle - goal_space.origin*e.mangle-e.delay;\r
  61                 if (f > 0)\r
  62                         ret_point = ret_point - f*e.mangle;\r
  63                 e = e.list;\r
  64         }\r
  65 \r
  66         return ret_point;\r
  67 };\r
  68 \r
  69 entity (entity navn, entity from, entity to) MatchOptPoint =\r
  70 {\r
  71         local float fr, go;\r
  72         local entity t;\r
  73 \r
  74         if (!from)\r
  75                 from = navn;\r
  76         if (!to)\r
  77                 to = navn;\r
  78         t = navn.optp_chain;\r
  79         while (t)\r
  80         {\r
  81                 fr = go = FALSE;\r
  82                 if (t.link0 == from)\r
  83                         fr = TRUE;\r
  84                 if (t.link1)\r
  85                 {\r
  86                         if (t.link1 == from)\r
  87                                 fr = TRUE;\r
  88                         if (t.link2)\r
  89                         {\r
  90                                 if (t.link2 == from)\r
  91                                         fr = TRUE;\r
  92                                 if (t.link3)\r
  93                                 {\r
  94                                         if (t.link3 == from)\r
  95                                                 fr = TRUE;\r
  96                                         if (t.link4)\r
  97                                         {\r
  98                                                 if (t.link4 == from)\r
  99                                                         fr = TRUE;\r
 100                                                 if (t.link5)\r
 101                                                 {\r
 102                                                         if (t.link5 == from)\r
 103                                                                 fr = TRUE;\r
 104                                                         if (t.link6)\r
 105                                                         {\r
 106                                                                 if (t.link6 == from)\r
 107                                                                         fr = TRUE;\r
 108                                                                 if (t.link7)\r
 109                                                                 {\r
 110                                                                         if (t.link7 == from)\r
 111                                                                                 fr = TRUE;\r
 112                                                                         if (t.link8)\r
 113                                                                         {\r
 114                                                                                 if (t.link8 == from)\r
 115                                                                                         fr = TRUE;\r
 116                                                                                 if (t.link9)\r
 117                                                                                 {\r
 118                                                                                         if (t.link9 == from)\r
 119                                                                                                 fr = TRUE;\r
 120                                                                                 }\r
 121                                                                         }\r
 122                                                                 }\r
 123                                                         }\r
 124                                                 }\r
 125                                         }\r
 126                                 }\r
 127                         }\r
 128                 }\r
 129                 if (t.link10 == from)\r
 130                         fr = TRUE;\r
 131                 if (t.link11)\r
 132                 {\r
 133                         if (t.link11 == from)\r
 134                                 fr = TRUE;\r
 135                         if (t.link12)\r
 136                         {\r
 137                                 if (t.link12 == from)\r
 138                                         fr = TRUE;\r
 139                                 if (t.link13)\r
 140                                 {\r
 141                                         if (t.link13 == from)\r
 142                                                 fr = TRUE;\r
 143                                         if (t.link14)\r
 144                                         {\r
 145                                                 if (t.link14 == from)\r
 146                                                         fr = TRUE;\r
 147                                                 if (t.link15)\r
 148                                                 {\r
 149                                                         if (t.link15 == from)\r
 150                                                                 fr = TRUE;\r
 151                                                         if (t.link16)\r
 152                                                         {\r
 153                                                                 if (t.link16 == from)\r
 154                                                                         fr = TRUE;\r
 155                                                                 if (t.link17)\r
 156                                                                 {\r
 157                                                                         if (t.link17 == from)\r
 158                                                                                 fr = TRUE;\r
 159                                                                         if (t.link18)\r
 160                                                                         {\r
 161                                                                                 if (t.link18 == from)\r
 162                                                                                         fr = TRUE;\r
 163                                                                                 if (t.link19)\r
 164                                                                                 {\r
 165                                                                                         if (t.link19 == from)\r
 166                                                                                                 fr = TRUE;\r
 167                                                                                 }\r
 168                                                                         }\r
 169                                                                 }\r
 170                                                         }\r
 171                                                 }\r
 172                                         }\r
 173                                 }\r
 174                         }\r
 175                 }\r
 176                 if (fr && go)\r
 177                         return t;\r
 178                 t = t.list;\r
 179         }\r
 180         return world;\r
 181 };\r
 182 \r
 183 /* --- PopRoute ---\r
 184 Traverses the bots goal-list to get a new goal to travel towards*/\r
 185 \r
 186 void() PopRoute =\r
 187 {\r
 188         self.goallist = self.goalcurrent;\r
 189         self.goalcurrent = self.link0;\r
 190         self.link0 = self.link1;\r
 191         self.link1 = self.link2;\r
 192         self.link2 = self.link3;\r
 193         self.link3 = self.link4;\r
 194         self.link4 = self.link5;\r
 195         self.link5 = self.link6;\r
 196         self.link6 = self.link7;\r
 197         self.link7 = self.link8;\r
 198         self.link8 = self.link9;\r
 199         self.link9 = self.link10;\r
 200         self.link10 = self.link11;\r
 201         self.link11 = self.link12;\r
 202         self.link12 = self.link13;\r
 203         self.link13 = self.link14;\r
 204         self.link14 = self.link15;\r
 205         self.link15 = self.link16;\r
 206         self.link16 = self.link17;\r
 207         self.link17 = self.link18;\r
 208         self.link18 = self.link19;\r
 209         self.link19 = world;\r
 210         if (cvar("urrebots_debug"))\r
 211         {\r
 212                 bprint(self.goalcurrent.classname);\r
 213                 bprint("\n");\r
 214         }\r
 215 };\r
 216 \r
 217 /* --- PushRoute ---\r
 218 Adds navnodes to the bots goal-list*/\r
 219 \r
 220 void(entity e) PushRoute =\r
 221 {\r
 222         self.link19 = self.link18;\r
 223         self.link18 = self.link17;\r
 224         self.link17 = self.link16;\r
 225         self.link16 = self.link15;\r
 226         self.link15 = self.link14;\r
 227         self.link14 = self.link13;\r
 228         self.link13 = self.link12;\r
 229         self.link12 = self.link11;\r
 230         self.link11 = self.link10;\r
 231         self.link10 = self.link9;\r
 232         self.link9 = self.link8;\r
 233         self.link8 = self.link7;\r
 234         self.link7 = self.link6;\r
 235         self.link6 = self.link5;\r
 236         self.link5 = self.link4;\r
 237         self.link4 = self.link3;\r
 238         self.link3 = self.link2;\r
 239         self.link2 = self.link1;\r
 240         self.link1 = self.link0;\r
 241         self.link0 = self.goalcurrent;\r
 242         self.goalcurrent = e;\r
 243 };\r
 244 \r
 245 /* --- ClearRoute ---\r
 246 Removes all goals from the bots goal-list*/\r
 247 \r
 248 void() ClearRoute =\r
 249 {\r
 250         self.movepoint = nullvector;\r
 251         self.goalcurrent = world;\r
 252         self.link0 = world;\r
 253         self.link1 = world;\r
 254         self.link2 = world;\r
 255         self.link3 = world;\r
 256         self.link4 = world;\r
 257         self.link5 = world;\r
 258         self.link6 = world;\r
 259         self.link7 = world;\r
 260         self.link8 = world;\r
 261         self.link9 = world;\r
 262         self.link10 = world;\r
 263         self.link11 = world;\r
 264         self.link12 = world;\r
 265         self.link13 = world;\r
 266         self.link14 = world;\r
 267         self.link15 = world;\r
 268         self.link16 = world;\r
 269         self.link17 = world;\r
 270         self.link18 = world;\r
 271         self.link19 = world;\r
 272 };\r
 273 \r
 274 /* --- FindCurrentNavNode ---\r
 275 Returns the current navnode at an origin with a size*/\r
 276 // FIXME: you can do better\r
 277 entity(vector org, vector minss, vector maxss) FindCurrentNavNode =\r
 278 {\r
 279         local float f, f2, bad;\r
 280         local vector tvec;\r
 281         local entity e, plane, best;\r
 282 \r
 283         e = navnode_chain;\r
 284         while (e)\r
 285         {\r
 286                 bad = FALSE;\r
 287                 if (boxesoverlap(org, org, e.origin + e.mins, e.origin + e.maxs))\r
 288                 {\r
 289                         plane = e.plane_chain;\r
 290                         while (plane)\r
 291                         {\r
 292                                 f = org*plane.mangle - e.origin*plane.mangle-plane.delay;\r
 293                                 if (f > 0)\r
 294                                         bad = TRUE;\r
 295                                 plane = plane.list;\r
 296                         }\r
 297                         if (!bad)\r
 298                                 return e;\r
 299                 }\r
 300                 e = e.list;\r
 301         }\r
 302         e = navnode_chain;\r
 303         while (e)\r
 304         {\r
 305                 bad = FALSE;\r
 306                 if (boxesoverlap(org + minss, org + maxss, e.origin + e.mins, e.origin + e.maxs))\r
 307                 {\r
 308                         plane = e.plane_chain;\r
 309                         while (plane)\r
 310                         {\r
 311                                 tvec = maxss;\r
 312                                 if (plane.mangle_x < 0)\r
 313                                         tvec_x = minss_x;\r
 314                                 if (plane.mangle_y < 0)\r
 315                                         tvec_y = minss_y;\r
 316                                 if (plane.mangle_z < 0)\r
 317                                         tvec_z = minss_z;\r
 318                                 tvec += org;\r
 319                                 f = tvec*plane.mangle - e.origin*plane.mangle-plane.delay;\r
 320                                 if (f > 0)\r
 321                                         bad = TRUE;\r
 322                                 plane = plane.list;\r
 323                         }\r
 324                         if (!bad)\r
 325                                 return e;\r
 326                 }\r
 327                 e = e.list;\r
 328         }\r
 329         f2 = 10000000;\r
 330         e = navnode_chain;\r
 331         while (e)\r
 332         {\r
 333                 traceline(org, e.origin, TRUE, world);\r
 334                 if (trace_fraction == 1)\r
 335                 {\r
 336                         f = vlen(org - e.origin);\r
 337                         if (f < f2)\r
 338                         {\r
 339                                 best = e;\r
 340                                 f2 = f;\r
 341                         }\r
 342                 }\r
 343                 e = e.list;\r
 344         }\r
 345         return best;\r
 346 };\r
 347 \r
 348 /* --- ToPointInSpace ---\r
 349 Returns a direction towards a point, inside a navnode\r
 350 It prefers staying inside a navnode over going towards the point\r
 351 This function exists to allow the bot to drop off a platform and run\r
 352 under it, and to avoid getting stuck in corners*/\r
 353 \r
 354 vector(entity space, vector point) ToPointInSpace =\r
 355 {\r
 356         local float f;\r
 357         vector tvec, ret_dir, intonavn, towardspoint;\r
 358         local entity e;\r
 359 \r
 360         if (self.origin_x + self.mins_x <= space.origin_x + space.mins_x)\r
 361                 intonavn = '1 0 0';\r
 362         else if (self.origin_x + self.maxs_x >= space.origin_x + space.maxs_x)\r
 363                 intonavn = '-1 0 0';\r
 364         if (self.origin_y + self.mins_y <= space.origin_y + space.mins_y)\r
 365                 intonavn += '0 1 0';\r
 366         else if (self.origin_y + self.maxs_y >= space.origin_y + space.maxs_y)\r
 367                 intonavn += '0 -1 0';\r
 368         if (self.origin_z + self.mins_z <= space.origin_z + space.mins_z)\r
 369                 intonavn += '0 0 1';\r
 370         else if (self.origin_z + self.maxs_z >= space.origin_z + space.maxs_z)\r
 371                 intonavn += '0 0 -1';\r
 372 \r
 373         e = space.plane_chain;\r
 374         while (e)\r
 375         {\r
 376                 tvec = self.maxs;\r
 377                 if (e.mangle_x < 0)\r
 378                         tvec_x = self.mins_x;\r
 379                 if (e.mangle_y < 0)\r
 380                         tvec_y = self.mins_y;\r
 381                 if (e.mangle_z < 0)\r
 382                         tvec_z = self.mins_z;\r
 383                 tvec += self.origin;\r
 384                 f = tvec*e.mangle - space.origin*e.mangle-e.delay;\r
 385                 if (f > 0)\r
 386                         intonavn = intonavn - e.mangle;\r
 387                 e = e.list;\r
 388         }\r
 389         intonavn = normalize(intonavn);\r
 390 \r
 391         towardspoint = normalize(point - self.origin);\r
 392         if (!intonavn)\r
 393                 ret_dir = towardspoint;\r
 394         else\r
 395         {\r
 396                 if ((intonavn_x < 0 && towardspoint_x < 0) || (intonavn_x > 0 && towardspoint_x > 0))\r
 397                         ret_dir_x = towardspoint_x;\r
 398                 else\r
 399                         ret_dir_x = intonavn_x;\r
 400                 if ((intonavn_y < 0 && towardspoint_y < 0) || (intonavn_y > 0 && towardspoint_y > 0))\r
 401                         ret_dir_y = towardspoint_y;\r
 402                 else\r
 403                         ret_dir_y = intonavn_y;\r
 404                 if ((intonavn_z < 0 && towardspoint_z < 0) || (intonavn_z > 0 && towardspoint_z > 0))\r
 405                         ret_dir_z = towardspoint_z;\r
 406                 else\r
 407                         ret_dir_z = intonavn_z;\r
 408         }\r
 409         return ret_dir;\r
 410 };