qcsrc/server/pathlib/path_waypoint.qc

   1 #include "../bot/waypoints.qh"
   2
   3 #include "pathlib.qh"
   4 #include "main.qh"
   5
   6 var float pathlib_wpp_open(entity wp, entity child, float cost);
   7
   8 void pathlib_wpp_close(entity wp)
   9 {
  10     --pathlib_open_cnt;
  11     ++pathlib_closed_cnt;
  12
  13     wp.pathlib_list = closedlist;
  14
  15     if(wp == best_open_node)
  16         best_open_node = world;
  17
  18     if(wp == goal_node)
  19         pathlib_foundgoal = true;
  20 }
  21
  22 float pathlib_wpp_opencb(entity wp, entity child, float cost)
  23 {
  24
  25     if(child.pathlib_list == closedlist)
  26         return false;
  27
  28         // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
  29         cost = vlen(child.origin - wp.origin);
  30
  31     child.path_prev      = wp;
  32     child.pathlib_list   = openlist;
  33     child.pathlib_node_g = wp.pathlib_node_g + cost;
  34     child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
  35     child.pathlib_node_c = pathlib_wpp_waypointcallback(child, wp);
  36     child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h + child.pathlib_node_c;
  37
  38
  39     if(child == goal_node)
  40         pathlib_foundgoal = true;
  41
  42     ++pathlib_open_cnt;
  43
  44     if(best_open_node.pathlib_node_f > child.pathlib_node_f)
  45         best_open_node = child;
  46
  47     return true;
  48 }
  49
  50 float pathlib_wpp_openncb(entity wp, entity child, float cost)
  51 {
  52
  53     if(child.pathlib_list == closedlist)
  54         return false;
  55
  56         // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
  57         cost = vlen(child.origin - wp.origin);
  58
  59     child.path_prev      = wp;
  60     child.pathlib_list   = openlist;
  61     child.pathlib_node_g = wp.pathlib_node_g + cost;
  62     child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
  63     child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h;
  64
  65     if(child == goal_node)
  66         pathlib_foundgoal = true;
  67
  68     ++pathlib_open_cnt;
  69
  70     if(best_open_node.pathlib_node_f > child.pathlib_node_f)
  71         best_open_node = child;
  72
  73     return true;
  74 }
  75
  76 float pathlib_wpp_expand(entity wp)
  77 {
  78     if(wp.wp00) pathlib_wpp_open(wp,wp.wp00,wp.wp00mincost); else return 0;
  79     if(wp.wp01) pathlib_wpp_open(wp,wp.wp01,wp.wp01mincost); else return 1;
  80     if(wp.wp02) pathlib_wpp_open(wp,wp.wp02,wp.wp02mincost); else return 2;
  81     if(wp.wp03) pathlib_wpp_open(wp,wp.wp03,wp.wp03mincost); else return 3;
  82     if(wp.wp04) pathlib_wpp_open(wp,wp.wp04,wp.wp04mincost); else return 4;
  83     if(wp.wp05) pathlib_wpp_open(wp,wp.wp05,wp.wp05mincost); else return 5;
  84     if(wp.wp06) pathlib_wpp_open(wp,wp.wp06,wp.wp06mincost); else return 6;
  85     if(wp.wp07) pathlib_wpp_open(wp,wp.wp07,wp.wp07mincost); else return 7;
  86     if(wp.wp08) pathlib_wpp_open(wp,wp.wp08,wp.wp08mincost); else return 8;
  87     if(wp.wp09) pathlib_wpp_open(wp,wp.wp09,wp.wp09mincost); else return 9;
  88     if(wp.wp10) pathlib_wpp_open(wp,wp.wp10,wp.wp10mincost); else return 10;
  89     if(wp.wp11) pathlib_wpp_open(wp,wp.wp11,wp.wp11mincost); else return 11;
  90     if(wp.wp12) pathlib_wpp_open(wp,wp.wp12,wp.wp12mincost); else return 12;
  91     if(wp.wp13) pathlib_wpp_open(wp,wp.wp13,wp.wp13mincost); else return 13;
  92     if(wp.wp14) pathlib_wpp_open(wp,wp.wp14,wp.wp14mincost); else return 14;
  93     if(wp.wp15) pathlib_wpp_open(wp,wp.wp15,wp.wp15mincost); else return 15;
  94     if(wp.wp16) pathlib_wpp_open(wp,wp.wp16,wp.wp16mincost); else return 16;
  95     if(wp.wp17) pathlib_wpp_open(wp,wp.wp17,wp.wp17mincost); else return 17;
  96     if(wp.wp18) pathlib_wpp_open(wp,wp.wp18,wp.wp18mincost); else return 18;
  97     if(wp.wp19) pathlib_wpp_open(wp,wp.wp19,wp.wp19mincost); else return 19;
  98     if(wp.wp20) pathlib_wpp_open(wp,wp.wp20,wp.wp20mincost); else return 20;
  99     if(wp.wp21) pathlib_wpp_open(wp,wp.wp21,wp.wp21mincost); else return 21;
 100     if(wp.wp22) pathlib_wpp_open(wp,wp.wp22,wp.wp22mincost); else return 22;
 101     if(wp.wp23) pathlib_wpp_open(wp,wp.wp23,wp.wp23mincost); else return 23;
 102     if(wp.wp24) pathlib_wpp_open(wp,wp.wp24,wp.wp24mincost); else return 24;
 103     if(wp.wp25) pathlib_wpp_open(wp,wp.wp25,wp.wp25mincost); else return 25;
 104     if(wp.wp26) pathlib_wpp_open(wp,wp.wp26,wp.wp26mincost); else return 26;
 105     if(wp.wp27) pathlib_wpp_open(wp,wp.wp27,wp.wp27mincost); else return 27;
 106     if(wp.wp28) pathlib_wpp_open(wp,wp.wp28,wp.wp28mincost); else return 28;
 107     if(wp.wp29) pathlib_wpp_open(wp,wp.wp29,wp.wp29mincost); else return 29;
 108     if(wp.wp30) pathlib_wpp_open(wp,wp.wp30,wp.wp30mincost); else return 30;
 109     if(wp.wp31) pathlib_wpp_open(wp,wp.wp31,wp.wp31mincost); else return 31;
 110
 111     return 32;
 112 }
 113
 114 entity pathlib_wpp_bestopen()
 115 {
 116     entity n, best;
 117
 118     if(best_open_node)
 119         return best_open_node;
 120
 121     n = findchainentity(pathlib_list, openlist);
 122     best = n;
 123     while(n)
 124     {
 125         if(n.pathlib_node_f < best.pathlib_node_f)
 126             best = n;
 127
 128         n = n.chain;
 129     }
 130
 131     return best;
 132
 133 }
 134
 135 entity pathlib_waypointpath(entity wp_from, entity wp_to, float callback)
 136 {
 137     entity n;
 138     float ptime;
 139
 140     ptime                                       = gettime(GETTIME_REALTIME);
 141     pathlib_starttime           = ptime;
 142         pathlib_movecost                = 300;
 143         pathlib_movecost_diag   = vlen('1 1 0' * pathlib_movecost);
 144
 145         if (!pathlib_wpp_waypointcallback)
 146                 callback = false;
 147
 148         if (callback)
 149                 pathlib_wpp_open = pathlib_wpp_opencb;
 150         else
 151                 pathlib_wpp_open = pathlib_wpp_openncb;
 152
 153         pathlib_heuristic = pathlib_h_none;
 154
 155     if (!openlist)
 156         openlist       = spawn();
 157
 158     if (!closedlist)
 159         closedlist     = spawn();
 160
 161     pathlib_closed_cnt       = 0;
 162     pathlib_open_cnt         = 0;
 163     pathlib_searched_cnt     = 0;
 164     pathlib_foundgoal      = false;
 165
 166     LOG_TRACE("pathlib_waypointpath init\n");
 167
 168     // Initialize waypoint grid
 169     // FIXME! presisted chain for better preformance
 170     for(n = findchain(classname, "waypoint"); n; n = n.chain)
 171     {
 172         n.pathlib_list = world;
 173         n.pathlib_node_g = 0;
 174         n.pathlib_node_f = 0;
 175         n.pathlib_node_h = 0;
 176
 177         //setmodel(n, "models/runematch/rune.mdl");
 178         //n.effects = EF_LOWPRECISION;
 179         //n.colormod = '0 0 0';
 180         //n.scale = 1;
 181
 182     }
 183
 184     goal_node  = wp_to;
 185     start_node = wp_from;
 186
 187     start_node.pathlib_list = closedlist;
 188     LOG_TRACE("Expanding ",ftos(pathlib_wpp_expand(start_node))," links\n");
 189     if(pathlib_open_cnt <= 0)
 190     {
 191         LOG_TRACE("pathlib_waypointpath: Start waypoint not linked! aborting.\n");
 192         return world;
 193     }
 194
 195     return world;
 196 }
 197
 198 entity pathlib_waypointpath_step()
 199 {
 200     entity n;
 201
 202     n = pathlib_wpp_bestopen();
 203     if(!n)
 204     {
 205         LOG_TRACE("Cannot find best open node, abort.\n");
 206         return world;
 207     }
 208     pathlib_wpp_close(n);
 209         LOG_TRACE("Expanding ",ftos(pathlib_wpp_expand(n))," links\n");
 210
 211     if(pathlib_foundgoal)
 212     {
 213         entity start, end, open, ln;
 214
 215         LOG_TRACE("Target found. Rebuilding and filtering path...\n");
 216
 217                 buildpath_nodefilter = buildpath_nodefilter_none;
 218                 start = path_build(world, start_node.origin, world, world);
 219                 end   = path_build(world, goal_node.origin, world, start);
 220                 ln    = end;
 221
 222                 for(open = goal_node; open.path_prev != start_node; open = open.path_prev)
 223                 {
 224                         n    = path_build(ln,open.origin,open.path_prev,start);
 225                         ln.path_prev = n;
 226                         ln = n;
 227                 }
 228                 start.path_next = n;
 229                 n.path_prev = start;
 230
 231         return start;
 232     }
 233
 234     return world;
 235 }
 236 void plas_think()
 237 {SELFPARAM();
 238     pathlib_waypointpath_step();
 239     if(pathlib_foundgoal)
 240         return;
 241     self.nextthink = time + 0.1;
 242 }
 243
 244 void pathlib_waypointpath_autostep()
 245 {
 246     entity n;
 247     n = spawn();
 248     n.think = plas_think;
 249     n.nextthink = time + 0.1;
 250 }