Nav Mesh: Auto Walkable Seeds

extension/bot/interfaces/behavior.cpp

@@ -79,3 +79,8 @@ QueryAnswerType IBehavior::ShouldAssistTeammate(CBaseBot* me, CBaseExtPlayer& te
 {
 	return GetDecisionQueryResponder()->ShouldAssistTeammate(me, teammate);
 }
+
+QueryAnswerType IBehavior::ShouldSwitchToWeapon(CBaseBot* me, const CBotWeapon* weapon)
+{
+	return GetDecisionQueryResponder()->ShouldSwitchToWeapon(me, weapon);
+}

extension/bot/interfaces/behavior.h

@@ -35,6 +35,7 @@ class IBehavior : public IBotInterface, public IDecisionQuery
 	Vector GetTargetAimPos(CBaseBot* me, edict_t* entity, CBaseExtPlayer* player = nullptr) override;
 	QueryAnswerType IsReady(CBaseBot* me) override;
 	QueryAnswerType ShouldAssistTeammate(CBaseBot* me, CBaseExtPlayer& teammate) override;
+	QueryAnswerType ShouldSwitchToWeapon(CBaseBot* me, const CBotWeapon* weapon) override;
 
 private:
 

extension/bot/interfaces/decisionquery.h

@@ -5,7 +5,7 @@ struct edict_t;
 class CBaseBot;
 class CKnownEntity;
 class CBaseExtPlayer;
-class Vector;
+class CBotWeapon;
 
 #include "mathlib.h"
 
@@ -59,6 +59,8 @@ class IDecisionQuery
 	virtual QueryAnswerType IsReady(CBaseBot* me);
 	// Should the bot help a specific teammate?
 	virtual QueryAnswerType ShouldAssistTeammate(CBaseBot* me, CBaseExtPlayer& teammate);
+	// Should the bot switch to this weapon?
+	virtual QueryAnswerType ShouldSwitchToWeapon(CBaseBot* me, const CBotWeapon* weapon);
 private:
 
 };
@@ -123,5 +125,10 @@ inline QueryAnswerType IDecisionQuery::ShouldAssistTeammate(CBaseBot* me, CBaseE
 	return ANSWER_UNDEFINED;
 }
 
+inline QueryAnswerType IDecisionQuery::ShouldSwitchToWeapon(CBaseBot* me, const CBotWeapon* weapon)
+{
+	return ANSWER_UNDEFINED;
+}
+
 #endif // !SMNAV_BOT_DECISION_QUERY_H_
 

extension/bot/interfaces/tasks.h

@@ -389,6 +389,11 @@ class AITaskManager : public IEventListener, public IDecisionQuery
 		PROPAGATE_DECISION_WITH_2ARGS(ShouldAssistTeammate, me, teammate);
 	}
 
+	QueryAnswerType ShouldSwitchToWeapon(CBaseBot* me, const CBotWeapon* weapon) override
+	{
+		PROPAGATE_DECISION_WITH_2ARGS(ShouldSwitchToWeapon, me, weapon);
+	}
+
 private:
 	friend class AITask<BotClass>;
 

extension/bot/tf2/tasks/tf2bot_maintask.cpp

@@ -237,8 +237,13 @@ void CTF2BotMainTask::SelectBestWeaponForEnemy(CTF2Bot* me, const CKnownEntity*
 
 	if (best)
 	{
-		me->SelectWeaponByCommand(best->GetBaseCombatWeapon().GetClassname());
-		m_weaponswitchtimer.Start(2.0f); // found a valid weapon,
+		// start the timer even if the query disallows switch
+		m_weaponswitchtimer.Start(3.0f); // found a valid weapon
+
+		if (ShouldSwitchToWeapon(me, best) != ANSWER_NO)
+		{
+			me->SelectWeapon(best->GetEntity());
+		}
 	}
 }
 

extension/bot/tf2/tasks/tf2bot_maintask.h

@@ -41,10 +41,7 @@ class CTF2BotMainTask : public AITask<CTF2Bot>
 
 inline bool CTF2BotMainTask::AllowedToSwitchWeapon()
 {
-	if (!m_weaponswitchtimer.HasStarted())
-		return true;
-
-	if (m_weaponswitchtimer.IsElapsed())
+	if (!m_weaponswitchtimer.HasStarted() || m_weaponswitchtimer.IsElapsed())
 		return true;
 
 	return false;

extension/bot/tf2/tasks/tf2bot_tactical.cpp

@@ -16,7 +16,6 @@
 #include <bot/tf2/tasks/medic/tf2bot_medic_main_task.h>
 #include <bot/tf2/tasks/engineer/tf2bot_engineer_main.h>
 #include <bot/tf2/tasks/sniper/tf2bot_task_sniper_move_to_sniper_spot.h>
-#include <bot/tf2/tasks/spy/tf2bot_task_spy_infiltrate.h>
 #include "scenario/payload/tf2bot_task_push_payload.h"
 #include "scenario/mvm/tf2bot_mvm_idle.h"
 

extension/concommands_debug.cpp

@@ -491,6 +491,13 @@ CON_COMMAND_F(sm_snap_my_angles, "sNAP", FCVAR_CHEAT)
 	player.SnapEyeAngles(angles);
 }
 
+CON_COMMAND_F(sm_navbot_debug_entlist, "Debugs the entity list.", FCVAR_CHEAT)
+{
+	UtilHelpers::ForEveryEntity([](int index, edict_t* edict, CBaseEntity* entity) {
+		Msg("Entity #%i: %s (%p <%p>) \n", index, gamehelpers->GetEntityClassname(entity) ? gamehelpers->GetEntityClassname(entity) : "NULL CLASSNAME", entity, edict);
+	});
+}
+
 #if SOURCE_ENGINE == SE_TF2 || SOURCE_ENGINE == SE_CSS || SOURCE_ENGINE == SE_DODS || SOURCE_ENGINE == SE_HL2DM || SOURCE_ENGINE == SE_SDK2013 || SOURCE_ENGINE == SE_BMS
 
 CON_COMMAND_F(sm_get_entity_size, "Returns the entity size", FCVAR_CHEAT)

extension/mods/tf2/nav/tfnavmesh.cpp

@@ -14,6 +14,20 @@ ConVar sm_tf_nav_show_mvm_attributes("sm_tf_nav_show_mvm_attributes", "0", FCVAR
 CTFNavMesh::CTFNavMesh() : CNavMesh()
 {
 	m_spawnroomupdatetimer.Start(NAV_SPAWNROOM_UPDATE_INTERVAL);
+
+	AddWalkableEntity("item_ammopack_full");
+	AddWalkableEntity("item_ammopack_medium");
+	AddWalkableEntity("item_ammopack_small");
+	AddWalkableEntity("item_healthkit_full");
+	AddWalkableEntity("item_healthkit_medium");
+	AddWalkableEntity("item_healthkit_small");
+	AddWalkableEntity("item_teamflag");
+	AddWalkableEntity("func_capturezone", true);
+	AddWalkableEntity("func_regenerate", true);
+	AddWalkableEntity("team_control_point");
+	AddWalkableEntity("trigger_capture_area", true);
+	AddWalkableEntity("trigger_timer_door", true);
+	AddWalkableEntity("info_powerup_spawn");
 }
 
 CTFNavMesh::~CTFNavMesh()

extension/navmesh/nav_generate.cpp

@@ -13,6 +13,7 @@
 #include <sdkports/debugoverlay_shared.h>
 #include <sdkports/sdk_traces.h>
 #include <sdkports/sdk_utils.h>
+#include <entities/baseentity.h>
 #include "nav_mesh.h"
 #include "nav_node.h"
 #include "nav_pathfind.h"
@@ -3194,26 +3195,40 @@ void CNavMesh::CreateNavAreasFromNodes( void )
 // adds walkable positions for any/all positions a mod specifies
 void CNavMesh::AddWalkableSeeds( void )
 {
-	// TO-DO
-/*
-	CUtlLinkedList<edict_t*> spawns;
-	FOR_EACH_VEC(this->m_spawnNames, i) {
-		findEntWithMatchingName(m_spawnNames[i], spawns);
-	}
-	FOR_EACH_LL(spawns, i)
-	{
-		// snap it to the sampling grid
-		Vector pos = spawns[i]->GetCollideable()->GetCollisionOrigin();
-		pos.x = TheNavMesh->SnapToGrid( pos.x );
-		pos.y = TheNavMesh->SnapToGrid( pos.y );
+	UtilHelpers::ForEveryEntity([this](int index, edict_t* edict, CBaseEntity* entity) {
+		const char* classname = gamehelpers->GetEntityClassname(entity);
 
-		Vector normal;
-		if ( FindGroundForNode( &pos, &normal ) )
+		if (classname != nullptr && classname[0] != '\0')
 		{
-			AddWalkableSeed( pos, normal );
+			auto it = m_walkableEntities.find(classname);
+
+			if (it != m_walkableEntities.end())
+			{
+				entities::HBaseEntity be(entity);
+
+				Vector pos;
+
+				if (it->second)
+				{
+					pos = be.WorldSpaceCenter();
+				}
+				else
+				{
+					pos = be.GetAbsOrigin();
+				}
+
+				pos.x = SnapToGrid(pos.x);
+				pos.y = SnapToGrid(pos.y);
+
+				Vector normal;
+
+				if (FindGroundForNode(&pos, &normal))
+				{
+					AddWalkableSeed(pos, normal);
+				}
+			}
 		}
-	}
-*/
+	});
 }
 
 

extension/navmesh/nav_mesh.cpp

@@ -130,6 +130,10 @@ CNavMesh::CNavMesh( void )
 	ListenForGameEvent("round_start");
 	ListenForGameEvent("dod_round_start");
 	ListenForGameEvent("teamplay_round_start");
+
+	// Default walkable entities for generation
+	AddWalkableEntity("info_player_start");
+	AddWalkableEntity("info_player_teamspawn");
 }
 
 //--------------------------------------------------------------------------------------------------------------
@@ -2914,6 +2918,18 @@ void CNavMesh::CommandNavMarkWalkable( void )
 
 static ConCommand sm_nav_mark_walkable( "sm_nav_mark_walkable", CommandNavMarkWalkable, "Mark the current location as a walkable position. These positions are used as seed locations when sampling the map to generate a Navigation Mesh.", FCVAR_GAMEDLL | FCVAR_CHEAT );
 
+static void CommandNavSeedWalkableSpots()
+{
+	TheNavMesh->CommandNavSeedWalkableSpots();
+	Msg("Walkable spots added!\n");
+}
+
+void CNavMesh::CommandNavSeedWalkableSpots(void)
+{
+	AddWalkableSeeds();
+}
+
+static ConCommand sm_nav_seed_walkable_spots("sm_nav_seed_walkable_spots", CommandNavSeedWalkableSpots, "Automatically adds walkable positions.", FCVAR_GAMEDLL | FCVAR_CHEAT);
 
 //--------------------------------------------------------------------------------------------------------------
 void CommandNavClearWalkableMarks( void )

extension/navmesh/nav_mesh.h

@@ -448,7 +448,12 @@ class CNavMesh : public CEventListenerHelper
 	void BeginAnalysis( bool quitWhenFinished = false );						// re-analyze an existing Mesh.  Determine Hiding Spots, Encounter Spots, etc.
 
 	bool IsGenerating( void ) const		{ return m_generationMode != GENERATE_NONE; }	// return true while a Navigation Mesh is being generated
-	void addPlayerSpawnName(const char *name) {	m_spawnNames.AddToTail(name); }		// adds the name of a spawn entitie
+	/**
+	 * @brief Adds an entity classname to the list of entities to be used for generating walkable spots
+	 * @param name Entity classname
+	 * @param useCenter if true, use the entity WorldSpaceCenter instead of AbsOrigin for the walkable spot. 
+	 */
+	void AddWalkableEntity(const char* name, bool useCenter = false) { m_walkableEntities.emplace(name, useCenter); }
 	void AddWalkableSeed( const Vector &pos, const Vector &normal );	// add given walkable position to list of seed positions for map sampling
 	virtual void AddWalkableSeeds( void );								// adds walkable positions for any/all positions a mod specifies
 	void ClearWalkableSeeds( void )		{ m_walkableSeeds.RemoveAll(); }	// erase all walkable seed positions
@@ -535,6 +540,7 @@ class CNavMesh : public CEventListenerHelper
 	void CommandNavSaveSelected( const CCommand &args );				// Save selected set to disk
 	void CommandNavMergeMesh( const CCommand &args );					// Merge a saved selected set into the current mesh
 	void CommandNavMarkWalkable( void );
+	void CommandNavSeedWalkableSpots(void);
 	void CommandNavConnectSpecialLink(int32_t linktype);
 	void CommandNavDisconnectSpecialLink(int32_t linktype);
 	void CommandNavSetLinkOrigin();
@@ -945,7 +951,8 @@ class CNavMesh : public CEventListenerHelper
 	float m_generationStartTime;
 	Extent m_simplifyGenerationExtent;
 
-	CUtlVector<CUtlString> m_spawnNames;						// list of spawn names
+	std::unordered_map<std::string, bool> m_walkableEntities;			// List of entities class names to generate walkable seeds
+
 	struct WalkableSeedSpot
 	{
 		Vector pos;

extension/util/helpers.h

@@ -270,6 +270,30 @@ namespace UtilHelpers
 		}
 	}
 
+	/**
+	 * @brief Runs a function on every entity.
+	 * @tparam T A function with the following parameters: (int index, edict_t* edict, CBaseEntity* entity)
+	 * @param functor Function to call.
+	 */
+	template <typename T>
+	inline void ForEveryEntity(T functor)
+	{
+		CBaseHandle next = g_EntList->FirstHandle();
+
+		do
+		{
+			CBaseEntity* pEntity = UtilHelpers::GetBaseEntityFromCBaseHandle(next);
+			edict_t* pEdict = UtilHelpers::GetEdictFromCBaseHandle(next);
+			int index = next.GetEntryIndex();
+
+			functor(index, pEdict, pEntity);
+
+			next = g_EntList->NextHandle(next);
+
+		} while (next.IsValid());
+
+	}
+
 	/**
 	 * @brief Calls ClientCommandKeyValues for the given client. Throws an exception if the engine branch doesn't support keyvalue commands.
 	 * @param client Client that will be sending the command.