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Pathfinding Overhaul - Cleanup, removed unnecessary include, fixed spacing, added a function for clearing a path, overall preperation to begin working on fixing pathfinding.

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This commit is contained in:
Torben Carrington 2013-05-29 15:59:23 -07:00
parent dc17fa1636
commit 4838678944
2 changed files with 87 additions and 78 deletions
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140
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -3,46 +3,48 @@
#include "../mwbase/world.hpp"
#include "../mwbase/environment.hpp"
#include "OgreMath.h"
#include <boost/graph/dijkstra_shortest_paths.hpp>
#include <boost/graph/adjacency_list.hpp>
#include "boost/tuple/tuple.hpp"
#include "OgreMath.h"
namespace
{
//helpers functions
//helpers functions
float distanceZCorrected(ESM::Pathgrid::Point point,float x,float y,float z)
{
return sqrt((point.mX - x)*(point.mX - x)+(point.mY - y)*(point.mY - y)+0.1*(point.mZ - z)*(point.mZ - z));
return sqrt((point.mX - x) * (point.mX - x) + (point.mY - y) * (point.mY - y) + 0.1 * (point.mZ - z) * (point.mZ - z));
}
float distance(ESM::Pathgrid::Point point,float x,float y,float z)
{
return sqrt((point.mX - x)*(point.mX - x)+(point.mY - y)*(point.mY - y)+(point.mZ - z)*(point.mZ - z));
return sqrt((point.mX - x) * (point.mX - x) + (point.mY - y) * (point.mY - y) + (point.mZ - z) * (point.mZ - z));
}
float distance(ESM::Pathgrid::Point a,ESM::Pathgrid::Point b)
{
return sqrt(float(a.mX - b.mX)*(a.mX - b.mX)+(a.mY - b.mY)*(a.mY - b.mY)+(a.mZ - b.mZ)*(a.mZ - b.mZ));
return sqrt(float(a.mX - b.mX) * (a.mX - b.mX) + (a.mY - b.mY) * (a.mY - b.mY) + (a.mZ - b.mZ) * (a.mZ - b.mZ));
}
static float sgn(float a)
{
if(a>0) return 1.;
else return -1.;
if(a > 0) return 1.0;
else return -1.0;
}
int getClosestPoint(const ESM::Pathgrid* grid,float x,float y,float z)
{
if(!grid) return -1;
if(grid->mPoints.empty()) return -1;
if(!grid)
return -1;
if(grid->mPoints.empty())
return -1;
float m = distance(grid->mPoints[0],x,y,z);
int i0 = 0;
for(unsigned int i=1; i<grid->mPoints.size();++i)
for(unsigned int i = 1; i < grid->mPoints.size(); ++i)
{
if(distance(grid->mPoints[i],x,y,z)<m)
if(distance(grid->mPoints[i],x,y,z) < m)
{
m = distance(grid->mPoints[i],x,y,z);
i0 = i;
@ -55,64 +57,64 @@ namespace
boost::property<boost::vertex_index_t,int,ESM::Pathgrid::Point>,boost::property<boost::edge_weight_t,float> > PathGridGraph;
typedef boost::property_map<PathGridGraph, boost::edge_weight_t>::type WeightMap;
typedef PathGridGraph::vertex_descriptor PointID;
typedef PathGridGraph::edge_descriptor PointConnectionID;
typedef PathGridGraph::edge_descriptor PointConnectionID;
struct found_path {};
/*class goalVisited : public boost::default_astar_visitor
{
public:
goalVisited(PointID goal) : mGoal(goal) {}
{
public:
goalVisited(PointID goal) : mGoal(goal) {}
void examine_vertex(PointID u, const PathGridGraph g)
{
if(u == mGoal)
throw found_path();
}
private:
PointID mGoal;
};
void examine_vertex(PointID u, const PathGridGraph g)
{
if(u == mGoal)
throw found_path();
}
private:
PointID mGoal;
};
class DistanceHeuristic : public boost::atasr_heuristic <PathGridGraph, float>
{
public:
DistanceHeuristic(const PathGridGraph & l, PointID goal)
: mGraph(l), mGoal(goal) {}
class DistanceHeuristic : public boost::atasr_heuristic <PathGridGraph, float>
{
public:
DistanceHeuristic(const PathGridGraph & l, PointID goal)
: mGraph(l), mGoal(goal) {}
float operator()(PointID u)
{
const ESM::Pathgrid::Point & U = mGraph[u];
const ESM::Pathgrid::Point & V = mGraph[mGoal];
float dx = U.mX - V.mX;
float dy = U.mY - V.mY;
float dz = U.mZ - V.mZ;
return sqrt(dx * dx + dy * dy + dz * dz);
}
private:
const PathGridGraph & mGraph;
PointID mGoal;
};*/
float operator()(PointID u)
{
const ESM::Pathgrid::Point & U = mGraph[u];
const ESM::Pathgrid::Point & V = mGraph[mGoal];
float dx = U.mX - V.mX;
float dy = U.mY - V.mY;
float dz = U.mZ - V.mZ;
return sqrt(dx * dx + dy * dy + dz * dz);
}
private:
const PathGridGraph & mGraph;
PointID mGoal;
};*/
class goalVisited : public boost::default_dijkstra_visitor
{
public:
goalVisited(PointID goal) : mGoal(goal) {}
class goalVisited : public boost::default_dijkstra_visitor
{
public:
goalVisited(PointID goal) : mGoal(goal) {}
void examine_vertex(PointID u, const PathGridGraph g)
{
if(u == mGoal)
throw found_path();
}
private:
PointID mGoal;
};
void examine_vertex(PointID u, const PathGridGraph g)
{
if(u == mGoal)
throw found_path();
}
private:
PointID mGoal;
};
PathGridGraph buildGraph(const ESM::Pathgrid* pathgrid,float xCell = 0,float yCell = 0)
{
PathGridGraph graph;
for(unsigned int i = 0;i<pathgrid->mPoints.size();++i)
for(unsigned int i = 0; i < pathgrid->mPoints.size(); ++i)
{
PointID pID = boost::add_vertex(graph);
graph[pID].mX = pathgrid->mPoints[i].mX + xCell;
@ -130,7 +132,6 @@ namespace
boost::tie(edge,done) = boost::add_edge(u,v,graph);
WeightMap weightmap = boost::get(boost::edge_weight, graph);
weightmap[edge] = distance(graph[u],graph[v]);
}
return graph;
@ -147,10 +148,10 @@ namespace
graph,
start,
boost::predecessor_map(&p[0]).distance_map(&d[0]).visitor(goalVisited(end))//.weight_map(boost::get(&Edge::distance, graph))
);
);
} catch(found_path fg) {
for(PointID v = end;; v = p[v]) {
for(PointID v = end; ; v = p[v]) {
shortest_path.push_front(graph[v]);
if(p[v] == v)
break;
@ -170,6 +171,13 @@ namespace MWMechanics
mIsPathConstructed = false;
}
void PathFinder::clearPath()
{
if(!mPath.empty())
mPath.clear();
mIsPathConstructed = false;
}
void PathFinder::buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint,
const ESM::Pathgrid* pathGrid,float xCell,float yCell)
{
@ -193,9 +201,8 @@ namespace MWMechanics
float PathFinder::getZAngleToNext(float x,float y,float z)
{
if(mPath.empty())
{
return 0;/// shouldn't happen!
}
return 0; /// shouldn't happen!
ESM::Pathgrid::Point nextPoint = *mPath.begin();
float dX = nextPoint.mX - x;
float dY = nextPoint.mY - y;
@ -206,17 +213,16 @@ namespace MWMechanics
bool PathFinder::checkIfNextPointReached(float x,float y,float z)
{
if(mPath.empty())
{
return true;
}
ESM::Pathgrid::Point nextPoint = *mPath.begin();
if(distanceZCorrected(nextPoint,x,y,z) < 20)
{
mPath.pop_front();
if(mPath.empty())
{
return true;
}
nextPoint = *mPath.begin();
}
return false;
@ -226,8 +232,10 @@ namespace MWMechanics
{
return mPath;
}
bool PathFinder::isPathConstructed()
{
return mIsPathConstructed;
}
}
}

25
apps/openmw/mwmechanics/pathfinding.hpp
View file

@ -8,22 +8,23 @@ namespace MWMechanics
{
class PathFinder
{
public:
PathFinder();
public:
PathFinder();
void buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint,
const ESM::Pathgrid* pathGrid,float xCell = 0,float yCell = 0);
void clearPath();
void buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint,
const ESM::Pathgrid* pathGrid,float xCell = 0,float yCell = 0);
bool checkIfNextPointReached(float x,float y,float z);//returns true if the last point of the path has been reached.
float getZAngleToNext(float x,float y,float z);
bool checkIfNextPointReached(float x,float y,float z);//returns true if the last point of the path has been reached.
float getZAngleToNext(float x,float y,float z);
std::list<ESM::Pathgrid::Point> getPath();
bool isPathConstructed();
std::list<ESM::Pathgrid::Point> getPath();
bool isPathConstructed();
private:
std::list<ESM::Pathgrid::Point> mPath;
bool mIsPathConstructed;
private:
std::list<ESM::Pathgrid::Point> mPath;
bool mIsPathConstructed;
};
}
#endif
#endif