Bots detour around physics/animation props

src/game/server/CMakeLists.txt

@@ -1515,6 +1515,9 @@ set(UNITY_SOURCE_NEO_BOT
     neo/bot/neo_bot.cpp
     neo/bot/neo_bot_path_compute.cpp
     neo/bot/neo_bot_path_cost.cpp
+    neo/bot/neo_bot_obstacle_props.cpp
+    neo/bot/neo_bot_path_obstacles.cpp
+    neo/bot/neo_bot_prop_detour.cpp
     neo/bot/neo_bot_path_reservation.cpp
     neo/bot/neo_bot_body.cpp
     neo/bot/neo_bot_locomotion.cpp
@@ -1577,6 +1580,9 @@ target_sources_grouped(
     neo/bot/neo_bot.h
     neo/bot/neo_bot_path_compute.h
     neo/bot/neo_bot_path_cost.h
+    neo/bot/neo_bot_obstacle_props.h
+    neo/bot/neo_bot_path_obstacles.h
+    neo/bot/neo_bot_prop_detour.h
     neo/bot/neo_bot_path_reservation.h
     neo/bot/neo_bot_body.h
     neo/bot/neo_bot_contextual_query_interface.h

src/game/server/NextBot/Path/NextBotPathFollow.cpp

@@ -102,6 +102,10 @@ void PathFollower::Invalidate( void )
 	m_avoidTimer.Invalidate();
 	m_waitTimer.Invalidate();
 	m_hindrance = NULL;
+
+#ifdef NEO
+	m_pathObstacles.Reset();
+#endif
 }
 
 
@@ -114,6 +118,10 @@ void PathFollower::OnPathChanged( INextBot *bot, Path::ResultType result )
 	// start from the beginning
 	m_goal = FirstSegment();
 	m_result = result;
+
+#ifdef NEO
+	m_pathObstacles.Reset();
+#endif
 }
 
 
@@ -684,6 +692,19 @@ void PathFollower::Update( INextBot *bot )
 		return;
 	}
 
+#ifdef NEO
+	// look ahead for breakables and walk around props in the way, which the nav mesh does not know about,
+	// heading for the path segment past them rather than turning back for a goal the detour went around
+	m_pathObstacles.Update( bot, *this );
+	const Path::Segment *detourPathGoal = m_pathObstacles.GetPathGoal();
+	if ( detourPathGoal )
+	{
+		m_goal = detourPathGoal;
+	}
+
+	const bool isDetouring = m_pathObstacles.IsDetouring();
+#endif
+
 	// use the direction towards the goal as 'forward' direction
 	Vector forward = m_goal->pos - mover->GetFeet();
 
@@ -739,8 +760,15 @@ void PathFollower::Update( INextBot *bot )
 		NDebugOverlay::Line( mover->GetFeet(), mover->GetFeet() + axisSize * left, 0, 0, 255, true, 0.1f );
 	}
 
+#ifdef NEO
+	// a detour crosses only walkable floor, and the prop it goes around is no ledge to climb
+	const bool shouldClimb = !isDetouring;
+#else
+	const bool shouldClimb = true;
+#endif
+
 	// climb up ledges
-	if ( !Climbing( bot, m_goal, forward, left, goalRange ) )
+	if ( shouldClimb && !Climbing( bot, m_goal, forward, left, goalRange ) )
 	{
 		// a failed climb could mean an invalid path
 		if ( !IsValid() )
@@ -829,6 +857,13 @@ void PathFollower::Update( INextBot *bot )
 
 	Vector goalPos = m_goal->pos;
 
+#ifdef NEO
+	if ( isDetouring )
+	{
+		goalPos = m_pathObstacles.GetMoveGoal();
+	}
+#endif
+
 	// avoid small obstacles
 	forward = goalPos - mover->GetFeet();
 	forward.z = 0.0f;

src/game/server/NextBot/Path/NextBotPathFollow.h

@@ -9,6 +9,9 @@
 #include "nav_mesh.h"
 #include "nav_pathfind.h"
 #include "NextBotPath.h"
+#ifdef NEO
+#include "neo/bot/neo_bot_path_obstacles.h"
+#endif
 
 class INextBot;
 class ILocomotion;
@@ -42,6 +45,10 @@ class PathFollower : public Path
 
 	Path::ResultType GetResult() const { return m_result;  }
 
+#ifdef NEO
+	CBaseEntity *GetBreakableInWay() const { return m_pathObstacles.GetBreakableInWay(); }	// a breakable the last look ahead met on the path
+#endif
+
 private:
 	const Path::Segment *m_goal;					// our current goal along the path
 	float m_minLookAheadRange;
@@ -83,6 +90,7 @@ class PathFollower : public Path
 #ifdef NEO
 	bool HasFallenBelowPath( INextBot *bot ) const;	// return true if we stand off the path, more than a step below it
 	bool m_wasOnGround;
+	CNEOBotPathObstacles m_pathObstacles;			// looks ahead for props to steer around and breakables in the way
 #endif
 
 	float m_goalTolerance;

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

@@ -40,30 +40,11 @@ CBaseEntity *CNEOBotPathClearBreakable::GetBreakableInPath( CNEOBot *me )
 		return nullptr;
 	}
 
-	const Path::Segment *goal = path->GetCurrentGoal();
-	if ( !goal )
+	// the path follower's look ahead for props also finds breakables in the way
+	CBaseEntity *breakable = path->GetBreakableInWay();
+	if ( breakable && breakable->IsAlive() && breakable->GetHealth() > 0 )
 	{
-		return nullptr;
-	}
-
-	// Trace forward along the path to look for breakables
-	// We use a hull trace to match the bot's collision size
-	trace_t tr;
-	UTIL_TraceHull( me->GetAbsOrigin() + Vector( 0, 0, 10 ),
-					goal->pos + Vector( 0, 0, 10 ),
-					me->GetBodyInterface()->GetHullMins(),
-					me->GetBodyInterface()->GetHullMaxs(),
-					MASK_NPCSOLID,
-					me->GetEntity(),
-					COLLISION_GROUP_NONE,
-					&tr );
-
-	if ( tr.DidHit() && tr.m_pEnt )
-	{
-		if ( me->IsAbleToBreak( tr.m_pEnt ) )
-		{
-			return tr.m_pEnt;
-		}
+		return breakable;
 	}
 
 	return nullptr;