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// NextBotLocomotionInterface.h
// NextBot interface for movement through the environment
// Author: Michael Booth, April 2005
//========= Copyright Valve Corporation, All rights reserved. ============//
#ifndef _NEXT_BOT_LOCOMOTION_INTERFACE_H_
#define _NEXT_BOT_LOCOMOTION_INTERFACE_H_
#include "NextBotComponentInterface.h"
class Path;class INextBot;class CNavLadder;
//----------------------------------------------------------------------------------------------------------------
/**
* The interface encapsulating *how* a bot moves through the world (walking? flying? etc) */class ILocomotion : public INextBotComponent{public: ILocomotion( INextBot *bot ); virtual ~ILocomotion(); virtual void Reset( void ); // (EXTEND) reset to initial state
virtual void Update( void ); // (EXTEND) update internal state
//
// The primary locomotive method
// Depending on the physics of the bot's motion, it may not actually
// reach the given position precisely.
// The 'weight' can be used to combine multiple Approach() calls within
// a single frame into a single goal (ie: weighted average)
//
virtual void Approach( const Vector &goalPos, float goalWeight = 1.0f ); // (EXTEND) move directly towards the given position
//
// Move the bot to the precise given position immediately,
// updating internal state as needed
// Collision resolution is done to prevent interpenetration, which may prevent
// the bot from reaching the given position. If no collisions occur, the
// bot will be at the given position when this method returns.
//
virtual void DriveTo( const Vector &pos ); // (EXTEND) Move the bot to the precise given position immediately,
//
// Locomotion modifiers
//
virtual bool ClimbUpToLedge( const Vector &landingGoal, const Vector &landingForward, const CBaseEntity *obstacle ) { return true; } // initiate a jump to an adjacent high ledge, return false if climb can't start
virtual void JumpAcrossGap( const Vector &landingGoal, const Vector &landingForward ) { } // initiate a jump across an empty volume of space to far side
virtual void Jump( void ) { } // initiate a simple undirected jump in the air
virtual bool IsClimbingOrJumping( void ) const; // is jumping in any form
virtual bool IsClimbingUpToLedge( void ) const; // is climbing up to a high ledge
virtual bool IsJumpingAcrossGap( void ) const; // is jumping across a gap to the far side
virtual bool IsScrambling( void ) const; // is in the middle of a complex action (climbing a ladder, climbing a ledge, jumping, etc) that shouldn't be interrupted
virtual void Run( void ) { } // set desired movement speed to running
virtual void Walk( void ) { } // set desired movement speed to walking
virtual void Stop( void ) { } // set desired movement speed to stopped
virtual bool IsRunning( void ) const; virtual void SetDesiredSpeed( float speed ) { } // set desired speed for locomotor movement
virtual float GetDesiredSpeed( void ) const; // returns the current desired speed
virtual void SetSpeedLimit( float speed ) { } // set maximum speed bot can reach, regardless of desired speed
virtual float GetSpeedLimit( void ) const { return 1000.0f; } // get maximum speed bot can reach, regardless of desired speed
virtual bool IsOnGround( void ) const; // return true if standing on something
virtual void OnLeaveGround( CBaseEntity *ground ) { } // invoked when bot leaves ground for any reason
virtual void OnLandOnGround( CBaseEntity *ground ) { } // invoked when bot lands on the ground after being in the air
virtual CBaseEntity *GetGround( void ) const; // return the current ground entity or NULL if not on the ground
virtual const Vector &GetGroundNormal( void ) const; // surface normal of the ground we are in contact with
virtual float GetGroundSpeed( void ) const; // return current world space speed in XY plane
virtual const Vector &GetGroundMotionVector( void ) const; // return unit vector in XY plane describing our direction of motion - even if we are currently not moving
virtual void ClimbLadder( const CNavLadder *ladder, const CNavArea *dismountGoal ) { } // climb the given ladder to the top and dismount
virtual void DescendLadder( const CNavLadder *ladder, const CNavArea *dismountGoal ) { } // descend the given ladder to the bottom and dismount
virtual bool IsUsingLadder( void ) const; // we are moving to get on, ascending/descending, and/or dismounting a ladder
virtual bool IsAscendingOrDescendingLadder( void ) const; // we are actually on the ladder right now, either climbing up or down
virtual bool IsAbleToAutoCenterOnLadder( void ) const { return false; }
virtual void FaceTowards( const Vector &target ) { } // rotate body to face towards "target"
virtual void SetDesiredLean( const QAngle &lean ) { } virtual const QAngle &GetDesiredLean( void ) const;
//
// Locomotion information
//
virtual bool IsAbleToJumpAcrossGaps( void ) const; // return true if this bot can jump across gaps in its path
virtual bool IsAbleToClimb( void ) const; // return true if this bot can climb arbitrary geometry it encounters
virtual const Vector &GetFeet( void ) const; // return position of "feet" - the driving point where the bot contacts the ground
virtual float GetStepHeight( void ) const; // if delta Z is greater than this, we have to jump to get up
virtual float GetMaxJumpHeight( void ) const; // return maximum height of a jump
virtual float GetDeathDropHeight( void ) const; // distance at which we will die if we fall
virtual float GetRunSpeed( void ) const; // get maximum running speed
virtual float GetWalkSpeed( void ) const; // get maximum walking speed
virtual float GetMaxAcceleration( void ) const; // return maximum acceleration of locomotor
virtual float GetMaxDeceleration( void ) const; // return maximum deceleration of locomotor
virtual const Vector &GetVelocity( void ) const; // return current world space velocity
virtual float GetSpeed( void ) const; // return current world space speed (magnitude of velocity)
virtual const Vector &GetMotionVector( void ) const; // return unit vector describing our direction of motion - even if we are currently not moving
virtual bool IsAreaTraversable( const CNavArea *baseArea ) const; // return true if given area can be used for navigation
virtual float GetTraversableSlopeLimit( void ) const; // return Z component of unit normal of steepest traversable slope
// return true if the given entity can be ignored during locomotion
enum TraverseWhenType { IMMEDIATELY, // the entity will not block our motion - we'll carry right through
EVENTUALLY // the entity will block us until we spend effort to open/destroy it
};
/**
* Return true if this locomotor could potentially move along the line given. * If false is returned, fraction of walkable ray is returned in 'fraction' */ virtual bool IsPotentiallyTraversable( const Vector &from, const Vector &to, TraverseWhenType when = EVENTUALLY, float *fraction = NULL ) const;
/**
* Return true if there is a possible "gap" that will need to be jumped over * If true is returned, fraction of ray before gap is returned in 'fraction' */ virtual bool HasPotentialGap( const Vector &from, const Vector &to, float *fraction = NULL ) const;
// return true if there is a "gap" here when moving in the given direction
virtual bool IsGap( const Vector &pos, const Vector &forward ) const;
virtual bool IsEntityTraversable( CBaseEntity *obstacle, TraverseWhenType when = EVENTUALLY ) const;
//
// Stuck state. If the locomotor cannot make progress, it becomes "stuck" and can only leave
// this stuck state by successfully moving and becoming un-stuck.
//
virtual bool IsStuck( void ) const; // return true if bot is stuck
virtual float GetStuckDuration( void ) const; // return how long we've been stuck
virtual void ClearStuckStatus( const char *reason = "" ); // reset stuck status to un-stuck
virtual bool IsAttemptingToMove( void ) const; // return true if we have tried to Approach() or DriveTo() very recently
void TraceHull( const Vector& start, const Vector& end, const Vector &mins, const Vector &maxs, unsigned int fMask, ITraceFilter *pFilter, trace_t *pTrace ) const;
/**
* Should we collide with this entity? */ virtual bool ShouldCollideWith( const CBaseEntity *object ) const { return true; }
protected: virtual void AdjustPosture( const Vector &moveGoal ); virtual void StuckMonitor( void );
private: Vector m_motionVector; Vector m_groundMotionVector; float m_speed; float m_groundSpeed;
// stuck monitoring
bool m_isStuck; // if true, we are stuck
IntervalTimer m_stuckTimer; // how long we've been stuck
CountdownTimer m_stillStuckTimer; // for resending stuck events
Vector m_stuckPos; // where we got stuck
IntervalTimer m_moveRequestTimer;};
inline bool ILocomotion::IsAbleToJumpAcrossGaps( void ) const{ return true;}
inline bool ILocomotion::IsAbleToClimb( void ) const{ return true;}
inline bool ILocomotion::IsAttemptingToMove( void ) const{ return m_moveRequestTimer.HasStarted() && m_moveRequestTimer.GetElapsedTime() < 0.25f;}
inline bool ILocomotion::IsScrambling( void ) const{ return !IsOnGround() || IsClimbingOrJumping() || IsAscendingOrDescendingLadder();}
inline bool ILocomotion::IsClimbingOrJumping( void ) const{ return false;}
inline bool ILocomotion::IsClimbingUpToLedge( void ) const{ return false;}
inline bool ILocomotion::IsJumpingAcrossGap( void ) const{ return false;}
inline bool ILocomotion::IsRunning( void ) const{ return false;}
inline float ILocomotion::GetDesiredSpeed( void ) const{ return 0.0f;}
inline bool ILocomotion::IsOnGround( void ) const{ return false;}
inline CBaseEntity *ILocomotion::GetGround( void ) const{ return NULL;}
inline const Vector &ILocomotion::GetGroundNormal( void ) const{ return vec3_origin;}
inline float ILocomotion::GetGroundSpeed( void ) const{ return m_groundSpeed;}
inline const Vector & ILocomotion::GetGroundMotionVector( void ) const{ return m_groundMotionVector;}
inline bool ILocomotion::IsUsingLadder( void ) const{ return false;}
inline bool ILocomotion::IsAscendingOrDescendingLadder( void ) const{ return false;}
inline const QAngle &ILocomotion::GetDesiredLean( void ) const{ return vec3_angle;}
inline float ILocomotion::GetStepHeight( void ) const{ return 0.0f;}
inline float ILocomotion::GetMaxJumpHeight( void ) const{ return 0.0f;}
inline float ILocomotion::GetDeathDropHeight( void ) const{ return 0.0f;}
inline float ILocomotion::GetRunSpeed( void ) const{ return 0.0f;}
inline float ILocomotion::GetWalkSpeed( void ) const{ return 0.0f;}
inline float ILocomotion::GetMaxAcceleration( void ) const{ return 0.0f;}
inline float ILocomotion::GetMaxDeceleration( void ) const{ return 0.0f;}
inline const Vector &ILocomotion::GetVelocity( void ) const{ return vec3_origin;}
inline float ILocomotion::GetSpeed( void ) const{ return m_speed;}
inline const Vector & ILocomotion::GetMotionVector( void ) const{ return m_motionVector;}
inline float ILocomotion::GetTraversableSlopeLimit( void ) const { return 0.6; }
inline bool ILocomotion::IsStuck( void ) const{ return m_isStuck;}
inline float ILocomotion::GetStuckDuration( void ) const{ return ( IsStuck() ) ? m_stuckTimer.GetElapsedTime() : 0.0f;}
inline void ILocomotion::TraceHull( const Vector& start, const Vector& end, const Vector &mins, const Vector &maxs, unsigned int fMask, ITraceFilter *pFilter, trace_t *pTrace ) const{// VPROF_BUDGET( "ILocomotion::TraceHull", "TraceHull" );
Ray_t ray; ray.Init( start, end, mins, maxs ); enginetrace->TraceRay( ray, fMask, pFilter, pTrace );}
#endif // _NEXT_BOT_LOCOMOTION_INTERFACE_H_
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