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

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

@ -8,22 +8,23 @@ namespace MWMechanics
{ {
class PathFinder class PathFinder
{ {
public: public:
PathFinder(); PathFinder();
void buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint, void clearPath();
const ESM::Pathgrid* pathGrid,float xCell = 0,float yCell = 0); 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. 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); float getZAngleToNext(float x,float y,float z);
std::list<ESM::Pathgrid::Point> getPath(); std::list<ESM::Pathgrid::Point> getPath();
bool isPathConstructed(); bool isPathConstructed();
private: private:
std::list<ESM::Pathgrid::Point> mPath; std::list<ESM::Pathgrid::Point> mPath;
bool mIsPathConstructed; bool mIsPathConstructed;
}; };
} }
#endif #endif