More pathfinding improvements
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TotallyNotElite
parent
668a722f8f
commit
04c6f2176c
@ -10,7 +10,7 @@ extern bool init;
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extern bool ReadyForCommands;
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extern std::vector<CNavArea> areas;
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std::vector<Vector> findPath(Vector loc, Vector dest);
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bool NavTo(Vector dest, bool navToLocalCenter = true);
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bool NavTo(Vector dest, bool navToLocalCenter = true, bool persistent = true);
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int findClosestNavSquare(Vector vec);
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bool Prepare();
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void CreateMove();
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@ -35,7 +35,7 @@ bool HasLowAmmo()
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bool HasLowHealth()
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{
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return float(LOCAL_E->m_iHealth()) / float(LOCAL_E->m_iMaxHealth()) < 0.45;
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return float(LOCAL_E->m_iHealth()) / float(LOCAL_E->m_iMaxHealth()) < 0.64;
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}
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CachedEntity *nearestHealth()
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@ -141,7 +141,7 @@ Timer cd2{};
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Timer cd3{};
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void CreateMove()
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{
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if (!nav::Prepare() || !enable)
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if ( !enable || !nav::Prepare())
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return;
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if (CE_BAD(LOCAL_E) || !LOCAL_E->m_bAlivePlayer())
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return;
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@ -8,7 +8,7 @@ std::vector<CNavArea> areas;
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bool init = false;
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bool pathfinding = true;
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bool ReadyForCommands = false;
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std::vector<std::pair<int, int>> ignores;
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std::vector<std::pair<int, int>> ignoredConnections;
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static settings::Bool enabled{ "misc.pathing", "true" };
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@ -27,10 +27,10 @@ struct MAP : public micropather::Graph
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std::unique_ptr<micropather::MicroPather> pather;
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bool IsIgnored(int currState, int connectionID)
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{
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for (int i = 0; i < ignores.size(); i++)
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for (int i = 0; i < ignoredConnections.size(); i++)
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{
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if (ignores.at(i).first == currState &&
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ignores.at(i).second == connectionID)
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if (ignoredConnections.at(i).first == currState &&
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ignoredConnections.at(i).second == connectionID)
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{
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return true;
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}
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@ -157,30 +157,42 @@ void Init()
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}
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pathfinding = true;
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}
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std::string lastmap;
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bool Prepare()
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{
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if (!enabled)
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return false;
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if (!init)
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{
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pathfinding = false;
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init = true;
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Init();
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if (lastmap == g_IEngine->GetLevelName())
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{
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init = true;
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}
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else
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{
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lastmap = g_IEngine->GetLevelName();
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pathfinding = false;
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init = true;
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Init();
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}
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}
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if (!pathfinding)
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return false;
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return true;
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}
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std::vector<int> localAreas(6);
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int findClosestNavSquare(Vector vec)
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{
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if (localAreas.size() > 5)
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localAreas.erase(localAreas.begin());
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std::vector<std::pair<int, CNavArea *>> overlapping;
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for (int i = 0; i < areas.size(); i++)
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{
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if (areas.at(i).IsOverlapping(vec))
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{
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overlapping.push_back({ i, &areas.at(i) });
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if (std::count(localAreas.begin(), localAreas.end(), i) < 2)
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overlapping.push_back({ i, &areas.at(i) });
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}
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}
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@ -195,6 +207,26 @@ int findClosestNavSquare(Vector vec)
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bestSquare = overlapping.at(i).first;
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}
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}
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if (bestSquare != -1)
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{
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if (vec == g_pLocalPlayer->v_Origin)
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localAreas.push_back(bestSquare);
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return bestSquare;
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}
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for (int i = 0; i < areas.size(); i++)
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{
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float dist = areas.at(i).m_center.DistTo(vec);
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if (dist < bestDist)
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{
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if (std::count(localAreas.begin(), localAreas.end(), i) < 2)
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{
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bestDist = dist;
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bestSquare = i;
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}
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}
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}
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if (vec == g_pLocalPlayer->v_Origin)
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localAreas.push_back(bestSquare);
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return bestSquare;
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}
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@ -224,10 +256,11 @@ std::vector<Vector> findPath(Vector loc, Vector dest)
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}
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static Timer inactivity{};
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Timer lastJump{};
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static Timer lastJump{};
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static std::vector<Vector> crumbs;
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static bool ensureArrival;
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bool NavTo(Vector dest, bool navToLocalCenter)
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bool NavTo(Vector dest, bool navToLocalCenter, bool persistent)
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{
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if (CE_BAD(LOCAL_E))
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return false;
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@ -241,46 +274,57 @@ bool NavTo(Vector dest, bool navToLocalCenter)
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if (!navToLocalCenter)
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crumbs.erase(crumbs.begin());
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inactivity.update();
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ensureArrival = persistent;
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return true;
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}
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static Vector lastArea = { 0.0f, 0.0f, 0.0f };
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void ignoreConnection()
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{
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if (crumbs.size() < 1)
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return;
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int closestArea = findClosestNavSquare(g_pLocalPlayer->v_Origin);
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if (closestArea == -1)
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CNavArea *currnode = nullptr;
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for (int i = 0; i < areas.size(); i++)
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{
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if (areas.at(i).m_center == lastArea)
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{
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currnode = &areas.at(i);
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break;
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}
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}
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if (!currnode)
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return;
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CNavArea currnode = areas.at(closestArea);
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CNavArea nextnode;
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CNavArea *nextnode = nullptr;
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for (int i = 0; i < areas.size(); i++)
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{
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if (areas.at(i).m_center == crumbs.at(0))
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{
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nextnode = areas.at(i);
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nextnode = &areas.at(i);
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break;
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}
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}
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if (!nextnode)
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return;
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for (auto i : currnode.m_connections)
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for (auto i : currnode->m_connections)
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{
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if (i.area->m_id == nextnode.m_id)
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if (i.area->m_id == nextnode->m_id)
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{
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ignores.push_back({currnode.m_id, i.area->m_id});
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ignoredConnections.push_back({ currnode->m_id, nextnode->m_id });
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TF2MAP->pather->Reset();
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return;
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}
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}
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}
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Timer ignoreReset{};
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static Timer ignoreReset{};
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void clearIgnores()
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{
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if (ignoreReset.test_and_set(120000))
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if (ignoreReset.test_and_set(180000))
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{
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ignores.clear();
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ignoredConnections.clear();
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if (TF2MAP && TF2MAP->pather)
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TF2MAP->pather->Reset();
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}
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@ -296,11 +340,13 @@ void CreateMove()
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if (crumbs.empty())
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{
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ReadyForCommands = true;
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ensureArrival = false;
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return;
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}
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ReadyForCommands = false;
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if (g_pLocalPlayer->v_Origin.DistTo(crumbs.at(0)) < 30.0f)
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{
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lastArea = crumbs.at(0);
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crumbs.erase(crumbs.begin());
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inactivity.update();
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}
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@ -311,24 +357,41 @@ void CreateMove()
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current_user_cmd->buttons |= IN_JUMP;
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if (inactivity.test_and_set(5000))
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{
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logging::Info("Pathing: NavBot inactive for too long. Canceling tasks and "
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"ignoring connection...");
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ignoreConnection();
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crumbs.clear();
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if (ensureArrival)
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{
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logging::Info("Pathing: NavBot inactive for too long. Ignoring "
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"connection and finding another path...");
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// NavTo(crumbs.back(), true, true);
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crumbs = findPath(g_pLocalPlayer->v_Origin, crumbs.back());
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inactivity.update();
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}
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else
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{
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logging::Info(
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"Pathing: NavBot inactive for too long. Canceling tasks and "
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"ignoring connection...");
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crumbs.clear();
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}
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return;
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}
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WalkTo(crumbs.at(0));
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}
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CatCommand navinit("nav_init", "Debug nav init",
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[](const CCommand &args) { Prepare(); });
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CatCommand navinit("nav_init", "Debug nav init", [](const CCommand &args) {
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lastmap = "";
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init = false;
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Prepare();
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});
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Vector loc;
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CatCommand navset("nav_set", "Debug nav set",
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[](const CCommand &args) { loc = LOCAL_E->m_vecOrigin(); });
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CatCommand navprint("nav_print", "Debug nav print",
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[](const CCommand &args) { logging::Info(format(findClosestNavSquare(g_pLocalPlayer->v_Origin)).c_str()); });
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CatCommand navprint("nav_print", "Debug nav print", [](const CCommand &args) {
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logging::Info(
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format(findClosestNavSquare(g_pLocalPlayer->v_Origin)).c_str());
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});
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CatCommand navfind("nav_find", "Debug nav find", [](const CCommand &args) {
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std::vector<Vector> path = findPath(g_pLocalPlayer->v_Origin, loc);
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@ -346,7 +409,7 @@ CatCommand navfind("nav_find", "Debug nav find", [](const CCommand &args) {
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});
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CatCommand navpath("nav_path", "Debug nav path", [](const CCommand &args) {
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if (NavTo(loc))
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if (NavTo(loc, true, true))
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{
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logging::Info("Pathing: Success! Walking to path...");
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}
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