be_ai_move.c

quakeIII源码这个不用我多说吧

/*
===========================================================================
Copyright (C) 1999-2005 Id Software, Inc.

This file is part of Quake III Arena source code.

Quake III Arena source code is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the License,
or (at your option) any later version.

Quake III Arena source code is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with Foobar; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
===========================================================================
*/

/*****************************************************************************
 * name:		be_ai_move.c
 *
 * desc:		bot movement AI
 *
 * $Archive: /MissionPack/code/botlib/be_ai_move.c $
 *
 *****************************************************************************/

#include "../game/q_shared.h"
#include "l_memory.h"
#include "l_libvar.h"
#include "l_utils.h"
#include "l_script.h"
#include "l_precomp.h"
#include "l_struct.h"
#include "aasfile.h"
#include "../game/botlib.h"
#include "../game/be_aas.h"
#include "be_aas_funcs.h"
#include "be_interface.h"

#include "../game/be_ea.h"
#include "../game/be_ai_goal.h"
#include "../game/be_ai_move.h"


//#define DEBUG_AI_MOVE
//#define DEBUG_ELEVATOR
//#define DEBUG_GRAPPLE

// bk001204 - redundant bot_avoidspot_t, see ../game/be_ai_move.h

//movement state
//NOTE: the moveflags MFL_ONGROUND, MFL_TELEPORTED, MFL_WATERJUMP and
//		MFL_GRAPPLEPULL must be set outside the movement code
typedef struct bot_movestate_s
{
	//input vars (all set outside the movement code)
	vec3_t origin;								//origin of the bot
	vec3_t velocity;							//velocity of the bot
	vec3_t viewoffset;							//view offset
	int entitynum;								//entity number of the bot
	int client;									//client number of the bot
	float thinktime;							//time the bot thinks
	int presencetype;							//presencetype of the bot
	vec3_t viewangles;							//view angles of the bot
	//state vars
	int areanum;								//area the bot is in
	int lastareanum;							//last area the bot was in
	int lastgoalareanum;						//last goal area number
	int lastreachnum;							//last reachability number
	vec3_t lastorigin;							//origin previous cycle
	int reachareanum;							//area number of the reachabilty
	int moveflags;								//movement flags
	int jumpreach;								//set when jumped
	float grapplevisible_time;					//last time the grapple was visible
	float lastgrappledist;						//last distance to the grapple end
	float reachability_time;					//time to use current reachability
	int avoidreach[MAX_AVOIDREACH];				//reachabilities to avoid
	float avoidreachtimes[MAX_AVOIDREACH];		//times to avoid the reachabilities
	int avoidreachtries[MAX_AVOIDREACH];		//number of tries before avoiding
	//
	bot_avoidspot_t avoidspots[MAX_AVOIDSPOTS];	//spots to avoid
	int numavoidspots;
} bot_movestate_t;

//used to avoid reachability links for some time after being used
#define AVOIDREACH
#define AVOIDREACH_TIME			6		//avoid links for 6 seconds after use
#define AVOIDREACH_TRIES		4
//prediction times
#define PREDICTIONTIME_JUMP	3		//in seconds
#define PREDICTIONTIME_MOVE	2		//in seconds
//weapon indexes for weapon jumping
#define WEAPONINDEX_ROCKET_LAUNCHER		5
#define WEAPONINDEX_BFG					9

#define MODELTYPE_FUNC_PLAT		1
#define MODELTYPE_FUNC_BOB		2
#define MODELTYPE_FUNC_DOOR		3
#define MODELTYPE_FUNC_STATIC	4

libvar_t *sv_maxstep;
libvar_t *sv_maxbarrier;
libvar_t *sv_gravity;
libvar_t *weapindex_rocketlauncher;
libvar_t *weapindex_bfg10k;
libvar_t *weapindex_grapple;
libvar_t *entitytypemissile;
libvar_t *offhandgrapple;
libvar_t *cmd_grappleoff;
libvar_t *cmd_grappleon;
//type of model, func_plat or func_bobbing
int modeltypes[MAX_MODELS];

bot_movestate_t *botmovestates[MAX_CLIENTS+1];

//========================================================================
//
// Parameter:			-
// Returns:				-
// Changes Globals:		-
//========================================================================
int BotAllocMoveState(void)
{
	int i;

	for (i = 1; i <= MAX_CLIENTS; i++)
	{
		if (!botmovestates[i])
		{
			botmovestates[i] = GetClearedMemory(sizeof(bot_movestate_t));
			return i;
		} //end if
	} //end for
	return 0;
} //end of the function BotAllocMoveState
//========================================================================
//
// Parameter:			-
// Returns:				-
// Changes Globals:		-
//========================================================================
void BotFreeMoveState(int handle)
{
	if (handle <= 0 || handle > MAX_CLIENTS)
	{
		botimport.Print(PRT_FATAL, "move state handle %d out of range\n", handle);
		return;
	} //end if
	if (!botmovestates[handle])
	{
		botimport.Print(PRT_FATAL, "invalid move state %d\n", handle);
		return;
	} //end if
	FreeMemory(botmovestates[handle]);
	botmovestates[handle] = NULL;
} //end of the function BotFreeMoveState
//========================================================================
//
// Parameter:				-
// Returns:					-
// Changes Globals:		-
//========================================================================
bot_movestate_t *BotMoveStateFromHandle(int handle)
{
	if (handle <= 0 || handle > MAX_CLIENTS)
	{
		botimport.Print(PRT_FATAL, "move state handle %d out of range\n", handle);
		return NULL;
	} //end if
	if (!botmovestates[handle])
	{
		botimport.Print(PRT_FATAL, "invalid move state %d\n", handle);
		return NULL;
	} //end if
	return botmovestates[handle];
} //end of the function BotMoveStateFromHandle
//========================================================================
//
// Parameter:			-
// Returns:				-
// Changes Globals:		-
//========================================================================
void BotInitMoveState(int handle, bot_initmove_t *initmove)
{
	bot_movestate_t *ms;

	ms = BotMoveStateFromHandle(handle);
	if (!ms) return;
	VectorCopy(initmove->origin, ms->origin);
	VectorCopy(initmove->velocity, ms->velocity);
	VectorCopy(initmove->viewoffset, ms->viewoffset);
	ms->entitynum = initmove->entitynum;
	ms->client = initmove->client;
	ms->thinktime = initmove->thinktime;
	ms->presencetype = initmove->presencetype;
	VectorCopy(initmove->viewangles, ms->viewangles);
	//
	ms->moveflags &= ~MFL_ONGROUND;
	if (initmove->or_moveflags & MFL_ONGROUND) ms->moveflags |= MFL_ONGROUND;
	ms->moveflags &= ~MFL_TELEPORTED;	
	if (initmove->or_moveflags & MFL_TELEPORTED) ms->moveflags |= MFL_TELEPORTED;
	ms->moveflags &= ~MFL_WATERJUMP;
	if (initmove->or_moveflags & MFL_WATERJUMP) ms->moveflags |= MFL_WATERJUMP;
	ms->moveflags &= ~MFL_WALK;
	if (initmove->or_moveflags & MFL_WALK) ms->moveflags |= MFL_WALK;
	ms->moveflags &= ~MFL_GRAPPLEPULL;
	if (initmove->or_moveflags & MFL_GRAPPLEPULL) ms->moveflags |= MFL_GRAPPLEPULL;
} //end of the function BotInitMoveState
//========================================================================
//
// Parameter:			-
// Returns:				-
// Changes Globals:		-
//========================================================================
float AngleDiff(float ang1, float ang2)
{
	float diff;

	diff = ang1 - ang2;
	if (ang1 > ang2)
	{
		if (diff > 180.0) diff -= 360.0;
	} //end if
	else
	{
		if (diff < -180.0) diff += 360.0;
	} //end else
	return diff;
} //end of the function AngleDiff
//===========================================================================
//
// Parameter:			-
// Returns:				-
// Changes Globals:		-
//===========================================================================
int BotFuzzyPointReachabilityArea(vec3_t origin)
{
	int firstareanum, j, x, y, z;
	int areas[10], numareas, areanum, bestareanum;
	float dist, bestdist;
	vec3_t points[10], v, end;

	firstareanum = 0;
	areanum = AAS_PointAreaNum(origin);
	if (areanum)
	{
		firstareanum = areanum;
		if (AAS_AreaReachability(areanum)) return areanum;
	} //end if
	VectorCopy(origin, end);
	end[2] += 4;
	numareas = AAS_TraceAreas(origin, end, areas, points, 10);
	for (j = 0; j < numareas; j++)
	{
		if (AAS_AreaReachability(areas[j])) return areas[j];
	} //end for
	bestdist = 999999;
	bestareanum = 0;
	for (z = 1; z >= -1; z -= 1)
	{
		for (x = 1; x >= -1; x -= 1)
		{
			for (y = 1; y >= -1; y -= 1)
			{
				VectorCopy(origin, end);
				end[0] += x * 8;
				end[1] += y * 8;
				end[2] += z * 12;
				numareas = AAS_TraceAreas(origin, end, areas, points, 10);
				for (j = 0; j < numareas; j++)
				{
					if (AAS_AreaReachability(areas[j]))
					{
						VectorSubtract(points[j], origin, v);
						dist = VectorLength(v);
						if (dist < bestdist)
						{
							bestareanum = areas[j];
							bestdist = dist;
						} //end if
					} //end if
					if (!firstareanum) firstareanum = areas[j];
				} //end for
			} //end for
		} //end for
		if (bestareanum) return bestareanum;
	} //end for
	return firstareanum;
} //end of the function BotFuzzyPointReachabilityArea
//===========================================================================
//
// Parameter:			-
// Returns:				-
// Changes Globals:		-
//===========================================================================
int BotReachabilityArea(vec3_t origin, int client)
{
	int modelnum, modeltype, reachnum, areanum;
	aas_reachability_t reach;
	vec3_t org, end, mins, maxs, up = {0, 0, 1};
	bsp_trace_t bsptrace;
	aas_trace_t trace;

	//check if the bot is standing on something
	AAS_PresenceTypeBoundingBox(PRESENCE_CROUCH, mins, maxs);
	VectorMA(origin, -3, up, end);
	bsptrace = AAS_Trace(origin, mins, maxs, end, client, CONTENTS_SOLID|CONTENTS_PLAYERCLIP);
	if (!bsptrace.startsolid && bsptrace.fraction < 1 && bsptrace.ent != ENTITYNUM_NONE)
	{
		//if standing on the world the bot should be in a valid area
		if (bsptrace.ent == ENTITYNUM_WORLD)
		{
			return BotFuzzyPointReachabilityArea(origin);
		} //end if

		modelnum = AAS_EntityModelindex(bsptrace.ent);
		modeltype = modeltypes[modelnum];

		//if standing on a func_plat or func_bobbing then the bot is assumed to be
		//in the area the reachability points to
		if (modeltype == MODELTYPE_FUNC_PLAT || modeltype == MODELTYPE_FUNC_BOB)
		{
			reachnum = AAS_NextModelReachability(0, modelnum);
			if (reachnum)
			{
				AAS_ReachabilityFromNum(reachnum, &reach);
				return reach.areanum;
			} //end if
		} //end else if

		//if the bot is swimming the bot should be in a valid area
		if (AAS_Swimming(origin))
		{
			return BotFuzzyPointReachabilityArea(origin);
		} //end if
		//
		areanum = BotFuzzyPointReachabilityArea(origin);
		//if the bot is in an area with reachabilities
		if (areanum && AAS_AreaReachability(areanum)) return areanum;
		//trace down till the ground is hit because the bot is standing on some other entity
		VectorCopy(origin, org);
		VectorCopy(org, end);
		end[2] -= 800;
		trace = AAS_TraceClientBBox(org, end, PRESENCE_CROUCH, -1);
		if (!trace.startsolid)
		{
			VectorCopy(trace.endpos, org);
		} //end if
		//
		return BotFuzzyPointReachabilityArea(org);
	} //end if
	//
	return BotFuzzyPointReachabilityArea(origin);
} //end of the function BotReachabilityArea
//===========================================================================
// returns the reachability area the bot is in
//
// Parameter:				-
// Returns:					-
// Changes Globals:		-
//===========================================================================
/*
int BotReachabilityArea(vec3_t origin, int testground)
{
	int firstareanum, i, j, x, y, z;
	int areas[10], numareas, areanum, bestareanum;
	float dist, bestdist;
	vec3_t org, end, points[10], v;
	aas_trace_t trace;

	firstareanum = 0;
	for (i = 0; i < 2; i++)
	{
		VectorCopy(origin, org);
		//if test at the ground (used when bot is standing on an entity)
		if (i > 0)
		{
			VectorCopy(origin, end);
			end[2] -= 800;
			trace = AAS_TraceClientBBox(origin, end, PRESENCE_CROUCH, -1);
			if (!trace.startsolid)
			{
				VectorCopy(trace.endpos, org);
			} //end if
		} //end if

		firstareanum = 0;
		areanum = AAS_PointAreaNum(org);
		if (areanum)
		{
			firstareanum = areanum;
			if (AAS_AreaReachability(areanum)) return areanum;
		} //end if
		bestdist = 999999;
		bestareanum = 0;
		for (z = 1; z >= -1; z -= 1)
		{
			for (x = 1; x >= -1; x -= 1)
			{
				for (y = 1; y >= -1; y -= 1)
				{