1 #include "path_waypoint.qh"
2 #include "../bot/api.qh"
7 var float pathlib_wpp_open(entity wp, entity child, float cost);
9 void pathlib_wpp_close(entity wp)
14 wp.pathlib_list = closedlist;
16 if(wp == best_open_node)
17 best_open_node = NULL;
20 pathlib_foundgoal = true;
23 float pathlib_wpp_opencb(entity wp, entity child, float cost)
26 if(child.pathlib_list == closedlist)
29 // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
30 cost = vlen(child.origin - wp.origin);
33 child.pathlib_list = openlist;
34 child.pathlib_node_g = wp.pathlib_node_g + cost;
35 child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
36 child.pathlib_node_c = pathlib_wpp_waypointcallback(child, wp);
37 child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h + child.pathlib_node_c;
40 if(child == goal_node)
41 pathlib_foundgoal = true;
45 if(best_open_node.pathlib_node_f > child.pathlib_node_f)
46 best_open_node = child;
51 float pathlib_wpp_openncb(entity wp, entity child, float cost)
54 if(child.pathlib_list == closedlist)
57 // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
58 cost = vlen(child.origin - wp.origin);
61 child.pathlib_list = openlist;
62 child.pathlib_node_g = wp.pathlib_node_g + cost;
63 child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
64 child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h;
66 if(child == goal_node)
67 pathlib_foundgoal = true;
71 if(best_open_node.pathlib_node_f > child.pathlib_node_f)
72 best_open_node = child;
77 float pathlib_wpp_expand(entity wp)
79 if(wp.wp00) pathlib_wpp_open(wp,wp.wp00, wp.wp00mincost); else return 0;
80 if(wp.wp01) pathlib_wpp_open(wp,wp.wp01, wp.wp01mincost); else return 1;
81 if(wp.wp02) pathlib_wpp_open(wp,wp.wp02, wp.wp02mincost); else return 2;
82 if(wp.wp03) pathlib_wpp_open(wp,wp.wp03, wp.wp03mincost); else return 3;
83 if(wp.wp04) pathlib_wpp_open(wp,wp.wp04, wp.wp04mincost); else return 4;
84 if(wp.wp05) pathlib_wpp_open(wp,wp.wp05, wp.wp05mincost); else return 5;
85 if(wp.wp06) pathlib_wpp_open(wp,wp.wp06, wp.wp06mincost); else return 6;
86 if(wp.wp07) pathlib_wpp_open(wp,wp.wp07, wp.wp07mincost); else return 7;
87 if(wp.wp08) pathlib_wpp_open(wp,wp.wp08, wp.wp08mincost); else return 8;
88 if(wp.wp09) pathlib_wpp_open(wp,wp.wp09, wp.wp09mincost); else return 9;
89 if(wp.wp10) pathlib_wpp_open(wp,wp.wp10, wp.wp10mincost); else return 10;
90 if(wp.wp11) pathlib_wpp_open(wp,wp.wp11, wp.wp11mincost); else return 11;
91 if(wp.wp12) pathlib_wpp_open(wp,wp.wp12, wp.wp12mincost); else return 12;
92 if(wp.wp13) pathlib_wpp_open(wp,wp.wp13, wp.wp13mincost); else return 13;
93 if(wp.wp14) pathlib_wpp_open(wp,wp.wp14, wp.wp14mincost); else return 14;
94 if(wp.wp15) pathlib_wpp_open(wp,wp.wp15, wp.wp15mincost); else return 15;
95 if(wp.wp16) pathlib_wpp_open(wp,wp.wp16, wp.wp16mincost); else return 16;
96 if(wp.wp17) pathlib_wpp_open(wp,wp.wp17, wp.wp17mincost); else return 17;
97 if(wp.wp18) pathlib_wpp_open(wp,wp.wp18, wp.wp18mincost); else return 18;
98 if(wp.wp19) pathlib_wpp_open(wp,wp.wp19, wp.wp19mincost); else return 19;
99 if(wp.wp20) pathlib_wpp_open(wp,wp.wp20, wp.wp20mincost); else return 20;
100 if(wp.wp21) pathlib_wpp_open(wp,wp.wp21, wp.wp21mincost); else return 21;
101 if(wp.wp22) pathlib_wpp_open(wp,wp.wp22, wp.wp22mincost); else return 22;
102 if(wp.wp23) pathlib_wpp_open(wp,wp.wp23, wp.wp23mincost); else return 23;
103 if(wp.wp24) pathlib_wpp_open(wp,wp.wp24, wp.wp24mincost); else return 24;
104 if(wp.wp25) pathlib_wpp_open(wp,wp.wp25, wp.wp25mincost); else return 25;
105 if(wp.wp26) pathlib_wpp_open(wp,wp.wp26, wp.wp26mincost); else return 26;
106 if(wp.wp27) pathlib_wpp_open(wp,wp.wp27, wp.wp27mincost); else return 27;
107 if(wp.wp28) pathlib_wpp_open(wp,wp.wp28, wp.wp28mincost); else return 28;
108 if(wp.wp29) pathlib_wpp_open(wp,wp.wp29, wp.wp29mincost); else return 29;
109 if(wp.wp30) pathlib_wpp_open(wp,wp.wp30, wp.wp30mincost); else return 30;
110 if(wp.wp31) pathlib_wpp_open(wp,wp.wp31, wp.wp31mincost); else return 31;
115 entity pathlib_wpp_bestopen()
118 return best_open_node;
122 FOREACH_ENTITY_ENT(pathlib_list, openlist,
124 if(!best || it.pathlib_node_f < best.pathlib_node_f)
132 entity pathlib_waypointpath(entity wp_from, entity wp_to, float callback)
136 ptime = gettime(GETTIME_REALTIME);
137 pathlib_starttime = ptime;
138 pathlib_movecost = 300;
139 pathlib_movecost_diag = vlen('1 1 0' * pathlib_movecost);
141 if (!pathlib_wpp_waypointcallback)
145 pathlib_wpp_open = pathlib_wpp_opencb;
147 pathlib_wpp_open = pathlib_wpp_openncb;
149 pathlib_heuristic = pathlib_h_none; // We run Dijkstra, A* does not make sense with variable distanced nodes.
155 closedlist = spawn();
157 pathlib_closed_cnt = 0;
158 pathlib_open_cnt = 0;
159 pathlib_searched_cnt = 0;
160 pathlib_foundgoal = false;
162 LOG_TRACE("pathlib_waypointpath init");
164 // Initialize waypoint grid
165 IL_EACH(g_waypoints, true,
167 it.pathlib_list = NULL;
168 it.pathlib_node_g = 0;
169 it.pathlib_node_f = 0;
170 it.pathlib_node_h = 0;
172 //setmodel(it, "models/runematch/rune.mdl");
173 //it.effects = EF_LOWPRECISION;
174 //it.colormod = '0 0 0';
179 start_node = wp_from;
181 start_node.pathlib_list = closedlist;
182 LOG_TRACE("Expanding ",ftos(pathlib_wpp_expand(start_node))," links");
183 if(pathlib_open_cnt <= 0)
185 LOG_TRACE("pathlib_waypointpath: Start waypoint not linked! aborting.");
192 entity pathlib_waypointpath_step()
196 n = pathlib_wpp_bestopen();
199 LOG_TRACE("Cannot find best open node, abort.");
202 pathlib_wpp_close(n);
203 LOG_TRACE("Expanding ",ftos(pathlib_wpp_expand(n))," links");
205 if(pathlib_foundgoal)
207 entity start, end, open, ln;
209 LOG_TRACE("Target found. Rebuilding and filtering path...");
211 buildpath_nodefilter = buildpath_nodefilter_none;
212 start = path_build(NULL, start_node.origin, NULL, NULL);
213 end = path_build(NULL, goal_node.origin, NULL, start);
216 for(open = goal_node; open.path_prev != start_node; open = open.path_prev)
218 n = path_build(ln,open.origin,open.path_prev,start);
230 void plas_think(entity this)
232 pathlib_waypointpath_step();
233 if(pathlib_foundgoal)
235 this.nextthink = time + 0.1;
238 void pathlib_waypointpath_autostep()
242 setthink(n, plas_think);
243 n.nextthink = time + 0.1;