Bots avoid neo_npc_targetsystem via nav PVS

src/game/server/neo/bot/behavior/neo_bot_retreat_from_hazard_area.cpp

@@ -135,6 +135,20 @@ ActionResult<CNEOBot> CNEOBotRetreatFromHazardArea::Update(CNEOBot *me, float in
         CNEOBotPathCompute(me, m_path, m_safeArea->GetCenter(), RETREAT_ROUTE);
     }
 
+    // Possibly don't want to cloak with grenade/smoke hazards yet
+    // because in such situations either the threat noticed you already
+    // or because they didn't notice you yet, you shouldn't announce your position
+    if (CNEOBotPathReservations()->IsAreaNpcTurretHazard(myArea->GetID(), me))
+    {
+        me->EnableCloak(3.0f);
+        if (me->IsCloakEnabled())
+        {
+            // The tank's motion vision only ignores cloaked players under 180 u/s
+            me->ReleaseRunButton();
+            me->PressSneakButton(0.3f);
+        }
+    }
+
     m_path.Update(me);
     return Continue();
 }

src/game/server/neo/bot/behavior/neo_bot_tactical_monitor.cpp

@@ -316,6 +316,33 @@ ActionResult< CNEOBot > CNEOBotTacticalMonitor::WatchForLadders( CNEOBot *me )
 }
 
 
+//-----------------------------------------------------------------------------------------
+// A bot in a hurry does not retreat from the tank, so it cloaks in the tank's line of fire and keeps going:
+// the tank's motion vision ignores cloaked players under 180 u/s
+void CNEOBotTacticalMonitor::CloakPastNpcTurret( CNEOBot *me )
+{
+	if ( me->m_hCommandingPlayer.Get() )
+	{
+		return;
+	}
+
+	CNavArea *myArea = me->GetLastKnownArea();
+	if ( !myArea || !CNEOBotPathReservations()->IsAreaNpcTurretHazard( myArea->GetID(), me ) )
+	{
+		return;
+	}
+
+	me->EnableCloak( 3.0f );
+
+	// An Assault stays under that speed unless it sprints, while a Recon is over it anyway and keeps its pace
+	if ( me->IsCloakEnabled() && ( me->GetClass() == NEO_CLASS_ASSAULT ) )
+	{
+		// the child behaviors moved first this update, so this cancels their run press
+		me->ReleaseRunButton();
+	}
+}
+
+
 //-----------------------------------------------------------------------------------------
 ActionResult< CNEOBot >	CNEOBotTacticalMonitor::Update( CNEOBot *me, float interval )
 {
@@ -394,6 +421,10 @@ ActionResult< CNEOBot >	CNEOBotTacticalMonitor::Update( CNEOBot *me, float inter
 			return scavengeResult;
 		}
 	}
+	else
+	{
+		CloakPastNpcTurret( me );
+	}
 
 #if 0 // NEO TODO (Adam) search for dropped weapons to resupply ammunition
 	bool isAvailable = ( me->GetIntentionInterface()->ShouldHurry( me ) != ANSWER_YES );

src/game/server/neo/bot/behavior/neo_bot_tactical_monitor.h

@@ -41,4 +41,5 @@ class CNEOBotTacticalMonitor : public Action< CNEOBot >
 
 	void AvoidBumpingFriends(CNEOBot* me);
 	ActionResult< CNEOBot > WatchForLadders(CNEOBot* me);
+	void CloakPastNpcTurret(CNEOBot* me);
 };

src/game/server/neo/bot/neo_bot_path_reservation.cpp

@@ -340,6 +340,7 @@ void CNEOBotPathReservationSystem::AddDeadlyHazard(int navAreaID, float expireTi
 		blank.hazardExpireTime = expireTime;
 		blank.smokeExpireTime = 0.0f;
 		blank.smokePropagateTime = 0.0f;
+		blank.npcTurretExpireTime = 0.0f;
 		index = m_HazardAreas[teamID].Insert(navAreaID, blank);
 	}
     else
@@ -414,6 +415,7 @@ void CNEOBotPathReservationSystem::AddSmokeHazard(int navAreaID, float expireTim
 		blank.hazardExpireTime = 0.0f;
 		blank.smokeExpireTime = expireTime;
 		blank.smokePropagateTime = 0.0f;
+		blank.npcTurretExpireTime = 0.0f;
 		index = m_HazardAreas[teamID].Insert(navAreaID, blank);
 	}
     else
@@ -444,6 +446,90 @@ void CNEOBotPathReservationSystem::AddSmokeHazard(int navAreaID, float expireTim
     }
 }
 
+//-------------------------------------------------------------------------------------------------
+// Functor to propagate a neo_npc_targetsystem turret hazard to PVS-adjacent areas
+struct CNEOFunctorPropagatePVSNpcTurretHazard
+{
+	CNEOFunctorPropagatePVSNpcTurretHazard(float expireTime, int teamID)
+		: m_expireTime(expireTime), m_teamID(teamID)
+	{
+	}
+
+	bool operator()(CNavArea *area)
+	{
+		CNEOBotPathReservations()->AddNpcTurretHazard(area->GetID(), m_expireTime, m_teamID, false);
+		return true;
+	}
+
+	float m_expireTime;
+	int m_teamID;
+};
+
+//-------------------------------------------------------------------------------------------------
+// Area tagged by neo_npc_targetsystem turret, whose motion vision
+// cannot see slow cloaked players, so bots escaping it should cloak
+void CNEOBotPathReservationSystem::AddNpcTurretHazard(int navAreaID, float expireTime, int teamID, bool propagatePVS)
+{
+    if ( !neo_bot_path_reservation_avoid_penalty_enable.GetBool() )
+    {
+        return;
+    }
+
+    if ( (teamID < 0) || (teamID >= TEAM__TOTAL) )
+    {
+        return;
+    }
+
+    // Kept apart from deadly hazards, so a bot in a hurry can accept the turret's risk
+    int index = m_HazardAreas[teamID].Find(navAreaID);
+    if ( !m_HazardAreas[teamID].IsValidIndex(index) )
+    {
+        HazardInfo blank;
+        blank.hazardExpireTime = 0.0f;
+        blank.smokeExpireTime = 0.0f;
+        blank.smokePropagateTime = 0.0f;
+        blank.npcTurretExpireTime = 0.0f;
+        index = m_HazardAreas[teamID].Insert(navAreaID, blank);
+    }
+
+    // Inform the bots in every area the turret can see to turn on cloak
+    m_HazardAreas[teamID][index].npcTurretExpireTime = expireTime;
+
+    if ( propagatePVS )
+    {
+        CNavArea *area = TheNavMesh->GetNavAreaByID(navAreaID);
+        if (area)
+        {
+            // Same visible set as a propagated deadly hazard
+            CNEOFunctorPropagatePVSNpcTurretHazard propagate(expireTime, teamID);
+            area->ForAllCompletelyVisibleAreas(propagate);
+        }
+    }
+}
+
+//-------------------------------------------------------------------------------------------------
+bool CNEOBotPathReservationSystem::IsAreaNpcTurretHazard(int navAreaID, const CNEOBot *me) const
+{
+    if ( !neo_bot_path_reservation_avoid_penalty_enable.GetBool() || !me )
+    {
+        return false;
+    }
+
+    int teamID = me->GetTeamNumber();
+    if ( (teamID < 0) || (teamID >= TEAM__TOTAL) )
+    {
+        return false;
+    }
+
+    int index = m_HazardAreas[teamID].Find(navAreaID);
+    if ( !m_HazardAreas[teamID].IsValidIndex(index) )
+    {
+        return false;
+    }
+
+    return m_HazardAreas[teamID][index].npcTurretExpireTime > gpGlobals->curtime;
+}
+
 //-------------------------------------------------------------------------------------------------
 float CNEOBotPathReservationSystem::GetAreaHazardousTime(int navAreaID, const CNEOBot *me) const
 {
@@ -476,6 +562,12 @@ float CNEOBotPathReservationSystem::GetAreaHazardousTime(int navAreaID, const CN
 			return hazardTimeLeft;
 		}
 
+		auto npcTurretTimeLeft = h.npcTurretExpireTime - gpGlobals->curtime;
+		if (npcTurretTimeLeft > 0)
+		{
+			return npcTurretTimeLeft;
+		}
+
         // Support class can see through smoke
         if (me->GetClass() != NEO_CLASS_SUPPORT)
         {
@@ -497,7 +589,7 @@ bool CNEOBotPathReservationSystem::IsAreaHazardous(int navAreaID, const CNEOBot
 }
 
 //-------------------------------------------------------------------------------------------------
-// Unlike IsAreaHazardous, smoke does not count: only marks that can kill, such as a frag grenade's blast area
+// Unlike IsAreaHazardous, smoke and the turret's sightline do not count: only marks that can kill, such as a frag grenade's blast area
 bool CNEOBotPathReservationSystem::IsAreaDeadlyHazard(int navAreaID, const CNEOBot *me) const
 {
 	if (!neo_bot_path_reservation_avoid_penalty_enable.GetBool())

src/game/server/neo/bot/neo_bot_path_reservation.h

@@ -40,6 +40,7 @@ struct HazardInfo
 	float smokeExpireTime;      // when the smoke hazard risk expires
 	float hazardExpireTime;     // when a general deadly hazard risk expires
 	float smokePropagateTime;   // expiry this area has already propagated to its visible set
+	float npcTurretExpireTime;  // when a neo_npc_targetsystem hazard expires
 };
 
 struct BotReservedAreas_t
@@ -89,6 +90,8 @@ class CNEOBotPathReservationSystem
     void AddDeadlyHazard(int navAreaID, float expireTime, int teamID, bool propagatePVS = false);
     void AddFragHazard(int navAreaID, float expireTime, int teamID);
     void AddSmokeHazard(int navAreaID, float expireTime, int teamID, bool propagatePVS = true);
+    void AddNpcTurretHazard(int navAreaID, float expireTime, int teamID, bool propagatePVS = true);
+    bool IsAreaNpcTurretHazard(int navAreaID, const CNEOBot *me) const;
     float GetAreaHazardousTime(int navAreaID, const CNEOBot *me) const;
     bool IsAreaHazardous(int navAreaID, const CNEOBot *me) const;
     bool IsAreaDeadlyHazard(int navAreaID, const CNEOBot *me) const;

src/game/server/neo/neo_npc_targetsystem.cpp

@@ -1,11 +1,19 @@
 #include "neo_npc_targetsystem.h"
 #include "neo_player.h"
 #include "ammodef.h"
+#include "nav_mesh.h"
+#include "NextBotManager.h"
+#include "bot/neo_bot_path_reservation.h"
 
 #include "tier0/memdbgon.h"
 
 #define CLOAKED_VELOCITY_THRESHOLD 32400 // 180 horizontal velocity. Slightly under sprint/wigglerun speed
 
+// Bot hazard timing
+static constexpr float BOT_HAZARD_REACTION_TIME = 0.25f;
+static constexpr float BOT_HAZARD_INTERVAL = BOT_HAZARD_REACTION_TIME;
+static constexpr float BOT_HAZARD_DURATION = 2.0f;
+
 LINK_ENTITY_TO_CLASS(neo_npc_targetsystem, CNEO_NPCTargetSystem);
 
 BEGIN_DATADESC(CNEO_NPCTargetSystem)
@@ -185,6 +193,7 @@ void CNEO_NPCTargetSystem::Think()
 		{
 			m_OnSpotted.FireOutput(pBestTarget, this);
 			m_bTargetAcquired = true;
+			m_flNextHazardTime = gpGlobals->curtime + BOT_HAZARD_REACTION_TIME;
 		}
 
 		if (bMiddleIgnore && !m_bMiddleIgnoreActive)
@@ -234,6 +243,8 @@ void CNEO_NPCTargetSystem::Think()
 		m_bMiddleIgnoreActive = false;
 	}
 
+	PublishBotHazards(pBestTarget);
+
 	// Optional - damage the target
 	if (m_hDamageSource && pBestTarget && (iNewZone == ZONE_MIDDLE))
 	{
@@ -260,6 +271,83 @@ void CNEO_NPCTargetSystem::Think()
 	SetNextThink(gpGlobals->curtime + 0.05f);
 }
 
+//-----------------------------------------------------------------------------
+// Bot hazard publishing - Bots cannot fight this entity.
+// Hazards: its own area for every team (run-over), the areas it can see
+// for targeted teams, and its targeted player's area once acquired.
+//-----------------------------------------------------------------------------
+
+void CNEO_NPCTargetSystem::PublishBotHazards(CBasePlayer *pTarget)
+{
+	if (!TheNavMesh->IsLoaded() || TheNextBots().GetNextBotCount() == 0)
+	{
+		return;
+	}
+
+	if (gpGlobals->curtime < m_flNextHazardTime)
+	{
+		return;
+	}
+
+	m_flNextHazardTime = gpGlobals->curtime + BOT_HAZARD_INTERVAL;
+	const float flExpireTime = gpGlobals->curtime + BOT_HAZARD_DURATION;
+
+	// A team is targeted if a living member passes the filter; on ntre_rogue_ctg
+	// the filter swaps on ghost pickup so the carrier's team is left out
+	bool bTeamTargeted[TEAM__TOTAL] = {};
+	for (int i = 1; i <= gpGlobals->maxClients; i++)
+	{
+		CBasePlayer *pPlayer = UTIL_PlayerByIndex(i);
+		if (!pPlayer || !pPlayer->IsAlive() || pPlayer->GetTeamNumber() < FIRST_GAME_TEAM)
+		{
+			continue;
+		}
+
+		if (!m_pFilter || m_pFilter->PassesFilter(this, pPlayer))
+		{
+			bTeamTargeted[pPlayer->GetTeamNumber()] = true;
+		}
+	}
+
+	// Mark areas PVS to the tank as do not hang out in my view
+	CNavArea *pOwnArea = TheNavMesh->GetNearestNavArea(GetAbsOrigin());
+	if (pOwnArea)
+	{
+		for (int iTeam = FIRST_GAME_TEAM; iTeam < TEAM__TOTAL; ++iTeam)
+		{
+			// Being run over is deadly even for a bot in a hurry, unlike the turret's sightline
+			CNEOBotPathReservations()->AddDeadlyHazard(pOwnArea->GetID(), flExpireTime, iTeam);
+
+			if (bTeamTargeted[iTeam])
+			{
+				AddVisibleHazard(pOwnArea, iTeam, flExpireTime);
+			}
+		}
+	}
+
+	if (pTarget)
+	{
+		CNavArea *pTargetArea = TheNavMesh->GetNearestNavArea(pTarget->GetAbsOrigin());
+		if (pTargetArea)
+		{
+			// Don't propagate the PVS for the targeted bot location to avoid marking the areas around the corner
+			AddVisibleHazard(pTargetArea, pTarget->GetTeamNumber(), flExpireTime, false);
+		}
+	}
+}
+
+void CNEO_NPCTargetSystem::AddVisibleHazard(CNavArea *pArea, int iTeam, float flExpireTime, bool bPropagatePVS)
+{
+	if (m_bMotionVision)
+	{
+		CNEOBotPathReservations()->AddNpcTurretHazard(pArea->GetID(), flExpireTime, iTeam, bPropagatePVS);
+	}
+	else
+	{
+		CNEOBotPathReservations()->AddDeadlyHazard(pArea->GetID(), flExpireTime, iTeam, bPropagatePVS);
+	}
+}
+
 bool CNEO_NPCTargetSystem::CanSee(CBaseEntity *pEntity)
 {
 	if (m_pFilter && m_pFilter->PassesFilter(this, pEntity))

src/game/server/neo/neo_npc_targetsystem.h

@@ -2,6 +2,8 @@
 #include "cbase.h"
 #include "filters.h"
 
+class CNavArea;
+
 class CNEO_NPCTargetSystem : public CBaseEntity
 {
 public:
@@ -45,6 +47,9 @@ class CNEO_NPCTargetSystem : public CBaseEntity
 	bool CanSee(CBaseEntity *pEntity);
 
 private:
+	void PublishBotHazards(CBasePlayer *pTarget);
+	void AddVisibleHazard(CNavArea *pArea, int iTeam, float flExpireTime, bool bPropagatePVS = true);
+
 	enum TargetZone_e
 	{
 		ZONE_NONE = 0,
@@ -58,4 +63,5 @@ class CNEO_NPCTargetSystem : public CBaseEntity
 	bool m_bMiddleIgnoreActive = false;
 	float m_flNextFireTime = 0;
 	CBasePlayer *m_pLastBestTarget = nullptr;
+	float m_flNextHazardTime = 0;
 };