markmental/yapb-noob-edition
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

nav: return to everything visible in finding the nearest node. (resolve previously solved problem #432)

Browse source 
nav: checks whether the robot is blocked in the direction of movement. (excluded in hostages)
This commit is contained in:
commandcobra7 2024-06-06 15:31:07 +03:00 • committed by jeefo
commit ece83734a1
6 changed files with 113 additions and 85 deletions
Download patch file Download diff file Expand all files Collapse all files

112
src/navigate.cpp
View file

@ -370,10 +370,6 @@ void Bot::postProcessGoals (const IntArray &goals, int result[]) {
return true;
}
if (!isOccupiedNode (index)) {
return true;
}
// check if historical goal
for (const auto &hg : m_goalHist) {
if (hg == index) {
@ -874,7 +870,7 @@ void Bot::checkFall () {
fixFall = true;
}
else if (m_currentNodeIndex != kInvalidNodeIndex) {
if (pev->origin.distanceSq (m_checkFallPoint[1]) <= cr::sqrf (32.0f) && pev->origin.z + 16.0f < m_checkFallPoint[1].z) {
if (pev->origin.distanceSq (m_checkFallPoint[1]) <= cr::sqrf (32.0f) && pev->origin.z + 64.0f < m_checkFallPoint[1].z) {
fixFall = true;
}
}
@ -1046,12 +1042,18 @@ bool Bot::updateNavigation () {
}
if (m_pathFlags & NodeFlag::Ladder) {
constexpr auto kLadderOffset = Vector (0.0f, 0.0f, 36.0f);
const auto prevNodeIndex = m_previousNodes[0];
const float ladderDistance = pev->origin.distance (m_pathOrigin);
if (m_pathOrigin.z >= pev->origin.z + 16.0f) {
constexpr auto kLadderOffset = Vector (0.0f, 0.0f, 36.0f);
m_pathOrigin = m_path->origin + kLadderOffset;
if (graph.exists (prevNodeIndex) && !(graph[prevNodeIndex].flags & NodeFlag::Ladder)) {
if (m_pathOrigin.z >= pev->origin.z + 16.0f) {
m_pathOrigin = m_path->origin + kLadderOffset;
}
else if (m_pathOrigin.z < pev->origin.z - 16.0f) {
m_pathOrigin = m_path->origin - kLadderOffset;
}
}
else if (m_pathOrigin.z < pev->origin.z + 16.0f && !isOnLadder () && isOnFloor () && !isDucking ()) {
m_moveSpeed = ladderDistance;
@ -1063,7 +1065,6 @@ bool Bot::updateNavigation () {
m_moveSpeed = pev->maxspeed;
}
}
const auto prevNodeIndex = m_previousNodes[0];
// do a precise movement when very near
if (graph.exists (prevNodeIndex) && !(graph[prevNodeIndex].flags & NodeFlag::Ladder) && ladderDistance < 64.0f) {
@ -1082,39 +1083,32 @@ bool Bot::updateNavigation () {
for (const auto &client : util.getClients ()) {
if (!(client.flags & ClientFlags::Used)
|| !(client.flags & ClientFlags::Alive)
|| (client.ent->v.movetype != MOVETYPE_FLY)
|| client.team != m_team
|| client.ent == ent ()) {
continue;
}
TraceResult tr {};
if (client.ent->v.origin.distanceSq (m_pathOrigin) > cr::sqrf (64.0f)) {
continue;
}
bool foundGround = false;
int previousNode = 0;
// more than likely someone is already using our ladder...
if (client.ent->v.origin.distanceSq (m_path->origin) < cr::sqrf (48.0f)) {
game.testHull (getEyesPos (), m_pathOrigin, TraceIgnore::Monsters, isDucking () ? head_hull : human_hull, ent (), &tr);
// someone is above or below us and is using the ladder already
if (cr::abs (pev->origin.z - client.ent->v.origin.z) > 15.0f && (client.ent->v.movetype == MOVETYPE_FLY)) {
const auto numPreviousNode = rg (0, 2);
// someone is above or below us and is using the ladder already
if (tr.pHit == client.ent
&& cr::abs (pev->origin.z - client.ent->v.origin.z) > 15.0f
&& (client.ent->v.movetype == MOVETYPE_FLY)) {
const auto numPreviousNode = rg (0, 2);
for (int i = 0; i < numPreviousNode; ++i) {
if (graph.exists (m_previousNodes[i]) && (graph[m_previousNodes[i]].flags & NodeFlag::Ladder)) {
foundGround = true;
previousNode = m_previousNodes[i];
break;
}
}
if (foundGround) {
changeNodeIndex (m_previousNodes[0]);
findPath (m_previousNodes[0], previousNode, m_pathType);
for (int i = 0; i < numPreviousNode; ++i) {
if (graph.exists (prevNodeIndex) && (graph[prevNodeIndex].flags & NodeFlag::Ladder)) {
foundGround = true;
previousNode = m_previousNodes[i];
break;
}
}
if (foundGround) {
findPath (m_previousNodes[0], previousNode, m_pathType);
}
}
}
}
@ -1252,11 +1246,13 @@ bool Bot::updateNavigation () {
}
// needs precise placement - check if we get past the point
if (desiredDistanceSq < cr::sqrf (22.0f)
&& nodeDistanceSq < cr::sqrf (30.0f)
&& m_pathOrigin.distanceSq (pev->origin + pev->velocity * m_frameInterval) >= nodeDistanceSq) {
desiredDistanceSq = nodeDistanceSq + 1.0f;
if (desiredDistanceSq < cr::sqrf (22.0f) && nodeDistanceSq < cr::sqrf (30.0f)) {
if (m_pathOrigin.distanceSq (pev->origin + pev->velocity * m_frameInterval) >= nodeDistanceSq) {
desiredDistanceSq = nodeDistanceSq + 1.0f;
}
if (m_pathOrigin.distanceSq (pev->origin + pev->velocity * m_frameInterval) <= desiredDistanceSq) {
desiredDistanceSq = nodeDistanceSq + 1.0f;
}
}
// this allows us to prevent stupid bot behavior when he reaches almost end point of this route, but some one (other bot eg)
@ -1720,6 +1716,7 @@ bool Bot::findNextBestNode () {
const auto &origin = pev->origin + pev->velocity * m_frameInterval;
const auto &bucket = graph.getNodesInBucket (origin);
const auto &numToSkip = cr::clamp (rg (0, 2), 0, static_cast <int> (bucket.length () / 2));
for (const auto &i : bucket) {
const auto &path = graph[i];
@ -1729,9 +1726,17 @@ bool Bot::findNextBestNode () {
}
bool skip = !!(path.number == m_currentNodeIndex);
// skip the current node, if any
if (skip && numToSkip > 0) {
continue;
}
// skip current or recent previous node
if (path.number == m_previousNodes[0]) {
skip = true;
for (int j = 0; j < numToSkip; ++j) {
if (path.number == m_previousNodes[j]) {
skip = true;
break;
}
}
// skip node from recent list
@ -2474,8 +2479,7 @@ bool Bot::advanceMovement () {
bool willJump = false;
float jumpDistanceSq = 0.0f;
Vector src {};
Vector dst {};
Vector src {}, dst {};
// try to find out about future connection flags
if (m_pathWalk.hasNext ()) {
@ -2536,16 +2540,17 @@ bool Bot::advanceMovement () {
void Bot::setPathOrigin () {
constexpr int kMaxAlternatives = 5;
const float radius = m_path->radius;
// if node radius non zero vary origin a bit depending on the body angles
if (m_path->radius > 0.0f) {
if (radius > 0.0f) {
int nearestIndex = kInvalidNodeIndex;
if (!m_pathWalk.empty () && m_pathWalk.hasNext ()) {
Vector orgs[kMaxAlternatives] {};
for (int i = 0; i < kMaxAlternatives; ++i) {
orgs[i] = m_pathOrigin + Vector (rg (-m_path->radius, m_path->radius), rg (-m_path->radius, m_path->radius), 0.0f);
orgs[i] = m_pathOrigin + Vector (rg (-radius, radius), rg (-radius, radius), 0.0f);
}
float nearestDistanceSq = kInfiniteDistance;
@ -2565,7 +2570,7 @@ void Bot::setPathOrigin () {
}
if (nearestIndex == kInvalidNodeIndex) {
m_pathOrigin += Vector (pev->angles.x, cr::wrapAngle (pev->angles.y + rg (-90.0f, 90.0f)), 0.0f).forward () * rg (0.0f, m_path->radius);
m_pathOrigin += Vector (pev->angles.x, cr::wrapAngle (pev->angles.y + rg (-90.0f, 90.0f)), 0.0f).forward () * rg (0.0f, radius);
}
}
@ -2599,12 +2604,17 @@ bool Bot::isBlockedForward (const Vector &normal, TraceResult *tr) {
return result->flFraction < 1.0f && !util.isDoorEntity (result->pHit);
};
auto checkHostage = [&] (TraceResult *result) {
return result->flFraction < 1.0f && m_team == Team::Terrorist && !util.isHostageEntity (result->pHit);
};
// trace from the bot's eyes straight forward...
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (tr->flFraction < 1.0f) {
if (game.mapIs (MapFlags::HasDoors) && util.isDoorEntity (tr->pHit)) {
if ((game.mapIs (MapFlags::HasDoors) && util.isDoorEntity (tr->pHit))
|| (m_team == Team::CT && util.isHostageEntity (tr->pHit))) {
return false;
}
return true; // bot's head will hit something
@ -2622,7 +2632,7 @@ bool Bot::isBlockedForward (const Vector &normal, TraceResult *tr) {
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
if (checkDoor (tr) || checkHostage (tr)) {
return true; // bot's body will hit something
}
@ -2634,7 +2644,7 @@ bool Bot::isBlockedForward (const Vector &normal, TraceResult *tr) {
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
if (checkDoor (tr) || checkHostage (tr)) {
return true; // bot's body will hit something
}
@ -2646,7 +2656,7 @@ bool Bot::isBlockedForward (const Vector &normal, TraceResult *tr) {
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
if (checkDoor (tr) || checkHostage (tr)) {
return true; // bot's body will hit something
}
src = pev->origin;
@ -2655,7 +2665,7 @@ bool Bot::isBlockedForward (const Vector &normal, TraceResult *tr) {
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
if (checkDoor (tr) || checkHostage (tr)) {
return true; // bot's body will hit something
}
}
@ -2671,7 +2681,7 @@ bool Bot::isBlockedForward (const Vector &normal, TraceResult *tr) {
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
if (checkDoor (tr) || checkHostage (tr)) {
return true; // bot's body will hit something
}
@ -2682,7 +2692,7 @@ bool Bot::isBlockedForward (const Vector &normal, TraceResult *tr) {
game.testLine (src, forward, TraceIgnore::Monsters, ent (), tr);
// check if the trace hit something...
if (checkDoor (tr)) {
if (checkDoor (tr) || checkHostage (tr)) {
return true; // bot's body will hit something
}
}