public Path CreatePath(Spot from, Spot to, Location realDst,
float minHowClose, bool AllowInvented,
ILocationHeuristics locationHeuristics)
{
Spot newTo = search(from, to, realDst, minHowClose, AllowInvented,
locationHeuristics);
if (newTo != null)
{
if (newTo.GetDistanceTo(to) <= minHowClose)
{
List <Spot> path = FollowTraceBack(from, newTo);
return(new Path(path));
}
}
return(null);
}
public List <Spot> GetAllSpots()
{
List <Spot> l = new List <Spot>();
for (int x = 0; x < CHUNK_SIZE; x++)
{
for (int y = 0; y < CHUNK_SIZE; y++)
{
Spot s = spots[x, y];
while (s != null)
{
l.Add(s);
s = s.next;
}
}
}
return(l);
}
private void ScoreSpot(Spot spotLinkedToCurrent, Spot destinationSpot, int currentSearchID, ILocationHeuristics locationHeuristics, PriorityQueue <Spot, float> prioritySpotQueue)
{
switch (searchScoreSpot)
{
case eSearchScoreSpot.A_Star:
ScoreSpot_A_Star(spotLinkedToCurrent, destinationSpot, currentSearchID, locationHeuristics, prioritySpotQueue);
break;
case eSearchScoreSpot.A_Star_With_Model_Avoidance:
ScoreSpot_A_Star_With_Model_And_Gradient_Avoidance(spotLinkedToCurrent, destinationSpot, currentSearchID, locationHeuristics, prioritySpotQueue);
break;
case eSearchScoreSpot.OriginalPather:
default:
ScoreSpot_Pather(spotLinkedToCurrent, destinationSpot, currentSearchID, locationHeuristics, prioritySpotQueue);
break;
}
}
// return old spot at conflicting poision
// or the same as passed the function if all was ok
public Spot AddSpot(Spot s)
{
Spot old = GetSpot(s.X, s.Y, s.Z);
if (old != null)
{
return(old);
}
int x, y;
s.chunk = this;
LocalCoords(s.X, s.Y, out x, out y);
s.next = spots[x, y];
spots[x, y] = s;
modified = true;
return(s);
}
private Path CreatePath(Spot from, Spot to, float minHowClose, ILocationHeuristics locationHeuristics)
{
Spot newTo = Search(from, to, minHowClose, locationHeuristics);
if (newTo != null)
{
if (newTo.GetDistanceTo(to) <= MaximumAllowedRangeFromTarget)
{
List <Spot> path = FollowTraceBack(from, newTo);
LastPath = new Path(path);
return(LastPath);
}
else
{
logger.WriteLine($"Closest spot is too far from target. {newTo.GetDistanceTo(to)}>{MaximumAllowedRangeFromTarget}");
return(null);
}
}
return(null);
}
public void ScoreSpot_A_Star(Spot spotLinkedToCurrent, Spot destinationSpot, int currentSearchID, ILocationHeuristics locationHeuristics, PriorityQueue <Spot, float> prioritySpotQueue)
{
//score spot
float G_Score = currentSearchSpot.traceBackDistance + currentSearchSpot.GetDistanceTo(spotLinkedToCurrent); // the movement cost to move from the starting point A to a given square on the grid, following the path generated to get there.
float H_Score = spotLinkedToCurrent.GetDistanceTo2D(destinationSpot) * heuristicsFactor; // the estimated movement cost to move from that given square on the grid to the final destination, point B. This is often referred to as the heuristic, which can be a bit confusing. The reason why it is called that is because it is a guess. We really don�t know the actual distance until we find the path, because all sorts of things can be in the way (walls, water, etc.). You are given one way to calculate H in this tutorial, but there are many others that you can find in other articles on the web.
float F_Score = G_Score + H_Score;
if (spotLinkedToCurrent.IsFlagSet(Spot.FLAG_WATER))
{
F_Score += 30;
}
if (!spotLinkedToCurrent.SearchScoreIsSet(currentSearchID) || F_Score < spotLinkedToCurrent.SearchScoreGet(currentSearchID))
{
// shorter path to here found
spotLinkedToCurrent.traceBack = currentSearchSpot;
spotLinkedToCurrent.traceBackDistance = G_Score;
spotLinkedToCurrent.SearchScoreSet(currentSearchID, F_Score);
prioritySpotQueue.Enqueue(spotLinkedToCurrent, -F_Score);
}
}
public List <Spot> FindAllSpots(Location l, float max_d)
{
List <Spot> sl = new List <Spot>();
int d = 0;
while ((float)d <= max_d + 0.1f)
{
for (int i = -d; i <= d; i++)
{
float x_up = l.X + (float)d;
float x_dn = l.X - (float)d;
float y_up = l.Y + (float)d;
float y_dn = l.Y - (float)d;
Spot s0 = GetSpot2D(x_up, l.Y + i);
Spot s2 = GetSpot2D(x_dn, l.Y + i);
Spot s1 = GetSpot2D(l.X + i, y_dn);
Spot s3 = GetSpot2D(l.X + i, y_up);
Spot[] sv = { s0, s1, s2, s3 };
foreach (Spot s in sv)
{
Spot ss = s;
while (ss != null)
{
float di = ss.GetDistanceTo(l);
if (di < max_d)
{
sl.Add(ss);
}
ss = ss.next;
}
}
}
d++;
}
return(sl);
}
public void MarkBlockedAt(Location loc)
{
Spot s = new Spot(loc);
s = AddSpot(s);
s.SetFlag(Spot.FLAG_BLOCKED, true);
// Find all paths leading though this one
List <Spot> sl = FindAllSpots(loc, 5.0f);
foreach (Spot sp in sl)
{
List <Location> paths = sp.GetPaths();
foreach (Location to in paths)
{
if (LineCrosses(sp.location, to, loc))
{
sp.RemovePathTo(to);
}
}
}
}
private Spot Search(Spot fromSpot, Spot destinationSpot, float minHowClose, ILocationHeuristics locationHeuristics)
{
currentSearchStartSpot = fromSpot;
searchID++;
int currentSearchID = searchID;
//searchProgress = new SearchProgress(fromSpot, destinationSpot, searchID);
// lowest first queue
PriorityQueue <Spot, float> prioritySpotQueue = new PriorityQueue <Spot, float>(); // (new SpotSearchComparer(dst, score)); ;
prioritySpotQueue.Enqueue(fromSpot, -fromSpot.GetDistanceTo(destinationSpot) * heuristicsFactor);
fromSpot.SearchScoreSet(currentSearchID, 0.0f);
fromSpot.traceBack = null;
fromSpot.traceBackDistance = 0;
// A* -ish algorithm
while (prioritySpotQueue.Count != 0 && SearchEnabled)
{
if (sleepMSBetweenSpots != 0)
{
Thread.Sleep(sleepMSBetweenSpots);
} // slow down the pathing
float prio;
currentSearchSpot = prioritySpotQueue.Dequeue(out prio); // .Value;
// force the world to be loaded
TriangleCollection tc = triangleWorld.GetChunkAt(currentSearchSpot.X, currentSearchSpot.Y);
if (currentSearchSpot.SearchIsClosed(currentSearchID))
{
continue;
}
currentSearchSpot.SearchClose(currentSearchID);
//update status
//if (!searchProgress.CheckProgress(currentSearchSpot)) { break; }
// are we there?
if (currentSearchSpot.location.GetDistanceTo(destinationSpot.location) <= minHowClose)
{
return(currentSearchSpot); // got there
}
//Find spots to link to
CreateSpotsAroundSpot(currentSearchSpot);
//score each spot around the current search spot and add them to the queue
foreach (Spot spotLinkedToCurrent in currentSearchSpot.GetPathsToSpots(this))
{
if (spotLinkedToCurrent != null && !spotLinkedToCurrent.IsBlocked() && !spotLinkedToCurrent.SearchIsClosed(currentSearchID))
{
ScoreSpot(spotLinkedToCurrent, destinationSpot, currentSearchID, locationHeuristics, prioritySpotQueue);
}
}
}
//we ran out of spots to search
//searchProgress.LogStatus(" search failed. ");
return(null); // :(
}
public bool IsUnderwaterOrInAir(Spot s)
{
return(IsUnderwaterOrInAir(s.GetLocation()));
}
public void CreateSpotsAroundSpot(Spot currentSearchSpot, bool mapped)
{
if (!mapped)
{
//mark as mapped
currentSearchSpot.SetFlag(Spot.FLAG_MPQ_MAPPED, true);
float PI = (float)Math.PI;
//loop through the spots in a circle around the current search spot
for (float radianAngle = 0; radianAngle < PI * 2; radianAngle += PI / 8)
{
//calculate the location of the spot at the angle
float nx = currentSearchSpot.X + (float)Math.Sin(radianAngle) * WantedStepLength; // *0.8f;
float ny = currentSearchSpot.Y + (float)Math.Cos(radianAngle) * WantedStepLength; // *0.8f;
PeekSpot = new Spot(nx, ny, currentSearchSpot.Z);
//find the spot at this location, stop if there is one already
if (GetSpot(nx, ny, currentSearchSpot.Z) != null)
{
continue;
} //found a spot so don't create a new one
//see if there is a close spot, stop if there is
if (FindClosestSpot(new Location(nx, ny, currentSearchSpot.Z), MinStepLength) != null)
{
continue;
} // TODO: this is slow
// check we can stand at this new location
float new_z;
int flags;
if (!triangleWorld.FindStandableAt(nx, ny, currentSearchSpot.Z - WantedStepLength * .75f, currentSearchSpot.Z + WantedStepLength * .75f, out new_z, out flags, toonHeight, toonSize))
{
continue;
}
//see if a spot already exists at this location
if (FindClosestSpot(new Location(nx, ny, new_z), MinStepLength) != null)
{
continue;
}
//if the step is blocked then stop
if (triangleWorld.IsStepBlocked(currentSearchSpot.X, currentSearchSpot.Y, currentSearchSpot.Z, nx, ny, new_z, toonHeight, toonSize, null))
{
continue;
}
//create a new spot and connect it
Spot newSpot = AddAndConnectSpot(new Spot(nx, ny, new_z));
//PeekSpot = newSpot;
//check flags return by triangleWorld.FindStandableA
if ((flags & ChunkedTriangleCollection.TriangleFlagDeepWater) != 0)
{
newSpot.SetFlag(Spot.FLAG_WATER, true);
}
if (((flags & ChunkedTriangleCollection.TriangleFlagModel) != 0) || ((flags & ChunkedTriangleCollection.TriangleFlagObject) != 0))
{
newSpot.SetFlag(Spot.FLAG_INDOORS, true);
}
if (triangleWorld.IsCloseToModel(newSpot.X, newSpot.Y, newSpot.Z, IsCloseToModelRange))
{
newSpot.SetFlag(Spot.FLAG_CLOSETOMODEL, true);
}
}
}
}
public void CreateSpotsAroundSpot(Spot currentSearchSpot)
{
CreateSpotsAroundSpot(currentSearchSpot, currentSearchSpot.IsFlagSet(Spot.FLAG_MPQ_MAPPED));
}
public void AddPathTo(Spot s)
{
AddPathTo(s.X, s.Y, s.Z);
}
public bool IsSet(Spot s)
{
return(data.ContainsKey(s));
}
private Spot Search(Spot fromSpot, Spot destinationSpot, float minHowClose, ILocationHeuristics locationHeuristics)
{
var searchDuration = new Stopwatch();
searchDuration.Start();
var timeSinceProgress = new Stopwatch();
timeSinceProgress.Start();
var closest = 99999f;
ClosestSpot = null;
currentSearchStartSpot = fromSpot;
searchID++;
int currentSearchID = searchID;
//searchProgress = new SearchProgress(fromSpot, destinationSpot, searchID);
// lowest first queue
PriorityQueue <Spot, float> prioritySpotQueue = new PriorityQueue <Spot, float>(); // (new SpotSearchComparer(dst, score)); ;
prioritySpotQueue.Enqueue(fromSpot, -fromSpot.GetDistanceTo(destinationSpot) * heuristicsFactor);
fromSpot.SearchScoreSet(currentSearchID, 0.0f);
fromSpot.traceBack = null;
fromSpot.traceBackDistance = 0;
// A* -ish algorithm
while (prioritySpotQueue.Count != 0 && SearchEnabled)
{
if (sleepMSBetweenSpots != 0)
{
Thread.Sleep(sleepMSBetweenSpots);
} // slow down the pathing
float prio;
currentSearchSpot = prioritySpotQueue.Dequeue(out prio); // .Value;
// force the world to be loaded
TriangleCollection tc = triangleWorld.GetChunkAt(currentSearchSpot.X, currentSearchSpot.Y);
if (currentSearchSpot.SearchIsClosed(currentSearchID))
{
continue;
}
currentSearchSpot.SearchClose(currentSearchID);
//update status
//if (!searchProgress.CheckProgress(currentSearchSpot)) { break; }
// are we there?
var distance = currentSearchSpot.location.GetDistanceTo(destinationSpot.location);
if (distance <= minHowClose)
{
return(currentSearchSpot); // got there
}
if (distance < closest)
{
// spamming as hell
//logger.WriteLine($"Closet spot is {distance} from the target");
closest = distance;
ClosestSpot = currentSearchSpot;
PeekSpot = ClosestSpot;
timeSinceProgress.Reset();
timeSinceProgress.Start();
}
if (timeSinceProgress.Elapsed.TotalSeconds > ProgressTimeoutSeconds || searchDuration.Elapsed.TotalSeconds > TimeoutSeconds)
{
logger.WriteLine("search failed, 10 seconds since last progress, returning the closest spot.");
return(ClosestSpot);
}
//Find spots to link to
CreateSpotsAroundSpot(currentSearchSpot);
//score each spot around the current search spot and add them to the queue
foreach (Spot spotLinkedToCurrent in currentSearchSpot.GetPathsToSpots(this))
{
if (spotLinkedToCurrent != null && !spotLinkedToCurrent.IsBlocked() && !spotLinkedToCurrent.SearchIsClosed(currentSearchID))
{
ScoreSpot(spotLinkedToCurrent, destinationSpot, currentSearchID, locationHeuristics, prioritySpotQueue);
}
}
}
//we ran out of spots to search
//searchProgress.LogStatus(" search failed. ");
if (ClosestSpot != null && closest < MaximumAllowedRangeFromTarget)
{
logger.WriteLine("search failed, returning the closest spot.");
return(ClosestSpot);
}
return(null);
}
public float GetDistanceTo2D(Spot s)
{
return((float)Math.Sqrt((Math.Pow((double)(this.X - s.X), 2.0) + Math.Pow((double)(this.Y - s.Y), 2.0))));
}
// Per spot:
// uint32 magic
// uint32 reserved;
// uint32 flags;
// float x;
// float y;
// float z;
// uint32 no_paths
// for each path
// float x;
// float y;
// float z;
public bool Load(string baseDir)
{
string fileName = FileName();
string filenamebin = baseDir + fileName;
System.IO.Stream stream = null;
System.IO.BinaryReader file = null;
int n_spots = 0;
int n_steps = 0;
try
{
stream = System.IO.File.OpenRead(filenamebin);
if (stream != null)
{
file = new System.IO.BinaryReader(stream);
if (file != null)
{
uint magic = file.ReadUInt32();
if (magic == FILE_MAGIC)
{
uint type;
while ((type = file.ReadUInt32()) != FILE_ENDMAGIC)
{
n_spots++;
uint reserved = file.ReadUInt32();
uint flags = file.ReadUInt32();
float x = file.ReadSingle();
float y = file.ReadSingle();
float z = file.ReadSingle();
uint n_paths = file.ReadUInt32();
if (x != 0 && y != 0)
{
Spot s = new Spot(x, y, z);
s.flags = flags;
for (uint i = 0; i < n_paths; i++)
{
n_steps++;
float sx = file.ReadSingle();
float sy = file.ReadSingle();
float sz = file.ReadSingle();
s.AddPathTo(sx, sy, sz);
}
AddSpot(s);
}
}
}
}
}
}
catch (System.IO.FileNotFoundException e)
{
logger.Debug(e.Message);
}
catch (System.IO.DirectoryNotFoundException e)
{
logger.Debug(e.Message);
}
catch (Exception e)
{
logger.Debug(e.Message);
}
if (file != null)
{
file.Close();
}
if (stream != null)
{
stream.Close();
}
Log("Loaded " + fileName + " " + n_spots + " spots " + n_steps + " steps");
modified = false;
return(false);
}
// return null if failed or the last spot in the path found
private Spot search(Spot src, Spot dst,
Location realDst,
float minHowClose, bool AllowInvented,
ILocationHeuristics locationHeuristics)
{
searchID++;
int count = 0;
int prevCount = 0;
int currentSearchID = searchID;
float heuristicsFactor = 1.3f;
DateTime pre = DateTime.Now;
DateTime lastSpam = pre;
// lowest first queue
var q = new PriorityQueue <Spot, float>(); // (new SpotSearchComparer(dst, score)); ;
q.Enqueue(src, -src.GetDistanceTo(dst) * heuristicsFactor);
Spot BestSpot = null;
//Set<Spot> closed = new Set<Spot>();
//SpotData<float> score = new SpotData<float>();
src.SearchScoreSet(currentSearchID, 0.0f);
src.traceBack = null;
// A* -ish algorithm
while (q.Count != 0) // && count < 100000)
{
float prio;
Spot spot = q.Dequeue(out prio); // .Value;
//q.Remove(spot);
if (spot.SearchIsClosed(currentSearchID))
{
continue;
}
spot.SearchClose(currentSearchID);
if (count % 100 == 0)
{
TimeSpan span = DateTime.Now.Subtract(lastSpam);
if (span.Seconds != 0 && BestSpot != null)
{
Thread.Sleep(50); // give glider a chance to stop us
int t = span.Seconds * 1000 + span.Milliseconds;
if (t == 0)
{
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst));
}
else
{
Log("searching.... " + (count + 1) + " d: " + BestSpot.location.GetDistanceTo(realDst) + " " +
(count - prevCount) * 1000 / t + " steps/s");
}
lastSpam = DateTime.Now;
prevCount = count;
}
}
count++;
if (spot.Equals(dst) || spot.location.GetDistanceTo(realDst) <= minHowClose)
{
TimeSpan ts = DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
/*if(t == 0)
* Log(" search found the way there. " + count);
* else
* Log(" search found the way there. " + count + " " + (count * 1000) / t + " steps/s");
*/
return(spot); // got there
}
if (BestSpot == null ||
spot.location.GetDistanceTo(realDst) < BestSpot.location.GetDistanceTo(realDst))
{
BestSpot = spot;
}
{
TimeSpan ts = DateTime.Now.Subtract(pre);
if (ts.Seconds > 15)
{
Log("too long search, aborting");
break;
}
}
float src_score = spot.SearchScoreGet(currentSearchID);
//PathGraph.Log("inspect: " + c + " score " + s);
int new_found = 0;
List <Spot> ll = spot.GetPathsToSpots(this);
foreach (Spot to in ll)
{
//Spot to = GetSpot(l);
if (to != null && !to.IsBlocked() && !to.SearchIsClosed(currentSearchID))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) + TurnCost(spot, to);
if (locationHeuristics != null)
{
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
}
if (to.GetFlag(Spot.FLAG_WATER))
{
new_score += 30;
}
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to); // very sloppy to not dequeue it
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
}
//hmm search the triangles :p
if (!spot.GetFlag(Spot.FLAG_MPQ_MAPPED))
{
var PI = (float)Math.PI;
spot.SetFlag(Spot.FLAG_MPQ_MAPPED, true);
for (float a = 0; a < PI * 2; a += PI / 8)
{
float nx = spot.X + (float)Math.Sin(a) * WantedStepLength; // *0.8f;
float ny = spot.Y + (float)Math.Cos(a) * WantedStepLength; // *0.8f;
Spot s = GetSpot(nx, ny, spot.Z);
if (s == null)
{
s = FindClosestSpot(new Location(nx, ny, spot.Z), MinStepLength); // TODO: this is slow
}
if (s != null)
{
// hmm, they should already be connected
}
else
{
float new_z;
int flags;
// gogo find a new one
//PathGraph.Log("gogo brave new world");
if (!triangleWorld.FindStandableAt(nx, ny,
spot.Z - WantedStepLength * .75f,
spot.Z + WantedStepLength * .75f,
out new_z, out flags, toonHeight, toonSize))
{
//Spot blocked = new Spot(nx, ny, spot.Z);
//blocked.SetFlag(Spot.FLAG_BLOCKED, true);
//AddSpot(blocked);
}
else
{
s = FindClosestSpot(new Location(nx, ny, new_z), MinStepLength);
if (s == null)
{
if (!triangleWorld.IsStepBlocked(spot.X, spot.Y, spot.Z, nx, ny, new_z,
toonHeight, toonSize, null))
{
var n = new Spot(nx, ny, new_z);
Spot to = AddAndConnectSpot(n);
if ((flags & ChunkedTriangleCollection.TriangleFlagDeepWater) != 0)
{
to.SetFlag(Spot.FLAG_WATER, true);
}
if (((flags & ChunkedTriangleCollection.TriangleFlagModel) != 0) ||
((flags & ChunkedTriangleCollection.TriangleFlagObject) != 0))
{
to.SetFlag(Spot.FLAG_INDOORS, true);
}
if (to != n || to.SearchIsClosed(currentSearchID))
{
// PathGraph.Log("/sigh");
}
else
{
// There should be a path from source to this one now
if (spot.HasPathTo(to.location))
{
float old_score = 1E30f;
float new_score = src_score + spot.GetDistanceTo(to) +
TurnCost(spot, to);
if (locationHeuristics != null)
{
new_score += locationHeuristics.Score(spot.X, spot.Y, spot.Z);
}
if (to.GetFlag(Spot.FLAG_WATER))
{
new_score += 30;
}
if (to.SearchScoreIsSet(currentSearchID))
{
old_score = to.SearchScoreGet(currentSearchID);
}
if (new_score < old_score)
{
// shorter path to here found
to.traceBack = spot;
//if (q.Contains(to))
// q.Remove(to);
to.SearchScoreSet(currentSearchID, new_score);
q.Enqueue(to, -(new_score + to.GetDistanceTo(dst) * heuristicsFactor));
new_found++;
}
}
else
{
// woot! I added a new one and it is not connected!?!?
//PathGraph.Log("/cry");
}
}
}
}
}
}
}
}
}
{
TimeSpan ts = DateTime.Now.Subtract(pre);
int t = ts.Seconds * 1000 + ts.Milliseconds;
if (t == 0)
{
t = 1;
}
Log(" search failed. " + (count * 1000) / t + " steps/s");
}
return(BestSpot); // :(
}
