├── .gitignore ├── LICENSE ├── README.md ├── _examples ├── connect_the_bombsites.go └── lookup_by_coords.go ├── algo.go ├── nav_area.go ├── nav_connection.go ├── nav_encounter_path.go ├── nav_ladder.go ├── nav_mesh.go ├── nav_place.go ├── parser.go ├── quadtree.go └── vector.go /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files, Static and Dynamic libs (Shared Objects) 2 | *.o 3 | *.a 4 | *.so 5 | 6 | # Folders 7 | _obj 8 | _test 9 | 10 | # Architecture specific extensions/prefixes 11 | *.[568vq] 12 | [568vq].out 13 | 14 | *.cgo1.go 15 | *.cgo2.c 16 | _cgo_defun.c 17 | _cgo_gotypes.go 18 | _cgo_export.* 19 | 20 | _testmain.go 21 | 22 | *.exe 23 | *.test 24 | *.prof 25 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU AFFERO GENERAL PUBLIC LICENSE 2 | Version 3, 19 November 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU Affero General Public License is a free, copyleft license for 11 | software and other kinds of works, specifically designed to ensure 12 | cooperation with the community in the case of network server software. 13 | 14 | The licenses for most software and other practical works are designed 15 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 611 | 612 | If the disclaimer of warranty and limitation of liability provided 613 | above cannot be given local legal effect according to their terms, 614 | reviewing courts shall apply local law that most closely approximates 615 | an absolute waiver of all civil liability in connection with the 616 | Program, unless a warranty or assumption of liability accompanies a 617 | copy of the Program in return for a fee. 618 | 619 | END OF TERMS AND CONDITIONS 620 | 621 | How to Apply These Terms to Your New Programs 622 | 623 | If you develop a new program, and you want it to be of the greatest 624 | possible use to the public, the best way to achieve this is to make it 625 | free software which everyone can redistribute and change under these terms. 626 | 627 | To do so, attach the following notices to the program. It is safest 628 | to attach them to the start of each source file to most effectively 629 | state the exclusion of warranty; and each file should have at least 630 | the "copyright" line and a pointer to where the full notice is found. 631 | 632 | 633 | Copyright (C) 634 | 635 | This program is free software: you can redistribute it and/or modify 636 | it under the terms of the GNU Affero General Public License as published 637 | by the Free Software Foundation, either version 3 of the License, or 638 | (at your option) any later version. 639 | 640 | This program is distributed in the hope that it will be useful, 641 | but WITHOUT ANY WARRANTY; without even the implied warranty of 642 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 643 | GNU Affero General Public License for more details. 644 | 645 | You should have received a copy of the GNU Affero General Public License 646 | along with this program. If not, see . 647 | 648 | Also add information on how to contact you by electronic and paper mail. 649 | 650 | If your software can interact with users remotely through a computer 651 | network, you should also make sure that it provides a way for users to 652 | get its source. For example, if your program is a web application, its 653 | interface could display a "Source" link that leads users to an archive 654 | of the code. There are many ways you could offer source, and different 655 | solutions will be better for different programs; see section 13 for the 656 | specific requirements. 657 | 658 | You should also get your employer (if you work as a programmer) or school, 659 | if any, to sign a "copyright disclaimer" for the program, if necessary. 660 | For more information on this, and how to apply and follow the GNU AGPL, see 661 | . 662 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # gonav 2 | A [Source Engine](https://en.wikipedia.org/wiki/Source_(game_engine)) bot Nav file parser written in Go. This was written for CS:GO but will likely work with little or no modification for other Source titles. The specifics of the .nav format were reverse engineered using the information on [Valve's wiki](https://developer.valvesoftware.com/wiki/NAV) as a starting point. For more information on Source's Navigation Meshes see Valve's wiki: https://developer.valvesoftware.com/wiki/Navigation_Meshes 3 | 4 | # Usage 5 | See the `_examples` folder for examples of how to use this library. The basics, however, are pretty straightforward. Create a parser and pass in any `Reader` that contains the binary .nav data, then call the `Parse()` method. This will output a parsed `NavMesh` object which you can perform operations on. Here's a terse example: 6 | 7 | ``` 8 | f, _ := os.Open("de_dust2.nav") // Open the file 9 | parser := gonav.Parser{Reader: f} 10 | mesh, _ := parser.Parse() // Parse the file 11 | area := mesh.QuadTreeAreas.FindAreaByPoint(gonav.Vector3{10, 10, 10}, true) // Find the nav area that contains the world point {10, 10} with a Z-value closest to 10 12 | fmt.Println(area) 13 | ``` 14 | 15 | # Path Finding 16 | This library also supports path finding across nav meshes via an A* implementation. 17 | 18 | ``` 19 | bombsiteA := mesh.GetPlaceByName("BombsiteA") 20 | aCenter, _ := bombsiteA.GetEstimatedCenter() 21 | aArea := mesh.GetNearestArea(aCenter, false) 22 | bombsiteB := mesh.GetPlaceByName("BombsiteB") 23 | bCenter, _ := bombsiteB.GetEstimatedCenter() 24 | bArea := mesh.GetNearestArea(bCenter, false) 25 | path, _ := gonav.SimpleBuildShortestPath(aArea, bArea) 26 | 27 | for _, currNode := range path.Nodes { 28 | fmt.Println(currNode.Area) 29 | } 30 | ``` 31 | 32 | Example output of path finding from the center of A-site on de_nuke to the center of B-site: 33 | ``` 34 | Path length: 2381.591 35 | AreaID: 1419 [BombsiteA] @ {{675 -925 -414.96875}, {700 -900 -415.35532}} 36 | AreaID: 7 [BombsiteA] @ {{575 -1325 -415.96875}, {950 -925 -415.96875}} 37 | AreaID: 2285 [BombsiteA] @ {{550 -1300 -415.96875}, {575 -1225 -415.96875}} 38 | AreaID: 3107 [BombsiteA] @ {{500 -1400 -415.96875}, {550 -1225 -415.96875}} 39 | AreaID: 3368 [BombsiteA] @ {{475 -1375 -415.96875}, {500 -1225 -415.96875}} 40 | AreaID: 3076 [BombsiteA] @ {{425 -1375 -415.96875}, {475 -1325 -415.96875}} 41 | AreaID: 3075 [BombsiteA] @ {{425 -1400 -415.96875}, {475 -1375 -415.96875}} 42 | AreaID: 1673 [Vents] @ {{425 -1450 -607.96875}, {625 -1425 -607.96875}} 43 | AreaID: 700 [Vents] @ {{625 -1525 -607.96875}, {650 -1425 -607.96875}} 44 | AreaID: 2478 [Vents] @ {{650 -1450 -607.96875}, {700 -1425 -607.96875}} 45 | AreaID: 2479 [Vents] @ {{700 -1450 -607.96875}, {750 -1425 -607.96875}} 46 | AreaID: 2477 [Vents] @ {{750 -1450 -607.96875}, {825 -1425 -607.96875}} 47 | AreaID: 2300 [Vents] @ {{825 -1450 -607.96875}, {850 -1400 -607.96875}} 48 | AreaID: 2301 [Vents] @ {{825 -1400 -607.96875}, {850 -1350 -607.96875}} 49 | AreaID: 1690 [Vents] @ {{825 -1350 -607.96875}, {850 -1325 -639.96875}} 50 | AreaID: 2265 [BombsiteB] @ {{775 -1325 -639.96875}, {900 -1275 -639.96875}} 51 | AreaID: 3589 [BombsiteB] @ {{900 -1325 -639.96875}, {950 -1275 -639.96875}} 52 | AreaID: 3591 [BombsiteB] @ {{900 -1275 -639.96875}, {950 -1050 -639.96875}} 53 | AreaID: 3593 [BombsiteB] @ {{900 -1050 -639.96875}, {950 -900 -639.96875}} 54 | AreaID: 2490 [BombsiteB] @ {{878 -1050 -597.96875}, {888 -900 -597.96875}} 55 | AreaID: 2690 [BombsiteB] @ {{850 -1050 -767.96875}, {888 -900 -768.9288}} 56 | AreaID: 3500 [BombsiteB] @ {{550 -1075 -770.25446}, {850 -900 -767.96875}} 57 | AreaID: 3502 [BombsiteB] @ {{550 -900 -769.49255}, {850 -725 -767.96875}} 58 | ``` 59 | 60 | # License 61 | This source is licensed under the GNU AFFERO GENERAL PUBLIC LICENSE. If this license is not acceptable for your project, let me know. Additionally, more feature-rich versions of this library exist, written in C# and C++, and can be licensed upon request. 62 | -------------------------------------------------------------------------------- /_examples/connect_the_bombsites.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | package main 20 | 21 | import ( 22 | "fmt" 23 | "os" 24 | "time" 25 | 26 | "github.com/mrazza/gonav" 27 | ) 28 | 29 | func main() { 30 | fmt.Print("Enter file name (ex: de_dust2.nav): ") 31 | var file string 32 | fmt.Scanf("%s\n", &file) 33 | f, ok := os.Open(file) // Open the file 34 | 35 | if ok != nil { 36 | fmt.Printf("Failed to open file: %v\n", ok) 37 | return 38 | } 39 | 40 | defer f.Close() 41 | start := time.Now() 42 | parser := gonav.Parser{Reader: f} 43 | mesh, nerr := parser.Parse() // Parse the file 44 | elapsed := time.Since(start) 45 | 46 | if nerr != nil { 47 | fmt.Printf("Failed to parse: %v\n", nerr) 48 | return 49 | } 50 | 51 | fmt.Printf("Parse OK in %v\n\n", elapsed) 52 | 53 | // Find the center of the bombsites 54 | start = time.Now() 55 | bombsiteA := mesh.GetPlaceByName("BombsiteA") 56 | aCenter, _ := bombsiteA.GetEstimatedCenter() 57 | aArea := mesh.GetNearestArea(aCenter, false) 58 | bombsiteB := mesh.GetPlaceByName("BombsiteB") 59 | bCenter, _ := bombsiteB.GetEstimatedCenter() 60 | bArea := mesh.GetNearestArea(bCenter, false) 61 | elapsed = time.Since(start) 62 | 63 | fmt.Printf("BombsiteA found at: %v\n", aArea) 64 | fmt.Printf("BombsiteB found at: %v\n", bArea) 65 | fmt.Printf("\tin: %v\n\n", elapsed) 66 | 67 | // Path find! 68 | start = time.Now() 69 | path, _ := gonav.SimpleBuildShortestPath(aArea, bArea) 70 | elapsed = time.Since(start) 71 | 72 | fmt.Printf("Path built in: %v (length: %v)\n", elapsed, path.GetCost()) 73 | for _, currNode := range path.Nodes { 74 | fmt.Println(currNode.Area) 75 | } 76 | } 77 | -------------------------------------------------------------------------------- /_examples/lookup_by_coords.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | package main 20 | 21 | import ( 22 | "fmt" 23 | "os" 24 | "time" 25 | 26 | "github.com/mrazza/gonav" 27 | ) 28 | 29 | func main() { 30 | fmt.Print("Enter file name (ex: de_dust2.nav): ") 31 | var file string 32 | fmt.Scanf("%s\n", &file) 33 | f, ok := os.Open(file) // Open the file 34 | 35 | if ok != nil { 36 | fmt.Printf("Failed to open file: %v\n", ok) 37 | return 38 | } 39 | 40 | defer f.Close() 41 | start := time.Now() 42 | parser := gonav.Parser{Reader: f} 43 | mesh, nerr := parser.Parse() // Parse the file 44 | elapsed := time.Since(start) 45 | 46 | if nerr != nil { 47 | fmt.Printf("Failed to parse: %v\n", nerr) 48 | return 49 | } 50 | 51 | fmt.Printf("Parse OK in %v\n\n", elapsed) 52 | 53 | // Loop forever and ask for coords. 54 | for { 55 | var x, y, z float32 56 | fmt.Print("Enter X coord: ") 57 | fmt.Scanf("%f\n", &x) 58 | 59 | fmt.Print("Enter Y coord: ") 60 | fmt.Scanf("%f\n", &y) 61 | 62 | fmt.Print("Enter Z coord: ") 63 | fmt.Scanf("%f\n", &z) 64 | 65 | point := gonav.Vector3{X: x, Y: y, Z: z} 66 | 67 | fmt.Println() 68 | fmt.Println("Looking up via the quadtree...") 69 | start = time.Now() 70 | area := mesh.QuadTreeAreas.FindAreaByPoint(point, false) 71 | elapsed = time.Since(start) 72 | 73 | if area != nil { 74 | fmt.Printf("Found in %fus...\n", float64(elapsed.Nanoseconds())/10000.0) 75 | fmt.Println(area) 76 | } else { 77 | fmt.Printf("No area found containing the specified coords in %v.\n", elapsed) 78 | } 79 | 80 | fmt.Println() 81 | } 82 | } 83 | -------------------------------------------------------------------------------- /algo.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | import ( 23 | "container/heap" 24 | "errors" 25 | ) 26 | 27 | // MeshConnectionCalculator is a func that calculates the cost of a connection in a nav mesh 28 | type MeshConnectionCalculator func(*NavConnection) float32 29 | 30 | // MeshLadderCalculator is a func that calculates the cost of a ladder between two nav areas 31 | // The first NavArea is the starting area, the second NavArea is the ending area 32 | type MeshLadderCalculator func(*NavLadder, NavLadderDirection, *NavArea, *NavArea) float32 33 | 34 | // HeuristicCalculator calculates an estimated heurisitic of cost between two (likely disjoint) NavAreas 35 | // This is used by the A* algorithm so must be admissible AND monotonic 36 | type HeuristicCalculator func(*NavArea, *NavArea) float32 37 | 38 | // PathNode is a single node along a path 39 | type PathNode struct { 40 | Area *NavArea 41 | PrevNode *PathNode 42 | CostFromStart float32 43 | estimatedCostToEnd float32 44 | } 45 | 46 | // Path represents a path between two points 47 | type Path struct { 48 | Nodes []*PathNode 49 | } 50 | 51 | // GetCost gets the total cost of the path 52 | func (p *Path) GetCost() float32 { 53 | return p.Nodes[len(p.Nodes)-1].CostFromStart 54 | } 55 | 56 | func newPath(endNode *PathNode) Path { 57 | var retPath Path 58 | currNode := endNode 59 | 60 | for currNode != nil { 61 | retPath.Nodes = append([]*PathNode{currNode}, retPath.Nodes...) 62 | currNode = currNode.PrevNode 63 | } 64 | 65 | return retPath 66 | } 67 | 68 | // SimpleBuildShortestPath builds a path (via PathFinding A*) and returns a Path object containing the start and end nodes of the path 69 | // startArea and endArea are the starting and ending NavAreas for the path 70 | // This function uses simple default cost and heuristic functions when building the Path. For more control, see BuildShortestPath 71 | func SimpleBuildShortestPath(startArea, endArea *NavArea) (Path, error) { 72 | return BuildShortestPath( 73 | startArea, 74 | endArea, 75 | func(con *NavConnection) float32 { 76 | distance := con.SourceArea.GetCenter() 77 | distance.Sub(con.TargetArea.GetCenter()) 78 | return distance.Length() 79 | }, 80 | func(ladder *NavLadder, direction NavLadderDirection, start *NavArea, end *NavArea) float32 { 81 | locationVector := start.GetCenter() 82 | locationVector.Sub(end.GetCenter()) 83 | cost := (&Vector3{locationVector.X, locationVector.Y, 0}).Length() // Let's ignore the Z because that's what ladder.Length does 84 | return ladder.Length + cost 85 | }, 86 | func(start *NavArea, end *NavArea) float32 { 87 | distance := start.GetCenter() 88 | distance.Sub(end.GetCenter()) 89 | return distance.Length() 90 | }) 91 | } 92 | 93 | // BuildShortestPath builds a path (via PathFinding A*) and returns a Path object containing the start and end nodes of the path 94 | // startArea and endArea are the starting and ending NavAreas for the path 95 | // areaCostCalc is a func() that calculates the "cost" of a connection between two NavAreas 96 | // ladderCostCalc is a func() that calculates the "cost" of a connection via a ladder 97 | // heurisiticCost is a func() that estimates an admissible AND monotonic cost for two (likely nonadjacent) NavAreas 98 | func BuildShortestPath(startArea, endArea *NavArea, areaCostCalc MeshConnectionCalculator, ladderCostCalc MeshLadderCalculator, heurisiticCost HeuristicCalculator) (Path, error) { 99 | closedSet := make(map[*NavArea]bool) 100 | nodeLookup := make(map[*NavArea]*queueItem) 101 | openSet := make(priorityQueue, 0) 102 | heap.Init(&openSet) 103 | 104 | start := PathNode{ 105 | Area: startArea, 106 | CostFromStart: 0, 107 | estimatedCostToEnd: heurisiticCost(startArea, endArea)} 108 | 109 | nodeLookup[startArea] = openSet.CreateAndPush(&start) 110 | 111 | for openSet.Len() > 0 { 112 | currentNode := openSet.PopCast() 113 | 114 | if currentNode.Area == endArea { 115 | return newPath(currentNode), nil // We found the end! 116 | } 117 | 118 | // Add this to where we've been 119 | closedSet[currentNode.Area] = true 120 | 121 | // Look at all the places connected to where we are 122 | for _, currConnection := range currentNode.Area.Connections { 123 | if closedSet[currConnection.TargetArea] { 124 | continue // We've been here before 125 | } 126 | 127 | // Calculate the cost to get there from here 128 | newCost := currentNode.CostFromStart + areaCostCalc(currConnection) 129 | item := nodeLookup[currConnection.TargetArea] 130 | var currNode *PathNode 131 | 132 | if item == nil { 133 | currNode = &PathNode{Area: currConnection.TargetArea} 134 | } else { 135 | currNode = item.pathNode 136 | 137 | if newCost >= currNode.CostFromStart { 138 | continue // Going there from here isn't any better than before 139 | } 140 | } 141 | 142 | // Either this is a new place to go, or we found a better way to get there. Update. 143 | currNode.PrevNode = currentNode 144 | currNode.CostFromStart = newCost 145 | currNode.estimatedCostToEnd = newCost + heurisiticCost(currNode.Area, endArea) 146 | 147 | if item != nil { 148 | openSet.update(item) 149 | } else { 150 | nodeLookup[currNode.Area] = openSet.CreateAndPush(currNode) 151 | } 152 | } 153 | 154 | // What about the places we're connected to via ladders 155 | for _, currLadderCon := range currentNode.Area.LadderConnections { 156 | currLadder := currLadderCon.TargetLadder 157 | var ladderAreas []*NavArea 158 | 159 | switch currLadder.Direction { 160 | case NavLadderDirectionUp: 161 | if currLadder.TopBehindArea != nil { 162 | ladderAreas = append(ladderAreas, currLadder.TopBehindArea) 163 | } 164 | 165 | if currLadder.TopForwardArea != nil { 166 | ladderAreas = append(ladderAreas, currLadder.TopForwardArea) 167 | } 168 | 169 | if currLadder.TopRightArea != nil { 170 | ladderAreas = append(ladderAreas, currLadder.TopRightArea) 171 | } 172 | 173 | if currLadder.TopLeftArea != nil { 174 | ladderAreas = append(ladderAreas, currLadder.TopLeftArea) 175 | } 176 | 177 | case NavLadderDirectionDown: 178 | if currLadder.BottomArea != nil { 179 | ladderAreas = append(ladderAreas, currLadder.BottomArea) 180 | } 181 | } 182 | 183 | for _, currArea := range ladderAreas { 184 | if closedSet[currArea] { 185 | continue // We've been here before 186 | } 187 | 188 | // Calculate the cost to get there from here 189 | newCost := currentNode.CostFromStart + ladderCostCalc(currLadder, currLadder.Direction, currentNode.Area, currArea) 190 | item := nodeLookup[currArea] 191 | var currNode *PathNode 192 | 193 | if item == nil { 194 | currNode = &PathNode{Area: currArea} 195 | } else { 196 | currNode = item.pathNode 197 | 198 | if newCost >= currNode.CostFromStart { 199 | continue // Going there from here isn't any better than before 200 | } 201 | } 202 | 203 | // Either this is a new place to go, or we found a better way to get there. Update. 204 | currNode.PrevNode = currentNode 205 | currNode.CostFromStart = newCost 206 | currNode.estimatedCostToEnd = newCost + heurisiticCost(currNode.Area, endArea) 207 | 208 | if item != nil { 209 | openSet.update(item) 210 | } else { 211 | nodeLookup[currNode.Area] = openSet.CreateAndPush(currNode) 212 | } 213 | } 214 | } 215 | } 216 | 217 | return Path{}, errors.New("Could not find a path. Areas are not connected.") 218 | } 219 | 220 | // Priority queue implementation from a modified version of the source on 221 | // https://golang.org/pkg/container/heap/ 222 | type queueItem struct { 223 | pathNode *PathNode 224 | index int 225 | } 226 | 227 | type priorityQueue []*queueItem 228 | 229 | func (pq priorityQueue) Len() int { 230 | return len(pq) 231 | } 232 | 233 | func (pq priorityQueue) Less(i, j int) bool { 234 | return pq[i].pathNode.estimatedCostToEnd < pq[j].pathNode.estimatedCostToEnd 235 | } 236 | 237 | func (pq priorityQueue) Swap(i, j int) { 238 | pq[i], pq[j] = pq[j], pq[i] 239 | pq[i].index = i 240 | pq[j].index = j 241 | } 242 | 243 | func (pq *priorityQueue) CreateAndPush(pn *PathNode) *queueItem { 244 | q := &queueItem{pathNode: pn} 245 | heap.Push(pq, q) 246 | return q 247 | } 248 | 249 | func (pq *priorityQueue) Push(q interface{}) { 250 | item := q.(*queueItem) 251 | n := len(*pq) 252 | item.index = n 253 | *pq = append(*pq, item) 254 | } 255 | 256 | func (pq *priorityQueue) PopCast() *PathNode { 257 | return heap.Pop(pq).(*PathNode) 258 | } 259 | 260 | func (pq *priorityQueue) Pop() interface{} { 261 | old := *pq 262 | n := len(old) 263 | item := old[n-1] 264 | item.index = -1 265 | *pq = old[0 : n-1] 266 | return item.pathNode 267 | } 268 | 269 | func (pq *priorityQueue) Remove(item *queueItem) { 270 | heap.Remove(pq, item.index) 271 | } 272 | 273 | func (pq *priorityQueue) update(item *queueItem) { 274 | heap.Fix(pq, item.index) 275 | } 276 | -------------------------------------------------------------------------------- /nav_area.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | import ( 23 | "errors" 24 | "fmt" 25 | ) 26 | 27 | // NavArea represents a NavArea as part of a NavMesh 28 | type NavArea struct { 29 | ID uint32 // ID of the NavArea 30 | NorthWest Vector3 // Location of the north-west point of this NavArea 31 | SouthEast Vector3 // Location of the south-east point of this NavArea 32 | Flags uint32 // Bitflags set on this area 33 | NorthEastZ float32 // The Z-coord for the north-east point 34 | SouthWestZ float32 // The Z-coord for the south-west point 35 | NorthWestLightIntensity float32 // The light intensity of the north-west corner 36 | NorthEastLightIntensity float32 // The light intensity of the north-east corner 37 | SouthWestLightIntensity float32 // The light intensity of the south-west corner 38 | SouthEastLightIntensity float32 // The light intensity of the south-east corner 39 | Place *NavPlace // The place this area is in 40 | Connections []*NavConnection // The connections between this area and other areas 41 | HidingSpots []*NavHidingSpot // The hiding spots in this NavArea 42 | EncounterPaths []*NavEncounterPath // The encounter paths for this area 43 | LadderConnections []*NavLadderConnection // Connections between this area and ladders 44 | VisibleAreas []*NavVisibleArea // Visible areas 45 | EarliestOccupyTimeFirstTeam float32 // The earliest time the first team can occupy this area 46 | EarliestOccupyTimeSecondTeam float32 // The earliest time the second team can occupy this area 47 | InheritVisibilityFromAreaID uint32 // ID of the area to inherit our visibility from 48 | } 49 | 50 | // NavHidingSpot represents an identified hiding spot within a NavArea 51 | type NavHidingSpot struct { 52 | ID uint32 // ID of the hiding spot 53 | Location Vector3 // Location of the hiding NavHidingSpot 54 | Flags byte // Bitflags associated with this hiding spot 55 | } 56 | 57 | // NavVisibleArea represents a visible area 58 | type NavVisibleArea struct { 59 | VisibleAreaID uint32 // ID of the visible area 60 | VisibleArea *NavArea // The visible area 61 | Attributes byte // Bit-wise attributes 62 | } 63 | 64 | func (visArea *NavVisibleArea) connectGraph(mesh *NavMesh) { 65 | visArea.VisibleArea = mesh.Areas[visArea.VisibleAreaID] 66 | } 67 | 68 | func (area *NavArea) connectGraph(mesh *NavMesh) { 69 | for _, currConnection := range area.Connections { 70 | currConnection.connectGraph(mesh) 71 | } 72 | 73 | for _, currPath := range area.EncounterPaths { 74 | currPath.connectGraph(mesh) 75 | } 76 | 77 | for _, currLadder := range area.LadderConnections { 78 | currLadder.connectGraph(mesh) 79 | } 80 | 81 | for _, currArea := range area.VisibleAreas { 82 | currArea.connectGraph(mesh) 83 | } 84 | } 85 | 86 | // GetNorthEastPoint builds the north east point from the two known corner points and the known Z value 87 | func (area *NavArea) GetNorthEastPoint() Vector3 { 88 | return Vector3{X: area.SouthEast.X, Y: area.NorthWest.Y, Z: area.NorthEastZ} 89 | } 90 | 91 | // GetSouthWestPoint builds the south west point from the two known corner points and the known Z value 92 | func (area *NavArea) GetSouthWestPoint() Vector3 { 93 | return Vector3{X: area.NorthWest.X, Y: area.SouthEast.Y, Z: area.SouthWestZ} 94 | } 95 | 96 | // GetCenter gets the center point of this area. 97 | func (area *NavArea) GetCenter() Vector3 { 98 | x := (area.NorthWest.X + area.SouthEast.X) / 2.0 99 | y := (area.NorthWest.Y + area.GetSouthWestPoint().Y) / 2.0 100 | z, err := area.GetZ(x, y) 101 | 102 | if err != nil { 103 | panic(err) 104 | } 105 | 106 | return Vector3{ 107 | X: x, 108 | Y: y, 109 | Z: z} 110 | } 111 | 112 | // GetZ gets the Z-coord for the specified point within this area. 113 | // An error is returned if the requested point is not within this area. 114 | func (area *NavArea) GetZ(x, y float32) (float32, error) { 115 | if !area.ContainsPoint(Vector3{x, y, 0}, true) { 116 | return 0, errors.New("Cannot get Z. Specified point does not exist within the area.") 117 | } 118 | 119 | // Find the Z on the north and south lines that share the X-coord with our point 120 | width := area.SouthEast.X - area.NorthWest.X 121 | height := area.SouthEast.Y - area.NorthWest.Y 122 | distanceFromEast := area.SouthEast.X - x 123 | distanceFromSouth := area.SouthEast.Y - y 124 | northSlope := (area.NorthWest.Z - area.NorthEastZ) / width 125 | southSlope := (area.SouthWestZ - area.SouthEast.Z) / width 126 | northZ := area.NorthEastZ + northSlope*distanceFromEast 127 | southZ := area.SouthEast.Z + southSlope*distanceFromEast 128 | 129 | // Draw a line between those points on the north and south line 130 | // and find the Z value at the specified Y location 131 | finalLineSlope := (northZ - southZ) / height 132 | 133 | return southZ + finalLineSlope*distanceFromSouth, nil 134 | } 135 | 136 | // ContainsPoint determines whether or not the specified point is contained within this area 137 | // If allowBelow is false, a rough estimation will be performed and if the specified point is 138 | // below this NavArea, we will return false. 139 | func (area *NavArea) ContainsPoint(point Vector3, allowBelow bool) bool { 140 | if !allowBelow && area.NorthWest.Z > point.Z && area.SouthEast.Z > point.Z { 141 | return false 142 | } 143 | 144 | return area.NorthWest.X <= point.X && 145 | area.NorthWest.Y <= point.Y && 146 | area.SouthEast.X >= point.X && 147 | area.SouthEast.Y >= point.Y 148 | } 149 | 150 | // DistanceFromZ gets the distance the specified point is from a rough estimate of the Z-position 151 | // for this NavArea 152 | func (area *NavArea) DistanceFromZ(point Vector3) float32 { 153 | return point.Z - ((area.NorthWest.Z + area.SouthEast.Z) / 2.0) 154 | } 155 | 156 | // DistanceFromCenter gets the distance from the specified point to the center of this area 157 | func (area *NavArea) DistanceFromCenter(point Vector3) float32 { 158 | center := area.GetCenter() 159 | center.Sub(point) 160 | return center.Length() 161 | } 162 | 163 | // GetRoughSquaredArea gets a rough estimate of the squared area of the NavArea 164 | func (area *NavArea) GetRoughSquaredArea() float32 { 165 | return (area.SouthEast.X - area.NorthWest.X) * (area.SouthEast.Y - area.NorthWest.Y) 166 | } 167 | 168 | // GetClosestPointInArea gets the point closest to the specified point that is contained within this Area. 169 | func (area *NavArea) GetClosestPointInArea(point Vector3) Vector3 { 170 | if area.ContainsPoint(point, true) { 171 | z, _ := area.GetZ(point.X, point.Y) 172 | return Vector3{point.X, point.Y, z} 173 | } 174 | 175 | var x, y float32 176 | 177 | // Let's do X 178 | if point.X < area.NorthWest.X { 179 | x = area.NorthWest.X 180 | } else if point.X > area.SouthEast.X { 181 | x = area.SouthEast.X 182 | } else { 183 | x = point.X 184 | } 185 | 186 | // Let's do Y 187 | if point.Y < area.NorthWest.Y { 188 | y = area.NorthWest.Y 189 | } else if point.Y > area.SouthEast.Y { 190 | y = area.SouthEast.Y 191 | } else { 192 | y = point.Y 193 | } 194 | 195 | z, _ := area.GetZ(x, y) 196 | 197 | return Vector3{X: x, Y: y, Z: z} 198 | } 199 | 200 | // String converts a NavArea into a human readable string 201 | func (area *NavArea) String() string { 202 | name := "" 203 | if area.Place != nil { 204 | name = area.Place.Name 205 | } 206 | 207 | return fmt.Sprintf("AreaID: %v [%v] @ {%v, %v}", area.ID, name, area.NorthWest, area.SouthEast) 208 | } 209 | -------------------------------------------------------------------------------- /nav_connection.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | // NavDirection represents a cardinal direction 23 | type NavDirection int 24 | 25 | const ( 26 | // NavDirectionNorth is the north cardinal direction 27 | NavDirectionNorth NavDirection = iota 28 | 29 | // NavDirectionEast is the east cardinal direction 30 | NavDirectionEast 31 | 32 | // NavDirectionSouth is the south cardinal direction 33 | NavDirectionSouth 34 | 35 | // NavDirectionWest is the west cardinal direction 36 | NavDirectionWest 37 | 38 | // NavDirectionMax is the max value for nav directions 39 | NavDirectionMax 40 | ) 41 | 42 | // NavConnection represents a connection between two NavAreas 43 | type NavConnection struct { 44 | SourceArea *NavArea // The starting area for this connection 45 | TargetAreaID uint32 // The ID of the target area for this NavConnection 46 | TargetArea *NavArea // The target area for this connection 47 | Direction NavDirection // The direction of the connection between these two areas 48 | } 49 | 50 | func (conn *NavConnection) connectGraph(mesh *NavMesh) { 51 | conn.TargetArea = mesh.Areas[conn.TargetAreaID] 52 | } 53 | -------------------------------------------------------------------------------- /nav_encounter_path.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | // NavEncounterPath represents an encounter path 23 | type NavEncounterPath struct { 24 | FromAreaID uint32 // The ID of the area the path comes from 25 | FromArea *NavArea // The Area the path comes from 26 | FromDirection NavDirection // The direction from the source 27 | ToAreaID uint32 // The ID of the area the path ends in 28 | ToArea *NavArea // The area the path ends in 29 | ToDirection NavDirection // The direction from the destination 30 | Spots []*NavEncounterSpot // The spots along this path 31 | } 32 | 33 | // NavEncounterSpot represents a spot along an encounter path 34 | type NavEncounterSpot struct { 35 | OrderID uint32 // The ID of the order of this spot 36 | ParametricDistiance float32 // The parametric distance 37 | } 38 | 39 | func (path *NavEncounterPath) connectGraph(mesh *NavMesh) { 40 | path.FromArea = mesh.Areas[path.FromAreaID] 41 | path.ToArea = mesh.Areas[path.ToAreaID] 42 | } 43 | -------------------------------------------------------------------------------- /nav_ladder.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | // NavLadderDirection represents the direction between a ladder and its connection 23 | type NavLadderDirection int 24 | 25 | const ( 26 | // NavLadderDirectionUp means up the ladder 27 | NavLadderDirectionUp NavLadderDirection = iota 28 | 29 | // NavLadderDirectionDown means down the ladder 30 | NavLadderDirectionDown 31 | 32 | // NavLadderDirectionMax the max value for NavLadderDirection's 33 | NavLadderDirectionMax 34 | ) 35 | 36 | // NavLadderConnection represents a connection between an area and a ladder 37 | type NavLadderConnection struct { 38 | SourceArea *NavArea // The area that is the source of this NavConnection 39 | TargetID uint32 // The ID of the ladder target 40 | TargetLadder *NavLadder // The ladder 41 | Direction NavLadderDirection // The direction of this connection 42 | } 43 | 44 | // NavLadder represents a ladder within the world 45 | type NavLadder struct { 46 | ID uint32 // The ID of the ladder 47 | Width float32 // The width of the ladder 48 | Length float32 // The length of the ladder 49 | Top Vector3 // The location of the center of the top of the ladder 50 | Bottom Vector3 // The location of the center of the bottom of the ladder 51 | Direction NavLadderDirection // The direction of the NavLadder 52 | TopForwardAreaID uint32 // ID of the area connected to the top-forward position of the ladder 53 | TopForwardArea *NavArea // The area connected to the top-forward position of the ladder 54 | TopLeftAreaID uint32 // ID of the area connected to the top-left position of the ladder 55 | TopLeftArea *NavArea // The area connected to the top-forward position of the ladder 56 | TopRightAreaID uint32 // ID of the area connected to the top-right position of the ladder 57 | TopRightArea *NavArea // The area connected to the top-right position of the ladder 58 | TopBehindAreaID uint32 // ID of area connected to the top-behind position of the ladder 59 | TopBehindArea *NavArea // The area connected to the top-behind position of the ladder 60 | BottomAreaID uint32 // ID of the area connected to the bottom of the ladder 61 | BottomArea *NavArea // The area connected to the bottom of the ladder 62 | } 63 | 64 | func (conn *NavLadderConnection) connectGraph(mesh *NavMesh) { 65 | conn.TargetLadder = mesh.Ladders[conn.TargetID] 66 | } 67 | -------------------------------------------------------------------------------- /nav_mesh.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | import ( 23 | "math" 24 | "sync" 25 | ) 26 | 27 | // NavMesh represents an entire parsed Nav Mesh and provides functionality 28 | // related to the manipulation and searching of the mesh 29 | type NavMesh struct { 30 | Places map[uint32]*NavPlace // Places contained in this NavMesh 31 | Areas map[uint32]*NavArea // Areas contained in this NavMesh 32 | Ladders map[uint32]*NavLadder // Ladders contained in this NavMesh 33 | QuadTreeAreas *quadTreeNode // QuadTree used for quickly searching the NavAreas by position 34 | MajorVersion uint32 // The major version number of the nav file 35 | MinorVersion uint32 // The minor version number of the nav file 36 | BSPSize uint32 // The size of the BSP file the nav was generated from 37 | IsMeshAnalyzed bool // Tracks whether or not this NavMesh has been analyzed 38 | } 39 | 40 | func (mesh *NavMesh) connectGraph() { 41 | var wg sync.WaitGroup 42 | 43 | for _, area := range mesh.Areas { 44 | wg.Add(1) 45 | 46 | go func(currArea *NavArea) { 47 | defer wg.Done() 48 | 49 | currArea.connectGraph(mesh) 50 | }(area) 51 | } 52 | 53 | wg.Wait() 54 | } 55 | 56 | // GetPlaceByName gets a NavPlace by the specified name string; nil if not found 57 | func (mesh *NavMesh) GetPlaceByName(name string) *NavPlace { 58 | for _, curr := range mesh.Places { 59 | if curr.Name == name { 60 | return curr 61 | } 62 | } 63 | 64 | return nil 65 | } 66 | 67 | // Finds the area nearest to this point 68 | func (mesh *NavMesh) GetNearestArea(point Vector3, allowBelow bool) *NavArea { 69 | bestDistance := float32(math.MaxFloat32) 70 | var bestArea *NavArea 71 | 72 | for _, curr := range mesh.Areas { 73 | if curr.ContainsPoint(point, allowBelow) { 74 | currDistance := curr.DistanceFromZ(point) 75 | if bestDistance > currDistance { 76 | bestDistance = currDistance 77 | bestArea = curr 78 | } 79 | } else { 80 | center := curr.GetCenter() 81 | 82 | if !allowBelow && center.Z > point.Z { 83 | continue 84 | } 85 | 86 | center.Sub(point) 87 | currDistance := center.LengthSquared() 88 | if bestDistance > currDistance { 89 | bestDistance = currDistance 90 | bestArea = curr 91 | } 92 | } 93 | } 94 | 95 | return bestArea 96 | } 97 | -------------------------------------------------------------------------------- /nav_place.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | import "errors" 23 | 24 | // NavPlace represents a Place entry in the NavMesh 25 | type NavPlace struct { 26 | ID uint32 // ID of the place 27 | Name string // The name of the place 28 | Areas []*NavArea // Collection of areas in this place 29 | } 30 | 31 | // GetEstimatedCenter gets a rough estimate of the center of this NavPlace 32 | func (np *NavPlace) GetEstimatedCenter() (Vector3, error) { 33 | accume := Vector3{0, 0, 0} 34 | weight := float32(0) 35 | 36 | for _, currArea := range np.Areas { 37 | area := currArea.GetRoughSquaredArea() 38 | center := currArea.GetCenter() 39 | center.Mul(area) 40 | accume.Add(center) 41 | weight += area 42 | } 43 | 44 | if weight == 0 { 45 | return Vector3{}, errors.New("Cannot estimate center for NavAreas with no area.") 46 | } 47 | 48 | accume.Div(weight) 49 | return accume, nil 50 | } 51 | -------------------------------------------------------------------------------- /parser.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | import ( 23 | "encoding/binary" 24 | "errors" 25 | "fmt" 26 | "io" 27 | ) 28 | 29 | // Parser provides support for parsing .nav files. 30 | type Parser struct { 31 | Reader io.Reader 32 | } 33 | 34 | type parserError struct { 35 | Message string 36 | Error error 37 | } 38 | 39 | // Parse parses the nav mesh reader supplied to this instance. 40 | func (p *Parser) Parse() (mesh NavMesh, err error) { 41 | if p.Reader == nil { 42 | return buildParseError("This parse instance does not have a Reader.") 43 | } 44 | 45 | // Handle the recover scenerio for panics from our reader functions 46 | defer func() { 47 | if r := recover(); r != nil { 48 | msg, ok := r.(parserError) 49 | 50 | if ok { 51 | mesh, err = buildParseError(fmt.Sprintf("Unexpected error when parsing: %s.\nParent error: %v.", msg.Message, msg.Error)) 52 | } else { 53 | panic(r) 54 | } 55 | } 56 | }() 57 | 58 | // Let's check the magic number 59 | var magicNumber uint32 60 | p.read(&magicNumber) 61 | 62 | if magicNumber != 0xFEEDFACE { 63 | return buildParseError(fmt.Sprintf("Magic number is incorrect (%v vs %v). This is not a .nav file.", magicNumber, 0xFEEDFACE)) 64 | } 65 | 66 | // Magic number passed! Time to start building the NavMesh 67 | mesh = NavMesh{} 68 | p.read(&mesh.MajorVersion) 69 | 70 | // Check the version 71 | if mesh.MajorVersion < 6 || mesh.MajorVersion > 16 { 72 | return buildParseError("Major version for this nav mesh is invalid.") 73 | } 74 | 75 | if mesh.MajorVersion >= 10 { 76 | p.read(&mesh.MinorVersion) 77 | } 78 | 79 | p.read(&mesh.BSPSize) 80 | 81 | if mesh.MajorVersion >= 14 { 82 | p.read(&mesh.IsMeshAnalyzed) 83 | } 84 | 85 | // Let's get the "places" 86 | mesh.Places = make(map[uint32]*NavPlace) 87 | var placeCount uint16 88 | p.read(&placeCount) 89 | 90 | for i := uint16(0); i < placeCount; i++ { 91 | id := uint32(i + 1) 92 | var nameLength uint16 93 | p.read(&nameLength) 94 | mesh.Places[id] = &NavPlace{ID: id, Name: p.readString(nameLength)[:nameLength-1]} 95 | } 96 | 97 | // Time to build the area objects 98 | mesh.Areas = make(map[uint32]*NavArea) 99 | mesh.QuadTreeAreas = &quadTreeNode{NorthWestPoint: Vector3{-16384, -16384, 0}, SouthEastPoint: Vector3{16384, 16384, 0}} 100 | 101 | var hasUnnamedAreas bool 102 | if mesh.MajorVersion > 11 { 103 | p.read(&hasUnnamedAreas) 104 | } 105 | 106 | var areaCount uint32 107 | p.read(&areaCount) 108 | 109 | for i := uint32(0); i < areaCount; i++ { 110 | var currArea NavArea 111 | p.read(&currArea.ID) 112 | 113 | if mesh.MajorVersion <= 8 { 114 | var flags byte 115 | p.read(&flags) 116 | currArea.Flags = uint32(flags) 117 | } else if mesh.MajorVersion < 13 { 118 | var flags uint16 119 | p.read(&flags) 120 | currArea.Flags = uint32(flags) 121 | } else { 122 | p.read(&currArea.Flags) 123 | } 124 | 125 | p.read(&currArea.NorthWest) 126 | p.read(&currArea.SouthEast) 127 | p.read(&currArea.NorthEastZ) 128 | p.read(&currArea.SouthWestZ) 129 | 130 | // Time to handle the connections 131 | for direction := NavDirection(0); direction < NavDirectionMax; direction++ { 132 | var connectionCount uint32 133 | p.read(&connectionCount) 134 | 135 | for connectionIndex := uint32(0); connectionIndex < connectionCount; connectionIndex++ { 136 | var currConnection NavConnection 137 | currConnection.SourceArea = &currArea 138 | currConnection.Direction = direction 139 | p.read(&currConnection.TargetAreaID) 140 | 141 | currArea.Connections = append(currArea.Connections, &currConnection) 142 | } 143 | } 144 | 145 | // Time to handle the spots 146 | var hidingSpotCount byte 147 | p.read(&hidingSpotCount) 148 | 149 | for hidingIndex := byte(0); hidingIndex < hidingSpotCount; hidingIndex++ { 150 | var currSpot NavHidingSpot 151 | p.read(&currSpot.ID) 152 | p.read(&currSpot.Location) 153 | p.read(&currSpot.Flags) 154 | 155 | currArea.HidingSpots = append(currArea.HidingSpots, &currSpot) 156 | } 157 | 158 | // Throw away garbage if this is old 159 | if mesh.MajorVersion < 15 { 160 | var approachAreaCount byte 161 | p.read(&approachAreaCount) 162 | 163 | // Advance the pointer to skip past this garbage. 164 | // What is actually happening here is the following struct laid end to end 165 | // apprachAreaCount times. 166 | // struct 167 | // { 168 | // uint approachHereId; 169 | // uint approachPrevId; 170 | // byte approachType; 171 | // uint approachNextId; 172 | // byte approachHow; 173 | // } 174 | p.advanceBytes((4*3 + 2) * int(approachAreaCount)) 175 | } 176 | 177 | // Handle encounter paths 178 | var encounterPathCount uint32 179 | p.read(&encounterPathCount) 180 | 181 | for pathIndex := uint32(0); pathIndex < encounterPathCount; pathIndex++ { 182 | var currPath NavEncounterPath 183 | p.read(&currPath.FromAreaID) 184 | p.read(&currPath.FromDirection) 185 | p.read(&currPath.ToAreaID) 186 | p.read(&currPath.ToDirection) 187 | 188 | var spotCount byte 189 | p.read(&spotCount) 190 | 191 | for spotIndex := byte(0); spotIndex < spotCount; spotIndex++ { 192 | var currSpot NavEncounterSpot 193 | p.read(&currSpot.OrderID) 194 | var distance byte 195 | p.read(&distance) 196 | currSpot.ParametricDistiance = float32(distance) / 255 197 | 198 | currPath.Spots = append(currPath.Spots, &currSpot) 199 | } 200 | 201 | currArea.EncounterPaths = append(currArea.EncounterPaths, &currPath) 202 | } 203 | 204 | // Handle places 205 | var placeID uint16 206 | p.read(&placeID) 207 | place, ok := mesh.Places[uint32(placeID)] 208 | 209 | if ok { 210 | currArea.Place = place 211 | place.Areas = append(place.Areas, &currArea) 212 | } 213 | 214 | // Handle ladders 215 | for currDirection := NavLadderDirection(0); currDirection < NavLadderDirectionMax; currDirection++ { 216 | var ladderConnectionCount uint32 217 | p.read(&ladderConnectionCount) 218 | 219 | for connectionIndex := uint32(0); connectionIndex < ladderConnectionCount; connectionIndex++ { 220 | var currConnection NavLadderConnection 221 | currConnection.SourceArea = &currArea 222 | currConnection.Direction = currDirection 223 | p.read(&currConnection.TargetID) 224 | 225 | currArea.LadderConnections = append(currArea.LadderConnections, &currConnection) 226 | } 227 | } 228 | 229 | // Occupy times 230 | p.read(&currArea.EarliestOccupyTimeFirstTeam) 231 | p.read(&currArea.EarliestOccupyTimeSecondTeam) 232 | 233 | // Light intensity 234 | if mesh.MajorVersion >= 11 { 235 | p.read(&currArea.NorthWestLightIntensity) 236 | p.read(&currArea.NorthEastLightIntensity) 237 | p.read(&currArea.SouthEastLightIntensity) 238 | p.read(&currArea.SouthWestLightIntensity) 239 | } 240 | 241 | // Visible areas 242 | if mesh.MajorVersion >= 16 { 243 | var visibleAreaCount uint32 244 | p.read(&visibleAreaCount) 245 | 246 | for visibleIndex := uint32(0); visibleIndex < visibleAreaCount; visibleIndex++ { 247 | var currVisible NavVisibleArea 248 | p.read(&currVisible.VisibleAreaID) 249 | p.read(&currVisible.Attributes) 250 | 251 | currArea.VisibleAreas = append(currArea.VisibleAreas, &currVisible) 252 | } 253 | } 254 | 255 | p.read(&currArea.InheritVisibilityFromAreaID) 256 | 257 | // Skip passed some unknown data 258 | var garbageCount byte 259 | p.read(&garbageCount) 260 | p.advanceBytes(int(garbageCount) * 14) 261 | 262 | mesh.Areas[currArea.ID] = &currArea 263 | mesh.QuadTreeAreas.InsertArea(&currArea) 264 | } 265 | 266 | // Time to build the ladder objects 267 | mesh.Ladders = make(map[uint32]*NavLadder) 268 | var ladderCount uint32 269 | p.read(&ladderCount) 270 | 271 | for ladderIndex := uint32(0); ladderIndex < ladderCount; ladderIndex++ { 272 | var currLadder NavLadder 273 | 274 | p.read(&currLadder.ID) 275 | p.read(&currLadder.Width) 276 | p.read(&currLadder.Top) 277 | p.read(&currLadder.Bottom) 278 | p.read(&currLadder.Length) 279 | p.read(&currLadder.Direction) 280 | 281 | p.read(&currLadder.TopForwardAreaID) 282 | currLadder.TopForwardArea = mesh.Areas[currLadder.TopForwardAreaID] 283 | 284 | p.read(&currLadder.TopLeftAreaID) 285 | currLadder.TopLeftArea = mesh.Areas[currLadder.TopLeftAreaID] 286 | 287 | p.read(&currLadder.TopRightAreaID) 288 | currLadder.TopRightArea = mesh.Areas[currLadder.TopRightAreaID] 289 | 290 | p.read(&currLadder.TopBehindAreaID) 291 | currLadder.TopBehindArea = mesh.Areas[currLadder.TopBehindAreaID] 292 | 293 | p.read(&currLadder.BottomAreaID) 294 | currLadder.BottomArea = mesh.Areas[currLadder.BottomAreaID] 295 | 296 | mesh.Ladders[currLadder.ID] = &currLadder 297 | } 298 | 299 | // Ok we're done parsing the file, now it's time to connect the graph 300 | mesh.connectGraph() 301 | 302 | return mesh, nil 303 | } 304 | 305 | func (p *Parser) read(data interface{}) { 306 | switch t := data.(type) { 307 | case *Vector3: 308 | var x, y, z float32 309 | p.read(&x) 310 | p.read(&y) 311 | p.read(&z) 312 | *t = Vector3{x, y, z} 313 | 314 | case *bool: 315 | var b byte 316 | p.read(&b) 317 | *t = b > 0 318 | 319 | case *NavDirection: 320 | var b byte 321 | p.read(&b) 322 | *t = NavDirection(b) 323 | 324 | case *NavLadderDirection: 325 | var i uint32 326 | p.read(&i) 327 | *t = NavLadderDirection(i) 328 | 329 | default: 330 | err := binary.Read(p.Reader, binary.LittleEndian, t) 331 | 332 | if err != nil { 333 | panic(parserError{"Failed to read data", err}) 334 | } 335 | } 336 | } 337 | 338 | func (p *Parser) readString(length uint16) string { 339 | data := make([]byte, length) 340 | n, ok := p.Reader.Read(data) 341 | 342 | if ok != nil { 343 | panic(parserError{"Failed to read string data", ok}) 344 | } else if n != int(length) { 345 | panic(parserError{"Failed to read string data, length incorrect", nil}) 346 | } 347 | 348 | return string(data) 349 | } 350 | 351 | func (p *Parser) advanceBytes(length int) { 352 | data := make([]byte, length) 353 | n, ok := p.Reader.Read(data) 354 | 355 | if ok != nil { 356 | panic(parserError{"Failed to advance data", ok}) 357 | } else if n != int(length) { 358 | panic(parserError{"Failed to advance data, length incorrect", nil}) 359 | } 360 | } 361 | 362 | func buildParseError(err string) (NavMesh, error) { 363 | return NavMesh{}, errors.New(err) 364 | } 365 | -------------------------------------------------------------------------------- /quadtree.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | import ( 23 | "errors" 24 | "math" 25 | ) 26 | 27 | const preferredNodeCapacity int = 4 28 | 29 | // quadTreeNode represents a single node in a QuadTree (possibly the root node, possibly not) 30 | type quadTreeNode struct { 31 | Areas []*NavArea // The NavAreas contained in this node 32 | NorthWestPoint Vector3 // The north west point for the bounds of this node 33 | SouthEastPoint Vector3 // The south east point for the bounds of this node 34 | NorthWest *quadTreeNode // The north west sub node (nil if not sub-divided) 35 | NorthEast *quadTreeNode // The north east sub node (nil if not sub-divided) 36 | SouthWest *quadTreeNode // The south west sub node (nil if not sub-divided) 37 | SouthEast *quadTreeNode // The south east sub node (nil if not sub-divided) 38 | } 39 | 40 | // InsertArea inserts the specified NavArea into this quad tree 41 | func (node *quadTreeNode) InsertArea(area *NavArea) (*quadTreeNode, error) { 42 | if !node.isAreaFullyContained(area) { 43 | return nil, errors.New("Specified area cannot be added because it is not fully contained within this node.") 44 | } 45 | 46 | if node.isSubDivided() { 47 | if addedNode, ok := node.NorthWest.InsertArea(area); ok == nil { 48 | return addedNode, nil 49 | } else if addedNode, ok := node.NorthEast.InsertArea(area); ok == nil { 50 | return addedNode, nil 51 | } else if addedNode, ok := node.SouthWest.InsertArea(area); ok == nil { 52 | return addedNode, nil 53 | } else if addedNode, ok := node.SouthEast.InsertArea(area); ok == nil { 54 | return addedNode, nil 55 | } else { 56 | node.Areas = append(node.Areas, area) 57 | return node, nil 58 | } 59 | } else { 60 | if len(node.Areas) >= preferredNodeCapacity { 61 | node.subDivide() 62 | return node.InsertArea(area) 63 | } 64 | 65 | node.Areas = append(node.Areas, area) 66 | return node, nil 67 | } 68 | } 69 | 70 | // Finds the area that contains the specified point; nil if the area could not be found 71 | // The Z-value is used to find the closest area that contains the X and Y values 72 | // If allowBelow is true the area closest by Z that contains this point is returned 73 | // If allowBelow is false the area closest by Z that is BELOW this point is returned 74 | // Think of allowBelow as "allow the specified point to be below a nav area" 75 | func (node *quadTreeNode) FindAreaByPoint(point Vector3, allowBelow bool) *NavArea { 76 | if !node.containsPoint(point) { 77 | return nil 78 | } 79 | 80 | // We'll use these to keep track of the current known best area 81 | var bestArea *NavArea 82 | bestDistance := float32(math.MaxFloat32) 83 | 84 | // This lambda will update our currently known best area 85 | updateBestArea := func(currArea *NavArea) { 86 | currDistance := float32(math.Abs(float64(currArea.DistanceFromZ(point)))) 87 | 88 | if currDistance < bestDistance { 89 | bestArea = currArea 90 | bestDistance = currDistance 91 | } 92 | } 93 | 94 | // Let's loop through everything in this node 95 | for _, currArea := range node.Areas { 96 | if currArea.ContainsPoint(point, allowBelow) { 97 | updateBestArea(currArea) 98 | } 99 | } 100 | 101 | // If we're subdivided we need to recurse 102 | if node.isSubDivided() { 103 | if currArea := node.NorthWest.FindAreaByPoint(point, allowBelow); currArea != nil { 104 | updateBestArea(currArea) 105 | } else if currArea := node.NorthEast.FindAreaByPoint(point, allowBelow); currArea != nil { 106 | updateBestArea(currArea) 107 | } else if currArea := node.SouthWest.FindAreaByPoint(point, allowBelow); currArea != nil { 108 | updateBestArea(currArea) 109 | } else if currArea := node.SouthEast.FindAreaByPoint(point, allowBelow); currArea != nil { 110 | updateBestArea(currArea) 111 | } 112 | } 113 | 114 | return bestArea 115 | } 116 | 117 | // containsPoint determines whether or not the specified point is contained in the node 118 | func (node *quadTreeNode) containsPoint(point Vector3) bool { 119 | return node.NorthWestPoint.X <= point.X && node.NorthWestPoint.Y <= point.Y && node.SouthEastPoint.X >= point.X && node.SouthEastPoint.Y >= point.Y 120 | } 121 | 122 | // isAreaFullyContained determines whether or not the specified NavArea can be fully contained within this node 123 | func (node *quadTreeNode) isAreaFullyContained(area *NavArea) bool { 124 | return node.NorthWestPoint.X <= area.NorthWest.X && node.NorthWestPoint.Y <= area.NorthWest.Y && node.SouthEastPoint.X >= area.SouthEast.X && node.SouthEastPoint.Y >= area.SouthEast.Y 125 | } 126 | 127 | // Sub divides this node by adding four children nodes below it and repositioning its areas 128 | func (node *quadTreeNode) subDivide() error { 129 | if node.isSubDivided() { 130 | return errors.New("Cannot subdivide already subdivided node.") 131 | } 132 | 133 | node.NorthWest = new(quadTreeNode) 134 | node.NorthEast = new(quadTreeNode) 135 | node.SouthWest = new(quadTreeNode) 136 | node.SouthEast = new(quadTreeNode) 137 | 138 | currAreas := node.Areas 139 | node.Areas = nil 140 | 141 | for _, currArea := range currAreas { 142 | node.InsertArea(currArea) 143 | } 144 | 145 | return nil 146 | } 147 | 148 | // isSubDivided determines whether or not this node is sub divided 149 | func (node *quadTreeNode) isSubDivided() bool { 150 | return node.NorthWest != nil || node.NorthEast != nil || node.SouthWest != nil || node.SouthEast != nil 151 | } 152 | -------------------------------------------------------------------------------- /vector.go: -------------------------------------------------------------------------------- 1 | /* 2 | gonav - A Source Engine navigation mesh file parser written in Go. 3 | Copyright (C) 2016 Matt Razza 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU Affero General Public License as published 7 | by the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU Affero General Public License for more details. 14 | 15 | You should have received a copy of the GNU Affero General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // Package gonav provides functionality related to CS:GO Nav Meshes 20 | package gonav 21 | 22 | import "math" 23 | 24 | // Vector3 represents a 3D vector or point in space with X, Y, Z components. 25 | type Vector3 struct { 26 | X, Y, Z float32 // The X, Y, and Z coordinates of the vector 27 | } 28 | 29 | // LengthSquared gets the square of the length of the Vector. 30 | // This operation is faster than Length(). 31 | func (v *Vector3) LengthSquared() float32 { 32 | return v.X*v.X + v.Y*v.Y + v.Z*v.Z 33 | } 34 | 35 | // Length gets the length of the Vector. 36 | func (v *Vector3) Length() float32 { 37 | return float32(math.Sqrt(float64(v.LengthSquared()))) 38 | } 39 | 40 | // Normalize normalizes the Vector by setting its length to 1. 41 | func (v *Vector3) Normalize() { 42 | length := v.Length() 43 | v.X /= length 44 | v.Y /= length 45 | v.Z /= length 46 | } 47 | 48 | // Add adds the specified Vector to this one. 49 | func (v *Vector3) Add(right Vector3) { 50 | v.X += right.X 51 | v.Y += right.Y 52 | v.Z += right.Z 53 | } 54 | 55 | // Sub subtracts the specified Vector from this one. 56 | func (v *Vector3) Sub(right Vector3) { 57 | v.X -= right.X 58 | v.Y -= right.Y 59 | v.Z -= right.Z 60 | } 61 | 62 | // Mul multiplies the specified scalar to this vector. 63 | func (v *Vector3) Mul(right float32) { 64 | v.X *= right 65 | v.Y *= right 66 | v.Z *= right 67 | } 68 | 69 | // Div divides this vector by the specified scalar. 70 | func (v *Vector3) Div(right float32) { 71 | v.X /= right 72 | v.Y /= right 73 | v.Z /= right 74 | } 75 | --------------------------------------------------------------------------------