qcsrc/server/bot/lib/pathlib/path_waypoint.qc

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