Customizable Nav Mesh Gen Params

Allows the navigation mesh generation parameters to be customized per implementation needs.
Bots will now crouch when the goal area is marked with the crouch attribute.
Changed ladder Z offset calculations.

extension/bot/interfaces/movement.cpp

@@ -329,7 +329,7 @@ void IMovement::ClimbLadder(const CNavLadder* ladder, CNavArea* dismount)
 		bot->DebugPrintToConsole(BOTDEBUG_MOVEMENT, 200, 0, 200, "%s CLIMBING LADDER! \n", bot->GetDebugIdentifier());
 
 		m_ladderExit->DrawFilled(255, 0, 255, 255, 5.0f, true);
-		NDebugOverlay::Text(m_ladderExit->GetCenter() + Vector(0.0f, 0.0f, StepHeight), "DISMOUNT AREA!", false, 5.0f);
+		NDebugOverlay::Text(m_ladderExit->GetCenter() + Vector(0.0f, 0.0f, navgenparams->step_height), "DISMOUNT AREA!", false, 5.0f);
 	}
 }
 
@@ -346,7 +346,7 @@ void IMovement::DescendLadder(const CNavLadder* ladder, CNavArea* dismount)
 		bot->DebugPrintToConsole(BOTDEBUG_MOVEMENT, 200, 0, 200, "%s DESCENDING LADDER! \n", bot->GetDebugIdentifier());
 
 		m_ladderExit->DrawFilled(255, 0, 255, 255, 5.0f, true);
-		NDebugOverlay::Text(m_ladderExit->GetCenter() + Vector(0.0f, 0.0f, StepHeight), "DISMOUNT AREA!", false, 5.0f);
+		NDebugOverlay::Text(m_ladderExit->GetCenter() + Vector(0.0f, 0.0f, navgenparams->step_height), "DISMOUNT AREA!", false, 5.0f);
 	}
 }
 
@@ -952,7 +952,7 @@ IMovement::LadderState IMovement::ApproachUpLadder()
 	{
 		// move to the ladder connection point (this is on the ladder)
 		MoveTowards(m_ladderMoveGoal);
-		FaceTowards(m_ladderMoveGoal + Vector(0.0f, 0.0f, HumanEyeHeight), true);
+		FaceTowards(m_ladderMoveGoal + Vector(0.0f, 0.0f, navgenparams->human_eye_height), true);
 
 		if (GetBot()->GetRangeTo(connection->GetConnectionPoint()) < CBaseExtPlayer::PLAYER_USE_RADIUS)
 		{
@@ -1284,7 +1284,7 @@ void IMovement::OnLadderStateChanged(LadderState oldState, LadderState newState)
 	case IMovement::USING_LADDER_UP:
 	{
 		// calculate Z goal
-		m_ladderGoalZ = m_ladder->GetConnectionToArea(m_ladderExit)->GetConnectionPoint().z - (GetStepHeight() / 4.0f);
+		m_ladderGoalZ = m_ladder->GetConnectionToArea(m_ladderExit)->GetConnectionPoint().z - (GetStepHeight() * 0.8f);
 		float time = m_ladder->m_length / LADDER_TIME_DIVIDER;
 		m_ladderTimer.Start(time);
 		return;
@@ -1300,7 +1300,7 @@ void IMovement::OnLadderStateChanged(LadderState oldState, LadderState newState)
 	case IMovement::USING_LADDER_DOWN:
 	{
 		// calculate Z goal
-		m_ladderGoalZ = m_ladder->GetConnectionToArea(m_ladderExit)->GetConnectionPoint().z + (GetStepHeight() / 4.0f);
+		m_ladderGoalZ = m_ladder->GetConnectionToArea(m_ladderExit)->GetConnectionPoint().z + (GetStepHeight() * 0.8f);
 		Vector lookAt = m_ladder->m_top;
 		lookAt.z = m_ladderGoalZ;
 		GetBot()->GetControlInterface()->SnapAimAt(lookAt, IPlayerController::LOOK_MOVEMENT);

extension/bot/interfaces/path/meshnavigator.cpp

@@ -103,6 +103,8 @@ void CMeshNavigator::Update(CBaseBot* bot)
 		return; // goal reached
 	}
 
+	CrouchIfNeeded(bot);
+
 	Vector origin = bot->GetAbsOrigin();
 	Vector forward = m_goal->goal - origin;
 	auto input = bot->GetControlInterface();
@@ -1215,6 +1217,16 @@ edict_t* CMeshNavigator::FindBlocker(CBaseBot* bot)
 	return nullptr;
 }
 
+void CMeshNavigator::CrouchIfNeeded(CBaseBot* bot)
+{
+	constexpr auto GOAL_CROUCH_RANGE = 50.0f * 50.0f;
+
+	if (m_goal->area->HasAttributes(static_cast<int>(NavAttributeType::NAV_MESH_CROUCH)) || bot->GetRangeToSqr(m_goal->goal) <= GOAL_CROUCH_RANGE)
+	{
+		bot->GetControlInterface()->PressCrouchButton(0.1f);
+	}
+}
+
 bool CMeshNavigator::LadderUpdate(CBaseBot* bot)
 {
 	auto input = bot->GetControlInterface();

extension/bot/interfaces/path/meshnavigator.h

@@ -35,6 +35,7 @@ class CMeshNavigator : public CPath
 	virtual bool JumpOverGaps(CBaseBot* bot, const CBasePathSegment* segment, const Vector& forward, const Vector& right, const float goalRange);
 	virtual Vector Avoid(CBaseBot* bot, const Vector& goalPos, const Vector& forward, const Vector& left);
 	virtual edict_t* FindBlocker(CBaseBot* bot);
+	virtual void CrouchIfNeeded(CBaseBot* bot);
 
 private:
 	CBaseBot* m_me; // bot that is using this navigator

extension/concommands_debug.cpp

@@ -720,7 +720,7 @@ CON_COMMAND_F(sm_navbot_debug_find_ledge, "finds the ledge", FCVAR_CHEAT)
 		trace_t tr;
 		Vector pos1 = start + (forward * (stepSize * static_cast<float>(it)));
 		Vector pos2 = pos1;
-		pos2.z -= StepHeight;
+		pos2.z -= navgenparams->step_height;
 		trace::hull(pos1, pos2, mins, maxs, MASK_PLAYERSOLID, &filter, tr);
 
 		if (trace::pointoutisdeworld(pos1))

extension/mods/tf2/nav/tfnavmesh.cpp

@@ -29,6 +29,17 @@ CTFNavMesh::CTFNavMesh() : CNavMesh()
 	AddWalkableEntity("trigger_capture_area", true);
 	AddWalkableEntity("trigger_timer_door", true);
 	AddWalkableEntity("info_powerup_spawn");
+
+	navgenparams->half_human_width = 24.0f;
+	navgenparams->half_human_height = 41.0f;
+	navgenparams->human_height = 82.0f;
+	navgenparams->human_crouch_height = 62.0f;
+	navgenparams->human_eye_height = 74.0f;
+	navgenparams->human_crouch_eye_height = 44.0f;
+	navgenparams->jump_height = 49.0f;
+	navgenparams->jump_crouch_height = 68.0f;
+	navgenparams->climb_up_height = 68.0f;
+	navgenparams->death_drop = 220.0f; // experimental
 }
 
 CTFNavMesh::~CTFNavMesh()

extension/navmesh/nav.h

@@ -20,42 +20,30 @@
 struct edict_t;
 
 /**
- * Below are several constants used by the navigation system.
- * @todo Move these into TheNavMesh singleton.
+ * @brief Parameters used during nav mesh generation.
  */
-constexpr float GenerationStepSize = 25.0f;			// (30) was 20, but bots can't fit always fit
-constexpr float JumpHeight = 41.8f;					// if delta Z is less than this, we can jump up on it
-
-#if defined(CSTRIKE_DLL)
-constexpr float JumpCrouchHeight = 58.0f;			// (48) if delta Z is less than or equal to this, we can jumpcrouch up on it
-#else
-constexpr float JumpCrouchHeight = 64.0f;			// (48) if delta Z is less than or equal to this, we can jumpcrouch up on it
-#endif
-
-// There are 3 different definitions of StepHeight throughout the code, waiting to produce bugs if the 18.0 is ever changed.
-constexpr float StepHeight = 18.0f;					// if delta Z is greater than this, we have to jump to get up
-
-// TERROR: Increased DeathDrop from 200, since zombies don't take falling damage
-#if defined(CSTRIKE_DLL)
-constexpr float DeathDrop = 200.0f;					// (300) distance at which we will die if we fall - should be about 600, and pay attention to fall damage during pathfind
-#else
-constexpr float DeathDrop = 400.0f;					// (300) distance at which we will die if we fall - should be about 600, and pay attention to fall damage during pathfind
-#endif
-
-#if defined(CSTRIKE_DLL)
-constexpr float ClimbUpHeight = JumpCrouchHeight;	// CSBots assume all jump up links are reachable
-#else
-constexpr float ClimbUpHeight = JumpCrouchHeight; //200.0f;				// height to check for climbing up
-#endif
-
-// TERROR: Converted these values to use the same numbers as the player bounding boxes etc
-constexpr auto HalfHumanWidth = 16.0f;
-constexpr auto HalfHumanHeight = 35.5f;
-constexpr auto HumanHeight = 71.0f;
-constexpr auto HumanEyeHeight = 62.0f;
-constexpr auto HumanCrouchHeight = 55.0f;
-constexpr auto HumanCrouchEyeHeight = 37.0f;
+class CNavMeshGeneratorParameters
+{
+public:
+	CNavMeshGeneratorParameters();
+
+
+	float generation_step_size;
+	float jump_height;
+	float jump_crouch_height;
+	float step_height;
+	float death_drop;
+	float climb_up_height;
+	float half_human_width; // half player standing hull width
+	float half_human_height; // half player standing hull height
+	float human_height; // player standing hull height
+	float human_eye_height; // player standing view height
+	float human_crouch_height; // player crouching hull height
+	float human_crouch_eye_height; // player crouching view height
+};
 
+// Global singleton for accessing the Navigation Mesh Generator Parameters
+extern CNavMeshGeneratorParameters* navgenparams;
 
 #define NAV_MAGIC_NUMBER 0xFEEDFACE				// to help identify nav files