remove pathfinder (is now separate mod/core feature)
This commit is contained in:
sapier
parent
5dba79a4f1
commit
7c72544598
@ -78,8 +78,6 @@ dofile (mobf_modpath .. "/mob_state.lua")
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dofile (mobf_modpath .. "/inventory.lua")
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dofile (mobf_modpath .. "/mob_preserve.lua")
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dofile (mobf_modpath .. "/path.lua")
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dofile (mobf_modpath .. "/pathfinder_v1/debug_path.lua")
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dofile (mobf_modpath .. "/pathfinder_v1/shortest_path.lua")
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--include spawning support
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dofile (mobf_modpath .. "/spawning.lua")
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@ -1,276 +0,0 @@
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function debug_print_g_pos(g_pos)
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print("DIRS:")
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print(" " .. mobf_fixed_size_string(g_pos.zp_weight,3) .. " ")
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print(mobf_fixed_size_string(g_pos.xm_weight,3) .. " " .. mobf_fixed_size_string(g_pos.xp_weight,3))
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print(" " .. mobf_fixed_size_string(g_pos.zm_weight,3) .. " ")
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end
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minetest.register_chatcommand("find_path",
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{
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params = "pos1, pos2",
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description = "find a path between pos1 and pos2" ,
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privs = {},
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func = function(name,param)
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--evaluate param
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print("name: " .. name .. " param: " .. dump(param))
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local parameters = param:split(" ")
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if #parameters < 2 then
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print("invalid parameter count")
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return
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end
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local pos1_strings = parameters[1]:split(",")
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local pos2_strings = parameters[2]:split(",")
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if #pos1_strings ~= 3 then
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print("pos1 invalid")
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return
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end
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if #pos2_strings ~= 3 then
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print("pos2 invalid")
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return
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end
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local pos1 = {
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x=tonumber(pos1_strings[1]),
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y=tonumber(pos1_strings[2]),
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z=tonumber(pos1_strings[3])
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}
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local pos2 = {
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x=tonumber(pos2_strings[1]),
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y=tonumber(pos2_strings[2]),
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z=tonumber(pos2_strings[3])
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}
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local path = find_path(pos1,pos2,1,2,1,5,parameters[3])
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if path ~= nil then
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for i=1,#path,1 do
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print(mobf_fixed_size_string(i,2) .. ": " ..printpos(path[i]))
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end
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end
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print("Done!")
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end,
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})
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function debug_print_area_paths(data)
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print("Pathlength:")
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local head = "" .. mobf_fixed_size_string("",3) .. " "
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local head2 = "-----"
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for x=1,#data.grid[1],1 do
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head = head .. " " ..
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mobf_fixed_size_string(tostring(x),3)
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.. " "
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head2 = head2 .. "-----"
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end
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print(head)
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print(head2)
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for i=1,#data.grid,1 do
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local line = "" .. mobf_fixed_size_string(tostring(i),3) .. ": "
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for j=1,#data.grid[i],1 do
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if data.grid[i][j].pathlength ~= nil then
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if data.grid[i][j].istarget then
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line = line .. " T "
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else
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line = line .. " " ..
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mobf_fixed_size_string(tostring(data.grid[i][j].pathlength),3)
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.. " "
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end
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else
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line = line .. " nil "
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end
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end
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print(line)
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end
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print("")
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end
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function debug_print_zp_weight(data)
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print("ZP weight:")
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local head = "" .. mobf_fixed_size_string("",3) .. " "
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local head2 = "-----"
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for x=1,#data.grid[1],1 do
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head = head .. " " ..
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mobf_fixed_size_string(tostring(x),3)
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.. " "
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head2 = head2 .. "-----"
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end
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print(head)
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print(head2)
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for i=1,#data.grid,1 do
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local line = "" .. mobf_fixed_size_string(tostring(i),3) .. ": "
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for j=1,#data.grid[i],1 do
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if data.grid[i][j].pathlength ~= nil then
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line = line .. " " ..
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mobf_fixed_size_string(tostring(data.grid[i][j].zp_weight),3)
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.. " "
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else
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line = line .. " nil "
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end
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end
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print(line)
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end
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print("")
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end
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function debug_print_zm_weight(data)
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print("ZM weight:")
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local head = "" .. mobf_fixed_size_string("",3) .. " "
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local head2 = "-----"
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for x=1,#data.grid[1],1 do
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head = head .. " " ..
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mobf_fixed_size_string(tostring(x),3)
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.. " "
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head2 = head2 .. "-----"
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end
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print(head)
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print(head2)
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for i=1,#data.grid,1 do
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local line = "" .. mobf_fixed_size_string(tostring(i),3) .. ": "
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for j=1,#data.grid[i],1 do
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if data.grid[i][j].pathlength ~= nil then
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line = line .. " " ..
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mobf_fixed_size_string(tostring(data.grid[i][j].zm_weight),3)
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.. " "
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else
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line = line .. " nil "
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end
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end
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print(line)
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end
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print("")
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end
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function debug_print_xp_weight(data)
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print("XP weight:")
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local head = "" .. mobf_fixed_size_string("",3) .. " "
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local head2 = "-----"
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for x=1,#data.grid[1],1 do
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head = head .. " " ..
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mobf_fixed_size_string(tostring(x),3)
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.. " "
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head2 = head2 .. "-----"
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end
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print(head)
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print(head2)
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for i=1,#data.grid,1 do
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local line = "" .. mobf_fixed_size_string(tostring(i),3) .. ": "
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for j=1,#data.grid[i],1 do
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if data.grid[i][j].pathlength ~= nil then
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line = line .. " " ..
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mobf_fixed_size_string(tostring(data.grid[i][j].xp_weight),3)
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.. " "
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else
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line = line .. " nil "
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end
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end
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print(line)
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end
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print("")
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end
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function debug_print_xm_weight(data)
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print("XM weight:")
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local head = "" .. mobf_fixed_size_string("",3) .. " "
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local head2 = "-----"
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for x=1,#data.grid[1],1 do
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head = head .. " " ..
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mobf_fixed_size_string(tostring(x),3)
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.. " "
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head2 = head2 .. "-----"
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end
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print(head)
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print(head2)
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for i=1,#data.grid,1 do
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local line = "" .. mobf_fixed_size_string(tostring(i),3) .. ": "
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for j=1,#data.grid[i],1 do
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if data.grid[i][j].pathlength ~= nil then
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line = line .. " " ..
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mobf_fixed_size_string(tostring(data.grid[i][j].xm_weight),3)
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.. " "
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else
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line = line .. " nil "
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end
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end
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print(line)
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end
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print("")
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end
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function debug_print_height(data)
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print("height:")
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local head = "" .. mobf_fixed_size_string("",3) .. " "
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local head2 = "-----"
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for x=1,#data.grid[1],1 do
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head = head .. " " ..
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mobf_fixed_size_string(tostring(x),3)
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.. " "
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head2 = head2 .. "-----"
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end
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print(head)
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print(head2)
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for i=1,#data.grid,1 do
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local line = "" .. mobf_fixed_size_string(tostring(i),3) .. ": "
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for j=1,#data.grid[i],1 do
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if data.grid[i][j].pathlength ~= nil then
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line = line .. " " ..
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mobf_fixed_size_string(tostring(data.grid[i][j].pos.y),3)
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.. " "
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else
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line = line .. " nil "
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end
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end
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print(line)
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end
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print("")
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end
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function debug_print_path(data)
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print("path:")
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local head = "" .. mobf_fixed_size_string("",3) .. " "
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local head2 = "-----"
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for x=1,#data.grid[1],1 do
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head = head .. " " ..
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mobf_fixed_size_string(tostring(x),3)
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.. " "
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head2 = head2 .. "-----"
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end
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print(head)
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print(head2)
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for i=1,#data.grid,1 do
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local line = "" .. mobf_fixed_size_string(tostring(i),3) .. ": "
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for j=1,#data.grid[i],1 do
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if data.grid[i][j].pathlength ~= nil then
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line = line .. " " ..
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mobf_fixed_size_string(tostring(data.grid[i][j].iselement),3)
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.. " "
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else
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line = line .. " nil "
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end
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end
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print(line)
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end
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print("")
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end
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@ -1,662 +0,0 @@
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-------------------------------------------------------------------------------
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-- Mob Framework Settings Mod by Sapier
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--
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-- You may copy, use, modify or do nearly anything except removing this
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-- copyright notice.
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-- And of course you are NOT allow to pretend you have written it.
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--
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--! @file path.lua
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--! @brief path support for mobf
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--! @copyright Sapier
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--! @author Sapier
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--! @date 2013-02-20
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--
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-- Contact sapier a t gmx net
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-------------------------------------------------------------------------------
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function gridat(grid,pos)
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mobf_assert_backtrace(grid ~= nil)
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mobf_assert_backtrace(pos ~= nil)
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mobf_assert_backtrace(pos.x ~= nil)
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mobf_assert_backtrace(pos.z ~= nil)
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if grid[pos.x] == nil then
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return nil
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end
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return grid[pos.x][pos.z]
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end
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function realpos(data,ipos)
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return {
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x= data.limits.x.min + ipos.x,
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z= data.limits.z.min + ipos.z,
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y= ipos.y
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}
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end
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function getipos(data,pos)
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--todo check pos to be within limits
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return {
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x= pos.x - data.limits.x.min,
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z= pos.z - data.limits.z.min,
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y= pos.y
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}
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end
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function remdir(_table,dir)
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for i=1,#_table,1 do
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if path_samepos(_table[i],dir) then
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table.remove(_table,i)
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return
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end
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end
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end
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function v2add(v1,v2)
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return {
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x= v1.x + v2.x,
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z= v1.z + v2.z
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}
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end
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function v2inv(v)
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return {
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x = v.x * -1,
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z = v.z * -1
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}
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end
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-------------------------------------------------------------------------------
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-- name: path_samepos(pos1,pos2)
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--
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--! @brief check if two positions are identical ignoring y value
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--
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--! @param pos1 first position
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--! @param pos2 second position
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--
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--! @return true/false
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-------------------------------------------------------------------------------
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function path_samepos(pos1,pos2)
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if pos1 == nil or
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pos2 == nil then
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return false
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end
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if pos1.x == pos2.x and
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pos1.z == pos2.z then
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return true
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end
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return false
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end
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-------------------------------------------------------------------------------
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-- name: get_cost(g_pos,dir)
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--
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--! @brief access weight of a movement in direction
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--
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--! @param g_pos position to start movement
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--! @param dir direction to move to
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--
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--! @return cost of movement or nil
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-------------------------------------------------------------------------------
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function get_cost(g_pos,dir)
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mobf_assert_backtrace(dir ~= nil)
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mobf_assert_backtrace(g_pos ~= nil)
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if dir.x > 0 then
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return g_pos.xp_weight
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end
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if dir.x < 0 then
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return g_pos.xm_weight
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end
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if dir.z > 0 then
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return g_pos.zp_weight
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end
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if dir.z < 0 then
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return g_pos.zm_weight
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end
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return nil
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end
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-------------------------------------------------------------------------------
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-- name: find_shortest_path(pos1,pos2,maxdrop,maxjump,minheight,maxsurrounding)
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--
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--! @brief find shortest path from pos1 to pos2
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--
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--! @param pos1 startpos
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--! @param pos2 endpos
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--! @param maxdrop maximum height to drop down
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--! @param maxjump maximum height to jump up
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--! @param minheight minimum height to pass (UNUSED)
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--! @param maxsurrounding maximum area around positions (not between) to consider
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--! @param algo algorithm to use
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--
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--! @return path from pos1 -> pos2 or nil
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-------------------------------------------------------------------------------
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function find_path(pos1,pos2,maxdrop,maxjump,minheight,maxsurrounding,algo)
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local total_starttime = mobf_get_time_ms()
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--prepare context
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local data = create_context(pos1,pos2,maxdrop,maxjump,minheight,maxsurrounding)
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--build 2d weight map
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build_cost_map(data)
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mobf_warn_long_fct(total_starttime,"build weight map","pathfind")
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local path_starttime = mobf_get_time_ms()
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--debug_print_xp_weight(data)
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--debug_print_xm_weight(data)
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--debug_print_zp_weight(data)
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--debug_print_zm_weight(data)
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--debug_print_height(data)
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--mark start and end point
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print("MOBF: pathfinder v1 mark start and stop")
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gridat(data.grid,getipos(data,pos2)).istarget = true
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gridat(data.grid,getipos(data,pos1)).pathlength = 0
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local lengthfunc = nil
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--debug_print_area_paths(data)
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if algo == "short" then
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lengthfunc = update_all_lengths
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else
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lengthfunc = update_lengths_heuristic
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end
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print("MOBF: calculate path lenght")
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--mark all positions with their pathlenght and check if there is at least
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--one path to target
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if lengthfunc(data,getipos(data,pos1),nil,0,0) then
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mobf_warn_long_fct(path_starttime,"find path","pathfind")
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debug_print_area_paths(data)
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local fullpath = {}
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build_path(data,fullpath,getipos(data,pos2))
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debug_print_path(data)
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--remvoe all nodes wich are on a line of sight
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local optimized_path = {}
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local startpos = 1
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table.insert(optimized_path,gridat(data.grid,fullpath[1]).pos)
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for i=2,#fullpath, 1 do
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--print("MOBF: check for line of sight " ..
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-- printpos(gridat(data.grid,fullpath[startpos]).pos) .. "-->" ..
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-- printpos(gridat(data.grid,fullpath[i]).pos))
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if not mobf_line_of_sight(
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gridat(data.grid,fullpath[startpos]).pos,
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gridat(data.grid,fullpath[i]).pos) then
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table.insert(optimized_path,gridat(data.grid,fullpath[i-1]).pos)
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startpos = i-1
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end
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end
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table.insert(optimized_path,gridat(data.grid,fullpath[#fullpath]).pos)
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mobf_warn_long_fct(total_starttime,"complete","pathfind")
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local endtime = mobf_get_time_ms()
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print("MOBF: took: " .. (endtime - total_starttime) .. " ms starttime: " .. total_starttime .. " endtime: " .. endtime)
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return optimized_path;
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end
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mobf_warn_long_fct(path_starttime,"find path","pathfind")
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mobf_warn_long_fct(total_starttime,"complete","pathfind")
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debug_print_area_paths(data)
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return nil
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||||
end
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: create_context(pos1,pos2,maxdrop,maxjump,minheight,maxsurrounding)
|
||||
--
|
||||
--! @brief create a contect containing all data relevant for calculation
|
||||
--
|
||||
--! @param pos1 startpos
|
||||
--! @param pos2 endpos
|
||||
--! @param maxdrop maximum height to drop down
|
||||
--! @param maxjump maximum height to jump up
|
||||
--! @param minheight minimum height to pass (UNUSED)
|
||||
--! @param maxsurrounding maximum area around positions (not between) to consider
|
||||
--
|
||||
--! @return context with all validated data or nil
|
||||
-------------------------------------------------------------------------------
|
||||
function create_context(pos1,pos2,maxdrop,maxjump,minheight,maxsurrounding)
|
||||
print("MOBF: create context")
|
||||
local data = {}
|
||||
|
||||
data.min = {
|
||||
x = MIN(pos1.x,pos2.x),
|
||||
z = MIN(pos1.z,pos2.z)
|
||||
}
|
||||
data.max = {
|
||||
x = MAX(pos1.x,pos2.x),
|
||||
z = MAX(pos1.z,pos2.z)
|
||||
}
|
||||
|
||||
data.limits = {
|
||||
x = {
|
||||
min = data.min.x - maxsurrounding,
|
||||
max = data.max.x + maxsurrounding
|
||||
},
|
||||
z = {
|
||||
min = data.min.z - maxsurrounding,
|
||||
max = data.max.z + maxsurrounding
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
data.maxjump = maxjump
|
||||
data.maxdrop = maxdrop
|
||||
data.minheight = minheight
|
||||
data.miny = MIN(pos1.y,pos2.y) - maxsurrounding
|
||||
data.maxy = MAX(pos1.y,pos2.y) + maxsurrounding
|
||||
data.min_target_distance = nil
|
||||
|
||||
data.source = pos1
|
||||
data.target = pos2
|
||||
|
||||
return data
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: build_cost_map(data)
|
||||
--
|
||||
--! @brief build map containing all movement costs
|
||||
--
|
||||
--! @param data data to operate on
|
||||
--
|
||||
-------------------------------------------------------------------------------
|
||||
function build_cost_map(data)
|
||||
print("MOBF: calculate cost of movement for whole considered area")
|
||||
data.grid = {}
|
||||
|
||||
for i=1, data.limits.x.max - data.limits.x.min, 1 do
|
||||
data.grid[i] = {}
|
||||
for j=1, data.limits.z.max - data.limits.z.min, 1 do
|
||||
local ipos = {x=i,z=j}
|
||||
local pos = realpos(data,ipos)
|
||||
pos.y = mobf_get_surface(pos.x,pos.z, data.miny, data.maxy)
|
||||
|
||||
--print("MOBF: pathfinder v1 calculating weights for " .. printpos(ipos) .. " " .. printpos(pos))
|
||||
|
||||
local toadd = {
|
||||
pos = pos,
|
||||
pathlength = -1,
|
||||
}
|
||||
|
||||
data.grid[i][j] = toadd
|
||||
|
||||
if pos.y ~= nil then
|
||||
--data.node = minetest.env:get_node(pos)
|
||||
toadd.xp_weight = calc_cost(data,ipos,{x= 1,z= 0})
|
||||
toadd.xm_weight = calc_cost(data,ipos,{x=-1,z= 0})
|
||||
toadd.zp_weight = calc_cost(data,ipos,{x= 0,z= 1})
|
||||
toadd.zm_weight = calc_cost(data,ipos,{x= 0,z=-1})
|
||||
end
|
||||
|
||||
--print("\t xp : " .. dump(data.grid[i][j].xp_weight))
|
||||
--print("\t xm : " .. dump(data.grid[i][j].xm_weight))
|
||||
--print("\t zp : " .. dump(data.grid[i][j].zp_weight))
|
||||
--print("\t zm : " .. dump(data.grid[i][j].zm_weight))
|
||||
--print("\t path: " .. dump(gridat(data.grid,{x=i,z=j}).pathlength))
|
||||
end
|
||||
end
|
||||
end
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: calc_cost(data,ipos,dir)
|
||||
--
|
||||
--! @brief calculate weight for transition from ipos in direction dir
|
||||
--
|
||||
--! @param data data to operate on
|
||||
--! @param ipos index position to set weight for
|
||||
--! @param dir direction to move
|
||||
--! @return weight of transition
|
||||
-------------------------------------------------------------------------------
|
||||
function calc_cost(data,ipos,dir)
|
||||
local g_pos = gridat(data.grid,ipos)
|
||||
|
||||
local ipos2 = {
|
||||
x= ipos.x + dir.x,
|
||||
z= ipos.z + dir.z
|
||||
}
|
||||
|
||||
--not within checked area
|
||||
if ipos2.x <= 0 or
|
||||
ipos2.z <= 0 then
|
||||
--print("\t " .. printpos(dir) .. " out of area negative")
|
||||
return nil
|
||||
end
|
||||
|
||||
local pos2 = realpos(data,ipos2)
|
||||
|
||||
--not within checked area
|
||||
if pos2.x > data.limits.x.max or
|
||||
pos2.z > data.limits.z.max then
|
||||
--print("\t " .. printpos(dir) .. " out of area positive")
|
||||
return nil
|
||||
end
|
||||
|
||||
local y_surface = nil
|
||||
local g_pos2 = gridat(data.grid,ipos2)
|
||||
if g_pos2 ~= nil then
|
||||
y_surface = g_pos2.pos.y
|
||||
else
|
||||
y_surface = mobf_get_surface(pos2.x,pos2.z, data.miny, data.maxy)
|
||||
end
|
||||
|
||||
--print("\t " .. printpos(dir) .. " oldy = " .. g_pos.pos.y .. " new y = " .. dump(y_surface))
|
||||
|
||||
if y_surface == nil then
|
||||
return nil
|
||||
end
|
||||
|
||||
--not same level
|
||||
if g_pos.pos.y ~= y_surface then
|
||||
if g_pos.pos.y > y_surface then
|
||||
local diff = g_pos.pos.y - y_surface
|
||||
if diff > data.maxdrop then
|
||||
return nil
|
||||
end
|
||||
if diff > 1 then
|
||||
return 3
|
||||
end
|
||||
|
||||
return 2
|
||||
else
|
||||
local diff = y_surface - g_pos.pos.y
|
||||
|
||||
if diff > data.maxjump then
|
||||
return nil
|
||||
end
|
||||
|
||||
return 2
|
||||
end
|
||||
end
|
||||
|
||||
--same level
|
||||
return 1
|
||||
end
|
||||
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: build_path(data,shortestpath,ipos)
|
||||
--
|
||||
--! @brief build list containing shortest path
|
||||
--
|
||||
--! @param data data to operate on
|
||||
--! @param list to store path
|
||||
--! @param current pos
|
||||
--
|
||||
-------------------------------------------------------------------------------
|
||||
function build_path(data,shortestpath,ipos)
|
||||
|
||||
mobf_assert_backtrace(data ~= nil)
|
||||
mobf_assert_backtrace(shortestpath ~= nil)
|
||||
|
||||
local g_pos = gridat(data.grid,ipos)
|
||||
g_pos.iselement = 1
|
||||
mobf_assert_backtrace(g_pos ~= nil)
|
||||
|
||||
--abort if source has been reached
|
||||
if g_pos.pathlength == 0 then
|
||||
table.insert(shortestpath,ipos)
|
||||
return
|
||||
end
|
||||
|
||||
mobf_assert_backtrace(g_pos.srcdir ~= nil)
|
||||
local newpos = {
|
||||
x=ipos.x + g_pos.srcdir.x,
|
||||
z=ipos.z + g_pos.srcdir.z
|
||||
}
|
||||
|
||||
build_path(data,shortestpath,newpos)
|
||||
table.insert(shortestpath,newpos)
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: update_all_lengths(data,ipos,srcdir,cur_length)
|
||||
--
|
||||
--! @brief length for a new pos
|
||||
--
|
||||
--! @param data data to operate on
|
||||
--! @param ipos index position to set weight for
|
||||
--! @param dir direction to move
|
||||
--! @return weight of transition
|
||||
-------------------------------------------------------------------------------
|
||||
function update_all_lengths(data,ipos,srcdir,cur_length,lvl)
|
||||
|
||||
local g_pos = gridat(data.grid,ipos)
|
||||
|
||||
lvl = lvl +1
|
||||
|
||||
-- check if target reached
|
||||
if g_pos.istarget then
|
||||
if g_pos.pathlength < 0 or
|
||||
g_pos.pathlength > cur_length then
|
||||
g_pos.pathlength = cur_length
|
||||
g_pos.srcdir = srcdir
|
||||
data.min_target_distance = cur_length
|
||||
end
|
||||
return true
|
||||
end
|
||||
|
||||
local retval = false
|
||||
local directions = {}
|
||||
table.insert(directions,{x= 1,z= 0})
|
||||
table.insert(directions,{x=-1,z= 0})
|
||||
table.insert(directions,{x= 0,z= 1})
|
||||
table.insert(directions,{x= 0,z=-1})
|
||||
|
||||
for i=1,#directions,1 do
|
||||
if not path_samepos(directions[i],srcdir) then
|
||||
|
||||
local ipos2 = v2add(ipos,directions[i])
|
||||
local g_pos2 = gridat(data.grid,ipos2)
|
||||
|
||||
--print("(" .. lvl .. ") MOBF: check for update " ..
|
||||
-- printpos(ipos) .. "-->" .. printpos(ipos2) ..
|
||||
-- " cur_length: " .. dump(cur_length))
|
||||
--found better way to g_pos2
|
||||
if g_pos2 ~= nil then
|
||||
local addonweight = get_cost(g_pos,directions[i])
|
||||
|
||||
if addonweight ~= nil then
|
||||
local newlength = cur_length + addonweight
|
||||
|
||||
if data.min_target_distance ~= nil and
|
||||
data.min_target_distance < newlength then
|
||||
return false
|
||||
end
|
||||
|
||||
if g_pos2.pathlength < 0 or
|
||||
g_pos2.pathlength > newlength then
|
||||
--print("\t(" .. lvl .. ") updating " .. printpos(directions[i]) .. " weight: " .. dump(addonweight))
|
||||
g_pos2.pathlength = newlength
|
||||
g_pos2.srcdir = v2inv(directions[i])
|
||||
--print("\t(" .. lvl .. ") set lenght at: " .. printpos(directions[i]) .. " to " .. dump(g_pos2.pathlength))
|
||||
|
||||
if update_all_lengths(data,ipos2,v2inv(directions[i]),
|
||||
newlength,lvl) or retval == true then
|
||||
retval = true
|
||||
end
|
||||
else
|
||||
--print("\t(" .. lvl .. ") not updating " ..
|
||||
-- printpos(directions[i]) ..
|
||||
-- " oldlength: " .. dump(g_pos2.pathlength) ..
|
||||
-- " newlenght: " .. newpath)
|
||||
end
|
||||
else
|
||||
--print("\t(" .. lvl .. ") not updating " .. printpos(directions[i]) .. " weight: " .. dump(addonweight))
|
||||
--debug_print_g_pos(g_pos)
|
||||
end
|
||||
else
|
||||
--print("\t(" .. lvl .. ") not updating " .. printpos(directions[i]))
|
||||
end
|
||||
end
|
||||
end
|
||||
return retval
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: update_lengths_heuristic(data,ipos,srcdir,cur_length)
|
||||
--
|
||||
--! @brief length for a new pos
|
||||
--
|
||||
--! @param data data to operate on
|
||||
--! @param ipos index position to set weight for
|
||||
--! @param dir direction to move
|
||||
--! @return weight of transition
|
||||
-------------------------------------------------------------------------------
|
||||
function update_lengths_heuristic(data,ipos,srcdir,cur_length,lvl)
|
||||
local g_pos = gridat(data.grid,ipos)
|
||||
|
||||
lvl = lvl +1
|
||||
|
||||
-- check if target reached
|
||||
if g_pos.istarget then
|
||||
if g_pos.pathlength < 0 or
|
||||
g_pos.pathlength > cur_length then
|
||||
g_pos.pathlength = cur_length
|
||||
g_pos.srcdir = srcdir
|
||||
data.min_target_distance = cur_length
|
||||
end
|
||||
return true
|
||||
end
|
||||
|
||||
local retval = false
|
||||
local continue = true
|
||||
|
||||
local directions = {}
|
||||
table.insert(directions,{x= 1,z= 0})
|
||||
table.insert(directions,{x=-1,z= 0})
|
||||
table.insert(directions,{x= 0,z= 1})
|
||||
table.insert(directions,{x= 0,z=-1})
|
||||
|
||||
|
||||
remdir(directions,srcdir)
|
||||
|
||||
while retval == false and
|
||||
continue do
|
||||
|
||||
local tocheck = get_dir_heuristic(data,g_pos,directions)
|
||||
|
||||
if tocheck ~= nil then
|
||||
|
||||
remdir(directions,tocheck)
|
||||
|
||||
local ipos2 = v2add(ipos,tocheck)
|
||||
local g_pos2 = gridat(data.grid,ipos2)
|
||||
|
||||
if g_pos2 ~= nil then
|
||||
local addonweight = get_cost(g_pos,tocheck)
|
||||
|
||||
if addonweight ~= nil then
|
||||
|
||||
local length_new = cur_length + addonweight
|
||||
|
||||
if data.min_target_distance ~= nil and
|
||||
data.min_target_distance < length_new then
|
||||
return false
|
||||
end
|
||||
|
||||
if g_pos2.pathlength < 0 or
|
||||
g_pos2.pathlength > length_new then
|
||||
--print("\t(" .. lvl .. ") updating " .. printpos(directions[i]) .. " weight: " .. dump(addonweight))
|
||||
g_pos2.pathlength = length_new
|
||||
g_pos2.srcdir = v2inv(tocheck)
|
||||
--print("\t(" .. lvl .. ") set lenght at: " .. printpos(directions[i]) .. " to " .. dump(g_pos2.pathlength))
|
||||
|
||||
retval = update_lengths_heuristic(data,ipos2,
|
||||
v2inv(tocheck),length_new,lvl)
|
||||
else
|
||||
--print("\t(" .. lvl .. ") not updating " ..
|
||||
-- printpos(directions[i]) ..
|
||||
-- " oldlength: " .. dump(g_pos2.pathlength) ..
|
||||
-- " newlenght: " .. newpath)
|
||||
end
|
||||
else
|
||||
--print("\t(" .. lvl .. ") not updating " .. printpos(directions[i]) .. " weight: " .. dump(addonweight))
|
||||
--debug_print_g_pos(g_pos)
|
||||
end
|
||||
else
|
||||
--print("\t(" .. lvl .. ") not updating " .. printpos(directions[i]))
|
||||
end
|
||||
else
|
||||
continue = false
|
||||
end
|
||||
end
|
||||
|
||||
return retval
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: get_manhattandistance2(pos1,pos2)
|
||||
--
|
||||
--! @brief calculate 2D manhattan distance between two points
|
||||
--
|
||||
--! @param pos1 source pos
|
||||
--! @param pos2 destination pos
|
||||
--
|
||||
--! @return manhattan distance
|
||||
-------------------------------------------------------------------------------
|
||||
function get_manhattandistance2(pos1,pos2)
|
||||
|
||||
min_x = MIN(pos1.x,pos2.x)
|
||||
max_x = MAX(pos1.x,pos2.x)
|
||||
min_z = MIN(pos1.z,pos2.z)
|
||||
max_z = MAX(pos1.z,pos2.z)
|
||||
|
||||
return (max_x - min_x) + (max_z - min_z)
|
||||
end
|
||||
|
||||
-------------------------------------------------------------------------------
|
||||
-- name: get_dir_heuristic(data,g_pos,directions)
|
||||
--
|
||||
--! @brief length for a new pos
|
||||
--
|
||||
--! @param data data to operate on
|
||||
--! @param g_pos source position
|
||||
--! @param directions available not checked directions
|
||||
--
|
||||
--! @return direction to check or nil
|
||||
-------------------------------------------------------------------------------
|
||||
function get_dir_heuristic(data,g_pos,directions)
|
||||
|
||||
local minscore = -1
|
||||
local retdir = nil
|
||||
local srcpos = g_pos.pos
|
||||
|
||||
for i=1,#directions,1 do
|
||||
pos1 = {
|
||||
x= srcpos.x + directions[i].x,
|
||||
z= srcpos.z + directions[i].z
|
||||
}
|
||||
|
||||
local cur_manhattan = get_manhattandistance2(pos1,data.target)
|
||||
local cost = get_cost(g_pos,directions[i])
|
||||
|
||||
if cost ~= nil then
|
||||
local score = cost + cur_manhattan
|
||||
|
||||
if minscore < 0 or
|
||||
score < minscore then
|
||||
|
||||
minscore = score
|
||||
retdir = directions[i]
|
||||
end
|
||||
end
|
||||
end
|
||||
return retdir
|
||||
end
|
||||
Loading…
x
Reference in New Issue
Block a user