tf2/tf2_src/game/server/hl2/npc_hydra.cpp

//========= Copyright Valve Corporation, All rights reserved. ============//
//
// Purpose:
//
// $NoKeywords: $
//=============================================================================//

#include "cbase.h"

#include "npc_hydra.h"

#include "ai_hull.h"
#include "saverestore_utlvector.h"
#include "physics_saverestore.h"
#include "vphysics/constraints.h"
#include "vcollide_parse.h"
#include "ragdoll_shared.h"
#include "physics_prop_ragdoll.h"

// memdbgon must be the last include file in a .cpp file!!!
#include "tier0/memdbgon.h"

//-----------------------------------------------------------------------------
//
// CNPC_Hydra
//

#define HYDRA_MAX_LENGTH	500

LINK_ENTITY_TO_CLASS( npc_hydra, CNPC_Hydra );

//=========================================================
// Hydra activities
//=========================================================
int ACT_HYDRA_COWER;
int ACT_HYDRA_STAB;

//=========================================================
// Private conditions
//=========================================================

//==================================================
// AntlionConditions
//==================================================

enum
{
	COND_HYDRA_SNAGGED = LAST_SHARED_CONDITION,
	COND_HYDRA_STUCK,
	COND_HYDRA_OVERSHOOT,
	COND_HYDRA_OVERSTRETCH, // longer than max distance
	COND_HYDRA_STRIKE,		// head hit something
	COND_HYDRA_NOSTUCK		// no segments are stuck
};

//=========================================================
// Hydra schedules
//=========================================================
enum
{
	SCHED_HYDRA_DEPLOY = LAST_SHARED_SCHEDULE,
	SCHED_HYDRA_RETRACT,
	SCHED_HYDRA_IDLE,
	SCHED_HYDRA_STAB,		// shoot out head and try to hit object
	SCHED_HYDRA_PULLBACK,	// 
	SCHED_HYDRA_TIGHTEN_SLACK,	// snagged on something, tighten slack up to obstacle and try again from there
	SCHED_HYDRA_RETREAT,		
	SCHED_HYDRA_THROW,
	SCHED_HYDRA_RANGE_ATTACK
};

//=========================================================
// Hydra tasks
//=========================================================
enum 
{
	TASK_HYDRA_RETRACT = LAST_SHARED_TASK,
	TASK_HYDRA_DEPLOY,
	TASK_HYDRA_GET_OBJECT,
	TASK_HYDRA_THROW_OBJECT,
	TASK_HYDRA_PREP_STAB,
	TASK_HYDRA_STAB,
	TASK_HYDRA_PULLBACK,
	TASK_HYDRA_SET_MAX_TENSION,
	TASK_HYDRA_SET_BLEND_TENSION
};


//---------------------------------------------------------
// Custom Client entity
//---------------------------------------------------------
IMPLEMENT_SERVERCLASS_ST(CNPC_Hydra, DT_NPC_Hydra)
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 0 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 1 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 2 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 3 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 4 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 5 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 6 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 7 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 8 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 9 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 10 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 11 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 12 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 13 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 14 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 15 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 16 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 17 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 18 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 19 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 20 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 21 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 22 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 23 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 24 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 25 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 26 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 27 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 28 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 29 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 30 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO_NETWORKARRAYELEM( m_vecChain, 31 ), -1, SPROP_COORD ),
	SendPropVector( SENDINFO( m_vecHeadDir ), -1, SPROP_NORMAL ),
	SendPropFloat( SENDINFO( m_flRelaxedLength ), 12, 0, 0.0, HYDRA_MAX_LENGTH * 1.5 ),
END_SEND_TABLE()


//---------------------------------------------------------
// Save/Restore
//---------------------------------------------------------
BEGIN_DATADESC( CNPC_Hydra )

	DEFINE_AUTO_ARRAY( m_vecChain,				FIELD_POSITION_VECTOR ),
	DEFINE_FIELD( m_activeChain,			FIELD_INTEGER ),
	DEFINE_FIELD( m_bHasStuckSegments,	FIELD_BOOLEAN ),
	DEFINE_FIELD( m_flCurrentLength,		FIELD_FLOAT ),
	DEFINE_FIELD( m_vecHeadGoal,			FIELD_POSITION_VECTOR ),
	DEFINE_FIELD( m_flHeadGoalInfluence,	FIELD_FLOAT ),
	DEFINE_FIELD( m_vecHeadDir,			FIELD_VECTOR ),
	DEFINE_FIELD( m_flRelaxedLength,		FIELD_FLOAT ),
	DEFINE_FIELD( m_vecOutward,			FIELD_VECTOR ),
	DEFINE_UTLVECTOR( m_body,					FIELD_EMBEDDED ), 
	DEFINE_FIELD( m_idealLength,			FIELD_FLOAT ),
	DEFINE_FIELD( m_idealSegmentLength,	FIELD_FLOAT ),
	DEFINE_FIELD( m_bExtendSoundActive,	FIELD_BOOLEAN ),
	DEFINE_SOUNDPATCH( m_pExtendTentacleSound ),
	DEFINE_FIELD( m_seed,					FIELD_FLOAT ),
	DEFINE_FIELD( m_vecTarget,			FIELD_POSITION_VECTOR ),
	DEFINE_FIELD( m_vecTargetDir,			FIELD_VECTOR ),
	DEFINE_FIELD( m_flLastAdjustmentTime, FIELD_TIME ),
	DEFINE_FIELD( m_flTaskStartTime,		FIELD_TIME ),
	DEFINE_FIELD( m_flTaskEndTime,		FIELD_TIME ),
	DEFINE_FIELD( m_flLengthTime,			FIELD_TIME ),
	DEFINE_FIELD( m_bStabbedEntity,		FIELD_BOOLEAN ),

END_DATADESC()


//-------------------------------------

BEGIN_SIMPLE_DATADESC( HydraBone )
	DEFINE_FIELD( vecPos,			FIELD_POSITION_VECTOR ),
	DEFINE_FIELD( vecDelta,		FIELD_VECTOR ),
	DEFINE_FIELD( flIdealLength,	FIELD_FLOAT ),
	DEFINE_FIELD( flActualLength,	FIELD_FLOAT ),
	DEFINE_FIELD( bStuck,			FIELD_BOOLEAN ),
	DEFINE_FIELD( bOnFire,		FIELD_BOOLEAN ),
	DEFINE_FIELD( vecGoalPos,		FIELD_POSITION_VECTOR ),
	DEFINE_FIELD( flGoalInfluence,FIELD_FLOAT ),
END_DATADESC()

//-------------------------------------

static ConVar	sv_hydraLength( "hydra_length", "100", FCVAR_ARCHIVE, "Hydra Length" );
static ConVar	sv_hydraSlack( "hydra_slack", "200", FCVAR_ARCHIVE, "Hydra Slack" );

static ConVar	sv_hydraSegmentLength( "hydra_segment_length", "30", FCVAR_ARCHIVE, "Hydra Slack" );

static ConVar	sv_hydraTest( "hydra_test", "1", FCVAR_ARCHIVE, "Hydra Slack" );

static ConVar	sv_hydraBendTension( "hydra_bend_tension", "0.4", FCVAR_ARCHIVE, "Hydra Slack" );
static ConVar	sv_hydraBendDelta( "hydra_bend_delta", "50", FCVAR_ARCHIVE, "Hydra Slack" );

static ConVar	sv_hydraGoalTension( "hydra_goal_tension", "0.5", FCVAR_ARCHIVE, "Hydra Slack" );
static ConVar	sv_hydraGoalDelta( "hydra_goal_delta", "400", FCVAR_ARCHIVE, "Hydra Slack" );

static ConVar	sv_hydraMomentum( "hydra_momentum", "0.5", FCVAR_ARCHIVE, "Hydra Slack" );

static ConVar	sv_hydraTestSpike( "sv_hydraTestSpike", "1", 0, "Hydra Test impaling code" );

//-------------------------------------
// Purpose: Initialize the custom schedules
//-------------------------------------


//-------------------------------------

void CNPC_Hydra::Precache()
{
	PrecacheModel( "models/Hydra.mdl" );
	UTIL_PrecacheOther( "hydra_impale" );

	PrecacheScriptSound( "NPC_Hydra.ExtendTentacle" );

	BaseClass::Precache();
}
 

void CNPC_Hydra::Activate( void )
{
	CPASAttenuationFilter filter( this );
	CSoundEnvelopeController &controller = CSoundEnvelopeController::GetController();
	m_pExtendTentacleSound = controller.SoundCreate( filter, entindex(), "NPC_Hydra.ExtendTentacle" );
	
	controller.Play( m_pExtendTentacleSound, 1.0, 100 );

	BaseClass::Activate();
}


//-----------------------------------------------------------------------------
// Purpose: Returns this monster's place in the relationship table.
//-----------------------------------------------------------------------------
Class_T	CNPC_Hydra::Classify( void )
{
	return CLASS_BARNACLE; 
}

//-------------------------------------

#define HYDRA_OUTWARD_BIAS	16
#define HYDRA_INWARD_BIAS	30

void CNPC_Hydra::Spawn()
{
	Precache();

	BaseClass::Spawn();

	SetModel( "models/Hydra.mdl" );

	SetHullType(HULL_HUMAN);
	SetHullSizeNormal();

	SetSolid( SOLID_BBOX );
	AddSolidFlags( FSOLID_NOT_STANDABLE );
	SetMoveType( MOVETYPE_STEP );
	SetBloodColor( BLOOD_COLOR_RED );
	ClearEffects();
	m_iHealth			= 20;
	m_flFieldOfView		= -1.0;// indicates the width of this NPC's forward view cone ( as a dotproduct result )
	m_NPCState			= NPC_STATE_NONE;

	GetVectors( NULL, NULL, &m_vecOutward );

	SetAbsAngles( QAngle( 0, 0, 0 ) );

	m_vecChain.Set( 0, GetAbsOrigin( ) - m_vecOutward * 32 );
	m_vecChain.Set( 1, GetAbsOrigin( ) + m_vecOutward * 16 );

	m_vecHeadGoal = m_vecChain[1] + m_vecOutward * HYDRA_OUTWARD_BIAS;
	m_vecHeadDir = Vector( 0, 0, 1 );

	// init bones
	HydraBone bone;
	bone.vecPos = GetAbsOrigin( ) - m_vecOutward * HYDRA_INWARD_BIAS;
	m_body.AddToTail( bone );
	bone.vecPos = m_vecChain[1];
	m_body.AddToTail( bone );
	bone.vecPos = m_vecHeadGoal;
	m_body.AddToTail( bone );
	bone.vecPos = m_vecHeadGoal + m_vecHeadDir;
	m_body.AddToTail( bone );

	m_idealSegmentLength = sv_hydraSegmentLength.GetFloat();

	for (int i = 2; i < CHAIN_LINKS; i++)
	{
		m_vecChain.Set( i, m_vecChain[i-1] );
	}

	m_seed = random->RandomFloat( 0.0, 2000.0 );

	NPCInit();

	m_takedamage = DAMAGE_NO;
}


//-------------------------------------


void CNPC_Hydra::RunAI( void )
{
	CheckLength( );

	AdjustLength( );

	BaseClass::RunAI();

	CalcGoalForces( );
	MoveBody( );

	int i;
	for (i = 1; i < CHAIN_LINKS && i < m_body.Count(); i++)
	{
		m_vecChain.Set( i, m_body[i].vecPos );

#if 0
		if (m_body[i].bStuck)
		{
			NDebugOverlay::Box(m_body[i].vecPos, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255, 0, 0, 20, .1);
		}
		else
		{
			NDebugOverlay::Box(m_body[i].vecPos, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 0, 255, 0, 20, .1);
		}
		NDebugOverlay::Line( m_body[i].vecPos, m_body[i].vecPos + m_body[i].vecDelta, 0, 255, 0, true, .1);
		NDebugOverlay::Line( m_body[i-1].vecPos, m_body[i].vecPos, 255, 255, 255, true, .1);
#endif

#if 0
		char text[128];
		Q_snprintf( text, sizeof( text ), "%d", i );
		NDebugOverlay::Text( m_body[i].vecPos, text, false, 0.1 );
#endif

#if 0
		char text[128];
		Q_snprintf( text, sizeof( text ), "%4.0f", (m_body[i].vecPos - m_body[i-1].vecPos).Length() * 100 / m_idealSegmentLength - 100);
		NDebugOverlay::Text( 0.5*(m_body[i-1].vecPos + m_body[i].vecPos), text, false, 0.1 );
#endif
	}
	//NDebugOverlay::Box(m_body[i].vecPos, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 0, 255, 0, 20, .1);
	//NDebugOverlay::Box( m_vecHeadGoal, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255, 255, 0, 20, .1);
	for (; i < CHAIN_LINKS; i++)
	{
		m_vecChain.Set( i, m_vecChain[i-1] );
	}
}




Vector CNPC_Hydra::TestPosition( float t )
{
	// return GetAbsOrigin( ) + Vector( sin( (m_seed + t) * 2.3 ) * 15, cos( (m_seed + t) * 2.4 ) * 150, sin( ( m_seed + t ) * 1.8 ) * 50 ) + m_vecOutward * sv_hydraLength.GetFloat();;
	t = (int)(t * 0.2);
#if 1
	Vector tmp = Vector( sin( (m_seed + t) * 0.8 ) * 15, cos( (m_seed + t) * 0.9 ) * 150, sin( ( m_seed + t ) * 0.4 ) * 50 );
	tmp += 	Vector( sin( (m_seed + t) * 1.0 ) * 4, cos( (m_seed + t) * 0.9 ) * 4, sin( ( m_seed + t ) * 1.1 ) * 6 );
	tmp += 	GetAbsOrigin( ) + m_vecOutward * sv_hydraLength.GetFloat();
	return tmp;
#else
	
	Vector tmp;
	tmp.Init;
	CBaseEntity *pPlayer = (CBaseEntity *)UTIL_GetLocalPlayer();
	if ( pPlayer )
	{
		tmp = pPlayer->EyePosition( );

		Vector delta = (tmp - GetAbsOrigin( ));
		
		if (delta.Length() > 200)
		{
			tmp = GetAbsOrigin( ) + Vector( 0, 0, 200 );
		}
		m_vecHeadDir = (pPlayer->EyePosition( ) - m_body[m_body.Count()-2].vecPos);
		VectorNormalize( m_vecHeadDir );
	}

	return tmp;
#endif
		// m_vecHeadGoal = GetAbsOrigin( ) + Vector( sin( gpGlobals->curtime * 0.3 ) * 15, cos( gpGlobals->curtime * 0.4 ) * 150, sin( gpGlobals->curtime * 0.2 ) * 50 + dt );
}




//-----------------------------------------------------------------------------
// Purpose: Calculate the bone forces based on goal positions, bending rules, stretching rules, etc.
// Input  :
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::CalcGoalForces( )
{
	int i;

	int iFirst = 2;
	int iLast = m_body.Count() - 1;

	// keep head segment straight
	m_body[iLast].vecGoalPos = m_vecHeadGoal; // + m_vecHeadDir * m_body[iLast-1].flActualLength;
	m_body[iLast].flGoalInfluence = m_flHeadGoalInfluence;

	m_body[iLast-1].vecGoalPos = m_vecHeadGoal - m_vecHeadDir * m_idealSegmentLength;
	m_body[iLast-1].flGoalInfluence = 1.0; // m_flHeadGoalInfluence;


	// momentum?
	for (i = iFirst; i <= iLast; i++)
	{
		m_body[i].vecDelta = m_body[i].vecDelta * sv_hydraMomentum.GetFloat();
	}

	//Vector right, up;
	//VectorVectors( m_vecHeadDir, right, up );

	float flGoalSegmentLength = m_idealSegmentLength * ( m_idealLength / m_flCurrentLength);

	// goal forces
#if 1
	for (i = iFirst; i <= iLast; i++)
	{
		// DevMsg("(%d) %.2f\n", i, t );

		float flInfluence = m_body[i].flGoalInfluence;
		if (flInfluence > 0)
		{
			m_body[i].flGoalInfluence = 0.0;

			Vector v0 = (m_body[i].vecGoalPos - m_body[i].vecPos);
			float length = v0.Length();
			if (length > sv_hydraGoalDelta.GetFloat())
			{
				v0 = v0 * sv_hydraGoalDelta.GetFloat() / length;
			}
			m_body[i].vecDelta += v0 * flInfluence * sv_hydraGoalTension.GetFloat(); 
			// NDebugOverlay::Box(m_body[i].vecGoalPos, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 255, 255, 0, flInfluence * 255, .1);
		}
	}
#endif

	// bending forces
	for (i = iFirst-1; i <= iLast - 1; i++)
	{
		// DevMsg("(%d) %.2f\n", i, t );
		Vector v3 = m_body[i+1].vecPos - m_body[i-1].vecPos;
		VectorNormalize( v3 );

		Vector delta;
		float length;

		//NDebugOverlay::Line( m_body[i].vecPos + v3 * flGoalSegmentLength, m_body[i].vecPos - v3 * flGoalSegmentLength, 255, 0, 0, true, .1);

		if (i+1 <= iLast)
		{
			// towards head
			delta = (m_body[i].vecPos + v3 * flGoalSegmentLength - m_body[i+1].vecPos) * sv_hydraBendTension.GetFloat();
			length = delta.Length();
			if (length > sv_hydraBendDelta.GetFloat())
			{
				delta = delta * (sv_hydraBendDelta.GetFloat() / length);
			}
			m_body[i+1].vecDelta += delta;
			//NDebugOverlay::Line( m_body[i+1].vecPos, m_body[i+1].vecPos + delta, 255, 0, 0, true, .1);
		}

		if (i-1 >= iFirst)
		{
			// towards tail
			delta = (m_body[i].vecPos - v3 * flGoalSegmentLength - m_body[i-1].vecPos) * sv_hydraBendTension.GetFloat();
			length = delta.Length();
			if (length > sv_hydraBendDelta.GetFloat())
			{
				delta = delta * (sv_hydraBendDelta.GetFloat() / length);
			}
			m_body[i-1].vecDelta += delta * 0.8;
			//NDebugOverlay::Line( m_body[i-1].vecPos, m_body[i-1].vecPos + delta, 255, 0, 0, true, .1);
		}
	}

	m_body[0].vecDelta = Vector( 0, 0, 0 );
	m_body[1].vecDelta = Vector( 0, 0, 0 );

	// normal gravity forces
	for (i = iFirst; i <= iLast; i++)
	{
		if (!m_body[i].bStuck)
		{
			m_body[i].vecDelta.z -= 3.84 * 0.2;
		}
	}

#if 0
	// move delta's back toward the root
	for (i = iLast; i > iFirst; i--)
	{
		Vector tmp = m_body[i].vecDelta;

		m_body[i].vecDelta = tmp * 0.8;
		m_body[i-1].vecDelta += tmp * 0.2;
	}
#endif

	// prevent stretching
	int maxChecks = m_body.Count() * 4;
	i = iLast;
	while (i > iFirst && maxChecks > 0)
	{
		bool didStretch = false;
		Vector stretch = (m_body[i].vecPos + m_body[i].vecDelta) - (m_body[i-1].vecPos + m_body[i-1].vecDelta);
		float t = VectorNormalize( stretch );
		if (t > flGoalSegmentLength)
		{
			float f0 = DotProduct( m_body[i].vecDelta, stretch );
			float f1 = DotProduct( m_body[i-1].vecDelta, stretch );
			if (f0 > 0 && f0 > f1)
			{
				// Vector limit = stretch * (f0 - flGoalSegmentLength);
				Vector limit = stretch * (t - flGoalSegmentLength);
				// propagate pulling back down the chain
				m_body[i].vecDelta -= limit * 0.5;
				m_body[i-1].vecDelta += limit * 0.5;
				didStretch = true;
			}
		}
		if (didStretch)
		{
			if (i < iLast)
			{
				i++;
			}
		}
		else
		{
			i--;
		}
		maxChecks--;
	}
}


//-----------------------------------------------------------------------------
// Purpose: Move the body, check for collisions
// Input  :
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::MoveBody( )
{
	int i;

	int iFirst = 2;
	int iLast = m_body.Count() - 1;

	// clear stuck flags
	for (i = 0; i <= iLast; i++)
	{
		m_body[i].bStuck = false;
	}

	// try to move all the nodes
	for (i = iFirst; i <= iLast; i++)
	{
		trace_t tr;

		// check direct movement
		AI_TraceHull(m_body[i].vecPos, m_body[i].vecPos + m_body[i].vecDelta, 
			Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 
			MASK_NPCSOLID, this, COLLISION_GROUP_NONE, &tr);
	
		Vector direct = tr.endpos;
		Vector delta = Vector( 0, 0, 0 );

		Vector slide = m_body[i].vecDelta;
		if (tr.fraction != 1.0)
		{
			// slow down and remove all motion in the direction of the plane
			direct += tr.plane.normal;
			Vector impactSpeed = (slide * tr.plane.normal) * tr.plane.normal;

			slide = (slide - impactSpeed) * 0.8;

			if (tr.m_pEnt)
			{
				if (i == iLast)
				{
					Stab( tr.m_pEnt, impactSpeed, tr );
				}
				else
				{
					Nudge( tr.m_pEnt, direct, impactSpeed );
				}
			}

			// slow down and remove all motion in the direction of the plane
			slide = (slide - (slide * tr.plane.normal) * tr.plane.normal) * 0.8;

			// try to move the remaining distance anyways
			AI_TraceHull(direct, direct + slide * (1 - tr.fraction), 
				Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 
				MASK_NPCSOLID, this, COLLISION_GROUP_NONE, &tr);

			// NDebugOverlay::Line( m_body[i].vecPos, tr.endpos, 255, 255, 0, true, 1);

			direct = tr.endpos;

			m_body[i].bStuck = true;

		}

		// make sure the new segment doesn't intersect the world
		AI_TraceHull(direct, m_body[i-1].vecPos, 
			Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 
			MASK_NPCSOLID, this, COLLISION_GROUP_NONE, &tr);

		if (tr.fraction == 1.0)
		{
			if (i+1 < iLast)
			{
				AI_TraceHull(direct, m_body[i+1].vecPos, 
					Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 
					MASK_NPCSOLID, this, COLLISION_GROUP_NONE, &tr);
			}

			if (tr.fraction == 1.0)
			{
				m_body[i].vecPos = direct;
				delta = slide;
			}
			else
			{
				// FIXME: compute nudge force
				m_body[i].bStuck = true;
				//m_body[i+1].bStuck = true;
			}
		}
		else
		{
			// FIXME: compute nudge force
			m_body[i].bStuck = true;
			//m_body[i-1].bStuck = true;
		}

		// m_body[i-1].vecDelta += (m_body[i].vecDelta - delta) * 0.25;
		// m_body[i+1].vecDelta += (m_body[i].vecDelta - delta) * 0.25;
		m_body[i].vecDelta = delta;
	}
}


//-----------------------------------------------------------------------------
// Purpose: Push physics objects around if they get hit
// Input  : vecContact = point in space where contact supposidly happened
//			vecSpeed = in/sec of contact
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::Nudge( CBaseEntity *pOther, const Vector &vecContact, const Vector &vecSpeed )
{
	if ( pOther->GetMoveType() != MOVETYPE_VPHYSICS )
	{
		return;
	}

	IPhysicsObject *pOtherPhysics = pOther->VPhysicsGetObject();

	// Put the force on the line between the "contact point" and hit object origin
	//Vector posOther;
	//pOtherPhysics->GetPosition( &posOther, NULL );

	// force is a 30kg object going 100 in/s
	pOtherPhysics->ApplyForceOffset( vecSpeed * 30, vecContact );

}

//-----------------------------------------------------------------------------
// Purpose: Push physics objects around if they get hit
// Input  : vecContact = point in space where contact supposidly happened
//			vecSpeed = in/sec of contact
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::Stab( CBaseEntity *pOther, const Vector &vecSpeed, trace_t &tr )
{
	if (pOther->m_takedamage == DAMAGE_YES && !pOther->IsPlayer())
	{
		Vector dir = vecSpeed;
		VectorNormalize( dir );

		if ( !sv_hydraTestSpike.GetInt() )
		{
			ClearMultiDamage();
			// FIXME: this is bogus
			CTakeDamageInfo info( this, this, pOther->m_iHealth+25, DMG_SLASH );
			CalculateMeleeDamageForce( &info, dir, tr.endpos );
			pOther->DispatchTraceAttack( info, dir, &tr );
			ApplyMultiDamage();
		}
		else
		{
			CBaseAnimating *pAnimating = dynamic_cast<CBaseAnimating *>(pOther);
			if ( pAnimating )
			{
				AttachStabbedEntity( pAnimating, vecSpeed * 30, tr );
			}
		}
	}
	else
	{
		Nudge( pOther, tr.endpos, vecSpeed );
	}
}

//-----------------------------------------------------------------------------
// Purpose: 
// Input  : vecContact = point in space where contact supposidly happened
//			vecSpeed = in/sec of contact
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::Kick( CBaseEntity *pHitEntity, const Vector &vecContact, const Vector &vecSpeed )
{

}

//-----------------------------------------------------------------------------
// Purpose: 
// Input  : vecContact = point in space where contact supposidly happened
//			vecSpeed = in/sec of contact
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::Splash( const Vector &vecSplashPos )
{


}


//-----------------------------------------------------------------------------
// Purpose: Calculate the actual hydra length
// Input  : 
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::CheckLength( )
{
	int i;

	ClearCondition( COND_HYDRA_SNAGGED );
	ClearCondition( COND_HYDRA_NOSTUCK );
	ClearCondition( COND_HYDRA_OVERSTRETCH );

	m_bHasStuckSegments = m_body[m_body.Count() - 1].bStuck;
	m_flCurrentLength = 0;

	for (i = 1; i < m_body.Count() - 1; i++)
	{
		float length = (m_body[i+1].vecPos - m_body[i].vecPos).Length();
			
		Assert( m_body[i+1].vecPos.IsValid( ) );
		Assert( m_body[i].vecPos.IsValid( ) );

		Assert( IsFinite( length ) );

		m_body[i].flActualLength = length;

		m_flCurrentLength += length;

		// check for over streatched segements
		if (length > m_idealSegmentLength * 3.0 && (m_body[i].bStuck || m_body[i+1].bStuck))
		{
			//NDebugOverlay::Line( m_body[i].vecPos, m_body[i+1].vecPos, 255, 0, 0, true, 1.0);
			SetCondition( COND_HYDRA_SNAGGED );
		}
		if (m_body[i].bStuck)
		{
			m_bHasStuckSegments = true;
		}
	}

	if (m_flCurrentLength > HYDRA_MAX_LENGTH) // FIXME
	{
		SetCondition( COND_HYDRA_OVERSTRETCH );
	}

	if (!m_bHasStuckSegments)
	{
		SetCondition( COND_HYDRA_NOSTUCK );
	}
}


//-----------------------------------------------------------------------------
// Purpose: Grow or shrink the hydra, as needed
// Input  : 
// Output :
//-----------------------------------------------------------------------------

void CNPC_Hydra::AdjustLength( )
{
	m_body[0].vecPos = m_body[1].vecPos - m_vecOutward * m_idealSegmentLength ;

	// DevMsg( "actual %.0f ideal %.0f relaxed %.0f\n", actualLength, m_idealLength, m_idealSegmentLength * (m_body.Count() - 3) );

	CalcRelaxedLength( );

	// "NPC_Hydra.ExtendTentacle"

	bool bAdjustFailed = false;
	bool bShouldAdjust = false;

	if (m_flCurrentLength < m_idealLength)
	{
		if (m_flRelaxedLength + m_idealSegmentLength * 0.5 < m_idealLength)
		{
			bShouldAdjust = true;
			//if (!GrowFromMostStretched( ))
			if (!GrowFromVirtualRoot())
			{
				bAdjustFailed = true;
			}
		}
	}
	else if (m_flCurrentLength > m_idealLength)
	{
		// if (relaxedLength > actualLength)
		if (m_flRelaxedLength - m_idealSegmentLength * 0.5 > m_idealLength || HasCondition( COND_HYDRA_SNAGGED ))
		{
			bShouldAdjust = true;
			if (!ContractFromRoot())
			{
				if (!ContractBetweenStuckSegments())
				{
					if (!ContractFromHead())
					{
						bAdjustFailed = true;
					}
				}
			}
		}
		else if (gpGlobals->curtime - m_flLastAdjustmentTime > 1.0)
		{
			bShouldAdjust = true;
			// start to panic
			if (!GrowFromMostStretched( ))
			{
				bAdjustFailed = true;
			}
			
			// SplitLongestSegment( );
			/*
			if (!ContractBetweenStuckSegments())
			{
				if (!ContractFromHead())
				{

				}
			}
			*/
		}
		else
		{
			bAdjustFailed = true;
		}
	}

	if (!bAdjustFailed)
	{
		m_flLastAdjustmentTime = gpGlobals->curtime;
		if (bShouldAdjust && !m_bExtendSoundActive)
		{
			m_bExtendSoundActive = true;
			//CSoundEnvelopeController &controller = CSoundEnvelopeController::GetController();
			//controller.SoundChangeVolume( m_pExtendTentacleSound, 1.0, 0.1 );
		}
	}
	else if (bShouldAdjust)
	{
		m_bExtendSoundActive = false;
		//CSoundEnvelopeController &controller = CSoundEnvelopeController::GetController();
		//controller.SoundChangeVolume( m_pExtendTentacleSound, 0.0, 0.3 );
	}

	CalcRelaxedLength( );
}


//-----------------------------------------------------------------------------
// Purpose: Remove nodes, starting at the end, regardless of length
// Input  : 
// Output :
//-----------------------------------------------------------------------------

bool CNPC_Hydra::ContractFromHead( )
{
	if (m_body.Count() <= 2)
	{
		return false;
	}

	int iNode = m_body.Count() - 1;

	if (m_body[iNode].bStuck && m_body[iNode-1].flActualLength > m_idealSegmentLength * 2.0)
	{
		AddNodeBefore( iNode );
		iNode = m_body.Count() - 1;		
	}

	if (m_body.Count() <= 3)
	{
		return false;
	}

	// always legal since no new link is being formed

	m_body.Remove( iNode );

	CalcRelaxedLength( );

	return true;
}


//-----------------------------------------------------------------------------
// Purpose: Starting at the first stuck node back from the head, find a node to remove 
//			between it and the actual root who is part of a chain that isn't too long.
// Input  : 
// Output :
//-----------------------------------------------------------------------------

bool CNPC_Hydra::ContractBetweenStuckSegments( )
{
	if (m_body.Count() <= 3)
		return false;

	// first first stuck segment closest to head;
	int iStuckHead = VirtualRoot( );
	if (iStuckHead < 3)
		return false;

	// find a non stuck node with the shortest distance between its neighbors 
	int iShortest = -1;
	float dist = m_idealSegmentLength * 2;
	int i;
	for (i = iStuckHead - 1; i > 2; i--)
	{
		if (!m_body[i].bStuck)
		{
			float length = (m_body[i-1].vecPos - m_body[i+1].vecPos).Length();
			// check segment length
			if (length < dist )
			{
				if (IsValidConnection( i-1, i+1 ))
				{
					dist = length;
					iShortest = i;
				}
			}
		}
	}
	if (iShortest = -1)
		return false;

	// FIXME: check for tunneling
	m_body.Remove( iShortest );

	CalcRelaxedLength( );

	return true;
}


//-----------------------------------------------------------------------------
// Purpose: Try to remove segment closest to root
// Input  : 
// Output :
//-----------------------------------------------------------------------------

bool CNPC_Hydra::ContractFromRoot( )
{
	if (m_body.Count() <= 3)
		return false;

	// don't contract overly long segments
	if (m_body[2].flActualLength > m_idealSegmentLength * 2.0)
		return false;

	if (!IsValidConnection( 1, 3 ))
		return false;

	m_body.Remove( 2 );

	CalcRelaxedLength( );

	return true;
}



//-----------------------------------------------------------------------------
// Purpose: Find the first stuck node that's closest to the head
// Input  : 
// Output :
//-----------------------------------------------------------------------------

int CNPC_Hydra::VirtualRoot( )
{
	// first first stuck segment closest to head;
	int iStuckHead;
	for (iStuckHead = m_body.Count() - 2; iStuckHead > 1; iStuckHead--)
	{
		if (m_body[iStuckHead].bStuck)
		{
			return iStuckHead;
		}
	}

	return 1;
}

//-----------------------------------------------------------------------------
// Purpose: Insert a node before the given node.
// Input  : 
// Output :
//-----------------------------------------------------------------------------

bool CNPC_Hydra::AddNodeBefore( int iNode )
{
	if (iNode < 1)
		return false;
	
	HydraBone bone;

	bone.vecPos = (m_body[iNode].vecPos + m_body[iNode-1].vecPos) * 0.5;
	bone.vecDelta = (m_body[iNode].vecDelta + m_body[iNode-1].vecDelta) * 0.5;

	/*
	// FIXME: can't do this, may be embedded in the world
	int i0 = (iNode>2)?iNode-2:0;
	int i1 = (iNode>1)?iNode-1:0;
	int i2 = iNode;
	int i3 = (iNode<m_body.Count()-1)?iNode+1:m_body.Count()-1;
	Catmull_Rom_Spline( m_body[i0].vecPos, m_body[i1].vecPos, m_body[i2].vecPos, m_body[i3].vecPos, 0.5, bone.vecPos );
	*/

	bone.flActualLength = (m_body[iNode].vecPos - bone.vecPos).Length();
	bone.flIdealLength = m_idealSegmentLength;

	m_body[iNode-1].flActualLength = bone.flActualLength;

	//Vector	vecGoalPos;
	//float	flGoalInfluence;


	m_body.InsertBefore( iNode, bone );

	return true;
}


bool CNPC_Hydra::AddNodeAfter( int iNode )
{
	AddNodeBefore( iNode + 1 );
	return false;
}


bool CNPC_Hydra::GrowFromVirtualRoot( )
{
	if (m_body[1].flActualLength < m_idealSegmentLength * 0.5)
		return false;

	return AddNodeAfter( 1 );
}


bool CNPC_Hydra::GrowFromMostStretched( )
{
	int iNode = VirtualRoot( );

	int iLongest = iNode;
	float dist = m_idealSegmentLength * 0.5;

	for (iNode; iNode < m_body.Count() - 1; iNode++)
	{
		if (m_body[iNode].flActualLength > dist)
		{
			iLongest = iNode; 
			dist = m_body[iNode].flActualLength;
		}
	}

	if (m_body[iLongest].flActualLength <= dist)
	{
		return AddNodeAfter( iLongest );
	}
	return false;
}


void CNPC_Hydra::CalcRelaxedLength( )
{
	m_flRelaxedLength = m_idealSegmentLength * (m_body.Count() -2) + HYDRA_OUTWARD_BIAS;
}


bool CNPC_Hydra::IsValidConnection( int iNode0, int iNode1 )
{
	trace_t tr;
	// check to make sure new connection is valid
	AI_TraceHull(m_body[iNode0].vecPos, m_body[iNode1].vecPos, 
		Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 
		MASK_NPCSOLID, this, COLLISION_GROUP_NONE, &tr);

	if (tr.fraction == 1.0)
	{
		return true;
	}
	return false;
}


//-------------------------------------

float CNPC_Hydra::MaxYawSpeed()
{
	return 0;

	if( IsMoving() )
	{
		return 20;
	}

	switch( GetActivity() )
	{
	case ACT_180_LEFT:
		return 30;
		break;

	case ACT_TURN_LEFT:
	case ACT_TURN_RIGHT:
		return 30;
		break;
	default:
		return 15;
		break;
	}
}

//-------------------------------------

int CNPC_Hydra::TranslateSchedule( int scheduleType ) 
{
	return BaseClass::TranslateSchedule( scheduleType );
}

//-------------------------------------

void CNPC_Hydra::HandleAnimEvent( animevent_t *pEvent )
{
	BaseClass::HandleAnimEvent( pEvent );
}

//-------------------------------------

void CNPC_Hydra::PrescheduleThink()
{
	BaseClass::PrescheduleThink();
	if ( m_bStabbedEntity )
	{
		UpdateStabbedEntity();
	}
}	

//-------------------------------------

int CNPC_Hydra::SelectSchedule ()
{
	switch ( m_NPCState )
	{
	case NPC_STATE_IDLE:
		{
			SetState( NPC_STATE_ALERT );
			return SCHED_HYDRA_DEPLOY;
		}
		break;

	case NPC_STATE_ALERT:
		{
			return SCHED_HYDRA_STAB;
		}
		break;

	case NPC_STATE_COMBAT:
		{
			if (HasCondition( COND_HYDRA_SNAGGED ))
			{
				return SCHED_HYDRA_PULLBACK;
			}
			else if (HasCondition( COND_HYDRA_OVERSTRETCH ))
			{
				return SCHED_HYDRA_STAB;
			}
			return SCHED_HYDRA_STAB;
		}
		break;	
	}

	return BaseClass::SelectSchedule();
}

//-------------------------------------

void CNPC_Hydra::StartTask( const Task_t *pTask )
{
	switch( pTask->iTask )
	{
	case TASK_HYDRA_DEPLOY:
		m_vecHeadGoal = GetAbsOrigin( ) + m_vecOutward * 100;
		m_idealLength = 100;
		m_vecHeadDir = m_vecOutward;
		return;
	case TASK_HYDRA_PREP_STAB:
		{
			m_flTaskEndTime = gpGlobals->curtime + pTask->flTaskData;

			// Go outward
			m_vecHeadGoal = GetAbsOrigin( ) + m_vecOutward * 100;
			SetTarget( (CBaseEntity *)UTIL_GetLocalPlayer() );
			if (GetEnemy())
			{
				SetTarget( GetEnemy() );
			}

			//CPASAttenuationFilter filter( this, "NPC_Hydra.Alert" );
			//Vector vecHead = EyePosition();
			//EmitSound( filter, entindex(), "NPC_Hydra.Alert", &vecHead );
		}
		return;

	case TASK_HYDRA_STAB:
		{
			//CPASAttenuationFilter filter( this, "NPC_Hydra.Attack" );
			//Vector vecHead = EyePosition();
			//EmitSound( filter, entindex(), "NPC_Hydra.Attack", &vecHead );

			m_flTaskEndTime = gpGlobals->curtime + 0.5;
		}
		return;

	case TASK_HYDRA_PULLBACK:
		m_vecHeadGoal = GetAbsOrigin( ) + m_vecOutward * pTask->flTaskData;
		m_idealLength = pTask->flTaskData * 1.1;
		return;

	default:
		BaseClass::StartTask( pTask );
		break;
	}

}

//-------------------------------------

void CNPC_Hydra::RunTask( const Task_t *pTask )
{
	switch( pTask->iTask )
	{
	case TASK_HYDRA_DEPLOY:
		{
			m_flHeadGoalInfluence = 1.0;
			float dist = (EyePosition() - m_vecHeadGoal).Length();

			if (dist < m_idealSegmentLength)
			{
				TaskComplete();
			}

			AimHeadInTravelDirection( 0.2 );
		}
		break;

	case TASK_HYDRA_PREP_STAB:
		{
			int i;

			if (m_body.Count() < 2)
			{
				TaskFail( "hydra is too short to begin stab" );
				return;
			}

			CBaseEntity *pTarget = GetTarget();
			if (pTarget == NULL)
			{
				TaskFail( FAIL_NO_TARGET );
			}

			if (pTarget->IsPlayer())
			{
				m_vecTarget = pTarget->EyePosition( );
			}
			else
			{
				m_vecTarget = pTarget->BodyTarget( EyePosition( ) );
			}

			float distToTarget = (m_vecTarget - m_vecHeadGoal).Length();
			float distToBase = (m_vecHeadGoal - GetAbsOrigin()).Length();
			m_idealLength = distToTarget + distToBase * 0.5;

			if (m_idealLength > HYDRA_MAX_LENGTH)
				m_idealLength = HYDRA_MAX_LENGTH;

			if (distToTarget < 100.0)
			{
				m_vecTargetDir = (m_vecTarget - m_vecHeadGoal);
				VectorNormalize( m_vecTargetDir );
				m_vecHeadGoal = m_vecHeadGoal - m_vecTargetDir * (100 - distToTarget) * 0.5;
			}
			else if (distToTarget > 200.0)
			{
				m_vecTargetDir = (m_vecTarget - m_vecHeadGoal);
				VectorNormalize( m_vecTargetDir );
				m_vecHeadGoal = m_vecHeadGoal - m_vecTargetDir * (200.0 - distToTarget) * 0.5;
			}

			// face enemy
			m_vecTargetDir = (m_vecTarget - m_body[m_body.Count()-1].vecPos);
			VectorNormalize( m_vecTargetDir );
			m_vecHeadDir = m_vecHeadDir * 0.6 + m_vecTargetDir * 0.4;
			VectorNormalize( m_vecHeadDir.GetForModify() );

			// build tension towards strike time
			float influence = 1.0 - (m_flTaskEndTime - gpGlobals->curtime) / pTask->flTaskData;
			if (influence > 1)
				influence = 1.0;

			influence = influence * influence * influence;

			m_flHeadGoalInfluence = influence;

			// keep head segment straight
			i = m_body.Count() - 2;
			m_body[i].vecGoalPos = m_vecHeadGoal - m_vecHeadDir * m_body[i].flActualLength;
			m_body[i].flGoalInfluence = influence;

			// curve neck into spiral
			float distBackFromHead = m_body[i].flActualLength;
			Vector right, up;
			VectorVectors( m_vecHeadDir, right, up );

			for (i = i - 1; i > 1 && distBackFromHead < distToTarget; i--)
			{
				distBackFromHead += m_body[i].flActualLength;

				float r = (distBackFromHead / 200) * 3.1415 * 2;

				// spiral
				Vector p0 = m_vecHeadGoal 
							- m_vecHeadDir * distBackFromHead * 0.5 
							+ cos( r ) * m_body[i].flActualLength * right 
							+ sin( r ) * m_body[i].flActualLength * up;

				// base
				r = (distBackFromHead / m_idealLength) * 3.1415 * 0.2;
				r = sin( r );
				p0 = p0 * (1 - r) + r * GetAbsOrigin();

				m_body[i].vecGoalPos = p0;

				m_body[i].flGoalInfluence = influence * (1.0 - (distBackFromHead / distToTarget));

				/*
				if ( (pEnemy->EyePosition( ) - m_body[i].vecPos).Length() < distBackFromHead)
				{
					if ( gpGlobals->curtime - m_flLastAttackTime > 4.0)
					{
						TaskComplete();
					}
					return;
				}
				*/
			}

			// look to see if any of the goal positions are stuck
			for (i = i; i < m_body.Count() - 1; i++)
			{
				if (m_body[i].bStuck)
				{
					Vector delta = DotProduct( m_body[i].vecGoalPos - m_body[i].vecPos, m_vecHeadDir) * m_vecHeadDir;
					m_vecHeadGoal -= delta * m_body[i].flGoalInfluence;
					break;
				}
			}

			if ( gpGlobals->curtime >= m_flTaskEndTime )
			{
				if (distToTarget < 500)
				{
					TaskComplete( );
					return;
				}
				else
				{
					TaskFail( "target is too far away" );
					return;
				}
			}
		}
		return;

	case TASK_HYDRA_STAB:
		{
			int i;

			if (m_body.Count() < 2)
			{
				TaskFail( "hydra is too short to begin stab" );
				return;
			}

			if (m_flTaskEndTime <= gpGlobals->curtime)
			{
				TaskComplete( );
				return;
			}

			m_flHeadGoalInfluence = 1.0;

			// face enemy
			//m_vecHeadDir = (pEnemy->EyePosition( ) - m_body[m_body.Count()-1].vecPos);
			//VectorNormalize( m_vecHeadDir.GetForModify() );

			// keep head segment straight
			i = m_body.Count() - 2;
			m_body[i].vecGoalPos = m_vecHeadGoal + m_vecHeadDir * m_body[i].flActualLength;
			m_body[i].flGoalInfluence = 1.0;

			Vector vecToTarget = (m_vecTarget - EyePosition( ));

			// check to see if we went past target
			if (DotProduct( vecToTarget, m_vecHeadDir ) < 0.0)
			{
				TaskComplete( );
				return;
			}

			float distToTarget = vecToTarget.Length();
			float distToBase = (EyePosition( ) - GetAbsOrigin()).Length();
			m_idealLength = distToTarget + distToBase;

			/*
			if (distToTarget < 20)
			{
				m_vecHeadGoal = m_vecTarget;
				SetLastAttackTime( gpGlobals->curtime );
				TaskComplete();
				return;
			}
			else
			*/
			{
				// hit enemy
				m_vecHeadGoal = m_vecTarget + m_vecHeadDir * 300;
			}

			if (m_idealLength > HYDRA_MAX_LENGTH)
				m_idealLength = HYDRA_MAX_LENGTH;

			// curve neck into spiral
			float distBackFromHead = m_body[i].flActualLength;
			Vector right, up;
			VectorVectors( m_vecHeadDir, right, up );

#if 1
			for (i = i - 1; i > 1 && distBackFromHead < distToTarget; i--)
			{
				Vector p0 = m_vecHeadGoal - m_vecHeadDir * distBackFromHead * 1.0; 

				m_body[i].vecGoalPos = p0;

				if ((m_vecTarget - m_body[i].vecPos).Length() > distToTarget + distBackFromHead)
				{
					m_body[i].flGoalInfluence = 1.0 - (distBackFromHead / distToTarget);
				}
				else
				{
					m_body[i].vecGoalPos = EyePosition( ) - m_vecHeadDir * distBackFromHead;
					m_body[i].flGoalInfluence = 1.0 - (distBackFromHead / distToTarget);
				}

				distBackFromHead += m_body[i].flActualLength;
			}
#endif
		}
		return;

	case TASK_HYDRA_PULLBACK:
		{
			if (m_body.Count() < 2)
			{
				TaskFail( "hydra is too short to begin stab" );
				return;
			}
			CBaseEntity *pEnemy = (CBaseEntity *)UTIL_GetLocalPlayer();
			if (GetEnemy() != NULL)
			{
				pEnemy = GetEnemy();
			}

			AimHeadInTravelDirection( 0.2 );

			// float dist = (EyePosition() - m_vecHeadGoal).Length();

			if (m_flCurrentLength < m_idealLength + m_idealSegmentLength)
			{
				TaskComplete();
			}
		}
		break;

	default:
		BaseClass::RunTask( pTask );
		break;
	}

}

//-------------------------------------

Vector CNPC_Hydra::EyePosition( ) 
{
	int i = m_body.Count() - 1;

	if (i >= 0)
	{
		return m_body[i].vecPos;
	}
	return GetAbsOrigin(); 
}

const QAngle &CNPC_Hydra::EyeAngles()
{
	return GetAbsAngles();
}


Vector CNPC_Hydra::BodyTarget( const Vector &posSrc, bool bNoisy)
{
	int i;

	if (m_body.Count() < 2)
	{
		return GetAbsOrigin();
	}

	int iShortest = 1;
	float flShortestDist = (posSrc - m_body[iShortest].vecPos).LengthSqr();
	for (i = 2; i < m_body.Count(); i++)
	{
		float flDist = (posSrc - m_body[i].vecPos).LengthSqr();
		if (flDist < flShortestDist)
		{
			iShortest = i;
			flShortestDist = flDist;
		}
	}

	// NDebugOverlay::Box(m_body[iShortest].vecPos, Vector( -2, -2, -2 ), Vector( 2, 2, 2 ), 0, 0, 255, 20, .1);

	return m_body[iShortest].vecPos;
}


void CNPC_Hydra::AimHeadInTravelDirection( float flInfluence )
{

	// aim in the direction of movement enemy
	Vector delta = m_body[m_body.Count()-1].vecDelta;
	VectorNormalize( delta );
	if (DotProduct( delta, m_vecHeadDir ) < 0)
	{
		delta = -delta;
	}

	m_vecHeadDir = m_vecHeadDir * (1 - flInfluence) + delta * flInfluence;
	VectorNormalize( m_vecHeadDir.GetForModify() );
}

//-------------------------------------

//-----------------------------------------------------------------------------
// Purpose: Hydra impaling is done by creating an entity, forming a constraint
//			between that entity and the target ragdoll, and then updating then
//			entity to follow the hydra.
//-----------------------------------------------------------------------------

//-----------------------------------------------------------------------------
// Purpose: This is the entity we create to follow the hydra
//-----------------------------------------------------------------------------
class CHydraImpale : public CBaseAnimating
{
	DECLARE_CLASS( CHydraImpale, CBaseAnimating );
public:
	DECLARE_DATADESC();

	void	Spawn( void );
	void	Precache( void );
	void	ImpaleThink( void );

	IPhysicsConstraint *CreateConstraint( CNPC_Hydra *pHydra, IPhysicsObject *pTargetPhys, IPhysicsConstraintGroup *pGroup );
	static CHydraImpale *Create( CNPC_Hydra *pHydra, CBaseEntity *pObject2 );

public:
	IPhysicsConstraint		*m_pConstraint;
	CHandle<CNPC_Hydra>		m_hHydra;
};

BEGIN_DATADESC( CHydraImpale )
	DEFINE_PHYSPTR( m_pConstraint ),
	DEFINE_FIELD( m_hHydra,			FIELD_EHANDLE ),

	DEFINE_THINKFUNC( ImpaleThink ),
END_DATADESC()

LINK_ENTITY_TO_CLASS( hydra_impale, CHydraImpale );

//-----------------------------------------------------------------------------
// Purpose: To by usable by the constraint system, this needs to have a phys model.
//-----------------------------------------------------------------------------
void CHydraImpale::Spawn( void )
{
	Precache();
	SetModel( "models/props_junk/cardboard_box001a.mdl" );
	AddEffects( EF_NODRAW );

	// We don't want this to be solid, because we don't want it to collide with the hydra.
	SetSolid( SOLID_VPHYSICS );
	AddSolidFlags( FSOLID_NOT_SOLID );
	VPhysicsInitShadow( false, false );

	// Disable movement on this sucker, we're going to move him manually
	SetMoveType( MOVETYPE_FLY );
	
	BaseClass::Spawn();

	m_pConstraint = NULL;
}

//-----------------------------------------------------------------------------
// Purpose: 
//-----------------------------------------------------------------------------
void CHydraImpale::Precache( void )
{
	PrecacheModel( "models/props_junk/cardboard_box001a.mdl" );
	BaseClass::Precache();
}

//-----------------------------------------------------------------------------
// Purpose: Update the impale entity's position to the hydra's desired
//-----------------------------------------------------------------------------
void CHydraImpale::ImpaleThink( void )
{
	if ( !m_hHydra )
	{
		// Remove ourselves.
		m_pConstraint->Deactivate();
		UTIL_Remove( this );
		return;
	}

	// Ask the Hydra where he'd like the ragdoll, and move ourselves there
	Vector vecOrigin;
	QAngle vecAngles;
	m_hHydra->GetDesiredImpaledPosition( &vecOrigin, &vecAngles );
	SetAbsOrigin( vecOrigin );
	SetAbsAngles( vecAngles );

	//NDebugOverlay::Cross3D( vecOrigin, Vector( -5, -5, -5 ), Vector( 5, 5, 5 ), 255, 0, 0, 20, .1);

	SetNextThink( gpGlobals->curtime + 0.1f );
}

//-----------------------------------------------------------------------------
// Purpose: Activate/create the constraint
//-----------------------------------------------------------------------------
IPhysicsConstraint *CHydraImpale::CreateConstraint( CNPC_Hydra *pHydra, IPhysicsObject *pTargetPhys, IPhysicsConstraintGroup *pGroup )
{
	m_hHydra = pHydra;
	
	IPhysicsObject *pImpalePhysObject = VPhysicsGetObject();
	Assert( pImpalePhysObject );

	constraint_fixedparams_t fixed;
	fixed.Defaults();
	fixed.InitWithCurrentObjectState( pImpalePhysObject, pTargetPhys );
	fixed.constraint.Defaults();

	m_pConstraint = physenv->CreateFixedConstraint( pImpalePhysObject, pTargetPhys, pGroup, fixed );
	if ( m_pConstraint )
	{
		m_pConstraint->SetGameData( (void *)this );
	}

	SetThink( ImpaleThink );
	SetNextThink( gpGlobals->curtime );
	return m_pConstraint;
}

//-----------------------------------------------------------------------------
// Purpose: Create a Hydra Impale between the hydra and the entity passed in
//-----------------------------------------------------------------------------
CHydraImpale *CHydraImpale::Create( CNPC_Hydra *pHydra, CBaseEntity *pTarget )
{
	Vector vecOrigin;
	QAngle vecAngles;
	pHydra->GetDesiredImpaledPosition( &vecOrigin, &vecAngles );
	pTarget->Teleport( &vecOrigin, &vecAngles, &vec3_origin );

	CHydraImpale *pImpale = (CHydraImpale *)CBaseEntity::Create( "hydra_impale", vecOrigin, vecAngles );
	if ( !pImpale )
		return NULL;

	IPhysicsObject *pTargetPhysObject = pTarget->VPhysicsGetObject();
	if ( !pTargetPhysObject )
	{
		DevMsg(" Error: Tried to hydra_impale an entity without a physics model.\n" );
		return NULL;
	}

	IPhysicsConstraintGroup *pGroup = NULL;
	// Ragdoll? If so, use it's constraint group
	CRagdollProp *pRagdoll = dynamic_cast<CRagdollProp*>(pTarget);
	if ( pRagdoll )
	{
		pGroup = pRagdoll->GetRagdoll()->pGroup;
	}

	if ( !pImpale->CreateConstraint( pHydra, pTargetPhysObject, pGroup ) )
		return NULL;

	return pImpale;
}

void CNPC_Hydra::AttachStabbedEntity( CBaseAnimating *pAnimating, Vector vecForce, trace_t &tr )
{
	CTakeDamageInfo info( this, this, pAnimating->m_iHealth+25, DMG_SLASH );
	info.SetDamageForce( vecForce );
	info.SetDamagePosition( tr.endpos );

	CBaseEntity *pRagdoll = CreateServerRagdoll( pAnimating, 0, info, COLLISION_GROUP_INTERACTIVE_DEBRIS );

	// Create our impale entity
	CHydraImpale::Create( this, pRagdoll );

	m_bStabbedEntity = true;

	UTIL_Remove( pAnimating );
}

void CNPC_Hydra::UpdateStabbedEntity( void )
{
	/*
	CBaseEntity *pEntity = m_grabController.GetAttached();
	if ( !pEntity )
	{
		DetachStabbedEntity( false );
		return;
	}

	QAngle vecAngles(0,0,1);
	Vector vecOrigin = m_body[m_body.Count()-2].vecPos;

	//NDebugOverlay::Cross3D( vecOrigin, Vector( -5, -5, -5 ), Vector( 5, 5, 5 ), 255, 0, 0, 20, .1);

	m_grabController.SetTargetPosition( vecOrigin, vecAngles );
	*/
}

void CNPC_Hydra::DetachStabbedEntity( bool playSound )
{
	/*
	CBaseEntity *pObject = m_grabController.GetAttached();
	if ( pObject != NULL )
	{
		IPhysicsObject *pPhysics = pObject->VPhysicsGetObject();

		// Enable collision with this object again
		if ( pPhysics != NULL )
		{
			physenv->EnableCollisions( pPhysics, VPhysicsGetObject() );
			pPhysics->RecheckCollisionFilter();
		}
	}

	m_grabController.DetachEntity();
	*/

	if ( playSound )
	{
		//Play the detach sound
	}

	m_bStabbedEntity = false;
}

void CNPC_Hydra::GetDesiredImpaledPosition( Vector *vecOrigin, QAngle *vecAngles )
{
	*vecOrigin = m_body[m_body.Count()-2].vecPos;
	*vecAngles = QAngle(0,0,0);
}

//-----------------------------------------------------------------------------
//
// CNPC_Hydra Schedules
//
//-------------------------------------


AI_BEGIN_CUSTOM_NPC( npc_hydra, CNPC_Hydra )

	//Register our interactions

	//Conditions
	DECLARE_CONDITION( COND_HYDRA_SNAGGED )
	DECLARE_CONDITION( COND_HYDRA_STUCK )
	DECLARE_CONDITION( COND_HYDRA_OVERSHOOT )
	DECLARE_CONDITION( COND_HYDRA_OVERSTRETCH )
	DECLARE_CONDITION( COND_HYDRA_STRIKE )
	DECLARE_CONDITION( COND_HYDRA_NOSTUCK )

	//Squad slots

	//Tasks
	DECLARE_TASK( TASK_HYDRA_RETRACT )
	DECLARE_TASK( TASK_HYDRA_DEPLOY )
	DECLARE_TASK( TASK_HYDRA_GET_OBJECT )
	DECLARE_TASK( TASK_HYDRA_THROW_OBJECT )
	DECLARE_TASK( TASK_HYDRA_PREP_STAB )
	DECLARE_TASK( TASK_HYDRA_STAB )
	DECLARE_TASK( TASK_HYDRA_PULLBACK )

	//Activities
	DECLARE_ACTIVITY( ACT_HYDRA_COWER )
	DECLARE_ACTIVITY( ACT_HYDRA_STAB )

	//=========================================================
	// > SCHED_HYDRA_STAND_LOOK
	//=========================================================
	DEFINE_SCHEDULE 
	(
		SCHED_HYDRA_DEPLOY,

		"	Tasks"
		"		TASK_HYDRA_DEPLOY			0"
		"		TASK_WAIT					0.5"
		""
		"	Interrupts"
		"		COND_NEW_ENEMY"
	)

	//=========================================================
	// > SCHED_HYDRA_COWER
	//=========================================================
	DEFINE_SCHEDULE 
	(
		SCHED_HYDRA_RETRACT,

		"	Tasks"
		"		TASK_STOP_MOVING			0"
		"		TASK_SET_ACTIVITY			ACTIVITY:ACT_HYDRA_COWER"
		"		TASK_WAIT					0.5"
		""
		"	Interrupts"
	)

	DEFINE_SCHEDULE 
	(
		SCHED_HYDRA_IDLE,

		"	Tasks"
		"		TASK_STOP_MOVING				0"
		"		TASK_WAIT_INDEFINITE			0"
		""
		"	Interrupts "
		"		COND_NEW_ENEMY"
	)

	DEFINE_SCHEDULE 
	(
		SCHED_HYDRA_STAB,

		"	Tasks"
		"		TASK_SET_FAIL_SCHEDULE			SCHEDULE:SCHED_HYDRA_DEPLOY"
		"		TASK_HYDRA_PREP_STAB			4.0"
		"		TASK_HYDRA_STAB					0"
		"		TASK_WAIT						0.5"
		// "		TASK_HYDRA_PULLBACK				100"
		""
		"	Interrupts "
		"		COND_NEW_ENEMY"
		"		COND_HYDRA_OVERSTRETCH"
	)

	DEFINE_SCHEDULE 
	(
		SCHED_HYDRA_PULLBACK,

		"	Tasks"
		"		TASK_STOP_MOVING				0"
		"		TASK_WAIT						0.4"
		"		TASK_HYDRA_PULLBACK				100"
		""
		"	Interrupts "
		"		COND_NEW_ENEMY"
	)

	DEFINE_SCHEDULE 
	(
		SCHED_HYDRA_THROW,

		"	Tasks"
		"		TASK_STOP_MOVING					0"
		"		TASK_HYDRA_GET_OBJECT				0"
		"		TASK_WAIT_FOR_MOVEMENT				0"
		"		TASK_HYDRA_THROW_OBJECT				0"
		"		TASK_WAIT							1"
		""
		"	Interrupts"
	)

	DEFINE_SCHEDULE
	(
		SCHED_HYDRA_RANGE_ATTACK,

		"	Tasks"
		"		TASK_STOP_MOVING		0"
		"		TASK_ANNOUNCE_ATTACK	1"	// 1 = primary attack
		"		TASK_FACE_ENEMY			0"
		"		TASK_RANGE_ATTACK1		0"
		""
		"	Interrupts"
		"		COND_NEW_ENEMY"
		"		COND_ENEMY_DEAD"
		"		COND_LIGHT_DAMAGE"
		"		COND_HEAVY_DAMAGE"
		"		COND_ENEMY_OCCLUDED"
		"		COND_NO_PRIMARY_AMMO"
		"		COND_HEAR_DANGER"
	)

AI_END_CUSTOM_NPC()