X-Git-Url: http://git.xonotic.org/?a=blobdiff_plain;f=qcsrc%2Fserver%2Fpathlib%2Fpath_waypoint.qc;h=231c14f21bbbf6b6c8464a62d857ba593394116d;hb=4577d2b7d194f707283a9adde614c2bfb41d7bd1;hp=cf123db66ca95883198b28c883f015af7467cc29;hpb=e3746a1f762597b2ca317c4914c052bf229b9f91;p=xonotic%2Fxonotic-data.pk3dir.git diff --git a/qcsrc/server/pathlib/path_waypoint.qc b/qcsrc/server/pathlib/path_waypoint.qc index cf123db66..231c14f21 100644 --- a/qcsrc/server/pathlib/path_waypoint.qc +++ b/qcsrc/server/pathlib/path_waypoint.qc @@ -1,53 +1,75 @@ -.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) - pathlib_foundgoal = TRUE; + 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) - return FALSE; + 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); - g = wp.pathlib_node_g + vlen(child.origin - wp.origin); //cost; - h = vlen(child.origin - pathlib_wpp_goal.origin); - f = g + h; + 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; - 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; + 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; + return true; } -float pathlib_wpp_expand(entity wp) +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 > 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; @@ -81,6 +103,7 @@ float pathlib_wpp_expand(entity wp) 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() @@ -90,15 +113,7 @@ 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) { @@ -112,52 +127,60 @@ entity pathlib_wpp_bestopen() } -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; + pathlib_movecost = 300; + pathlib_movecost_diag = vlen('1 1 0' * pathlib_movecost); + + if (!pathlib_wpp_waypointcallback) + callback = false; + + if (callback) + pathlib_wpp_open = pathlib_wpp_opencb; + else + pathlib_wpp_open = pathlib_wpp_openncb; - ptime = gettime(GETTIME_REALTIME); - pathlib_starttime = ptime; + pathlib_heuristic = pathlib_h_none; - if not(openlist) + if (!openlist) openlist = spawn(); - if not(closedlist) + if (!closedlist) closedlist = spawn(); pathlib_closed_cnt = 0; pathlib_open_cnt = 0; pathlib_searched_cnt = 0; - - pathlib_foundgoal = FALSE; - + 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; + //setmodel(n, "models/runematch/rune.mdl"); + //n.effects = EF_LOWPRECISION; + //n.colormod = '0 0 0'; + //n.scale = 1; - n = n.chain; } - 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"); @@ -171,46 +194,40 @@ entity pathlib_waypointpath_step() { 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"); - bprint("Expanding ",ftos(pathlib_wpp_expand(n))," links\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; + } return world; } - void plas_think() { pathlib_waypointpath_step(); @@ -226,92 +243,3 @@ void pathlib_waypointpath_autostep() 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; -} -*/