qcsrc/server/pathlib/expandnode.qc

   1 vector plib_points2[8];
   2 vector plib_points[8];
   3 float  plib_fvals[8];
   4
   5 float pathlib_expandnode_starf(entity node, vector start, vector goal)
   6 {
   7     vector where,f,r,t;
   8     float i,fc,fc2,c;
   9     entity nap;
  10
  11     where = node.origin;
  12
  13     f = PLIB_FORWARD * pathlib_gridsize;
  14     r = PLIB_RIGHT   * pathlib_gridsize;
  15
  16     // Forward
  17     plib_points[0] = where + f;
  18
  19     // Back
  20     plib_points[1] = where - f;
  21
  22     // Right
  23     plib_points[2] = where + r;
  24
  25     // Left
  26     plib_points[3] = where - r;
  27
  28     // Forward-right
  29     plib_points[4] = where + f + r;
  30
  31     // Forward-left
  32     plib_points[5] = where + f - r;
  33
  34     // Back-right
  35     plib_points[6] = where - f + r;
  36
  37     // Back-left
  38     plib_points[7] = where - f - r;
  39
  40     for(i=0;i < 8; ++i)
  41     {
  42         t = plib_points[i];
  43         fc  = pathlib_heuristic(t,goal) + pathlib_cost(node,t,pathlib_gridsize);
  44         plib_fvals[i] = fc;
  45
  46     }
  47
  48     fc = plib_fvals[0];
  49     plib_points2[0] = plib_points[0];
  50     vector bp;
  51     bp = plib_points[0];
  52     for(i = 0; i < 8; ++i)
  53     {
  54         c = 0;
  55         nap = pathlib_nodeatpoint(plib_points[i]);
  56         if(nap)
  57             if(nap.owner == openlist)
  58                 c = 1;
  59         else
  60             c = 1;
  61
  62         if(c)
  63         if(plib_fvals[i] < fc)
  64         {
  65             bp = plib_points[i];
  66             fc = plib_fvals[i];
  67             plib_points2[fc2] = plib_points[i];
  68             ++fc2;
  69         }
  70
  71         /*
  72         nap = pathlib_nodeatpoint(plib_points[i]);
  73         if(nap)
  74         if not nap.owner == closedlist)
  75         {
  76         }
  77         */
  78     }
  79
  80     pathlib_makenode(node,start,bp,goal,pathlib_gridsize);
  81
  82     for(i = 0; i < 3; ++i)
  83     {
  84         pathlib_makenode(node,start,plib_points2[i],goal,pathlib_gridsize);
  85     }
  86
  87     return pathlib_open_cnt;
  88 }
  89
  90 float pathlib_expandnode_star(entity node, vector start, vector goal)
  91 {
  92     vector point,where,f,r;
  93
  94     where = node.origin;
  95
  96     f = PLIB_FORWARD * pathlib_gridsize;
  97     r = PLIB_RIGHT   * pathlib_gridsize;
  98
  99     // Forward
 100     point = where + f;
 101     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 102
 103     // Back
 104     point = where - f;
 105     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 106
 107     // Right
 108     point = where + r;
 109     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 110
 111     // Left
 112     point = where - r;
 113     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 114
 115     // Forward-right
 116     point = where + f + r;
 117     pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
 118
 119     // Forward-left
 120     point = where + f - r;
 121     pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
 122
 123     // Back-right
 124     point = where - f + r;
 125     pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
 126
 127     // Back-left
 128     point = where - f - r;
 129     pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
 130
 131     return pathlib_open_cnt;
 132 }
 133
 134 float pathlib_expandnode_octagon(entity node, vector start, vector goal)
 135 {
 136     vector point,where,f,r;
 137
 138     where = node.origin;
 139
 140     f = PLIB_FORWARD * pathlib_gridsize;
 141     r = PLIB_RIGHT   * pathlib_gridsize;
 142
 143     // Forward
 144     point = where + f;
 145     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 146
 147     // Back
 148     point = where - f;
 149     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 150
 151     // Right
 152     point = where + r;
 153     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 154
 155     // Left
 156     point = where - r;
 157     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 158
 159     f = PLIB_FORWARD * pathlib_gridsize * 0.5;
 160     r = PLIB_RIGHT   * pathlib_gridsize * 0.5;
 161
 162     // Forward-right
 163     point = where + f + r;
 164     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 165
 166
 167     // Forward-left
 168     point = where + f - r;
 169     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 170
 171
 172     // Back-right
 173     point = where - f + r;
 174     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 175
 176     // Back-left
 177     point = where - f - r;
 178     pathlib_makenode(node,start,point,goal,pathlib_movecost);
 179
 180     return pathlib_open_cnt;
 181 }
 182
 183 float pathlib_expandnode_box(entity node, vector start, vector goal)
 184 {
 185     vector v;
 186
 187     for(v_z = node.origin_z - pathlib_gridsize; v_z <= node.origin_z + pathlib_gridsize; v_z += pathlib_gridsize)
 188     for(v_y = node.origin_y - pathlib_gridsize; v_y <= node.origin_y + pathlib_gridsize; v_y += pathlib_gridsize)
 189     for(v_x = node.origin_x - pathlib_gridsize; v_x <= node.origin_x + pathlib_gridsize; v_x += pathlib_gridsize)
 190     {
 191         //if(vlen(v - node.origin))
 192             pathlib_makenode(node,start,v,goal,pathlib_movecost);
 193     }
 194
 195     return pathlib_open_cnt;
 196 }