|
|
//========= Copyright � 1996-2005, Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//
//=============================================================================//
// nav_node.h
// Navigation Nodes are used when generating a Navigation Mesh by point sampling the map
// Author: Michael S. Booth ([email protected]), January 2003
#ifndef _NAV_NODE_H_
#define _NAV_NODE_H_
#include "nav.h"
// If DEBUG_NAV_NODES is true, nav_show_nodes controls drawing node positions, and
// nav_show_node_id allows you to show the IDs of nodes that didn't get used to create areas.
#define DEBUG_NAV_NODES 1
//--------------------------------------------------------------------------------------------------------------
/**
* Navigation Nodes. * These Nodes encapsulate world locations, and ways to get from one location to an adjacent one. * Note that these links are not necessarily commutative (falling off of a ledge, for example). */class CNavNode{public: CNavNode( const Vector &pos, const Vector &normal, CNavNode *parent, bool onDisplacement ); ~CNavNode();
static CNavNode *GetNode( const Vector &pos ); ///< return navigation node at the position, or NULL if none exists
static void CleanupGeneration();
CNavNode *GetConnectedNode( NavDirType dir ) const; ///< get navigation node connected in given direction, or NULL if cant go that way
const Vector *GetPosition( void ) const; const Vector *GetNormal( void ) const { return &m_normal; } unsigned int GetID( void ) const { return m_id; }
static CNavNode *GetFirst( void ) { return m_list; } static unsigned int GetListLength( void ) { return m_listLength; } CNavNode *GetNext( void ) { return m_next; }
void Draw( void );
void ConnectTo( CNavNode *node, NavDirType dir, float obstacleHeight, float flObstacleStartDist, float flObstacleEndDist ); ///< create a connection FROM this node TO the given node, in the given direction
CNavNode *GetParent( void ) const;
void MarkAsVisited( NavDirType dir ); ///< mark the given direction as having been visited
BOOL HasVisited( NavDirType dir ); ///< return TRUE if the given direction has already been searched
BOOL IsBiLinked( NavDirType dir ) const; ///< node is bidirectionally linked to another node in the given direction
BOOL IsClosedCell( void ) const; ///< node is the NW corner of a bi-linked quad of nodes
void Cover( void ) { m_isCovered = true; } ///< @todo Should pass in area that is covering
BOOL IsCovered( void ) const { return m_isCovered; } ///< return true if this node has been covered by an area
void AssignArea( CNavArea *area ); ///< assign the given area to this node
CNavArea *GetArea( void ) const; ///< return associated area
void SetAttributes( int bits ) { m_attributeFlags = bits; } int GetAttributes( void ) const { return m_attributeFlags; } float GetGroundHeightAboveNode( NavCornerType cornerType ) const; ///< return ground height above node in given corner direction (NUM_CORNERS for highest in any direction)
bool IsBlockedInAnyDirection( void) const; ///< return true if the node is blocked in any direction
bool IsOnDisplacement( void ) const { return m_isOnDisplacement; }
private: CNavNode() {} // constructor used only for hash lookup
friend class CNavMesh;
bool TestForCrouchArea( NavCornerType cornerNum, const Vector& mins, const Vector& maxs, float *groundHeightAboveNode ); void CheckCrouch( void );
Vector m_pos; ///< position of this node in the world
Vector m_normal; ///< surface normal at this location
CNavNode *m_to[ NUM_DIRECTIONS ]; ///< links to north, south, east, and west. NULL if no link
float m_obstacleHeight[ NUM_DIRECTIONS ]; ///< obstacle height (delta from nav node z position) that must be climbed to reach next node in this direction
float m_obstacleStartDist[ NUM_DIRECTIONS ]; ///< distance along this direction to reach the beginning of the obstacle
float m_obstacleEndDist[ NUM_DIRECTIONS ]; ///< distance along this direction to reach the end of the obstacle
unsigned int m_id; ///< unique ID of this node
int m_attributeFlags; ///< set of attribute bit flags (see NavAttributeType)
static CNavNode *m_list; ///< the master list of all nodes for this map
static unsigned int m_listLength; static unsigned int m_nextID; CNavNode *m_next; ///< next link in master list
CNavNode *m_nextAtXY; ///< next link at a particular position
// below are only needed when generating
unsigned char m_visited; ///< flags for automatic node generation. If direction bit is clear, that direction hasn't been explored yet.
CNavNode *m_parent; ///< the node prior to this in the search, which we pop back to when this node's search is done (a stack)
bool m_isCovered; ///< true when this node is "covered" by a CNavArea
CNavArea *m_area; ///< the area this node is contained within
bool m_isBlocked[ NUM_CORNERS ]; bool m_crouch[ NUM_CORNERS ]; float m_groundHeightAboveNode[ NUM_CORNERS ]; bool m_isOnDisplacement;};
//--------------------------------------------------------------------------------------------------------------
//
// Inlines
//
inline CNavNode *CNavNode::GetConnectedNode( NavDirType dir ) const{ return m_to[ dir ];}
inline const Vector *CNavNode::GetPosition( void ) const{ return &m_pos;}
inline CNavNode *CNavNode::GetParent( void ) const{ return m_parent;}
inline void CNavNode::MarkAsVisited( NavDirType dir ){ m_visited |= (1 << dir);}
inline BOOL CNavNode::HasVisited( NavDirType dir ){ if (m_visited & (1 << dir)) return true;
return false;}
inline void CNavNode::AssignArea( CNavArea *area ){ m_area = area;}
inline CNavArea *CNavNode::GetArea( void ) const{ return m_area;}
inline bool CNavNode::IsBlockedInAnyDirection( void ) const{ return m_isBlocked[ SOUTH_EAST ] || m_isBlocked[ SOUTH_WEST ] || m_isBlocked[ NORTH_EAST ] || m_isBlocked[ NORTH_WEST ];}
#endif // _NAV_NODE_H_
|
