1359 lines
43 KiB
C
1359 lines
43 KiB
C
/*
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THE COMPUTER CODE CONTAINED HEREIN IS THE SOLE PROPERTY OF PARALLAX
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SOFTWARE CORPORATION ("PARALLAX"). PARALLAX, IN DISTRIBUTING THE CODE TO
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END-USERS, AND SUBJECT TO ALL OF THE TERMS AND CONDITIONS HEREIN, GRANTS A
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ROYALTY-FREE, PERPETUAL LICENSE TO SUCH END-USERS FOR USE BY SUCH END-USERS
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IN USING, DISPLAYING, AND CREATING DERIVATIVE WORKS THEREOF, SO LONG AS
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SUCH USE, DISPLAY OR CREATION IS FOR NON-COMMERCIAL, ROYALTY OR REVENUE
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FREE PURPOSES. IN NO EVENT SHALL THE END-USER USE THE COMPUTER CODE
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CONTAINED HEREIN FOR REVENUE-BEARING PURPOSES. THE END-USER UNDERSTANDS
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AND AGREES TO THE TERMS HEREIN AND ACCEPTS THE SAME BY USE OF THIS FILE.
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COPYRIGHT 1993-1998 PARALLAX SOFTWARE CORPORATION. ALL RIGHTS RESERVED.
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*/
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/*
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*
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* AI path forming stuff.
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*
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*/
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#include <stdio.h> // for printf()
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#include <stdlib.h> // for d_rand() and qsort()
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#include <string.h> // for memset()
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#include "inferno.h"
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#include "console.h"
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#include "3d.h"
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#include "object.h"
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#include "error.h"
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#include "ai.h"
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#include "robot.h"
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#include "fvi.h"
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#include "physics.h"
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#include "wall.h"
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#ifdef EDITOR
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#include "editor/editor.h"
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#endif
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#include "player.h"
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#include "fireball.h"
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#include "game.h"
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void validate_all_paths(void);
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void ai_path_set_orient_and_vel(object *objp, vms_vector *goal_point);
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void maybe_ai_path_garbage_collect(void);
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#ifndef NDEBUG
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int validate_path(int debug_flag, point_seg *psegs, int num_points);
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#endif
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#define PARALLAX 0 // If !0, then special debugging for Parallax eyes enabled.
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// Length in segments of avoidance path
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#define AVOID_SEG_LENGTH 7
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void create_random_xlate(sbyte *xt)
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{
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int i;
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for (i=0; i<MAX_SIDES_PER_SEGMENT; i++)
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xt[i] = i;
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for (i=0; i<MAX_SIDES_PER_SEGMENT; i++) {
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int j = (d_rand()*MAX_SIDES_PER_SEGMENT)/(D_RAND_MAX+1);
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sbyte temp_byte;
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Assert((j >= 0) && (j < MAX_SIDES_PER_SEGMENT));
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temp_byte = xt[j];
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xt[j] = xt[i];
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xt[i] = temp_byte;
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}
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}
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// -----------------------------------------------------------------------------------------------------------
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// Insert the point at the center of the side connecting two segments between the two points.
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// This is messy because we must insert into the list. The simplest (and not too slow) way to do this is to start
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// at the end of the list and go backwards.
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void insert_center_points(point_seg *psegs, short *num_points)
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{
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int i, last_point;
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last_point = *num_points-1;
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for (i=last_point; i>0; i--) {
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int connect_side;
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vms_vector center_point, new_point;
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psegs[2*i] = psegs[i];
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connect_side = find_connect_side(&Segments[psegs[i].segnum], &Segments[psegs[i-1].segnum]);
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Assert(connect_side != -1); // Impossible! These two segments must be connected, they were created by create_path_points (which was created by mk!)
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if (connect_side == -1) // Try to blow past the assert, this should at least prevent a hang.
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connect_side = 0;
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compute_center_point_on_side(¢er_point, &Segments[psegs[i-1].segnum], connect_side);
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vm_vec_sub(&new_point, &psegs[i-1].point, ¢er_point);
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new_point.x /= 16;
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new_point.y /= 16;
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new_point.z /= 16;
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vm_vec_sub(&psegs[2*i-1].point, ¢er_point, &new_point);
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psegs[2*i-1].segnum = psegs[2*i].segnum;
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(*num_points)++;
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}
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}
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#ifdef EDITOR
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int Safety_flag_override = 0;
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int Random_flag_override = 0;
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int Ai_path_debug=0;
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#endif
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// -----------------------------------------------------------------------------------------------------------
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// Create a path from objp->pos to the center of end_seg.
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// Return a list of (segment_num, point_locations) at psegs
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// Return number of points in *num_points.
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// if max_depth == -1, then there is no maximum depth.
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// If unable to create path, return -1, else return 0.
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// If random_flag !0, then introduce randomness into path by looking at sides in random order. This means
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// that a path between two segments won't always be the same, unless it is unique.
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// If safety_flag is set, then additional points are added to "make sure" that points are reachable. I would
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// like to say that it ensures that the object can move between the points, but that would require knowing what
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// the object is (which isn't passed, right?) and making fvi calls (slow, right?). So, consider it the more_or_less_safe_flag.
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// If end_seg == -2, then end seg will never be found and this routine will drop out due to depth (probably called by create_n_segment_path).
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int create_path_points(object *objp, int start_seg, int end_seg, point_seg *psegs, short *num_points, int max_depth, int random_flag, int safety_flag, int avoid_seg)
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{
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int cur_seg;
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int sidenum;
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int qtail = 0, qhead = 0;
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int i;
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sbyte visited[MAX_SEGMENTS];
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seg_seg seg_queue[MAX_SEGMENTS];
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short depth[MAX_SEGMENTS];
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int cur_depth;
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sbyte random_xlate[MAX_SIDES_PER_SEGMENT];
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point_seg *original_psegs = psegs;
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#ifndef NDEBUG
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point_seg *other_original_psegs = psegs;
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#endif
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#ifndef NDEBUG
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validate_all_paths();
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#endif
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if ((objp->type == OBJ_ROBOT) && (objp->ctype.ai_info.behavior == AIB_RUN_FROM)) {
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random_flag = 1;
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avoid_seg = ConsoleObject->segnum;
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// Int3();
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}
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if (max_depth == -1)
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max_depth = MAX_PATH_LENGTH;
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*num_points = 0;
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// for (i=0; i<=Highest_segment_index; i++) {
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// visited[i] = 0;
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// depth[i] = 0;
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// }
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memset(visited, 0, sizeof(visited[0])*(Highest_segment_index+1));
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memset(depth, 0, sizeof(depth[0])*(Highest_segment_index+1));
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// If there is a segment we're not allowed to visit, mark it.
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if (avoid_seg != -1) {
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Assert(avoid_seg <= Highest_segment_index);
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if ((start_seg != avoid_seg) && (end_seg != avoid_seg)) {
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visited[avoid_seg] = 1;
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depth[avoid_seg] = 0;
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}
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}
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if (random_flag)
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create_random_xlate(random_xlate);
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cur_seg = start_seg;
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visited[cur_seg] = 1;
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cur_depth = 0;
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while (cur_seg != end_seg) {
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segment *segp = &Segments[cur_seg];
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for (sidenum = 0; sidenum < MAX_SIDES_PER_SEGMENT; sidenum++) {
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int snum = sidenum;
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if (random_flag)
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snum = random_xlate[sidenum];
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if ((WALL_IS_DOORWAY(segp, snum) & WID_FLY_FLAG) || (ai_door_is_openable(objp, segp, snum))) {
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int this_seg = segp->children[snum];
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if (!visited[this_seg]) {
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seg_queue[qtail].start = cur_seg;
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seg_queue[qtail].end = this_seg;
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visited[this_seg] = 1;
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depth[qtail++] = cur_depth+1;
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if (depth[qtail-1] == max_depth) {
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end_seg = seg_queue[qtail-1].end;
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goto cpp_done1;
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}
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}
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}
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} // for (sidenum...
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if (qtail <= 0)
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break;
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if (qhead >= qtail) {
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// Couldn't get to goal, return a path as far as we got, which probably acceptable to the unparticular caller.
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end_seg = seg_queue[qtail-1].end;
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break;
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}
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cur_seg = seg_queue[qhead].end;
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cur_depth = depth[qhead];
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qhead++;
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cpp_done1: ;
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} // while (cur_seg ...
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if (qtail > 0)
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{
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// Set qtail to the segment which ends at the goal.
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while (seg_queue[--qtail].end != end_seg)
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if (qtail < 0) {
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return -1;
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}
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}
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else
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qtail = -1;
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#ifdef EDITOR
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N_selected_segs = 0;
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#endif
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while (qtail >= 0) {
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int parent_seg, this_seg;
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this_seg = seg_queue[qtail].end;
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parent_seg = seg_queue[qtail].start;
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psegs->segnum = this_seg;
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compute_segment_center(&psegs->point,&Segments[this_seg]);
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psegs++;
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(*num_points)++;
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#ifdef EDITOR
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Selected_segs[N_selected_segs++] = this_seg;
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#endif
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if (parent_seg == start_seg)
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break;
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while (seg_queue[--qtail].end != parent_seg)
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Assert(qtail >= 0);
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}
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psegs->segnum = start_seg;
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compute_segment_center(&psegs->point,&Segments[start_seg]);
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psegs++;
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(*num_points)++;
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#ifndef NDEBUG
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validate_path(1, original_psegs, *num_points);
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#endif
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// Now, reverse point_segs in place.
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for (i=0; i< (*num_points)/2; i++) {
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point_seg temp_point_seg = *(original_psegs + i);
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*(original_psegs + i) = *(original_psegs + *num_points - i - 1);
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*(original_psegs + *num_points - i - 1) = temp_point_seg;
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}
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#ifndef NDEBUG
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validate_path(2, original_psegs, *num_points);
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#endif
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// Now, if safety_flag set, then insert the point at the center of the side connecting two segments
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// between the two points. This is messy because we must insert into the list. The simplest (and not too slow)
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// way to do this is to start at the end of the list and go backwards.
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if (safety_flag) {
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if (psegs - Point_segs + *num_points + 2 > MAX_POINT_SEGS) {
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ai_reset_all_paths();
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return -1;
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} else {
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insert_center_points(original_psegs, num_points);
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}
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}
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#ifndef NDEBUG
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validate_path(3, original_psegs, *num_points);
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validate_path(0, original_psegs, *num_points);
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Assert(other_original_psegs == original_psegs);
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#endif
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return 0;
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}
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#ifndef NDEBUG
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// -------------------------------------------------------------------------------------------------------
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// Make sure that there are connections between all segments on path.
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// Note that if path has been optimized, connections may not be direct, so this function is useless, or worse.
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// Return true if valid, else return false.
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int validate_path(int debug_flag, point_seg *psegs, int num_points)
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{
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#if PARALLAX
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int i, curseg;
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// Trap a common bug elsewhere in aipath.
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if (psegs > Point_segs_free_ptr) {
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//Int3(); // Contact Mike: Debug trap for elusive, nasty bug.
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return 0;
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}
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curseg = psegs->segnum;
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if ((curseg < 0) || (curseg > Highest_segment_index)) {
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return 0;
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}
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if (num_points == 0)
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return 1;
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for (i=1; i<num_points; i++) {
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int sidenum;
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int nextseg = psegs[i].segnum;
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if ((nextseg < 0) || (nextseg > Highest_segment_index)) {
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return 0;
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}
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if (curseg != nextseg) {
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for (sidenum=0; sidenum<MAX_SIDES_PER_SEGMENT; sidenum++)
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if (Segments[curseg].children[sidenum] == nextseg)
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break;
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// Assert(sidenum != MAX_SIDES_PER_SEGMENT); // Hey, created path is not contiguous, why!?
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if (sidenum == MAX_SIDES_PER_SEGMENT) {
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return 0;
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}
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curseg = nextseg;
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}
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}
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#endif
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return 1;
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}
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#endif
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#ifndef NDEBUG
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// -----------------------------------------------------------------------------------------------------------
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void validate_all_paths(void)
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{
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#if PARALLAX
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int i;
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for (i=0; i<=Highest_object_index; i++) {
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if (Objects[i].type == OBJ_ROBOT) {
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object *objp = &Objects[i];
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ai_static *aip = &objp->ctype.ai_info;
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//ai_local *ailp = &Ai_local_info[i];
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if (objp->control_type == CT_AI) {
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if ((aip->hide_index != -1) && (aip->path_length > 0))
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if (!validate_path(4, &Point_segs[aip->hide_index], aip->path_length)) {
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//Int3(); // This path is bogus! Who corrupted it! Danger! Danger!
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// Contact Mike, he caused this mess.
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//force_dump_ai_objects_all("Error in validate_all_paths");
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aip->path_length=0; // This allows people to resume without harm...
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}
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}
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}
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}
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#endif
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}
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#endif
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// -------------------------------------------------------------------------------------------------------
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// Creates a path from the objects current segment (objp->segnum) to the specified segment for the object to
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// hide in Ai_local_info[objnum].goal_segment.
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// Sets objp->ctype.ai_info.hide_index, a pointer into Point_segs, the first point_seg of the path.
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// objp->ctype.ai_info.path_length, length of path
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// Point_segs_free_ptr global pointer into Point_segs array
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void create_path(object *objp)
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{
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ai_static *aip = &objp->ctype.ai_info;
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ai_local *ailp = &Ai_local_info[objp-Objects];
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int start_seg, end_seg;
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start_seg = objp->segnum;
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end_seg = ailp->goal_segment;
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if (end_seg == -1)
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create_n_segment_path(objp, 3, -1);
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if (end_seg == -1) {
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;
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} else {
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create_path_points(objp, start_seg, end_seg, Point_segs_free_ptr, &aip->path_length, -1, 0, 0, -1);
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aip->hide_index = Point_segs_free_ptr - Point_segs;
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aip->cur_path_index = 0;
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#ifndef NDEBUG
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validate_path(5, Point_segs_free_ptr, aip->path_length);
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#endif
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Point_segs_free_ptr += aip->path_length;
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if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
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//Int3(); // Contact Mike: This is curious, though not deadly. /eip++;g
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//force_dump_ai_objects_all("Error in create_path");
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ai_reset_all_paths();
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}
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aip->PATH_DIR = 1; // Initialize to moving forward.
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aip->SUBMODE = AISM_HIDING; // Pretend we are hiding, so we sit here until bothered.
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}
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maybe_ai_path_garbage_collect();
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}
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// -------------------------------------------------------------------------------------------------------
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// Creates a path from the objects current segment (objp->segnum) to the specified segment for the object to
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// hide in Ai_local_info[objnum].goal_segment.
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// Sets objp->ctype.ai_info.hide_index, a pointer into Point_segs, the first point_seg of the path.
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// objp->ctype.ai_info.path_length, length of path
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// Point_segs_free_ptr global pointer into Point_segs array
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void create_path_to_player(object *objp, int max_length, int safety_flag)
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{
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ai_static *aip = &objp->ctype.ai_info;
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ai_local *ailp = &Ai_local_info[objp-Objects];
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int start_seg, end_seg;
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if (max_length == -1)
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max_length = MAX_DEPTH_TO_SEARCH_FOR_PLAYER;
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ailp->time_player_seen = GameTime64; // Prevent from resetting path quickly.
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ailp->goal_segment = ConsoleObject->segnum;
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start_seg = objp->segnum;
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end_seg = ailp->goal_segment;
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if (end_seg == -1) {
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;
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} else {
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#ifndef NDEBUG
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point_seg *pseg0 = Point_segs_free_ptr;
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#endif
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create_path_points(objp, start_seg, end_seg, Point_segs_free_ptr, &aip->path_length, max_length, 1, safety_flag, -1);
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aip->hide_index = Point_segs_free_ptr - Point_segs;
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aip->cur_path_index = 0;
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#ifndef NDEBUG
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//Enclosed this Assert in an ifdef, because if NDEBUG isn't defined,
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//pseg0 doesn't exist! -KRB
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Assert(Point_segs_free_ptr == pseg0);
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#endif
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#ifndef NDEBUG
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validate_path(6, Point_segs_free_ptr, aip->path_length);
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#endif
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Point_segs_free_ptr += aip->path_length;
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if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
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//Int3(); // Contact Mike: This is stupid. Should call maybe_ai_garbage_collect before the add.
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//force_dump_ai_objects_all("Error in create_path_to_player");
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ai_reset_all_paths();
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return;
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}
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// Assert(Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 < MAX_POINT_SEGS);
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aip->PATH_DIR = 1; // Initialize to moving forward.
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aip->SUBMODE = AISM_GOHIDE; // This forces immediate movement.
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ailp->mode = AIM_FOLLOW_PATH;
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ailp->player_awareness_type = 0; // If robot too aware of player, will set mode to chase
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}
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maybe_ai_path_garbage_collect();
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}
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// -------------------------------------------------------------------------------------------------------
|
|
// Creates a path from the objects current segment (objp->segnum) to the specified segment for the object to
|
|
// hide in Ai_local_info[objnum].goal_segment
|
|
// Sets objp->ctype.ai_info.hide_index, a pointer into Point_segs, the first point_seg of the path.
|
|
// objp->ctype.ai_info.path_length, length of path
|
|
// Point_segs_free_ptr global pointer into Point_segs array
|
|
void create_path_to_station(object *objp, int max_length)
|
|
{
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
int start_seg, end_seg;
|
|
|
|
if (max_length == -1)
|
|
max_length = MAX_DEPTH_TO_SEARCH_FOR_PLAYER;
|
|
|
|
ailp->time_player_seen = GameTime64; // Prevent from resetting path quickly.
|
|
|
|
start_seg = objp->segnum;
|
|
end_seg = aip->hide_segment;
|
|
|
|
if (end_seg == -1) {
|
|
;
|
|
} else {
|
|
create_path_points(objp, start_seg, end_seg, Point_segs_free_ptr, &aip->path_length, max_length, 1, 1, -1);
|
|
aip->hide_index = Point_segs_free_ptr - Point_segs;
|
|
aip->cur_path_index = 0;
|
|
#ifndef NDEBUG
|
|
validate_path(7, Point_segs_free_ptr, aip->path_length);
|
|
#endif
|
|
Point_segs_free_ptr += aip->path_length;
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
//Int3(); // Contact Mike: Stupid.
|
|
//force_dump_ai_objects_all("Error in create_path_to_station");
|
|
ai_reset_all_paths();
|
|
return;
|
|
}
|
|
// Assert(Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 < MAX_POINT_SEGS);
|
|
aip->PATH_DIR = 1; // Initialize to moving forward.
|
|
// aip->SUBMODE = AISM_GOHIDE; // This forces immediate movement.
|
|
ailp->mode = AIM_FOLLOW_PATH;
|
|
ailp->player_awareness_type = 0;
|
|
}
|
|
|
|
|
|
maybe_ai_path_garbage_collect();
|
|
|
|
}
|
|
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
// Create a path of length path_length for an object, stuffing info in ai_info field.
|
|
void create_n_segment_path(object *objp, int path_length, int avoid_seg)
|
|
{
|
|
ai_static *aip=&objp->ctype.ai_info;
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
if (create_path_points(objp, objp->segnum, -2, Point_segs_free_ptr, &aip->path_length, path_length, 1, 0, avoid_seg) == -1) {
|
|
//Int3(); // Contact Mike: Considering removing this code. Can I?
|
|
//force_dump_ai_objects_all("Error in create_n_segment_path");
|
|
Point_segs_free_ptr += aip->path_length;
|
|
while ((create_path_points(objp, objp->segnum, -2, Point_segs_free_ptr, &aip->path_length, --path_length, 1, 0, -1) == -1)) {
|
|
Assert(path_length);
|
|
}
|
|
}
|
|
|
|
aip->hide_index = Point_segs_free_ptr - Point_segs;
|
|
aip->cur_path_index = 0;
|
|
#ifndef NDEBUG
|
|
validate_path(8, Point_segs_free_ptr, aip->path_length);
|
|
#endif
|
|
Point_segs_free_ptr += aip->path_length;
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
//Int3(); // Contact Mike: This is curious, though not deadly. /eip++;g
|
|
//force_dump_ai_objects_all("Error in crete_n_segment_path 2");
|
|
ai_reset_all_paths();
|
|
}
|
|
|
|
aip->PATH_DIR = 1; // Initialize to moving forward.
|
|
aip->SUBMODE = -1; // Don't know what this means.
|
|
ailp->mode = AIM_FOLLOW_PATH;
|
|
|
|
maybe_ai_path_garbage_collect();
|
|
|
|
}
|
|
|
|
// -------------------------------------------------------------------------------------------------------
|
|
void create_n_segment_path_to_door(object *objp, int path_length, int avoid_seg)
|
|
{
|
|
create_n_segment_path(objp, path_length, avoid_seg);
|
|
}
|
|
|
|
//--unused-- // -------------------------------------------------------------------------------------------------------
|
|
//--unused-- // For all AI objects which have mode HIDE or RUN_FROM_OBJECT, create a path to run to.
|
|
//--unused-- void create_all_paths(void)
|
|
//--unused-- {
|
|
//--unused-- int i;
|
|
//--unused--
|
|
//--unused-- for (i=0; i<=Highest_object_index; i++) {
|
|
//--unused-- object *objp = &Objects[i];
|
|
//--unused-- if (Objects[i].control_type == CT_AI) {
|
|
//--unused-- ai_static *aip = &objp->ctype.ai_info;
|
|
//--unused-- if ((aip->behavior == AIB_HIDE) || (aip->behavior == AIB_RUN_FROM) || (aip->behavior == AIB_FOLLOW_PATH))
|
|
//--unused-- create_path(&Objects[i]);
|
|
//--unused-- }
|
|
//--unused-- }
|
|
//--unused--
|
|
//--unused-- }
|
|
|
|
extern int Connected_segment_distance;
|
|
|
|
// ----------------------------------------------------------------------------------------------------
|
|
void move_object_to_goal(object *objp, vms_vector *goal_point, int goal_seg)
|
|
{
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
int segnum;
|
|
|
|
Assert(objp->segnum != -1);
|
|
|
|
#ifndef NDEBUG
|
|
if (objp->segnum != goal_seg)
|
|
if (find_connect_side(&Segments[objp->segnum], &Segments[goal_seg]) == -1) {
|
|
fix dist;
|
|
dist = find_connected_distance(&objp->pos, objp->segnum, goal_point, goal_seg, 30, WID_FLY_FLAG);
|
|
if (Connected_segment_distance > 2) { // This global is set in find_connected_distance
|
|
// Int3();
|
|
}
|
|
}
|
|
#endif
|
|
|
|
aip->cur_path_index += aip->PATH_DIR;
|
|
|
|
if (aip->cur_path_index <= 0) {
|
|
if (aip->behavior == AIB_STATION) {
|
|
create_path_to_station(objp, 15);
|
|
return;
|
|
}
|
|
aip->cur_path_index = 0;
|
|
aip->PATH_DIR = -aip->PATH_DIR;
|
|
} else if (aip->cur_path_index >= aip->path_length) {
|
|
if (aip->behavior == AIB_STATION) {
|
|
create_path_to_station(objp, 15);
|
|
return;
|
|
}
|
|
aip->cur_path_index = aip->path_length-1;
|
|
aip->PATH_DIR = -aip->PATH_DIR;
|
|
}
|
|
|
|
objp->pos = *goal_point;
|
|
segnum = find_object_seg(objp);
|
|
|
|
if (segnum == -1) {
|
|
Int3(); // Oops, object is not in any segment.
|
|
// Contact Mike: This is impossible.
|
|
// Hack, move object to center of segment it used to be in.
|
|
compute_segment_center(&objp->pos, &Segments[objp->segnum]);
|
|
} else
|
|
obj_relink(objp-Objects, segnum);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
// Optimization: If current velocity will take robot near goal, don't change velocity
|
|
void ai_follow_path(object *objp, int player_visibility)
|
|
{
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
vms_vector goal_point, new_goal_point;
|
|
fix dist_to_goal;
|
|
// robot_info *robptr = &Robot_info[objp->id];
|
|
int forced_break, original_dir, original_index;
|
|
fix dist_to_player;
|
|
int goal_seg;
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
fix threshold_distance;
|
|
|
|
if ((aip->hide_index == -1) || (aip->path_length == 0))
|
|
{
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
create_n_segment_path(objp, 5, -1);
|
|
ailp->mode = AIM_RUN_FROM_OBJECT;
|
|
} else
|
|
create_path(objp);
|
|
}
|
|
|
|
if ((aip->hide_index + aip->path_length > Point_segs_free_ptr - Point_segs) && (aip->path_length>0)) {
|
|
//Int3(); // Contact Mike: Bad. Path goes into what is believed to be free space.
|
|
//force_dump_ai_objects_all("Error in ai_follow_path");
|
|
ai_reset_all_paths();
|
|
}
|
|
|
|
if (aip->path_length < 2) {
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
if (ConsoleObject->segnum == objp->segnum)
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, -1); // Can't avoid segment player is in, robot is already in it! (That's what the -1 is for)
|
|
else
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
} else {
|
|
ailp->mode = AIM_STILL;
|
|
}
|
|
return;
|
|
}
|
|
|
|
Assert((aip->PATH_DIR == -1) || (aip->PATH_DIR == 1));
|
|
|
|
if ((aip->SUBMODE == AISM_HIDING) && (aip->behavior == AIB_HIDE))
|
|
return;
|
|
|
|
goal_point = Point_segs[aip->hide_index + aip->cur_path_index].point;
|
|
goal_seg = Point_segs[aip->hide_index + aip->cur_path_index].segnum;
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
|
|
if (Player_is_dead)
|
|
dist_to_player = vm_vec_dist_quick(&objp->pos, &Viewer->pos);
|
|
else
|
|
dist_to_player = vm_vec_dist_quick(&objp->pos, &ConsoleObject->pos);
|
|
|
|
#if 0
|
|
// Efficiency hack: If far away from player, move in big quantized jumps.
|
|
if ((dist_to_player > F1_0*200) && !(Game_mode & GM_MULTI)) {
|
|
if (dist_to_goal < F1_0*2)
|
|
move_object_to_goal(objp, &goal_point, goal_seg);
|
|
else {
|
|
robot_info *robptr = &Robot_info[objp->id];
|
|
fix cur_speed = robptr->max_speed[Difficulty_level]/2;
|
|
fix distance_travellable = fixmul(FrameTime, cur_speed);
|
|
|
|
if (distance_travellable >= dist_to_goal)
|
|
move_object_to_goal(objp, &goal_point, goal_seg);
|
|
else {
|
|
fix prob = fixdiv(distance_travellable, dist_to_goal);
|
|
|
|
int rand_num = d_rand();
|
|
if ( (rand_num >> 1) < prob)
|
|
move_object_to_goal(objp, &goal_point, goal_seg);
|
|
}
|
|
}
|
|
|
|
// If we are hiding, we stop when we get to the goal.
|
|
if (ailp->mode == AIM_HIDE)
|
|
ailp->mode = AIM_STILL;
|
|
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
// If running from player, only run until can't be seen.
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
if ((player_visibility == 0) && (ailp->player_awareness_type == 0)) {
|
|
fix vel_scale;
|
|
|
|
vel_scale = F1_0 - FrameTime/2;
|
|
if (vel_scale < F1_0/2)
|
|
vel_scale = F1_0/2;
|
|
|
|
vm_vec_scale(&objp->mtype.phys_info.velocity, vel_scale);
|
|
|
|
return;
|
|
} else {
|
|
// If player on path (beyond point robot is now at), then create a new path.
|
|
point_seg *curpsp = &Point_segs[aip->hide_index];
|
|
int player_segnum = ConsoleObject->segnum;
|
|
int i;
|
|
|
|
// This is probably being done every frame, which is wasteful.
|
|
for (i=aip->cur_path_index; i<aip->path_length; i++)
|
|
if (curpsp[i].segnum == player_segnum) {
|
|
if (player_segnum != objp->segnum)
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, player_segnum);
|
|
else
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, -1);
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
break;
|
|
}
|
|
if (player_visibility) {
|
|
ailp->player_awareness_type = 1;
|
|
ailp->player_awareness_time = F1_0;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (aip->cur_path_index < 0)
|
|
aip->cur_path_index = 0;
|
|
else if (aip->cur_path_index >= aip->path_length)
|
|
{
|
|
if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
} else
|
|
aip->cur_path_index = aip->path_length-1;
|
|
}
|
|
|
|
goal_point = Point_segs[aip->hide_index + aip->cur_path_index].point;
|
|
|
|
// If near goal, pick another goal point.
|
|
forced_break = 0; // Gets set for short paths.
|
|
original_dir = aip->PATH_DIR;
|
|
original_index = aip->cur_path_index;
|
|
threshold_distance = fixmul(vm_vec_mag_quick(&objp->mtype.phys_info.velocity), FrameTime)*2 + F1_0*2;
|
|
|
|
while ((dist_to_goal < threshold_distance) && !forced_break) {
|
|
|
|
// Advance to next point on path.
|
|
aip->cur_path_index += aip->PATH_DIR;
|
|
|
|
// See if next point wraps past end of path (in either direction), and if so, deal with it based on mode.
|
|
if ((aip->cur_path_index >= aip->path_length) || (aip->cur_path_index < 0)) {
|
|
|
|
// If mode = hiding, then stay here until get bonked or hit by player.
|
|
if (ailp->mode == AIM_HIDE) {
|
|
ailp->mode = AIM_STILL;
|
|
return; // Stay here until bonked or hit by player.
|
|
} else if (aip->behavior == AIB_STATION) {
|
|
create_path_to_station(objp, 15);
|
|
if (aip->hide_segment != Point_segs[aip->hide_index+aip->path_length-1].segnum) {
|
|
ailp->mode = AIM_STILL;
|
|
}
|
|
return;
|
|
} else if ((ailp->mode == AIM_FOLLOW_PATH) && (aip->behavior != AIB_FOLLOW_PATH)) {
|
|
create_path_to_player(objp, 10, 1);
|
|
} else if (ailp->mode == AIM_RUN_FROM_OBJECT) {
|
|
create_n_segment_path(objp, AVOID_SEG_LENGTH, ConsoleObject->segnum);
|
|
ailp->mode = AIM_RUN_FROM_OBJECT; // It gets bashed in create_n_segment_path
|
|
} else {
|
|
// Reached end of the line. First see if opposite end point is reachable, and if so, go there.
|
|
// If not, turn around.
|
|
int opposite_end_index;
|
|
vms_vector *opposite_end_point;
|
|
fvi_info hit_data;
|
|
int fate;
|
|
fvi_query fq;
|
|
|
|
// See which end we're nearer and look at the opposite end point.
|
|
if (abs(aip->cur_path_index - aip->path_length) < aip->cur_path_index) {
|
|
// Nearer to far end (ie, index not 0), so try to reach 0.
|
|
opposite_end_index = 0;
|
|
} else {
|
|
// Nearer to 0 end, so try to reach far end.
|
|
opposite_end_index = aip->path_length-1;
|
|
}
|
|
|
|
opposite_end_point = &Point_segs[aip->hide_index + opposite_end_index].point;
|
|
|
|
fq.p0 = &objp->pos;
|
|
fq.startseg = objp->segnum;
|
|
fq.p1 = opposite_end_point;
|
|
fq.rad = objp->size;
|
|
fq.thisobjnum = objp-Objects;
|
|
fq.ignore_obj_list = NULL;
|
|
fq.flags = 0; //what about trans walls???
|
|
|
|
fate = find_vector_intersection(&fq,&hit_data);
|
|
|
|
if (fate != HIT_WALL) {
|
|
// We can be circular! Do it!
|
|
// Path direction is unchanged.
|
|
aip->cur_path_index = opposite_end_index;
|
|
} else {
|
|
aip->PATH_DIR = -aip->PATH_DIR;
|
|
}
|
|
}
|
|
break;
|
|
} else {
|
|
new_goal_point = Point_segs[aip->hide_index + aip->cur_path_index].point;
|
|
goal_point = new_goal_point;
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
}
|
|
|
|
// If went all the way around to original point, in same direction, then get out of here!
|
|
// Cur_index[debug_count] = aip->cur_path_index;
|
|
// Cur_dir[debug_count] = aip->PATH_DIR;
|
|
// debug_count++;
|
|
if ((aip->cur_path_index == original_index) && (aip->PATH_DIR == original_dir)) {
|
|
create_path_to_player(objp, 3, 1);
|
|
forced_break = 1;
|
|
}
|
|
} // end while
|
|
|
|
// Set velocity (objp->mtype.phys_info.velocity) and orientation (objp->orient) for this object.
|
|
ai_path_set_orient_and_vel(objp, &goal_point);
|
|
|
|
}
|
|
|
|
typedef struct {
|
|
short path_start, objnum;
|
|
} obj_path;
|
|
|
|
int path_index_compare(obj_path *i1, obj_path *i2)
|
|
{
|
|
if (i1->path_start < i2->path_start)
|
|
return -1;
|
|
else if (i1->path_start == i2->path_start)
|
|
return 0;
|
|
else
|
|
return 1;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
// Set orientation matrix and velocity for objp based on its desire to get to a point.
|
|
void ai_path_set_orient_and_vel(object *objp, vms_vector *goal_point)
|
|
{
|
|
vms_vector cur_vel = objp->mtype.phys_info.velocity;
|
|
vms_vector norm_cur_vel;
|
|
vms_vector norm_vec_to_goal;
|
|
vms_vector cur_pos = objp->pos;
|
|
vms_vector norm_fvec;
|
|
fix speed_scale;
|
|
fix dot;
|
|
robot_info *robptr = &Robot_info[objp->id];
|
|
fix max_speed;
|
|
|
|
// If evading player, use highest difficulty level speed, plus something based on diff level
|
|
max_speed = robptr->max_speed[Difficulty_level];
|
|
if (Ai_local_info[objp-Objects].mode == AIM_RUN_FROM_OBJECT)
|
|
max_speed = max_speed*3/2;
|
|
|
|
vm_vec_sub(&norm_vec_to_goal, goal_point, &cur_pos);
|
|
vm_vec_normalize_quick(&norm_vec_to_goal);
|
|
|
|
norm_cur_vel = cur_vel;
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
norm_fvec = objp->orient.fvec;
|
|
vm_vec_normalize_quick(&norm_fvec);
|
|
|
|
dot = vm_vec_dot(&norm_vec_to_goal, &norm_fvec);
|
|
|
|
// If very close to facing opposite desired vector, perturb vector
|
|
if (dot < -15*F1_0/16) {
|
|
norm_cur_vel = norm_vec_to_goal;
|
|
} else {
|
|
norm_cur_vel.x += norm_vec_to_goal.x/2/((float)(F1_0/30)/FrameTime);
|
|
norm_cur_vel.y += norm_vec_to_goal.y/2/((float)(F1_0/30)/FrameTime);
|
|
norm_cur_vel.z += norm_vec_to_goal.z/2/((float)(F1_0/30)/FrameTime);
|
|
}
|
|
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
// Set speed based on this robot type's maximum allowed speed and how hard it is turning.
|
|
// How hard it is turning is based on the dot product of (vector to goal) and (current velocity vector)
|
|
// Note that since 3*F1_0/4 is added to dot product, it is possible for the robot to back up.
|
|
|
|
// Set speed and orientation.
|
|
if (dot < 0)
|
|
dot /= -4;
|
|
|
|
speed_scale = fixmul(max_speed, dot);
|
|
vm_vec_scale(&norm_cur_vel, speed_scale);
|
|
objp->mtype.phys_info.velocity = norm_cur_vel;
|
|
|
|
if (Ai_local_info[objp-Objects].mode == AIM_RUN_FROM_OBJECT)
|
|
ai_turn_towards_vector(&norm_vec_to_goal, objp, robptr->turn_time[NDL-1]/2);
|
|
else
|
|
ai_turn_towards_vector(&norm_vec_to_goal, objp, robptr->turn_time[Difficulty_level]);
|
|
|
|
}
|
|
|
|
int Last_frame_garbage_collected = 0;
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
// Garbage colledion -- Free all unused records in Point_segs and compress all paths.
|
|
void ai_path_garbage_collect(void)
|
|
{
|
|
int free_path_index = 0;
|
|
int num_path_objects = 0;
|
|
int objnum;
|
|
int objind;
|
|
obj_path object_list[MAX_OBJECTS];
|
|
|
|
#ifndef NDEBUG
|
|
force_dump_ai_objects_all("***** Start ai_path_garbage_collect *****");
|
|
#endif
|
|
|
|
Last_frame_garbage_collected = FrameCount;
|
|
|
|
#ifndef NDEBUG
|
|
validate_all_paths();
|
|
#endif
|
|
// Create a list of objects which have paths of length 1 or more.
|
|
for (objnum=0; objnum <= Highest_object_index; objnum++) {
|
|
object *objp = &Objects[objnum];
|
|
|
|
if ((objp->type == OBJ_ROBOT) && (objp->control_type == CT_AI)) {
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
|
|
if (aip->path_length) {
|
|
object_list[num_path_objects].path_start = aip->hide_index;
|
|
object_list[num_path_objects++].objnum = objnum;
|
|
}
|
|
}
|
|
}
|
|
|
|
qsort(object_list, num_path_objects, sizeof(object_list[0]), (int (*)(const void *, const void *))path_index_compare);
|
|
|
|
for (objind=0; objind < num_path_objects; objind++) {
|
|
object *objp;
|
|
ai_static *aip;
|
|
int i;
|
|
int old_index;
|
|
|
|
objnum = object_list[objind].objnum;
|
|
objp = &Objects[objnum];
|
|
aip = &objp->ctype.ai_info;
|
|
old_index = aip->hide_index;
|
|
|
|
aip->hide_index = free_path_index;
|
|
for (i=0; i<aip->path_length; i++)
|
|
Point_segs[free_path_index++] = Point_segs[old_index++];
|
|
}
|
|
|
|
Point_segs_free_ptr = &Point_segs[free_path_index];
|
|
|
|
#ifndef NDEBUG
|
|
{
|
|
int i;
|
|
|
|
force_dump_ai_objects_all("***** Finish ai_path_garbage_collect *****");
|
|
|
|
for (i=0; i<=Highest_object_index; i++) {
|
|
ai_static *aip = &Objects[i].ctype.ai_info;
|
|
|
|
if ((Objects[i].type == OBJ_ROBOT) && (Objects[i].control_type == CT_AI))
|
|
if ((aip->hide_index + aip->path_length > Point_segs_free_ptr - Point_segs) && (aip->path_length>0))
|
|
Int3(); // Contact Mike: Debug trap for nasty, elusive bug.
|
|
}
|
|
|
|
validate_all_paths();
|
|
}
|
|
#endif
|
|
|
|
}
|
|
|
|
// -----------------------------------------------------------------------------
|
|
// Do garbage collection if not been done for awhile, or things getting really critical.
|
|
void maybe_ai_path_garbage_collect(void)
|
|
{
|
|
if (Point_segs_free_ptr - Point_segs > MAX_POINT_SEGS - MAX_PATH_LENGTH) {
|
|
if (Last_frame_garbage_collected+1 >= FrameCount) {
|
|
// This is kind of bad. Garbage collected last frame or this frame.
|
|
// Just destroy all paths. Too bad for the robots. They are memory wasteful.
|
|
ai_reset_all_paths();
|
|
} else {
|
|
// We are really close to full, but didn't just garbage collect, so maybe this is recoverable.
|
|
ai_path_garbage_collect();
|
|
}
|
|
} else if (Point_segs_free_ptr - Point_segs > 3*MAX_POINT_SEGS/4) {
|
|
if (Last_frame_garbage_collected + 16 < FrameCount) {
|
|
ai_path_garbage_collect();
|
|
}
|
|
} else if (Point_segs_free_ptr - Point_segs > MAX_POINT_SEGS/2) {
|
|
if (Last_frame_garbage_collected + 256 < FrameCount) {
|
|
ai_path_garbage_collect();
|
|
}
|
|
}
|
|
}
|
|
|
|
// -----------------------------------------------------------------------------
|
|
// Reset all paths. Do garbage collection.
|
|
// Should be called at the start of each level.
|
|
void ai_reset_all_paths(void)
|
|
{
|
|
int i;
|
|
|
|
for (i=0; i<=Highest_object_index; i++)
|
|
if (Objects[i].control_type == CT_AI) {
|
|
Objects[i].ctype.ai_info.hide_index = -1;
|
|
Objects[i].ctype.ai_info.path_length = 0;
|
|
}
|
|
|
|
ai_path_garbage_collect();
|
|
|
|
}
|
|
|
|
// ---------------------------------------------------------------------------------------------------------
|
|
// Probably called because a robot bashed a wall, getting a bunch of retries.
|
|
// Try to resume path.
|
|
void attempt_to_resume_path(object *objp)
|
|
{
|
|
//int objnum = objp-Objects;
|
|
ai_static *aip = &objp->ctype.ai_info;
|
|
// int goal_segnum, object_segnum,
|
|
int abs_index, new_path_index;
|
|
|
|
if (aip->behavior == AIB_STATION)
|
|
if (d_rand() > 8192) {
|
|
ai_local *ailp = &Ai_local_info[objp-Objects];
|
|
|
|
aip->hide_segment = objp->segnum;
|
|
ailp->mode = AIM_STILL;
|
|
}
|
|
|
|
// object_segnum = objp->segnum;
|
|
abs_index = aip->hide_index+aip->cur_path_index;
|
|
// goal_segnum = Point_segs[abs_index].segnum;
|
|
|
|
new_path_index = aip->cur_path_index - aip->PATH_DIR;
|
|
|
|
if ((new_path_index >= 0) && (new_path_index < aip->path_length)) {
|
|
aip->cur_path_index = new_path_index;
|
|
} else {
|
|
// At end of line and have nowhere to go.
|
|
move_towards_segment_center(objp);
|
|
create_path_to_station(objp, 15);
|
|
}
|
|
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
// DEBUG FUNCTIONS FOLLOW
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|
|
#ifdef EDITOR
|
|
int Test_size = 1000;
|
|
|
|
void test_create_path_many(void)
|
|
{
|
|
point_seg point_segs[200];
|
|
short num_points;
|
|
|
|
int i;
|
|
|
|
for (i=0; i<Test_size; i++) {
|
|
Cursegp = &Segments[(d_rand() * (Highest_segment_index + 1)) / D_RAND_MAX];
|
|
Markedsegp = &Segments[(d_rand() * (Highest_segment_index + 1)) / D_RAND_MAX];
|
|
create_path_points(&Objects[0], Cursegp-Segments, Markedsegp-Segments, point_segs, &num_points, -1, 0, 0, -1);
|
|
}
|
|
|
|
}
|
|
|
|
void test_create_path(void)
|
|
{
|
|
point_seg point_segs[200];
|
|
short num_points;
|
|
|
|
create_path_points(&Objects[0], Cursegp-Segments, Markedsegp-Segments, point_segs, &num_points, -1, 0, 0, -1);
|
|
|
|
}
|
|
|
|
// For all segments in mine, create paths to all segments in mine, print results.
|
|
void test_create_all_paths(void)
|
|
{
|
|
int start_seg, end_seg;
|
|
short resultant_length;
|
|
|
|
Point_segs_free_ptr = Point_segs;
|
|
|
|
for (start_seg=0; start_seg<=Highest_segment_index-1; start_seg++) {
|
|
if (Segments[start_seg].segnum != -1) {
|
|
for (end_seg=start_seg+1; end_seg<=Highest_segment_index; end_seg++) {
|
|
if (Segments[end_seg].segnum != -1) {
|
|
create_path_points(&Objects[0], start_seg, end_seg, Point_segs_free_ptr, &resultant_length, -1, 0, 0, -1);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//--anchor--int Num_anchors;
|
|
//--anchor--int Anchor_distance = 3;
|
|
//--anchor--int End_distance = 1;
|
|
//--anchor--int Anchors[MAX_SEGMENTS];
|
|
|
|
//--anchor--int get_nearest_anchor_distance(int segnum)
|
|
//--anchor--{
|
|
//--anchor-- short resultant_length, minimum_length;
|
|
//--anchor-- int anchor_index;
|
|
//--anchor--
|
|
//--anchor-- minimum_length = 16383;
|
|
//--anchor--
|
|
//--anchor-- for (anchor_index=0; anchor_index<Num_anchors; anchor_index++) {
|
|
//--anchor-- create_path_points(&Objects[0], segnum, Anchors[anchor_index], Point_segs_free_ptr, &resultant_length, -1, 0, 0, -1);
|
|
//--anchor-- if (resultant_length != 0)
|
|
//--anchor-- if (resultant_length < minimum_length)
|
|
//--anchor-- minimum_length = resultant_length;
|
|
//--anchor-- }
|
|
//--anchor--
|
|
//--anchor-- return minimum_length;
|
|
//--anchor--
|
|
//--anchor--}
|
|
//--anchor--
|
|
//--anchor--void create_new_anchor(int segnum)
|
|
//--anchor--{
|
|
//--anchor-- Anchors[Num_anchors++] = segnum;
|
|
//--anchor--}
|
|
//--anchor--
|
|
//--anchor--// A set of anchors is within N units of all segments in the graph.
|
|
//--anchor--// Anchor_distance = how close anchors can be.
|
|
//--anchor--// End_distance = how close you can be to the end.
|
|
//--anchor--void test_create_all_anchors(void)
|
|
//--anchor--{
|
|
//--anchor-- int nearest_anchor_distance;
|
|
//--anchor-- int segnum,i;
|
|
//--anchor--
|
|
//--anchor-- Num_anchors = 0;
|
|
//--anchor--
|
|
//--anchor-- for (segnum=0; segnum<=Highest_segment_index; segnum++) {
|
|
//--anchor-- if (Segments[segnum].segnum != -1) {
|
|
//--anchor-- nearest_anchor_distance = get_nearest_anchor_distance(segnum);
|
|
//--anchor-- if (nearest_anchor_distance > Anchor_distance)
|
|
//--anchor-- create_new_anchor(segnum);
|
|
//--anchor-- }
|
|
//--anchor-- }
|
|
//--anchor--
|
|
//--anchor-- // Set selected segs.
|
|
//--anchor-- for (i=0; i<Num_anchors; i++)
|
|
//--anchor-- Selected_segs[i] = Anchors[i];
|
|
//--anchor-- N_selected_segs = Num_anchors;
|
|
//--anchor--
|
|
//--anchor--}
|
|
//--anchor--
|
|
//--anchor--int Test_path_length = 5;
|
|
//--anchor--
|
|
//--anchor--void test_create_n_segment_path(void)
|
|
//--anchor--{
|
|
//--anchor-- point_seg point_segs[200];
|
|
//--anchor-- short num_points;
|
|
//--anchor--
|
|
//--anchor-- create_path_points(&Objects[0], Cursegp-Segments, -2, point_segs, &num_points, Test_path_length, 0, 0, -1);
|
|
//--anchor--}
|
|
|
|
short Player_path_length=0;
|
|
int Player_hide_index=-1;
|
|
int Player_cur_path_index=0;
|
|
int Player_following_path_flag=0;
|
|
|
|
// ------------------------------------------------------------------------------------------------------------------
|
|
// Set orientation matrix and velocity for objp based on its desire to get to a point.
|
|
void player_path_set_orient_and_vel(object *objp, vms_vector *goal_point)
|
|
{
|
|
vms_vector cur_vel = objp->mtype.phys_info.velocity;
|
|
vms_vector norm_cur_vel;
|
|
vms_vector norm_vec_to_goal;
|
|
vms_vector cur_pos = objp->pos;
|
|
vms_vector norm_fvec;
|
|
fix speed_scale;
|
|
fix dot;
|
|
fix max_speed;
|
|
|
|
max_speed = F1_0*50;
|
|
|
|
vm_vec_sub(&norm_vec_to_goal, goal_point, &cur_pos);
|
|
vm_vec_normalize_quick(&norm_vec_to_goal);
|
|
|
|
norm_cur_vel = cur_vel;
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
norm_fvec = objp->orient.fvec;
|
|
vm_vec_normalize_quick(&norm_fvec);
|
|
|
|
dot = vm_vec_dot(&norm_vec_to_goal, &norm_fvec);
|
|
|
|
// If very close to facing opposite desired vector, perturb vector
|
|
if (dot < -15*F1_0/16) {
|
|
norm_cur_vel = norm_vec_to_goal;
|
|
} else {
|
|
norm_cur_vel.x += norm_vec_to_goal.x/2/((float)(F1_0/30)/FrameTime);
|
|
norm_cur_vel.y += norm_vec_to_goal.y/2/((float)(F1_0/30)/FrameTime);
|
|
norm_cur_vel.z += norm_vec_to_goal.z/2/((float)(F1_0/30)/FrameTime);
|
|
}
|
|
|
|
vm_vec_normalize_quick(&norm_cur_vel);
|
|
|
|
// Set speed based on this robot type's maximum allowed speed and how hard it is turning.
|
|
// How hard it is turning is based on the dot product of (vector to goal) and (current velocity vector)
|
|
// Note that since 3*F1_0/4 is added to dot product, it is possible for the robot to back up.
|
|
|
|
// Set speed and orientation.
|
|
if (dot < 0)
|
|
dot /= 4;
|
|
|
|
speed_scale = fixmul(max_speed, dot);
|
|
vm_vec_scale(&norm_cur_vel, speed_scale);
|
|
objp->mtype.phys_info.velocity = norm_cur_vel;
|
|
ai_turn_towards_vector(&norm_vec_to_goal, objp, F1_0);
|
|
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
// Optimization: If current velocity will take robot near goal, don't change velocity
|
|
void player_follow_path(object *objp)
|
|
{
|
|
vms_vector goal_point;
|
|
fix dist_to_goal;
|
|
int count, forced_break, original_index;
|
|
int goal_seg;
|
|
fix threshold_distance;
|
|
|
|
if (!Player_following_path_flag)
|
|
return;
|
|
|
|
if (Player_hide_index == -1)
|
|
return;
|
|
|
|
if (Player_path_length < 2)
|
|
return;
|
|
|
|
goal_point = Point_segs[Player_hide_index + Player_cur_path_index].point;
|
|
goal_seg = Point_segs[Player_hide_index + Player_cur_path_index].segnum;
|
|
Assert((goal_seg >= 0) && (goal_seg <= Highest_segment_index));
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
|
|
if (Player_cur_path_index < 0)
|
|
Player_cur_path_index = 0;
|
|
else if (Player_cur_path_index >= Player_path_length)
|
|
Player_cur_path_index = Player_path_length-1;
|
|
|
|
goal_point = Point_segs[Player_hide_index + Player_cur_path_index].point;
|
|
|
|
count=0;
|
|
|
|
// If near goal, pick another goal point.
|
|
forced_break = 0; // Gets set for short paths.
|
|
//original_dir = 1;
|
|
original_index = Player_cur_path_index;
|
|
threshold_distance = fixmul(vm_vec_mag_quick(&objp->mtype.phys_info.velocity), FrameTime)*2 + F1_0*2;
|
|
|
|
while ((dist_to_goal < threshold_distance) && !forced_break) {
|
|
// ----- Debug stuff -----
|
|
if (count++ > 20) {
|
|
break;
|
|
}
|
|
|
|
// Advance to next point on path.
|
|
Player_cur_path_index += 1;
|
|
|
|
// See if next point wraps past end of path (in either direction), and if so, deal with it based on mode.
|
|
if ((Player_cur_path_index >= Player_path_length) || (Player_cur_path_index < 0)) {
|
|
Player_following_path_flag = 0;
|
|
forced_break = 1;
|
|
}
|
|
|
|
// If went all the way around to original point, in same direction, then get out of here!
|
|
if (Player_cur_path_index == original_index) {
|
|
Player_following_path_flag = 0;
|
|
forced_break = 1;
|
|
}
|
|
|
|
goal_point = Point_segs[Player_hide_index + Player_cur_path_index].point;
|
|
dist_to_goal = vm_vec_dist_quick(&goal_point, &objp->pos);
|
|
|
|
} // end while
|
|
|
|
// Set velocity (objp->mtype.phys_info.velocity) and orientation (objp->orient) for this object.
|
|
player_path_set_orient_and_vel(objp, &goal_point);
|
|
|
|
}
|
|
|
|
|
|
// ------------------------------------------------------------------------------------------------------------------
|
|
// Create path for player from current segment to goal segment.
|
|
void create_player_path_to_segment(int segnum)
|
|
{
|
|
object *objp = ConsoleObject;
|
|
|
|
Player_path_length=0;
|
|
Player_hide_index=-1;
|
|
Player_cur_path_index=0;
|
|
Player_following_path_flag=0;
|
|
|
|
if (create_path_points(objp, objp->segnum, segnum, Point_segs_free_ptr, &Player_path_length, 100, 0, 0, -1) == -1)
|
|
con_printf(CON_DEBUG,"Unable to form path of length %i for myself\n", 100);
|
|
|
|
Player_following_path_flag = 1;
|
|
|
|
Player_hide_index = Point_segs_free_ptr - Point_segs;
|
|
Player_cur_path_index = 0;
|
|
Point_segs_free_ptr += Player_path_length;
|
|
if (Point_segs_free_ptr - Point_segs + MAX_PATH_LENGTH*2 > MAX_POINT_SEGS) {
|
|
//Int3(); // Contact Mike: This is curious, though not deadly. /eip++;g
|
|
ai_reset_all_paths();
|
|
}
|
|
|
|
}
|
|
|
|
int Player_goal_segment = -1;
|
|
|
|
void check_create_player_path(void)
|
|
{
|
|
if (Player_goal_segment != -1)
|
|
create_player_path_to_segment(Player_goal_segment);
|
|
|
|
Player_goal_segment = -1;
|
|
}
|
|
|
|
#endif
|
|
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
// DEBUG FUNCTIONS ENDED
|
|
// ----------------------------------------------------------------------------------------------------------
|
|
|