-.entity list;
-
-entity pathlib_wpp_goal;
-entity pathlib_wpp_start;
+var float pathlib_wpp_open(entity wp, entity child, float cost);
void pathlib_wpp_close(entity wp)
{
--pathlib_open_cnt;
++pathlib_closed_cnt;
- wp.list = closedlist;
- wp.colormod = '0 1 1';
+ wp.pathlib_list = closedlist;
if(wp == best_open_node)
best_open_node = world;
- if(wp == pathlib_wpp_goal)
+ if(wp == goal_node)
pathlib_foundgoal = TRUE;
}
-float pathlib_wpp_open(entity wp, entity child, float cost)
+float pathlib_wpp_opencb(entity wp, entity child, float cost)
{
- float g, h, f;
- if(child.list == closedlist)
+ if(child.pathlib_list == closedlist)
return FALSE;
- g = wp.pathlib_node_g + vlen(child.origin - wp.origin); //cost;
- h = vlen(child.origin - pathlib_wpp_goal.origin);
- f = g + h;
+ // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
+ cost = vlen(child.origin - wp.origin);
+
+ child.path_prev = wp;
+ child.pathlib_list = openlist;
+ child.pathlib_node_g = wp.pathlib_node_g + cost;
+ child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
+ child.pathlib_node_c = pathlib_wpp_waypointcallback(child, wp);
+ child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h + child.pathlib_node_c;
+
+
+ if(child == goal_node)
+ pathlib_foundgoal = TRUE;
+
+ ++pathlib_open_cnt;
+
+ if(best_open_node.pathlib_node_f > child.pathlib_node_f)
+ best_open_node = child;
+ return TRUE;
+}
- child.colormod = '1 0 1';
- child.path_prev = wp;
- child.list = openlist;
- child.pathlib_node_g = g;
- child.pathlib_node_h = h;
- child.pathlib_node_f = f;
+float pathlib_wpp_openncb(entity wp, entity child, float cost)
+{
+
+ if(child.pathlib_list == closedlist)
+ return FALSE;
+
+ // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
+ cost = vlen(child.origin - wp.origin);
+
+ child.path_prev = wp;
+ child.pathlib_list = openlist;
+ child.pathlib_node_g = wp.pathlib_node_g + cost;
+ child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
+ child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h;
+
+ if(child == goal_node)
+ pathlib_foundgoal = TRUE;
++pathlib_open_cnt;
- if(best_open_node.pathlib_node_f > f)
+ if(best_open_node.pathlib_node_f > child.pathlib_node_f)
best_open_node = child;
return TRUE;
float pathlib_wpp_expand(entity wp)
{
-
if(wp.wp00) pathlib_wpp_open(wp,wp.wp00,wp.wp00mincost); else return 0;
if(wp.wp01) pathlib_wpp_open(wp,wp.wp01,wp.wp01mincost); else return 1;
if(wp.wp02) pathlib_wpp_open(wp,wp.wp02,wp.wp02mincost); else return 2;
if(wp.wp29) pathlib_wpp_open(wp,wp.wp29,wp.wp29mincost); else return 29;
if(wp.wp30) pathlib_wpp_open(wp,wp.wp30,wp.wp30mincost); else return 30;
if(wp.wp31) pathlib_wpp_open(wp,wp.wp31,wp.wp31mincost); else return 31;
-
+
+ return 32;
}
entity pathlib_wpp_bestopen()
if(best_open_node)
return best_open_node;
- n = findchainentity(list, openlist);
- /*
- if not(n)
- {
- dprint("pathlib_waypointpath: No more open nodes, path fail.\n");
- return world;
- }
- */
-
+ n = findchainentity(pathlib_list, openlist);
best = n;
while(n)
{
}
-entity pathlib_waypointpath(entity from, entity to)
+entity pathlib_waypointpath(entity wp_from, entity wp_to, float callback)
{
entity n;
float ptime;
-
- ptime = gettime(GETTIME_REALTIME);
- pathlib_starttime = ptime;
-
+ ptime = gettime(GETTIME_REALTIME);
+ pathlib_starttime = ptime;
+ pathlib_movecost = 300;
+ pathlib_movecost_diag = vlen('1 1 0' * pathlib_movecost);
+
+ if not (pathlib_wpp_waypointcallback)
+ callback = FALSE;
+
+ if (callback)
+ pathlib_wpp_open = pathlib_wpp_opencb;
+ else
+ pathlib_wpp_open = pathlib_wpp_openncb;
+
+ pathlib_heuristic = pathlib_h_none;
+
if not(openlist)
openlist = spawn();
pathlib_closed_cnt = 0;
pathlib_open_cnt = 0;
pathlib_searched_cnt = 0;
-
pathlib_foundgoal = FALSE;
-
dprint("pathlib_waypointpath init\n");
// Initialize waypoint grid
- n = findchainentity(owner, waypoint_master);
- while (n)
+ // FIXME! presisted chain for better preformance
+ for(n = findchain(classname, "waypoint"); n; n = n.chain)
{
- n.list = world;
+ n.pathlib_list = world;
n.pathlib_node_g = 0;
n.pathlib_node_f = 0;
n.pathlib_node_h = 0;
-
- setmodel(n, "models/runematch/rune.mdl");
- n.effects = EF_LOWPRECISION;
- n.colormod = '0 0 0';
- n.scale = 1;
-
- n = n.chain;
+
+ //setmodel(n, "models/runematch/rune.mdl");
+ //n.effects = EF_LOWPRECISION;
+ //n.colormod = '0 0 0';
+ //n.scale = 1;
+
}
- pathlib_wpp_goal = to;
- pathlib_wpp_start = from;
+ goal_node = wp_to;
+ start_node = wp_from;
- from.list = closedlist;
- bprint("Expanding ",ftos(pathlib_wpp_expand(from))," links\n");
+ start_node.pathlib_list = closedlist;
+ dprint("Expanding ",ftos(pathlib_wpp_expand(start_node))," links\n");
if(pathlib_open_cnt <= 0)
{
dprint("pathlib_waypointpath: Start waypoint not linked! aborting.\n");
{
entity n;
-
- /*
- if((gettime(GETTIME_REALTIME) - pathlib_starttime) > pathlib_maxtime)
- {
- dprint("pathlib_waypointpath: Path took to long to compute!\n");
- return world;
- }
- */
-
n = pathlib_wpp_bestopen();
if(!n)
{
- bprint("Cannot find best open node, abort.\n");
+ dprint("Cannot find best open node, abort.\n");
return world;
}
pathlib_wpp_close(n);
-
+ dprint("Expanding ",ftos(pathlib_wpp_expand(n))," links\n");
+
if(pathlib_foundgoal)
{
- bprint("Target found. Rebuilding and filtering path...\n");
- // to-do rebuild (follow path_prev from n untill it hits from) and return path.
-
- n = pathlib_wpp_goal;
- while(n != pathlib_wpp_start)
- {
- n.scale = 3;
- n = n.path_prev;
- }
- pathlib_wpp_start.colormod = '0 0 1';
- pathlib_wpp_goal.colormod = '1 0 0';
-
- return n;
+ entity start, end, open, ln;
+
+ dprint("Target found. Rebuilding and filtering path...\n");
+
+ buildpath_nodefilter = buildpath_nodefilter_none;
+ start = path_build(world, start_node.origin, world, world);
+ end = path_build(world, goal_node.origin, world, start);
+ ln = end;
+
+ for(open = goal_node; open.path_prev != start_node; open = open.path_prev)
+ {
+ n = path_build(ln,open.origin,open.path_prev,start);
+ ln.path_prev = n;
+ ln = n;
+ }
+ start.path_next = n;
+ n.path_prev = start;
+
+ return start;
}
- bprint("Expanding ",ftos(pathlib_wpp_expand(n))," links\n");
-
-
return world;
}
-
void plas_think()
{
pathlib_waypointpath_step();
n.think = plas_think;
n.nextthink = time + 0.1;
}
-
-/*
-entity pathlib_wpp_goal;
-entity pathlib_wpp_start;
-entity pathlib_waypointpath(entity from, entity to)
-{
- entity path, start, end, open, n, ln;
- float ptime, ftime, ctime;
-
-
- ptime = gettime(GETTIME_REALTIME);
- pathlib_starttime = ptime;
-
- if not(openlist)
- openlist = spawn();
-
- if not(closedlist)
- closedlist = spawn();
-
- pathlib_closed_cnt = 0;
- pathlib_open_cnt = 0;
- pathlib_searched_cnt = 0;
-
- pathlib_foundgoal = FALSE;
-
-
- dprint("pathlib_waypointpath init\n");
-
- // Initialize waypoint grid
- n = findchainentity(owner, waypoint_master);
- while (n)
- {
- n.list = world;
- n.pathlib_node_g = 0;
- n.pathlib_node_f = 0;
- n.pathlib_node_h = 0;
- setmodel(n, "models/runematch/rune.mdl");
- n.effects = EF_LOWPRECISION;
- n.colormod = '1 1 1';
- n.scale = 1;
- }
-
- pathlib_wpp_goal = to;
- pathlib_wpp_start = from;
-
- from.list = closedlist;
- pathlib_wpp_expand(from);
- if(pathlib_open_cnt <= 0)
- {
- dprint("pathlib_waypointpath: Start waypoint not linked! aborting.\n");
- return world;
- }
-
- while(pathlib_open_cnt)
- {
- if((gettime(GETTIME_REALTIME) - pathlib_starttime) > pathlib_maxtime)
- {
- dprint("pathlib_waypointpath: Path took to long to compute!\n");
- return world;
- }
-
- n = findentity(world, list, openlist);
- if not(n)
- {
- dprint("pathlib_waypointpath: No more open nodes, path fail.\n");
- return world;
- }
-
- pathlib_wpp_close(n);
- pathlib_wpp_expand(n);
-
- if(pathlib_foundgoal)
- {
- dprint("Target found. Rebuilding and filtering path...\n");
- // to-do rebuild (follow path_prev from n untill it hits from) and return path.
- n = to;
- do
- {
- n.scale = 3;
- n = n.path_prev;
- }while(n != from);
-
- return world;
- }
- }
-
- return world;
-}
-*/
projects / xonotic / xonotic-data.pk3dir.git / blobdiff