1 #include "../bot/waypoints.qh"
6 var float pathlib_wpp_open(entity wp, entity child, float cost);
8 void pathlib_wpp_close(entity wp)
13 wp.pathlib_list = closedlist;
15 if(wp == best_open_node)
16 best_open_node = world;
19 pathlib_foundgoal = true;
22 float pathlib_wpp_opencb(entity wp, entity child, float cost)
25 if(child.pathlib_list == closedlist)
28 // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
29 cost = vlen(child.origin - wp.origin);
32 child.pathlib_list = openlist;
33 child.pathlib_node_g = wp.pathlib_node_g + cost;
34 child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
35 child.pathlib_node_c = pathlib_wpp_waypointcallback(child, wp);
36 child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h + child.pathlib_node_c;
39 if(child == goal_node)
40 pathlib_foundgoal = true;
44 if(best_open_node.pathlib_node_f > child.pathlib_node_f)
45 best_open_node = child;
50 float pathlib_wpp_openncb(entity wp, entity child, float cost)
53 if(child.pathlib_list == closedlist)
56 // FIXME! wp.wp##mincost is NOT distance. Make it distance or add a field for distance to be used here (for better speed)
57 cost = vlen(child.origin - wp.origin);
60 child.pathlib_list = openlist;
61 child.pathlib_node_g = wp.pathlib_node_g + cost;
62 child.pathlib_node_h = pathlib_heuristic(child.origin, goal_node.origin);
63 child.pathlib_node_f = child.pathlib_node_g + child.pathlib_node_h;
65 if(child == goal_node)
66 pathlib_foundgoal = true;
70 if(best_open_node.pathlib_node_f > child.pathlib_node_f)
71 best_open_node = child;
76 float pathlib_wpp_expand(entity wp)
78 if(wp.wp00) pathlib_wpp_open(wp,wp.wp00,wp.wp00mincost); else return 0;
79 if(wp.wp01) pathlib_wpp_open(wp,wp.wp01,wp.wp01mincost); else return 1;
80 if(wp.wp02) pathlib_wpp_open(wp,wp.wp02,wp.wp02mincost); else return 2;
81 if(wp.wp03) pathlib_wpp_open(wp,wp.wp03,wp.wp03mincost); else return 3;
82 if(wp.wp04) pathlib_wpp_open(wp,wp.wp04,wp.wp04mincost); else return 4;
83 if(wp.wp05) pathlib_wpp_open(wp,wp.wp05,wp.wp05mincost); else return 5;
84 if(wp.wp06) pathlib_wpp_open(wp,wp.wp06,wp.wp06mincost); else return 6;
85 if(wp.wp07) pathlib_wpp_open(wp,wp.wp07,wp.wp07mincost); else return 7;
86 if(wp.wp08) pathlib_wpp_open(wp,wp.wp08,wp.wp08mincost); else return 8;
87 if(wp.wp09) pathlib_wpp_open(wp,wp.wp09,wp.wp09mincost); else return 9;
88 if(wp.wp10) pathlib_wpp_open(wp,wp.wp10,wp.wp10mincost); else return 10;
89 if(wp.wp11) pathlib_wpp_open(wp,wp.wp11,wp.wp11mincost); else return 11;
90 if(wp.wp12) pathlib_wpp_open(wp,wp.wp12,wp.wp12mincost); else return 12;
91 if(wp.wp13) pathlib_wpp_open(wp,wp.wp13,wp.wp13mincost); else return 13;
92 if(wp.wp14) pathlib_wpp_open(wp,wp.wp14,wp.wp14mincost); else return 14;
93 if(wp.wp15) pathlib_wpp_open(wp,wp.wp15,wp.wp15mincost); else return 15;
94 if(wp.wp16) pathlib_wpp_open(wp,wp.wp16,wp.wp16mincost); else return 16;
95 if(wp.wp17) pathlib_wpp_open(wp,wp.wp17,wp.wp17mincost); else return 17;
96 if(wp.wp18) pathlib_wpp_open(wp,wp.wp18,wp.wp18mincost); else return 18;
97 if(wp.wp19) pathlib_wpp_open(wp,wp.wp19,wp.wp19mincost); else return 19;
98 if(wp.wp20) pathlib_wpp_open(wp,wp.wp20,wp.wp20mincost); else return 20;
99 if(wp.wp21) pathlib_wpp_open(wp,wp.wp21,wp.wp21mincost); else return 21;
100 if(wp.wp22) pathlib_wpp_open(wp,wp.wp22,wp.wp22mincost); else return 22;
101 if(wp.wp23) pathlib_wpp_open(wp,wp.wp23,wp.wp23mincost); else return 23;
102 if(wp.wp24) pathlib_wpp_open(wp,wp.wp24,wp.wp24mincost); else return 24;
103 if(wp.wp25) pathlib_wpp_open(wp,wp.wp25,wp.wp25mincost); else return 25;
104 if(wp.wp26) pathlib_wpp_open(wp,wp.wp26,wp.wp26mincost); else return 26;
105 if(wp.wp27) pathlib_wpp_open(wp,wp.wp27,wp.wp27mincost); else return 27;
106 if(wp.wp28) pathlib_wpp_open(wp,wp.wp28,wp.wp28mincost); else return 28;
107 if(wp.wp29) pathlib_wpp_open(wp,wp.wp29,wp.wp29mincost); else return 29;
108 if(wp.wp30) pathlib_wpp_open(wp,wp.wp30,wp.wp30mincost); else return 30;
109 if(wp.wp31) pathlib_wpp_open(wp,wp.wp31,wp.wp31mincost); else return 31;
114 entity pathlib_wpp_bestopen()
119 return best_open_node;
121 n = findchainentity(pathlib_list, openlist);
125 if(n.pathlib_node_f < best.pathlib_node_f)
135 entity pathlib_waypointpath(entity wp_from, entity wp_to, float callback)
140 ptime = gettime(GETTIME_REALTIME);
141 pathlib_starttime = ptime;
142 pathlib_movecost = 300;
143 pathlib_movecost_diag = vlen('1 1 0' * pathlib_movecost);
145 if (!pathlib_wpp_waypointcallback)
149 pathlib_wpp_open = pathlib_wpp_opencb;
151 pathlib_wpp_open = pathlib_wpp_openncb;
153 pathlib_heuristic = pathlib_h_none;
159 closedlist = spawn();
161 pathlib_closed_cnt = 0;
162 pathlib_open_cnt = 0;
163 pathlib_searched_cnt = 0;
164 pathlib_foundgoal = false;
166 LOG_TRACE("pathlib_waypointpath init\n");
168 // Initialize waypoint grid
169 // FIXME! presisted chain for better preformance
170 for(n = findchain(classname, "waypoint"); n; n = n.chain)
172 n.pathlib_list = world;
173 n.pathlib_node_g = 0;
174 n.pathlib_node_f = 0;
175 n.pathlib_node_h = 0;
177 //setmodel(n, "models/runematch/rune.mdl");
178 //n.effects = EF_LOWPRECISION;
179 //n.colormod = '0 0 0';
185 start_node = wp_from;
187 start_node.pathlib_list = closedlist;
188 LOG_TRACE("Expanding ",ftos(pathlib_wpp_expand(start_node))," links\n");
189 if(pathlib_open_cnt <= 0)
191 LOG_TRACE("pathlib_waypointpath: Start waypoint not linked! aborting.\n");
198 entity pathlib_waypointpath_step()
202 n = pathlib_wpp_bestopen();
205 LOG_TRACE("Cannot find best open node, abort.\n");
208 pathlib_wpp_close(n);
209 LOG_TRACE("Expanding ",ftos(pathlib_wpp_expand(n))," links\n");
211 if(pathlib_foundgoal)
213 entity start, end, open, ln;
215 LOG_TRACE("Target found. Rebuilding and filtering path...\n");
217 buildpath_nodefilter = buildpath_nodefilter_none;
218 start = path_build(world, start_node.origin, world, world);
219 end = path_build(world, goal_node.origin, world, start);
222 for(open = goal_node; open.path_prev != start_node; open = open.path_prev)
224 n = path_build(ln,open.origin,open.path_prev,start);
238 pathlib_waypointpath_step();
239 if(pathlib_foundgoal)
241 self.nextthink = time + 0.1;
244 void pathlib_waypointpath_autostep()
248 n.think = plas_think;
249 n.nextthink = time + 0.1;