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Add pathfinding interfaces, still heavily wip

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This commit is contained in:
KimLS
2017-07-18 00:01:59 -07:00
parent 596e3b28b5
commit 5f1063acb9
26 changed files with 705 additions and 1181 deletions
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zone/pathing.cpp
+59 -436
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@@ -467,7 +467,7 @@ std::deque<int> PathManager::FindRoute(glm::vec3 Start, glm::vec3 End)
break;
if(!zone->zonemap->LineIntersectsZone(Start, PathNodes[(*Second)].v, 1.0f, nullptr)
&& zone->pathing->NoHazards(Start, PathNodes[(*Second)].v))
&& NoHazards(Start, PathNodes[(*Second)].v))
{
noderoute.erase(First);
@@ -500,7 +500,7 @@ std::deque<int> PathManager::FindRoute(glm::vec3 Start, glm::vec3 End)
break;
if(!zone->zonemap->LineIntersectsZone(End, PathNodes[(*Second)].v, 1.0f, nullptr)
&& zone->pathing->NoHazards(End, PathNodes[(*Second)].v))
&& NoHazards(End, PathNodes[(*Second)].v))
{
noderoute.erase(First);
@@ -644,439 +644,62 @@ void PathManager::SimpleMeshTest()
glm::vec3 Mob::UpdatePath(float ToX, float ToY, float ToZ, float Speed, bool &WaypointChanged, bool &NodeReached)
{
WaypointChanged = false;
NodeReached = false;
glm::vec3 NodeLoc;
glm::vec3 To(ToX, ToY, ToZ);
if (Speed <= 0) {
return To;
}
glm::vec3 From(GetX(), GetY(), GetZ());
glm::vec3 HeadPosition(From.x, From.y, From.z + (GetSize() < 6.0 ? 6 : GetSize()) * HEAD_POSITION);
glm::vec3 To(ToX, ToY, ToZ);
bool SameDestination = (To == PathingDestination);
if (Speed <= 0) // our speed is 0, we cant move so lets return the dest
return To; // this will also avoid the teleports cleanly
int NextNode;
if(To == From)
if (DistanceSquared(To, From) < 1.0f) {
WaypointChanged = false;
NodeReached = true;
Route.clear();
return To;
}
Log(Logs::Detail, Logs::None, "UpdatePath. From(%8.3f, %8.3f, %8.3f) To(%8.3f, %8.3f, %8.3f)", From.x, From.y, From.z, To.x, To.y, To.z);
if(From == PathingLastPosition)
{
++PathingLoopCount;
if((PathingLoopCount > 5) && !IsRooted())
{
Log(Logs::Detail, Logs::None, "appears to be stuck. Teleporting them to next position.", GetName());
if(Route.empty())
{
Teleport(To);
WaypointChanged = true;
PathingLoopCount = 0;
return To;
}
NodeLoc = zone->pathing->GetPathNodeCoordinates(Route.front());
Route.pop_front();
++PathingTraversedNodes;
Teleport(NodeLoc);
if (Route.empty()) {
Route = zone->pathing->FindRoute(From, To);
PathingDestination = To;
WaypointChanged = true;
NodeReached = false;
return *Route.begin();
}
else {
bool SameDestination = DistanceSquared(To, PathingDestination) < 1.0f;
if (!SameDestination) {
//We had a route but our target position moved too much
Route = zone->pathing->FindRoute(From, To);
PathingDestination = To;
WaypointChanged = true;
PathingLoopCount = 0;
return NodeLoc;
NodeReached = false;
return *Route.begin();
}
}
else
{
PathingLoopCount = 0;
PathingLastPosition = From;
}
if(!Route.empty())
{
// If we are already pathing, and the destination is the same as before ...
if(SameDestination)
{
Log(Logs::Detail, Logs::None, " Still pathing to the same destination.");
// Get the coordinates of the first path node we are going to.
NextNode = Route.front();
NodeLoc = zone->pathing->GetPathNodeCoordinates(NextNode);
// May need to refine this as rounding errors may mean we never have equality
// We have reached the path node.
if(NodeLoc == From)
{
Log(Logs::Detail, Logs::None, " Arrived at node %i", NextNode);
else {
bool AtNextNode = DistanceSquared(From, *Route.begin()) < 1.0f;
if (AtNextNode) {
WaypointChanged = false;
NodeReached = true;
PathingLastNodeVisited = Route.front();
// We only check for LOS again after traversing more than 1 node, otherwise we can get into
// a loop where we have a hazard and so run to a path node far enough away from the hazard, and
// then run right back towards the same hazard again.
//
// An exception is when we are about to head for the last node. We always check LOS then. This
// is because we are seeking a path to the node nearest to our target. This node may be behind the
// target, and we may run past the target if we don't check LOS at this point.
int RouteSize = Route.size();
Log(Logs::Detail, Logs::None, "Route size is %i", RouteSize);
if((RouteSize == 2)
|| ((PathingTraversedNodes >= RuleI(Pathing, MinNodesTraversedForLOSCheck))
&& (RouteSize <= RuleI(Pathing, MinNodesLeftForLOSCheck))
&& PathingLOSCheckTimer->Check()))
{
Log(Logs::Detail, Logs::None, " Checking distance to target.");
float Distance = VectorDistanceNoRoot(From, To);
Log(Logs::Detail, Logs::None, " Distance between From and To (NoRoot) is %8.3f", Distance);
if ((Distance <= RuleR(Pathing, MinDistanceForLOSCheckShort)) &&
(std::abs(From.z - To.z) <= RuleR(Pathing, ZDiffThresholdNew))) {
if(!zone->zonemap->LineIntersectsZone(HeadPosition, To, 1.0f, nullptr))
PathingLOSState = HaveLOS;
else
PathingLOSState = NoLOS;
Log(Logs::Detail, Logs::None, "NoLOS");
if((PathingLOSState == HaveLOS) && zone->pathing->NoHazards(From, To))
{
Log(Logs::Detail, Logs::None, " No hazards. Running directly to target.");
Route.clear();
return To;
}
else
{
Log(Logs::Detail, Logs::None, " Continuing on node path.");
}
}
else
PathingLOSState = UnknownLOS;
}
// We are on the same route, no LOS (or not checking this time, so pop off the node we just reached
//
Route.pop_front();
++PathingTraversedNodes;
WaypointChanged = true;
// If there are more nodes on the route, return the coords of the next node
if(!Route.empty())
{
NextNode = Route.front();
if(NextNode == -1)
{
// -1 indicates a teleport to the next node
Route.pop_front();
if(Route.empty())
{
Log(Logs::Detail, Logs::None, "Missing node after teleport.");
return To;
}
NextNode = Route.front();
NodeLoc = zone->pathing->GetPathNodeCoordinates(NextNode);
Teleport(NodeLoc);
Log(Logs::Detail, Logs::None, " TELEPORTED to %8.3f, %8.3f, %8.3f\n", NodeLoc.x, NodeLoc.y, NodeLoc.z);
Route.pop_front();
if(Route.empty())
return To;
NextNode = Route.front();
}
zone->pathing->OpenDoors(PathingLastNodeVisited, NextNode, this);
Log(Logs::Detail, Logs::None, " Now moving to node %i", NextNode);
return zone->pathing->GetPathNodeCoordinates(NextNode);
}
else
{
// we have run all the nodes, all that is left is the direct path from the last node
// to the destination
Log(Logs::Detail, Logs::None, " Reached end of node path, running direct to target.");
return To;
}
}
// At this point, we are still on the previous path, but not reached a node yet.
// The route shouldn't be empty, but check anyway.
//
int RouteSize = Route.size();
if((PathingTraversedNodes >= RuleI(Pathing, MinNodesTraversedForLOSCheck))
&& (RouteSize <= RuleI(Pathing, MinNodesLeftForLOSCheck))
&& PathingLOSCheckTimer->Check())
{
Log(Logs::Detail, Logs::None, " Checking distance to target.");
float Distance = VectorDistanceNoRoot(From, To);
Log(Logs::Detail, Logs::None, " Distance between From and To (NoRoot) is %8.3f", Distance);
if ((Distance <= RuleR(Pathing, MinDistanceForLOSCheckShort)) &&
(std::abs(From.z - To.z) <= RuleR(Pathing, ZDiffThresholdNew))) {
if(!zone->zonemap->LineIntersectsZone(HeadPosition, To, 1.0f, nullptr))
PathingLOSState = HaveLOS;
else
PathingLOSState = NoLOS;
Log(Logs::Detail, Logs::None, "NoLOS");
if((PathingLOSState == HaveLOS) && zone->pathing->NoHazards(From, To))
{
Log(Logs::Detail, Logs::None, " No hazards. Running directly to target.");
Route.clear();
return To;
}
else
{
Log(Logs::Detail, Logs::None, " Continuing on node path.");
}
}
else
PathingLOSState = UnknownLOS;
}
return NodeLoc;
}
else
{
// We get here if we were already pathing, but our destination has now changed.
//
Log(Logs::Detail, Logs::None, " Target has changed position.");
// Update our record of where we are going to.
PathingDestination = To;
// Check if we now have LOS etc to the new destination.
if(PathingLOSCheckTimer->Check())
{
float Distance = VectorDistanceNoRoot(From, To);
if ((Distance <= RuleR(Pathing, MinDistanceForLOSCheckShort)) &&
(std::abs(From.z - To.z) <= RuleR(Pathing, ZDiffThresholdNew))) {
Log(Logs::Detail, Logs::None, " Checking for short LOS at distance %8.3f.", Distance);
if(!zone->zonemap->LineIntersectsZone(HeadPosition, To, 1.0f, nullptr))
PathingLOSState = HaveLOS;
else
PathingLOSState = NoLOS;
Log(Logs::Detail, Logs::None, "NoLOS");
if((PathingLOSState == HaveLOS) && zone->pathing->NoHazards(From, To))
{
Log(Logs::Detail, Logs::None, " No hazards. Running directly to target.");
Route.clear();
return To;
}
else
{
Log(Logs::Detail, Logs::None, " Continuing on node path.");
}
}
}
// If the player is moving, we don't want to recalculate our route too frequently.
//
if(static_cast<int>(Route.size()) <= RuleI(Pathing, RouteUpdateFrequencyNodeCount))
{
if(!PathingRouteUpdateTimerShort->Check())
{
Log(Logs::Detail, Logs::None, "Short route update timer not yet expired.");
return zone->pathing->GetPathNodeCoordinates(Route.front());
}
Log(Logs::Detail, Logs::None, "Short route update timer expired.");
}
else
{
if(!PathingRouteUpdateTimerLong->Check())
{
Log(Logs::Detail, Logs::None, "Long route update timer not yet expired.");
return zone->pathing->GetPathNodeCoordinates(Route.front());
}
Log(Logs::Detail, Logs::None, "Long route update timer expired.");
}
// We are already pathing, destination changed, no LOS. Find the nearest node to our destination.
int DestinationPathNode= zone->pathing->FindNearestPathNode(To);
// Destination unreachable via pathing, return direct route.
if(DestinationPathNode == -1)
{
Log(Logs::Detail, Logs::None, " Unable to find path node for new destination. Running straight to target.");
Route.clear();
return To;
}
// If the nearest path node to our new destination is the same as for the previous
// one, we will carry on on our path.
if(DestinationPathNode == Route.back())
{
Log(Logs::Detail, Logs::None, " Same destination Node (%i). Continue with current path.", DestinationPathNode);
NodeLoc = zone->pathing->GetPathNodeCoordinates(Route.front());
// May need to refine this as rounding errors may mean we never have equality
// Check if we have reached a path node.
if(NodeLoc == From)
{
Log(Logs::Detail, Logs::None, " Arrived at node %i, moving to next one.\n", Route.front());
NodeReached = true;
PathingLastNodeVisited = Route.front();
Route.pop_front();
++PathingTraversedNodes;
if (Route.empty()) {
Route = zone->pathing->FindRoute(From, To);
PathingDestination = To;
WaypointChanged = true;
if(!Route.empty())
{
NextNode = Route.front();
if(NextNode == -1)
{
// -1 indicates a teleport to the next node
Route.pop_front();
if(Route.empty())
{
Log(Logs::Detail, Logs::None, "Missing node after teleport.");
return To;
}
NextNode = Route.front();
NodeLoc = zone->pathing->GetPathNodeCoordinates(NextNode);
Teleport(NodeLoc);
Log(Logs::Detail, Logs::None, " TELEPORTED to %8.3f, %8.3f, %8.3f\n", NodeLoc.x, NodeLoc.y, NodeLoc.z);
Route.pop_front();
if(Route.empty())
return To;
NextNode = Route.front();
}
// Return the coords of our next path node on the route.
Log(Logs::Detail, Logs::None, " Now moving to node %i", NextNode);
zone->pathing->OpenDoors(PathingLastNodeVisited, NextNode, this);
return zone->pathing->GetPathNodeCoordinates(NextNode);
}
else
{
Log(Logs::Detail, Logs::None, " Reached end of path grid. Running direct to target.");
return To;
}
return *Route.begin();
}
else {
return *Route.begin();
}
return NodeLoc;
}
else
{
Log(Logs::Detail, Logs::None, " Target moved. End node is different. Clearing route.");
Route.clear();
// We will now fall through to get a new route.
else {
WaypointChanged = false;
NodeReached = false;
return *Route.begin();
}
}
}
Log(Logs::Detail, Logs::None, " Our route list is empty.");
if((SameDestination) && !PathingLOSCheckTimer->Check())
{
Log(Logs::Detail, Logs::None, " Destination same as before, LOS check timer not reached. Returning To.");
return To;
}
PathingLOSState = UnknownLOS;
PathingDestination = To;
WaypointChanged = true;
float Distance = VectorDistanceNoRoot(From, To);
if ((Distance <= RuleR(Pathing, MinDistanceForLOSCheckLong)) &&
(std::abs(From.z - To.z) <= RuleR(Pathing, ZDiffThresholdNew))) {
Log(Logs::Detail, Logs::None, " Checking for long LOS at distance %8.3f.", Distance);
if(!zone->zonemap->LineIntersectsZone(HeadPosition, To, 1.0f, nullptr))
PathingLOSState = HaveLOS;
else
PathingLOSState = NoLOS;
Log(Logs::Detail, Logs::None, "NoLOS");
if((PathingLOSState == HaveLOS) && zone->pathing->NoHazards(From, To))
{
Log(Logs::Detail, Logs::None, "Target is reachable. Running directly there.");
return To;
}
}
Log(Logs::Detail, Logs::None, " Calculating new route to target.");
Route = zone->pathing->FindRoute(From, To);
PathingTraversedNodes = 0;
if(Route.empty())
{
Log(Logs::Detail, Logs::None, " No route available, running direct.");
return To;
}
if(SameDestination && (Route.front() == PathingLastNodeVisited))
{
Log(Logs::Detail, Logs::None, " Probable loop detected. Same destination and Route.front() == PathingLastNodeVisited.");
Route.clear();
return To;
}
NodeLoc = zone->pathing->GetPathNodeCoordinates(Route.front());
Log(Logs::Detail, Logs::None, " New route determined, heading for node %i", Route.front());
PathingLoopCount = 0;
return NodeLoc;
}
int PathManager::FindNearestPathNode(glm::vec3 Position)
@@ -1254,14 +877,14 @@ bool PathManager::NoHazardsAccurate(glm::vec3 From, glm::vec3 To)
void Mob::PrintRoute()
{
printf("Route is : ");
for(auto Iterator = Route.begin(); Iterator !=Route.end(); ++Iterator)
{
printf("%i, ", (*Iterator));
}
printf("\n");
//printf("Route is : ");
//
//for(auto Iterator = Route.begin(); Iterator !=Route.end(); ++Iterator)
//{
// printf("%i, ", (*Iterator));
//}
//
//printf("\n");
}
@@ -1346,7 +969,7 @@ void PathManager::ShowPathNodeNeighbours(Client *c)
return;
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
@@ -1412,7 +1035,7 @@ void PathManager::NodeInfo(Client *c)
return;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return;
@@ -1661,7 +1284,7 @@ bool PathManager::DeleteNode(Client *c)
return false;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return false;
@@ -1742,7 +1365,7 @@ void PathManager::ConnectNodeToNode(Client *c, int32 Node2, int32 teleport, int3
return;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return;
@@ -1832,7 +1455,7 @@ void PathManager::ConnectNode(Client *c, int32 Node2, int32 teleport, int32 door
return;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return;
@@ -1902,7 +1525,7 @@ void PathManager::DisconnectNodeToNode(Client *c, int32 Node2)
return;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return;
@@ -1986,7 +1609,7 @@ void PathManager::MoveNode(Client *c)
return;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return;
@@ -2020,7 +1643,7 @@ void PathManager::DisconnectAll(Client *c)
return;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return;
@@ -2193,7 +1816,7 @@ void PathManager::QuickConnect(Client *c, bool set)
return;
}
PathNode *Node = zone->pathing->FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
PathNode *Node = FindPathNodeByCoordinates(c->GetTarget()->GetX(), c->GetTarget()->GetY(), c->GetTarget()->GetZ());
if(!Node)
{
return;