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WIP: Pathfinding Nr. 4

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This commit is contained in:
TotallyNotElite 2018-08-15 19:41:47 +02:00
parent ea4dfb53d0
commit 0054b64cb3
4 changed files with 54 additions and 56 deletions
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6
CMakeLists.txt
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@ -110,10 +110,6 @@ target_include_directories(cathook SYSTEM PRIVATE
"external/source-sdk-2013-headers/mp/src/tier1"
"external/source-sdk-2013-headers/mp/src")
target_include_directories(cathook PRIVATE "external/ucccccp")
target_include_directories(cathook PRIVATE "external/MicroPather")
target_include_directories(cathook PRIVATE "external/TF2_NavFile_Reader")
if(EnableWarnings)
target_compile_options(cathook PRIVATE -Wall -Wextra)
else()
@ -141,7 +137,7 @@ endif()
add_subdirectory(src)
add_subdirectory(include)
add_subdirectory(external/MicroPather)
add_subdirectory(external)
add_custom_command(TARGET cathook POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:cathook> "${CMAKE_SOURCE_DIR}/bin/$<TARGET_FILE_NAME:cathook>")

6
external/CMakeLists.txt vendored Executable file
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@ -0,0 +1,6 @@
target_sources(cathook PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/MicroPather/micropather.cpp")
target_include_directories(cathook PRIVATE "${CMAKE_CURRENT_LIST_DIR}/MicroPather")
target_include_directories(cathook PRIVATE "${CMAKE_CURRENT_LIST_DIR}/ucccccp")
target_include_directories(cathook PRIVATE "${CMAKE_CURRENT_LIST_DIR}/TF2_NavFile_Reader")

2
external/TF2_NavFile_Reader vendored

@ -1 +1 @@
Subproject commit 65818ea2cda4fa3f8e3f17e272692543f704d1f4
Subproject commit d6816a1b67768227c7ed839fb7278fa47b63f643

96
src/navparser.cpp
View File

@ -1,30 +1,43 @@
#include "common.hpp"
#include "micropather.h"
#include "pwd.h"
namespace nav
{
CNavFile navfile(nullptr);
CNavArea LocalNav;
std::vector<CNavArea> areas;
static CNavFile navfile(nullptr);
// Todo: CNavArea* to navfile
static std::vector<CNavArea> areas;
// std::vector<CNavArea> SniperAreas;
// Todo fix
int FindInVector(int id)
{
for (int i = 0; i < areas.size(); i++)
{
if (areas.at(i).m_id == id)
return i;
}
}
struct MAP : public micropather::Graph
{
float LeastCostEstimate(void *stateStart, void *stateEnd)
{
int *start = (int *) (stateStart);
int *end = (int *) (stateEnd);
return areas.at(*start).m_center.DistTo(areas.at(*end).m_center);
CNavArea *start = static_cast<CNavArea *>(stateStart);
CNavArea *end = static_cast<CNavArea *>(stateEnd);
float dist = start->m_center.DistTo(end->m_center);
return dist;
}
void AdjacentCost(void *state,
MP_VECTOR<micropather::StateCost> *adjacent)
void AdjacentCost(void *state, MP_VECTOR<micropather::StateCost> *adjacent)
{
int *area = (int *) (state);
auto &neighbours = areas.at(*area).m_connections;
CNavArea *area = static_cast<CNavArea *>(state);
auto &neighbours = area->m_connections;
for (auto i : neighbours)
{
adjacent->push_back(micropather::StateCost{
(void *) (i.area->m_id),
i.area->m_center.DistTo(areas.at(*area).m_center) });
micropather::StateCost cost;
cost.state =
static_cast<void *>(&areas.at(FindInVector(i.area->m_id)));
cost.cost = area->m_center.DistTo(i.area->m_center);
adjacent->push_back(cost);
}
}
void PrintStateInfo(void *state)
@ -38,31 +51,31 @@ struct MAP : public micropather::Graph
virtual ~MAP()
{
}
};
void Init()
{
// TODO: Improve performance
// std::string lvlname(g_IEngine->GetLevelName());
// int dotpos = lvlname.find('.');
// lvlname = lvlname.substr(0, dotpos);
std::string lvlname(g_IEngine->GetLevelName());
int dotpos = lvlname.find('.');
lvlname = lvlname.substr(0, dotpos);
// std::string lvldir("/home/elite/Schreibtisch/tf2/maps/");
// lvldir.append(lvlname);
// lvldir.append(".nav");
// FIXME temp
std::string lvldir = "/home/elite/Schreibtisch/tf2/maps/cp_dustbowl.nav";
std::string lvldir("/home/");
passwd *pwd = getpwuid(getuid());
lvldir.append(pwd->pw_name);
lvldir.append("/.steam/steam/steamapps/common/Team Fortress 2/tf/");
lvldir.append(lvlname);
lvldir.append(".nav");
logging::Info(lvldir.c_str());
for (auto &it : areas)
it = {};
areas.empty();
navfile = CNavFile(lvldir.c_str());
if (!navfile.m_isOK)
logging::Info("Invalid Nav File");
else
{
areas.empty();
areas.reserve(navfile.m_areas.size());
for (auto i : navfile.m_areas)
areas.push_back(i);
}
@ -98,14 +111,18 @@ std::vector<Vector> findPath(Vector loc, Vector dest)
logging::Info("Initiating map");
MAP TF2MAP;
logging::Info("Initiating pather");
micropather::MicroPather pather(&TF2MAP, 5000, 8, true);
// Todo: Make MicroPather a member of TF2MAP
micropather::MicroPather pather(&TF2MAP, areas.size(), 8, true);
logging::Info("Solving");
pather.Solve((void *) (&id_loc), (void *) (&id_dest), &pathNodes, &cost);
int result = pather.Solve(static_cast<void *>(&areas.at(id_loc)),
static_cast<void *>(&areas.at(id_dest)),
&pathNodes, &cost);
logging::Info(format("Result:", result).c_str());
logging::Info("Converting to vector");
std::vector<Vector> path;
for (int i = 0; i < pathNodes.size(); i++)
{
path.push_back(areas.at(*(int *) (pathNodes[i])).m_center);
path.push_back(static_cast<CNavArea *>(pathNodes[i])->m_center);
}
return path;
}
@ -123,6 +140,7 @@ CatCommand navfind("nav_find", "Debug nav find", [](const CCommand &args) {
if (path.empty())
{
logging::Info("Pathing: No path found");
return;
}
std::string output = "Pathing: Path found! Path: ";
for (int i = 0; i < path.size(); i++)
@ -132,26 +150,4 @@ CatCommand navfind("nav_find", "Debug nav find", [](const CCommand &args) {
logging::Info(output.c_str());
});
// Timer cd{};
// void CreateMove()
// {
// if (navfile.m_isOK)
// {
// if (cd.test_and_set(300)) {
// for (auto i : navfile.m_areas) {
// Vector vec = LOCAL_E->m_vecOrigin();
// if (i.Contains(vec)) {
// LocalNav = i;
// break;
// }
// }
// }
// if (SniperAreas.size()) {
// auto res =
// areas[LocalNav.m_id]->FindPath(areas[SniperAreas[0].m_id]);
// for (auto r : res)
// logging::Info("%f, %f, %f", r->pos.x, r->pos.y, r->pos.z);
// }
// }
// }
} // namespace nav