Type 2 connections for navbot (vischeck)
This commit is contained in:
TotallyNotElite
parent
d5c135df89
commit
126cd0028e
@ -24,32 +24,22 @@ bool Prepare();
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void CreateMove();
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void Draw();
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struct inactivityTracker
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size_t FindInVector(size_t id);
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class inactivityTracker
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{
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// Map for storing inactivity per connection
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std::map<std::pair<int, int>, unsigned int> inactives;
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void reset()
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std::map<std::pair<int, int>, std::pair<int, unsigned int>> inactives;
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bool vischeckConnection(std::pair<int, int> &connection)
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{
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// inactives.clear();
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Vector begin = areas.at(FindInVector(connection.first)).m_center;
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Vector end = areas.at(FindInVector(connection.second)).m_center;
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begin.z += 72;
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end.z += 72;
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bool result = IsVectorVisible(begin, end, false);
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return result;
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}
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void addTime(std::pair<int, int> connection, Timer &timer,
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bool &resetPather)
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{
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if (inactives.find(connection) == inactives.end())
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{
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inactives[connection] = 0;
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}
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inactives[connection] =
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inactives[connection] +
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(std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now() - timer.last)
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.count());
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if (inactives[connection] >= 5000)
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resetPather = true;
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}
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void addTime(std::pair<Vector, Vector> connection, Timer &timer,
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bool &resetPather)
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std::pair<int, int> VectorToId(std::pair<Vector, Vector> &connection)
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{
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CNavArea *currnode = nullptr;
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for (size_t i = 0; i < areas.size(); i++)
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@ -61,7 +51,7 @@ struct inactivityTracker
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}
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}
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if (!currnode)
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return;
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return { -1, -1 };
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CNavArea *nextnode = nullptr;
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for (size_t i = 0; i < areas.size(); i++)
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@ -73,21 +63,197 @@ struct inactivityTracker
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}
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}
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if (!nextnode)
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return;
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return { -1, -1 };
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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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{
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addTime(std::pair{ currnode->m_id, nextnode->m_id }, timer,
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resetPather);
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return;
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return { currnode->m_id, nextnode->m_id };
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}
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}
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}
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unsigned int getTime(std::pair<int, int> connection)
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public:
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void reset()
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{
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for (auto i : inactives)
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{
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// What is this tf
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i.second.second = 0;
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}
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}
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bool IsIgnored(std::pair<int, int> connection)
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{
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if (inactives.find(connection) == inactives.end())
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{
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return false;
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}
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auto &pair = inactives.at(connection);
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if (pair.second >= 5000)
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{
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pair.first = 1;
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return true;
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}
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if (pair.first == 2 && !vischeckConnection(connection))
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{
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logging::Info(
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"Ignored a connection due to type 2 connection type.");
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return true;
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}
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return false;
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}
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void AddTime(std::pair<int, int> connection, Timer &timer,
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bool &resetPather)
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{
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if (inactives.find(connection) == inactives.end())
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{
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inactives[connection] = { 0, 0 };
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}
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auto &pair = inactives.at(connection);
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pair.second = pair.second +
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(std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now() - timer.last)
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.count());
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if (pair.second >= 5000)
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resetPather = true;
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}
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void AddTime(std::pair<Vector, Vector> connection, Timer &timer,
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bool &resetPather)
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{
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auto pair = VectorToId(connection);
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if (pair.first == -1 || pair.second == -1)
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return;
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AddTime(pair, timer, resetPather);
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}
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bool CheckType2(std::pair<int, int> connection)
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{
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// Fix calls vischeckConnection too often
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if (inactives.find(connection) == inactives.end())
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{
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inactives[connection] = { 0, 0 };
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}
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auto pair = inactives.at(connection);
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switch (pair.first)
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{
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case 0:
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if (!vischeckConnection(connection))
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{
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inactives[connection].first = 2;
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return true;
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}
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case 1:
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case 2:
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return false;
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}
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}
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bool CheckType2(std::pair<Vector, Vector> connection)
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{
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auto pair = VectorToId(connection);
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if (pair.first == -1 || pair.second == -1)
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return false;
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return CheckType2(pair);
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}
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}; // namespace nav
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struct MAP : public micropather::Graph
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{
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std::unique_ptr<micropather::MicroPather> pather;
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// Maps already utilize dynamic allocation and we don't need a custom
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// constructor
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inactivityTracker inactiveTracker;
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Vector GetClosestCornerToArea(CNavArea *CornerOf, CNavArea *Target)
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{
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std::array<Vector, 4> corners;
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corners.at(0) = CornerOf->m_nwCorner; // NW
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corners.at(1) = CornerOf->m_seCorner; // SE
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corners.at(2) = Vector{ CornerOf->m_seCorner.x, CornerOf->m_nwCorner.y,
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CornerOf->m_nwCorner.z }; // NE
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corners.at(3) = Vector{ CornerOf->m_nwCorner.x, CornerOf->m_seCorner.y,
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CornerOf->m_seCorner.z }; // SW
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Vector bestVec;
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float bestDist = FLT_MAX;
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for (size_t i = 0; i < corners.size(); i++)
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{
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float dist = corners.at(i).DistTo(Target->m_center);
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if (dist < bestDist)
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{
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bestVec = corners.at(i);
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bestDist = dist;
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}
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}
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Vector bestVec2;
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float bestDist2 = FLT_MAX;
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for (size_t i = 0; i < corners.size(); i++)
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{
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if (corners.at(i) == bestVec2)
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continue;
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float dist = corners.at(i).DistTo(Target->m_center);
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if (dist < bestDist2)
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{
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bestVec2 = corners.at(i);
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bestDist2 = dist;
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}
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}
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return (bestVec + bestVec2) / 2;
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}
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float GetZBetweenAreas(CNavArea *start, CNavArea *end)
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{
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float z1 = GetClosestCornerToArea(start, end).z;
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float z2 = GetClosestCornerToArea(end, start).z;
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return z2 - z1;
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}
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// Function required by MicroPather for getting an estimated cost
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float LeastCostEstimate(void *stateStart, void *stateEnd)
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{
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CNavArea *start = static_cast<CNavArea *>(stateStart);
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CNavArea *end = static_cast<CNavArea *>(stateEnd);
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float dist = start->m_center.DistTo(end->m_center);
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return dist;
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}
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// Function required by MicroPather to retrieve neighbours and their
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// associated costs.
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void AdjacentCost(void *state, MP_VECTOR<micropather::StateCost> *adjacent)
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{
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CNavArea *area = static_cast<CNavArea *>(state);
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auto &neighbours = area->m_connections;
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for (auto i : neighbours)
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{
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if (GetZBetweenAreas(area, i.area) > 42)
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continue;
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if (inactiveTracker.IsIgnored(
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std::pair{ area->m_id, i.area->m_id }))
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continue;
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micropather::StateCost cost;
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cost.state =
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static_cast<void *>(&areas.at(FindInVector(i.area->m_id)));
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cost.cost = area->m_center.DistTo(i.area->m_center);
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adjacent->push_back(cost);
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}
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}
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void PrintStateInfo(void *state)
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{
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CNavArea *area = static_cast<CNavArea *>(state);
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logging::Info(format(area->m_center.x, " ", area->m_center.y, " ",
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area->m_center.z)
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.c_str());
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}
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MAP(size_t size)
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{
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pather =
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std::make_unique<micropather::MicroPather>(this, size, 6, true);
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}
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~MAP()
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{
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return inactives[connection];
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}
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};
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@ -8,12 +8,15 @@ std::vector<CNavArea> areas;
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bool init = false;
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static bool pathfinding = true;
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bool ReadyForCommands = false;
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inactivityTracker inactiveTracker;
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static settings::Bool enabled{ "misc.pathing", "true" };
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static settings::Bool draw{ "misc.pathing.draw", "false" };
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static bool threadingFinished = false;
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static std::atomic<bool> threadingFinished;
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// Todo fix
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static std::unique_ptr<MAP> TF2MAP;
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// Function to get place in Vector by connection ID
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// Todo: find an alternative for this, maybe a map for storing ptrs to the
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// std::vector?
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size_t FindInVector(size_t id)
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{
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for (size_t i = 0; i < areas.size(); i++)
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@ -23,110 +26,6 @@ size_t FindInVector(size_t id)
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}
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}
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struct MAP : public micropather::Graph
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{
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std::unique_ptr<micropather::MicroPather> pather;
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// Function to check if a connection is ignored
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bool IsIgnored(size_t currState, size_t connectionID)
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{
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if (inactiveTracker.getTime({ currState, connectionID }) >= 5000)
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return true;
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return false;
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}
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Vector GetClosestCornerToArea(CNavArea *CornerOf, CNavArea *Target)
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{
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std::array<Vector, 4> corners;
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corners.at(0) = CornerOf->m_nwCorner; // NW
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corners.at(1) = CornerOf->m_seCorner; // SE
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corners.at(2) = Vector{ CornerOf->m_seCorner.x, CornerOf->m_nwCorner.y,
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CornerOf->m_nwCorner.z }; // NE
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corners.at(3) = Vector{ CornerOf->m_nwCorner.x, CornerOf->m_seCorner.y,
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CornerOf->m_seCorner.z }; // SW
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Vector bestVec;
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float bestDist = FLT_MAX;
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for (size_t i = 0; i < corners.size(); i++)
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{
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float dist = corners.at(i).DistTo(Target->m_center);
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if (dist < bestDist)
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{
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bestVec = corners.at(i);
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bestDist = dist;
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}
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}
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Vector bestVec2;
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float bestDist2 = FLT_MAX;
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for (size_t i = 0; i < corners.size(); i++)
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{
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if (corners.at(i) == bestVec2)
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continue;
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float dist = corners.at(i).DistTo(Target->m_center);
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if (dist < bestDist2)
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{
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bestVec2 = corners.at(i);
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bestDist2 = dist;
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}
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}
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return (bestVec + bestVec2) / 2;
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}
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float GetZBetweenAreas(CNavArea *start, CNavArea *end)
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{
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float z1 = GetClosestCornerToArea(start, end).z;
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float z2 = GetClosestCornerToArea(end, start).z;
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return z2 - z1;
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}
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// Function required by MicroPather for getting an estimated cost
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float LeastCostEstimate(void *stateStart, void *stateEnd)
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{
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CNavArea *start = static_cast<CNavArea *>(stateStart);
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CNavArea *end = static_cast<CNavArea *>(stateEnd);
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float dist = start->m_center.DistTo(end->m_center);
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return dist;
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}
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// Function required by MicroPather to retrieve neighbours and their
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// associated costs.
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void AdjacentCost(void *state, MP_VECTOR<micropather::StateCost> *adjacent)
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{
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CNavArea *area = static_cast<CNavArea *>(state);
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auto &neighbours = area->m_connections;
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for (auto i : neighbours)
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{
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if (GetZBetweenAreas(area, i.area) > 42)
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continue;
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if (IsIgnored(area->m_id, i.area->m_id))
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continue;
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micropather::StateCost cost;
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cost.state =
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static_cast<void *>(&areas.at(FindInVector(i.area->m_id)));
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cost.cost = area->m_center.DistTo(i.area->m_center);
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adjacent->push_back(cost);
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}
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}
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void PrintStateInfo(void *state)
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{
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CNavArea *area = static_cast<CNavArea *>(state);
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logging::Info(format(area->m_center.x, " ", area->m_center.y, " ",
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area->m_center.z)
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.c_str());
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}
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MAP(size_t size)
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{
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pather =
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std::make_unique<micropather::MicroPather>(this, size, 6, true);
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}
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~MAP()
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{
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}
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};
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static std::unique_ptr<MAP> TF2MAP;
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void Init()
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{
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// Get NavFile location
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@ -161,10 +60,11 @@ void Init()
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size = 7000;
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// Initiate "Map", contains micropather object
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TF2MAP = std::make_unique<MAP>(size);
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TF2MAP->inactiveTracker.reset();
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}
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if (!areas.empty())
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pathfinding = true;
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threadingFinished = true;
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threadingFinished.store(true);
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}
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static std::string lastmap;
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@ -175,6 +75,7 @@ bool Prepare()
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return false;
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if (!init)
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{
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// Don't reinit if same map
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if (lastmap == g_IEngine->GetLevelName())
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{
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init = true;
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@ -184,12 +85,14 @@ bool Prepare()
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lastmap = g_IEngine->GetLevelName();
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pathfinding = false;
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init = true;
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threadingFinished = false;
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threadingFinished.store(false);
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// Parsing CNavFile takes time, run it in a seperate thread
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std::thread initer(Init);
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// We need to either detach or join to avoid std::terminate
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initer.detach();
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}
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}
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if (!pathfinding || !threadingFinished)
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if (!pathfinding || !threadingFinished.load())
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return false;
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return true;
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}
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@ -211,7 +114,7 @@ int findClosestNavSquare(Vector vec)
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// Make sure we're not stuck on the same area for too long
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if (std::count(findClosestNavSquare_localAreas.begin(),
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findClosestNavSquare_localAreas.end(), i) < 3)
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overlapping.emplace_back( i, &areas.at(i) );
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overlapping.emplace_back(i, &areas.at(i));
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}
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}
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@ -290,8 +193,8 @@ static Timer lastJump{};
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static std::vector<Vector> crumbs;
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// Bot will keep trying to get to the target even if it fails a few times
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static bool ensureArrival;
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// Priority value for current instructions, only higher priority can overwrite
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// itlocalAreas
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// Priority value for current instructions, only higher or equal priorites can
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// overwrite it
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int priority = 0;
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static Vector lastArea = { 0.0f, 0.0f, 0.0f };
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@ -315,12 +218,13 @@ bool NavTo(Vector dest, bool navToLocalCenter, bool persistent,
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if (!crumbs.empty())
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{
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bool reset = false;
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inactiveTracker.addTime({ lastArea, crumbs.at(0) }, inactivity, reset);
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TF2MAP->inactiveTracker.AddTime({ lastArea, crumbs.at(0) }, inactivity,
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reset);
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if (reset)
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TF2MAP->pather->Reset();
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}
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crumbs.clear();
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crumbs = std::move(path);
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crumbs = std::move(path);
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lastArea = crumbs.at(0);
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if (!navToLocalCenter && crumbs.size() > 1)
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crumbs.erase(crumbs.begin());
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@ -337,21 +241,43 @@ void clearInstructions()
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}
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static Timer ignoreReset{};
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static Timer patherReset{};
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// Function for removing ignores
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void clearIgnores()
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{
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if (ignoreReset.test_and_set(180000))
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if (!TF2MAP || !TF2MAP->pather)
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return;
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if (ignoreReset.test_and_set(120000))
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TF2MAP->inactiveTracker.reset();
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if (patherReset.test_and_set(30000))
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TF2MAP->pather->Reset();
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}
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void Repath()
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{
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if (ensureArrival)
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{
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inactiveTracker.reset();
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if (TF2MAP && TF2MAP->pather)
|
||||
TF2MAP->pather->Reset();
|
||||
logging::Info("Pathing: NavBot inactive for too long. Ignoring "
|
||||
"connection and finding another path...");
|
||||
// Throwaway int
|
||||
int i1, i2;
|
||||
// Find a new path
|
||||
crumbs = findPath(g_pLocalPlayer->v_Origin, crumbs.back(), i1, i2);
|
||||
}
|
||||
else
|
||||
{
|
||||
logging::Info(
|
||||
"Pathing: NavBot inactive for too long. Canceling tasks and "
|
||||
"ignoring connection...");
|
||||
// Wait for new instructions
|
||||
crumbs.clear();
|
||||
}
|
||||
}
|
||||
|
||||
// Main movement function, gets path from NavTo
|
||||
void CreateMove()
|
||||
{
|
||||
if (!enabled || !threadingFinished)
|
||||
if (!enabled || !threadingFinished.load())
|
||||
return;
|
||||
if (CE_BAD(LOCAL_E))
|
||||
return;
|
||||
@ -386,30 +312,26 @@ void CreateMove()
|
||||
if (crumbs.at(0).z - g_pLocalPlayer->v_Origin.z > 18 &&
|
||||
lastJump.test_and_set(200))
|
||||
current_user_cmd->buttons |= IN_JUMP;
|
||||
// Check if were dealing with a type 2 connection
|
||||
if (inactivity.check(3000) &&
|
||||
TF2MAP->inactiveTracker.CheckType2({ lastArea, crumbs.at(0) }))
|
||||
{
|
||||
logging::Info("Pathing: Type 2 connection detected!");
|
||||
TF2MAP->pather->Reset();
|
||||
Repath();
|
||||
inactivity.update();
|
||||
return;
|
||||
}
|
||||
// If inactive for too long
|
||||
if (inactivity.check(5000))
|
||||
{
|
||||
// Ignore connection
|
||||
bool i3 = false;
|
||||
inactiveTracker.addTime({ lastArea, crumbs.at(0) }, inactivity, i3);
|
||||
if (i3)
|
||||
bool resetPather = false;
|
||||
TF2MAP->inactiveTracker.AddTime({ lastArea, crumbs.at(0) }, inactivity,
|
||||
resetPather);
|
||||
if (resetPather)
|
||||
TF2MAP->pather->Reset();
|
||||
if (ensureArrival)
|
||||
{
|
||||
logging::Info("Pathing: NavBot inactive for too long. Ignoring "
|
||||
"connection and finding another path...");
|
||||
// Find a new path
|
||||
int i1, i2;
|
||||
crumbs = findPath(g_pLocalPlayer->v_Origin, crumbs.back(), i1, i2);
|
||||
}
|
||||
else
|
||||
{
|
||||
logging::Info(
|
||||
"Pathing: NavBot inactive for too long. Canceling tasks and "
|
||||
"ignoring connection...");
|
||||
// Wait for new instructions
|
||||
crumbs.clear();
|
||||
}
|
||||
Repath();
|
||||
inactivity.update();
|
||||
return;
|
||||
}
|
||||
@ -490,15 +412,18 @@ CatCommand navpath("nav_path", "Debug nav path", [](const CCommand &args) {
|
||||
}
|
||||
});
|
||||
|
||||
CatCommand navpathnolocal("nav_path_nolocal", "Debug nav path", [](const CCommand &args) {
|
||||
if (NavTo(loc, false, true, 50 + priority))
|
||||
{
|
||||
logging::Info("Pathing: Success! Walking to path...");
|
||||
}
|
||||
else
|
||||
{
|
||||
logging::Info("Pathing: Failed!");
|
||||
}
|
||||
});
|
||||
// Clang format pls
|
||||
CatCommand navpathnolocal("nav_path_nolocal", "Debug nav path",
|
||||
[](const CCommand &args) {
|
||||
if (NavTo(loc, false, true, 50 + priority))
|
||||
{
|
||||
logging::Info(
|
||||
"Pathing: Success! Walking to path...");
|
||||
}
|
||||
else
|
||||
{
|
||||
logging::Info("Pathing: Failed!");
|
||||
}
|
||||
});
|
||||
|
||||
} // namespace nav
|
||||
|
||||
Reference in New Issue
Block a user