#include "main.qh"
+#include <server/defs.qh>
+#include <server/miscfunctions.qh>
#include "pathlib.qh"
#include "utility.qh"
+#include <common/turrets/util.qh>
#include "../command/common.qh"
void pathlib_deletepath(entity start)
{
- entity e;
+ if(!start)
+ return;
- e = findchainentity(owner, start);
- while(e)
+ FOREACH_ENTITY_ENT(owner, start,
{
- e.think = SUB_Remove_self;
- e.nextthink = time;
- e = e.chain;
- }
+ setthink(it, SUB_Remove);
+ it.nextthink = time;
+ });
}
-//#define PATHLIB_NODEEXPIRE 0.05
-const float PATHLIB_NODEEXPIRE = 20;
+const float PATHLIB_NODEEXPIRE = 20; // 0.05
void dumpnode(entity n)
{
+ if(n.is_path_node)
+ IL_REMOVE(g_pathlib_nodes, n);
n.is_path_node = false;
- n.think = SUB_Remove_self;
+ setthink(n, SUB_Remove);
n.nextthink = time;
}
#if DEBUGPATHING
-void pathlib_showpath(entity start);
-void pathlib_showpath2(entity path);
-void pathlib_showsquare(vector where,float goodsquare,float _lifetime);
+#include "debug.qh"
#endif
entity pathlib_mknode(vector where,entity parent)
{
- entity node;
-
- node = pathlib_nodeatpoint(where);
+ entity node = pathlib_nodeatpoint(where);
if(node)
{
#ifdef TURRET_DEBUG
node = spawn();
- node.think = SUB_Remove_self;
+ setthink(node, SUB_Remove);
node.nextthink = time + PATHLIB_NODEEXPIRE;
+ IL_PUSH(g_pathlib_nodes, node);
node.is_path_node = true;
node.owner = openlist;
node.path_prev = parent;
-
setsize(node, '0 0 0', '0 0 0');
setorigin(node, where);
- node.medium = pointcontents(where);
#if DEBUGPATHING
pathlib_showsquare(where, 1 ,15);
#endif
return node;
}
-float pathlib_makenode_adaptive(entity parent,vector start, vector to, vector goal,float cost)
+bool pathlib_makenode_adaptive(entity parent,vector start, vector to, vector goal,float cost)
{
- entity node;
- float h,g,f,doedge = 0;
- vector where;
+ bool dodge = false;
+ float f, h, g;
++pathlib_searched_cnt;
if(inwater(parent.origin))
{
- LOG_TRACE("FromWater\n");
+ LOG_DEBUG("FromWater");
pathlib_expandnode = pathlib_expandnode_box;
pathlib_movenode = pathlib_swimnode;
}
{
if(inwater(to))
{
- LOG_TRACE("ToWater\n");
+ LOG_DEBUG("ToWater");
pathlib_expandnode = pathlib_expandnode_box;
pathlib_movenode = pathlib_walknode;
}
else
{
- LOG_TRACE("LandToLoand\n");
+ LOG_DEBUG("LandToLoand");
//if(edge_check(parent.origin))
// return 0;
pathlib_expandnode = pathlib_expandnode_star;
pathlib_movenode = pathlib_walknode;
- doedge = 1;
+ dodge = true;
}
}
- node = pathlib_nodeatpoint(to);
+ entity node = pathlib_nodeatpoint(to);
if(node)
{
- LOG_TRACE("NodeAtPoint\n");
+ LOG_DEBUG("NodeAtPoint");
++pathlib_merge_cnt;
if(node.owner == openlist)
{
h = pathlib_heuristic(node.origin,goal);
- g = pathlib_cost(parent,node.origin,cost);
+ float g = pathlib_cost(parent,node.origin,cost);
f = g + h;
if(node.pathlib_node_g > g)
best_open_node = node;
}
- return 1;
+ return true;
}
- where = pathlib_movenode(parent.origin, to, 0);
+ vector where = pathlib_movenode(parent, parent.origin, to, 0);
if (!pathlib_movenode_goodnode)
{
//pathlib_showsquare(where, 0 ,30);
//pathlib_showsquare(parent.origin, 1 ,30);
- LOG_TRACE("pathlib_movenode_goodnode = 0\n");
- return 0;
+ LOG_DEBUG("pathlib_movenode_goodnode = 0");
+ return false;
}
//pathlib_showsquare(where, 1 ,30);
if(pathlib_nodeatpoint(where))
{
- LOG_TRACE("NAP WHERE :",vtos(where),"\n");
- LOG_TRACE("not NAP TO:",vtos(to),"\n");
- LOG_TRACE("NAP-NNAP:",ftos(vlen(to-where)),"\n\n");
- return 0;
+ LOG_DEBUG("NAP WHERE :",vtos(where));
+ LOG_DEBUG("not NAP TO:",vtos(to));
+ LOG_DEBUG("NAP-NNAP:",ftos(vlen(to-where)));
+ return false;
}
- if(doedge)
+ if(dodge)
if (!tile_check(parent, where))
{
- LOG_TRACE("tile_check fail\n");
+ LOG_DEBUG("tile_check fail");
#if DEBUGPATHING
pathlib_showsquare(where, 0 ,30);
#endif
- return 0;
+ return false;
}
{
if(node.pathlib_node_g > g)
{
- //pathlib_movenode(where,node.origin,0);
+ //pathlib_movenode(node, where,node.origin,0);
//if(pathlib_movenode_goodnode)
//{
//mark_error(node.origin + '0 0 128',30);
else if(best_open_node.pathlib_node_f > node.pathlib_node_f)
best_open_node = node;
- return 1;
+ return true;
}
entity pathlib_getbestopen()
{
- entity node;
- entity bestnode;
-
if(best_open_node)
{
++pathlib_bestcash_hits;
return best_open_node;
}
- node = findchainentity(owner,openlist);
- if(!node)
- return world;
-
- bestnode = node;
- while(node)
+ entity bestnode = NULL;
+ FOREACH_ENTITY_ENT(owner, openlist,
{
- ++pathlib_bestopen_seached;
- if(node.pathlib_node_f < bestnode.pathlib_node_f)
- bestnode = node;
+ ++pathlib_bestopen_searched;
- node = node.chain;
- }
+ if(!bestnode || it.pathlib_node_f < bestnode.pathlib_node_f)
+ bestnode = it;
+ });
return bestnode;
}
void pathlib_close_node(entity node,vector goal)
{
-
if(node.owner == closedlist)
{
- LOG_TRACE("Pathlib: Tried to close a closed node!\n");
+ LOG_TRACE("Pathlib: Tried to close a closed node!");
return;
}
if(node == best_open_node)
- best_open_node = world;
+ best_open_node = NULL;
++pathlib_closed_cnt;
--pathlib_open_cnt;
node.owner = closedlist;
- if(vlen(node.origin - goal) <= pathlib_gridsize)
+ if(vdist(node.origin - goal, <=, pathlib_gridsize))
{
vector goalmove;
- goalmove = pathlib_walknode(node.origin,goal,1);
+ goalmove = pathlib_walknode(node, node.origin, goal, 1);
if(pathlib_movenode_goodnode)
{
goal_node = node;
void pathlib_cleanup()
{
- best_open_node = world;
+ best_open_node = NULL;
//return;
- entity node;
-
- node = findfloat(world,is_path_node, true);
- while(node)
+ IL_EACH(g_pathlib_nodes, it.is_path_node,
{
- /*
- node.owner = openlist;
- node.pathlib_node_g = 0;
- node.pathlib_node_h = 0;
- node.pathlib_node_f = 0;
- node.path_prev = world;
- */
-
- dumpnode(node);
- node = findfloat(node,is_path_node, true);
- }
+ dumpnode(it);
+ });
+
+ IL_CLEAR(g_pathlib_nodes);
if(openlist)
- remove(openlist);
+ delete(openlist);
if(closedlist)
- remove(closedlist);
-
- openlist = world;
- closedlist = world;
+ delete(closedlist);
+ openlist = NULL;
+ closedlist = NULL;
}
-float Cosine_Interpolate(float a, float b, float x)
+float Cosine_Interpolate(float a, float b, float c)
{
- float ft,f;
+ float ft = c * 3.1415927;
+ float f = (1 - cos(ft)) * 0.5;
- ft = x * 3.1415927;
- f = (1 - cos(ft)) * 0.5;
-
- return a*(1-f) + b*f;
+ return a*(1-f) + b*f;
}
-float buildpath_nodefilter_directional(vector n,vector c,vector p)
+bool buildpath_nodefilter_directional(vector n,vector c,vector p)
{
- vector d1,d2;
-
- d2 = normalize(p - c);
- d1 = normalize(c - n);
+ vector d2 = normalize(p - c);
+ vector d1 = normalize(c - n);
- if(vlen(d1-d2) < 0.25)
+ if(vdist(d1 - d2, <, 0.25))
{
//mark_error(c,30);
- return 1;
+ return true;
}
//mark_info(c,30);
- return 0;
+ return false;
}
-float buildpath_nodefilter_moveskip(vector n,vector c,vector p)
+bool buildpath_nodefilter_moveskip(entity this, vector n,vector c,vector p)
{
- pathlib_walknode(p,n,1);
+ pathlib_walknode(this, p, n, 1);
if(pathlib_movenode_goodnode)
- return 1;
+ return true;
- return 0;
+ return false;
}
-float buildpath_nodefilter_none(vector n,vector c,vector p)
+bool buildpath_nodefilter_none(vector n,vector c,vector p)
{
- return 0;
+ return false;
}
entity path_build(entity next, vector where, entity prev, entity start)
{
- entity path;
-
if(prev && next)
if(buildpath_nodefilter)
if(buildpath_nodefilter(next.origin,where,prev.origin))
return next;
- path = spawn();
+ entity path = spawn();
path.owner = start;
path.path_next = next;
- setorigin(path,where);
+ setorigin(path, where);
if(!next)
path.classname = "path_end";
return path;
}
-entity pathlib_astar(vector from,vector to)
-{SELFPARAM();
- entity path, start, end, open, n, ln;
- float ptime, ftime, ctime;
-
- ptime = gettime(GETTIME_REALTIME);
+entity pathlib_astar(entity this, vector from, vector to)
+{
+ entity open;
+ float ptime = gettime(GETTIME_REALTIME);
pathlib_starttime = ptime;
pathlib_cleanup();
pathlib_made_cnt = 0;
pathlib_merge_cnt = 0;
pathlib_searched_cnt = 0;
- pathlib_bestopen_seached = 0;
+ pathlib_bestopen_searched = 0;
pathlib_bestcash_hits = 0;
pathlib_bestcash_saved = 0;
pathlib_movecost_waterfactor = 25000000;
pathlib_foundgoal = 0;
- movenode_boxmax = self.maxs * 1.1;
- movenode_boxmin = self.mins * 1.1;
+ movenode_boxmax = this.maxs * 1.1;
+ movenode_boxmin = this.mins * 1.1;
movenode_stepsize = pathlib_gridsize * 0.25;
from.x = fsnap(from.x, pathlib_gridsize);
from.y = fsnap(from.y, pathlib_gridsize);
- //from_z += 32;
+ //from.z += 32;
to.x = fsnap(to.x, pathlib_gridsize);
to.y = fsnap(to.y, pathlib_gridsize);
- //to_z += 32;
+ //to.z += 32;
- LOG_TRACE("AStar init\n");
- path = pathlib_mknode(from, world);
+ LOG_DEBUG("AStar init");
+ entity path = pathlib_mknode(from, NULL);
pathlib_close_node(path, to);
if(pathlib_foundgoal)
{
- LOG_TRACE("AStar: Goal found on first node!\n");
+ LOG_DEBUG("AStar: Goal found on first node!");
open = new(path_end);
open.owner = open;
- setorigin(open,path.origin);
+ setorigin(open, path.origin);
pathlib_cleanup();
if(pathlib_expandnode(path, from, to) <= 0)
{
- LOG_TRACE("AStar path fail.\n");
+ LOG_TRACE("AStar path fail.");
pathlib_cleanup();
- return world;
+ return NULL;
}
best_open_node = pathlib_getbestopen();
- n = best_open_node;
+ entity n = best_open_node;
pathlib_close_node(best_open_node, to);
if(inwater(n.origin))
pathlib_expandnode_box(n, from, to);
{
if((gettime(GETTIME_REALTIME) - pathlib_starttime) > pathlib_maxtime)
{
- LOG_TRACE("Path took to long to compute!\n");
- LOG_TRACE("Nodes - created: ", ftos(pathlib_made_cnt),"\n");
- LOG_TRACE("Nodes - open: ", ftos(pathlib_open_cnt),"\n");
- LOG_TRACE("Nodes - merged: ", ftos(pathlib_merge_cnt),"\n");
- LOG_TRACE("Nodes - closed: ", ftos(pathlib_closed_cnt),"\n");
+ LOG_TRACE("Path took too long to compute!");
+ LOG_TRACE("Nodes - created: ", ftos(pathlib_made_cnt));
+ LOG_TRACE("Nodes - open: ", ftos(pathlib_open_cnt));
+ LOG_TRACE("Nodes - merged: ", ftos(pathlib_merge_cnt));
+ LOG_TRACE("Nodes - closed: ", ftos(pathlib_closed_cnt));
pathlib_cleanup();
- return world;
+ return NULL;
}
best_open_node = pathlib_getbestopen();
if(pathlib_foundgoal)
{
- LOG_TRACE("Target found. Rebuilding and filtering path...\n");
- ftime = gettime(GETTIME_REALTIME);
+ LOG_DEBUG("Target found. Rebuilding and filtering path...");
+ float ftime = gettime(GETTIME_REALTIME);
ptime = ftime - ptime;
- start = path_build(world,path.origin,world,world);
- end = path_build(world,goal_node.origin,world,start);
- ln = end;
+ entity start = path_build(NULL,path.origin,NULL,NULL);
+ entity end = path_build(NULL,goal_node.origin,NULL,start);
+ entity ln = end;
open = goal_node;
for(open = goal_node; open.path_prev != path; open = open.path_prev)
n.path_prev = start;
ftime = gettime(GETTIME_REALTIME) - ftime;
- ctime = gettime(GETTIME_REALTIME);
+ float ctime = gettime(GETTIME_REALTIME);
pathlib_cleanup();
ctime = gettime(GETTIME_REALTIME) - ctime;
#if DEBUGPATHING
pathlib_showpath2(start);
- LOG_TRACE("Time used - pathfinding: ", ftos(ptime),"\n");
- LOG_TRACE("Time used - rebuild & filter: ", ftos(ftime),"\n");
- LOG_TRACE("Time used - cleanup: ", ftos(ctime),"\n");
- LOG_TRACE("Time used - total: ", ftos(ptime + ftime + ctime),"\n");
- LOG_TRACE("Time used - # frames: ", ftos(ceil((ptime + ftime + ctime) / sys_frametime)),"\n\n");
- LOG_TRACE("Nodes - created: ", ftos(pathlib_made_cnt),"\n");
- LOG_TRACE("Nodes - open: ", ftos(pathlib_open_cnt),"\n");
- LOG_TRACE("Nodes - merged: ", ftos(pathlib_merge_cnt),"\n");
- LOG_TRACE("Nodes - closed: ", ftos(pathlib_closed_cnt),"\n");
- LOG_TRACE("Nodes - searched: ", ftos(pathlib_searched_cnt),"\n");
- LOG_TRACE("Nodes bestopen searched: ", ftos(pathlib_bestopen_seached),"\n");
- LOG_TRACE("Nodes bestcash - hits: ", ftos(pathlib_bestcash_hits),"\n");
- LOG_TRACE("Nodes bestcash - save: ", ftos(pathlib_bestcash_saved),"\n");
- LOG_TRACE("AStar done.\n");
+ LOG_TRACE("Time used - pathfinding: ", ftos(ptime));
+ LOG_TRACE("Time used - rebuild & filter: ", ftos(ftime));
+ LOG_TRACE("Time used - cleanup: ", ftos(ctime));
+ LOG_TRACE("Time used - total: ", ftos(ptime + ftime + ctime));
+ LOG_TRACE("Time used - # frames: ", ftos(ceil((ptime + ftime + ctime) / sys_frametime)));
+ LOG_TRACE("Nodes - created: ", ftos(pathlib_made_cnt));
+ LOG_TRACE("Nodes - open: ", ftos(pathlib_open_cnt));
+ LOG_TRACE("Nodes - merged: ", ftos(pathlib_merge_cnt));
+ LOG_TRACE("Nodes - closed: ", ftos(pathlib_closed_cnt));
+ LOG_TRACE("Nodes - searched: ", ftos(pathlib_searched_cnt));
+ LOG_TRACE("Nodes bestopen searched: ", ftos(pathlib_bestopen_searched));
+ LOG_TRACE("Nodes bestcash - hits: ", ftos(pathlib_bestcash_hits));
+ LOG_TRACE("Nodes bestcash - save: ", ftos(pathlib_bestcash_saved));
+ LOG_TRACE("AStar done.");
#endif
return start;
}
}
- LOG_TRACE("A* Faild to find a path! Try a smaller gridsize.\n");
+ LOG_TRACE("A* Faild to find a path! Try a smaller gridsize.");
pathlib_cleanup();
- return world;
+ return NULL;
}
projects / xonotic / xonotic-data.pk3dir.git / blobdiff