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vector plib_points2[8];
vector plib_points[8];
float plib_fvals[8];
float pathlib_expandnode_starf(entity node, vector start, vector goal)
{
vector where,f,r,t;
float i,fc,fc2,c;
entity nap;
where = node.origin;
f = PLIB_FORWARD * pathlib_gridsize;
r = PLIB_RIGHT * pathlib_gridsize;
// Forward
plib_points[0] = where + f;
// Back
plib_points[1] = where - f;
// Right
plib_points[2] = where + r;
// Left
plib_points[3] = where - r;
// Forward-right
plib_points[4] = where + f + r;
// Forward-left
plib_points[5] = where + f - r;
// Back-right
plib_points[6] = where - f + r;
// Back-left
plib_points[7] = where - f - r;
for(i=0;i < 8; ++i)
{
t = plib_points[i];
fc = pathlib_heuristic(t,goal) + pathlib_cost(node,t,pathlib_gridsize);
plib_fvals[i] = fc;
}
fc = plib_fvals[0];
plib_points2[0] = plib_points[0];
vector bp;
bp = plib_points[0];
for(i = 0; i < 8; ++i)
{
c = 0;
nap = pathlib_nodeatpoint(plib_points[i]);
if(nap)
if(nap.owner == openlist)
c = 1;
else
c = 1;
if(c)
if(plib_fvals[i] < fc)
{
bp = plib_points[i];
fc = plib_fvals[i];
plib_points2[fc2] = plib_points[i];
++fc2;
}
/*
nap = pathlib_nodeatpoint(plib_points[i]);
if(nap)
if not nap.owner == closedlist)
{
}
*/
}
pathlib_makenode(node,start,bp,goal,pathlib_gridsize);
for(i = 0; i < 3; ++i)
{
pathlib_makenode(node,start,plib_points2[i],goal,pathlib_gridsize);
}
return pathlib_open_cnt;
}
float pathlib_expandnode_star(entity node, vector start, vector goal)
{
vector point,where,f,r;
where = node.origin;
f = PLIB_FORWARD * pathlib_gridsize;
r = PLIB_RIGHT * pathlib_gridsize;
// Forward
point = where + f;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Back
point = where - f;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Right
point = where + r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Left
point = where - r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Forward-right
point = where + f + r;
pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
// Forward-left
point = where + f - r;
pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
// Back-right
point = where - f + r;
pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
// Back-left
point = where - f - r;
pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
return pathlib_open_cnt;
}
float pathlib_expandnode_octagon(entity node, vector start, vector goal)
{
vector point,where,f,r;
where = node.origin;
f = PLIB_FORWARD * pathlib_gridsize;
r = PLIB_RIGHT * pathlib_gridsize;
// Forward
point = where + f;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Back
point = where - f;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Right
point = where + r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Left
point = where - r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
f = PLIB_FORWARD * pathlib_gridsize * 0.5;
r = PLIB_RIGHT * pathlib_gridsize * 0.5;
// Forward-right
point = where + f + r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Forward-left
point = where + f - r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Back-right
point = where - f + r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
// Back-left
point = where - f - r;
pathlib_makenode(node,start,point,goal,pathlib_movecost);
return pathlib_open_cnt;
}
float pathlib_expandnode_box(entity node, vector start, vector goal)
{
vector v;
for(v_z = node.origin_z - pathlib_gridsize; v_z <= node.origin_z + pathlib_gridsize; v_z += pathlib_gridsize)
for(v_y = node.origin_y - pathlib_gridsize; v_y <= node.origin_y + pathlib_gridsize; v_y += pathlib_gridsize)
for(v_x = node.origin_x - pathlib_gridsize; v_x <= node.origin_x + pathlib_gridsize; v_x += pathlib_gridsize)
{
//if(vlen(v - node.origin))
pathlib_makenode(node,start,v,goal,pathlib_movecost);
}
return pathlib_open_cnt;
}
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