#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)
{
+ if(!start)
+ return;
+
FOREACH_ENTITY_ENT(owner, start,
{
setthink(it, SUB_Remove);
});
}
-//#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;
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
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);
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");
+ LOG_DEBUG("FromWater");
pathlib_expandnode = pathlib_expandnode_box;
pathlib_movenode = pathlib_swimnode;
}
{
if(inwater(to))
{
- LOG_TRACE("ToWater");
+ LOG_DEBUG("ToWater");
pathlib_expandnode = pathlib_expandnode_box;
pathlib_movenode = pathlib_walknode;
}
else
{
- LOG_TRACE("LandToLoand");
+ 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");
+ 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, 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");
- 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));
- LOG_TRACE("not NAP TO:",vtos(to));
- LOG_TRACE("NAP-NNAP:",ftos(vlen(to-where)));
- 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");
+ LOG_DEBUG("tile_check fail");
#if DEBUGPATHING
pathlib_showsquare(where, 0 ,30);
#endif
- return 0;
+ return false;
}
else if(best_open_node.pathlib_node_f > node.pathlib_node_f)
best_open_node = node;
- return 1;
+ return true;
}
entity pathlib_getbestopen()
void pathlib_close_node(entity node,vector goal)
{
-
if(node.owner == closedlist)
{
LOG_TRACE("Pathlib: Tried to close a closed node!");
//return;
- entity node;
-
- node = findfloat(NULL,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 = NULL;
- */
-
- dumpnode(node);
- node = findfloat(node,is_path_node, true);
- }
+ dumpnode(it);
+ });
+
+ IL_CLEAR(g_pathlib_nodes);
if(openlist)
delete(openlist);
if(closedlist)
delete(closedlist);
- openlist = NULL;
- closedlist = NULL;
-
+ openlist = NULL;
+ closedlist = NULL;
}
float Cosine_Interpolate(float a, float b, float c)
{
- float ft,f;
-
- ft = c * 3.1415927;
- f = (1 - cos(ft)) * 0.5;
+ float ft = c * 3.1415927;
+ float 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(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(entity this, vector n,vector c,vector p)
+bool buildpath_nodefilter_moveskip(entity this, vector n,vector c,vector p)
{
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;
return path;
}
-entity pathlib_astar(entity this, vector from,vector to)
+entity pathlib_astar(entity this, vector from, vector to)
{
- entity path, start, end, open, n, ln;
- float ptime, ftime, ctime;
-
- ptime = gettime(GETTIME_REALTIME);
+ entity open;
+ float ptime = gettime(GETTIME_REALTIME);
pathlib_starttime = ptime;
pathlib_cleanup();
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");
- path = pathlib_mknode(from, NULL);
+ 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!");
+ LOG_DEBUG("AStar: Goal found on first node!");
open = new(path_end);
open.owner = open;
}
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!");
+ 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));
if(pathlib_foundgoal)
{
- LOG_TRACE("Target found. Rebuilding and filtering path...");
- ftime = gettime(GETTIME_REALTIME);
+ LOG_DEBUG("Target found. Rebuilding and filtering path...");
+ float ftime = gettime(GETTIME_REALTIME);
ptime = ftime - ptime;
- start = path_build(NULL,path.origin,NULL,NULL);
- end = path_build(NULL,goal_node.origin,NULL,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;
projects / xonotic / xonotic-data.pk3dir.git / blobdiff