WIP: Pathfinding Nr. 3
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TotallyNotElite
parent
69516af903
commit
ea4dfb53d0
@ -141,6 +141,7 @@ endif()
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add_subdirectory(src)
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add_subdirectory(include)
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add_subdirectory(external/MicroPather)
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add_custom_command(TARGET cathook POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:cathook> "${CMAKE_SOURCE_DIR}/bin/$<TARGET_FILE_NAME:cathook>")
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@ -1,61 +1,157 @@
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#include "common.hpp"
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namespace nav {
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CNavFile navfile(0);
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CNavArea LocalNav;
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std::vector<nav::singleNode *> areas;
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std::vector<CNavArea> SniperAreas;
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void Init(const char *lvlname)
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#include "micropather.h"
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namespace nav
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{
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CNavFile navfile(nullptr);
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CNavArea LocalNav;
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std::vector<CNavArea> areas;
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// std::vector<CNavArea> SniperAreas;
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struct MAP : public micropather::Graph
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{
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float LeastCostEstimate(void *stateStart, void *stateEnd)
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{
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int *start = (int *) (stateStart);
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int *end = (int *) (stateEnd);
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return areas.at(*start).m_center.DistTo(areas.at(*end).m_center);
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}
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void AdjacentCost(void *state,
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MP_VECTOR<micropather::StateCost> *adjacent)
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{
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int *area = (int *) (state);
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auto &neighbours = areas.at(*area).m_connections;
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for (auto i : neighbours)
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{
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adjacent->push_back(micropather::StateCost{
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(void *) (i.area->m_id),
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i.area->m_center.DistTo(areas.at(*area).m_center) });
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}
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}
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void PrintStateInfo(void *state)
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{
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}
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MAP()
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{
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logging::Info("Init Map");
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}
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virtual ~MAP()
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{
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}
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};
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void Init()
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{
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// TODO: Improve performance
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// std::string lvlname(g_IEngine->GetLevelName());
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// int dotpos = lvlname.find('.');
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// lvlname = lvlname.substr(0, dotpos);
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// std::string lvldir("/home/elite/Schreibtisch/tf2/maps/");
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// lvldir.append(lvlname);
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// lvldir.append(".nav");
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// FIXME temp
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std::string lvldir = "/home/elite/Schreibtisch/tf2/maps/cp_dustbowl.nav";
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for (auto &it : areas)
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it = {};
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navfile = CNavFile(lvlname);
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navfile = CNavFile(lvldir.c_str());
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if (!navfile.m_isOK)
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logging::Info("Invalid Nav File");
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else
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{
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for (int i = 0; i < navfile.m_areas.size() - 1 + 100; i++)
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areas.push_back({});
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for (auto area : navfile.m_areas)
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{
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nav::singleNode node;
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node.pos = area.m_center;
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node.id = area.m_id;
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areas[node.id] = &node;
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if (area.m_hidingSpots.size())
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SniperAreas.push_back(area);
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}
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for (auto area : navfile.m_areas)
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{
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for (auto node : areas)
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{
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if (area.m_id != node->id)
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continue;
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for (auto connect : area.m_connections)
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node->addChildren(areas[connect.area->m_id]);
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}
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}
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}
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}
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Timer cd{};
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void CreateMove()
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{
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if (navfile.m_isOK)
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{
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if (cd.test_and_set(300)) {
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for (auto i : navfile.m_areas) {
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Vector vec = LOCAL_E->m_vecOrigin();
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if (i.Contains(vec)) {
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LocalNav = i;
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break;
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}
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}
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}
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if (SniperAreas.size()) {
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auto res = areas[LocalNav.m_id]->FindPath(areas[SniperAreas[0].m_id]);
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for (auto r : res)
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logging::Info("%f, %f, %f", r->pos.x, r->pos.y, r->pos.z);
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}
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}
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areas.empty();
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for (auto i : navfile.m_areas)
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areas.push_back(i);
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}
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}
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int findClosestNavSquare(Vector vec)
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{
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float bestDist = 999999.0f;
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int bestSquare = -1;
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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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bestDist = dist;
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bestSquare = i;
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}
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}
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return bestSquare;
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}
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std::vector<Vector> findPath(Vector loc, Vector dest)
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{
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logging::Info("Starting findPath");
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if (areas.empty())
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return std::vector<Vector>(0);
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logging::Info("Finding closest Squares");
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int id_loc = findClosestNavSquare(loc);
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int id_dest = findClosestNavSquare(dest);
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logging::Info("Initiating path_Nodes");
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micropather::MPVector<void *> pathNodes;
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float cost;
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logging::Info("Initiating map");
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MAP TF2MAP;
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logging::Info("Initiating pather");
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micropather::MicroPather pather(&TF2MAP, 5000, 8, true);
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logging::Info("Solving");
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pather.Solve((void *) (&id_loc), (void *) (&id_dest), &pathNodes, &cost);
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logging::Info("Converting to vector");
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std::vector<Vector> path;
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for (int i = 0; i < pathNodes.size(); i++)
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{
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path.push_back(areas.at(*(int *) (pathNodes[i])).m_center);
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}
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return path;
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}
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CatCommand navinit("nav_init", "Debug nav init",
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[](const CCommand &args) { Init(); });
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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 = g_pLocalPlayer->v_Origin; });
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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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if (path.empty())
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{
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logging::Info("Pathing: No path found");
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}
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std::string output = "Pathing: Path found! Path: ";
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for (int i = 0; i < path.size(); i++)
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{
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output.append(format(path.at(i).x, ",", format(path.at(i).y), " "));
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}
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logging::Info(output.c_str());
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});
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// Timer cd{};
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// void CreateMove()
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// {
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// if (navfile.m_isOK)
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// {
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// if (cd.test_and_set(300)) {
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// for (auto i : navfile.m_areas) {
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// Vector vec = LOCAL_E->m_vecOrigin();
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// if (i.Contains(vec)) {
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// LocalNav = i;
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// break;
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// }
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// }
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// }
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// if (SniperAreas.size()) {
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// auto res =
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// areas[LocalNav.m_id]->FindPath(areas[SniperAreas[0].m_id]);
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// for (auto r : res)
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// logging::Info("%f, %f, %f", r->pos.x, r->pos.y, r->pos.z);
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// }
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// }
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// }
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} // namespace nav
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