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Some tweaks to wp, basically works

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This commit is contained in:
KimLS
2017-07-20 00:34:58 -07:00
parent c2766db89d
commit ab33148f81
5 changed files with 88 additions and 61 deletions
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zone/pathfinder_waypoint.cpp
+31 -10
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@@ -46,7 +46,8 @@ struct Edge
float distance;
bool teleport;
int door_id;
};
};
template <class Graph, class CostType, class NodeMap>
class distance_heuristic : public boost::astar_heuristic<Graph, CostType>
{
@@ -94,7 +95,7 @@ struct PathfinderWaypoint::Implementation {
boost::geometry::index::rtree<RTreeValue, boost::geometry::index::quadratic<16>> Tree;
GraphType Graph;
std::vector<Node> Nodes;
std::vector<Edge> Edges;
std::map<std::pair<size_t, size_t>, Edge> Edges;
};
PathfinderWaypoint::PathfinderWaypoint(const std::string &path)
@@ -171,7 +172,8 @@ PathfinderWaypoint::PathfinderWaypoint(const std::string &path)
edge.distance = PathNodes[i].Neighbours[j].distance;
edge.door_id = PathNodes[i].Neighbours[j].DoorID;
edge.teleport = PathNodes[i].Neighbours[j].Teleport;
m_impl->Edges.push_back(edge);
m_impl->Edges[std::make_pair(PathNodes[i].id, PathNodes[i].Neighbours[j].id)] = edge;
}
}
}
@@ -207,16 +209,18 @@ IPathfinder::IPath PathfinderWaypoint::FindRoute(const glm::vec3 &start, const g
auto &nearest_start = *result_start_n.begin();
auto &nearest_end = *result_end_n.begin();
Log(Logs::General, Logs::Status, "Nearest start point found to be (%f, %f, %f) with node %u", nearest_start.first.get<0>(), nearest_start.first.get<1>(), nearest_start.first.get<2>(), nearest_start.second);
Log(Logs::General, Logs::Status, "Nearest end point found to be (%f, %f, %f) with node %u", nearest_end.first.get<0>(), nearest_end.first.get<1>(), nearest_end.first.get<2>(), nearest_end.second);
if (nearest_start.second == nearest_end.second) {
IPath Route;
Route.push_back(start);
Route.push_back(end);
return Route;
}
std::vector<GraphType::vertex_descriptor> p(boost::num_vertices(m_impl->Graph));
std::vector<float> d(boost::num_vertices(m_impl->Graph));
try {
boost::astar_search(m_impl->Graph, nearest_start.second,
distance_heuristic<GraphType, float, Node*>(&m_impl->Nodes[0], nearest_end.second),
boost::predecessor_map(&p[0])
.distance_map(&d[0])
.visitor(astar_goal_visitor<size_t>(nearest_end.second)));
}
catch (found_goal)
@@ -225,16 +229,33 @@ IPathfinder::IPath PathfinderWaypoint::FindRoute(const glm::vec3 &start, const g
Route.push_front(end);
for (size_t v = nearest_end.second;; v = p[v]) {
Route.push_front(m_impl->Nodes[v].v);
if (p[v] == v)
if (p[v] == v) {
Route.push_front(m_impl->Nodes[v].v);
break;
}
else {
auto iter = m_impl->Edges.find(std::make_pair(p[v], p[v + 1]));
if (iter != m_impl->Edges.end()) {
auto &edge = iter->second;
if (edge.teleport) {
Route.push_front(m_impl->Nodes[v].v);
glm::vec3 teleport(100000000.0f, 100000000.0f, 100000000.0f);
Route.push_front(teleport);
}
else {
Route.push_front(m_impl->Nodes[v].v);
}
}
else {
Route.push_front(m_impl->Nodes[v].v);
}
}
}
Route.push_front(start);
return Route;
}
IPath Route;
Route.push_back(start);
Route.push_back(end);