Fixed radio commands that should be issued only when chatter enabled.
Implemented useless waypoint cleaner (yb wp clean <nr/all>).
This commit is contained in:
Dmitry
jeefo
parent
c8f2c95ce6
commit
d4e1fdb4fb
5 changed files with 410 additions and 7 deletions
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@ -39,6 +39,380 @@ void Waypoint::cleanupPathMemory (void) {
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}
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}
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int Waypoint::removeUselessConnections (int index, bool outputToConsole) {
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// this function removes the useless paths connections from and to waypoint pointed by index. This is based on code from POD-bot MM from KWo
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if (!exists (index)) {
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return 0;
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}
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int numConnectionsFixed = 0;
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if (bots.getBotCount () > 0) {
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bots.kickEveryone (true);
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}
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const int INFINITE_DISTANCE = 99999;
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auto printInfo = [&outputToConsole](const char *fmt, ...) {
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if (!outputToConsole) {
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return;
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}
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char buffer[MAX_PRINT_BUFFER];
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va_list ap;
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va_start (ap, fmt);
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vsnprintf (buffer, MAX_PRINT_BUFFER - 1, fmt, ap);
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va_end (ap);
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engine.print (buffer);
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};
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struct Connection {
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int index;
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int number;
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int distance;
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float angles;
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public:
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Connection (void) {
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reset ();
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}
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public:
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void reset (void) {
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index = INVALID_WAYPOINT_INDEX;
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number = INVALID_WAYPOINT_INDEX;
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distance = INFINITE_DISTANCE;
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angles = 0.0f;
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}
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};
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Connection sorted[MAX_PATH_INDEX];
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Connection top;
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for (int i = 0; i < MAX_PATH_INDEX; i++) {
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auto &cur = sorted[i];
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cur.number = i;
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cur.index = m_paths[index]->index[i];
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cur.distance = m_paths[index]->distances[i];
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if (cur.index == INVALID_WAYPOINT_INDEX) {
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cur.distance = INFINITE_DISTANCE;
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}
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if (cur.distance < top.distance) {
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top.distance = m_paths[index]->distances[i];
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top.number = i;
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top.index = cur.index;
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}
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}
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if (top.number == INVALID_WAYPOINT_INDEX) {
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printInfo ("Cannot find path to the closest connected waypoint to waypoint number %d!\n", index);
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return numConnectionsFixed;
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}
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bool sorting = false;
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// sort paths from the closest waypoint to the farest away one...
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do {
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sorting = false;
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for (int i = 0; i < MAX_PATH_INDEX - 1; i++) {
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if (sorted[i].distance > sorted[i + 1].distance) {
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cr::swap (sorted[i], sorted[i + 1]);
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sorting = true;
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}
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}
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} while (sorting);
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// calculate angles related to the angle of the closeset connected waypoint
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for (int i = 0; i < MAX_PATH_INDEX; i++) {
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auto &cur = sorted[i];
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if (cur.index == INVALID_WAYPOINT_INDEX) {
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cur.distance = INFINITE_DISTANCE;
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cur.angles = 360.0f;
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}
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else if (exists (cur.index)) {
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cur.angles = ((m_paths[cur.index]->origin - m_paths[index]->origin).toAngles () - (m_paths[sorted[0].index]->origin - m_paths[index]->origin).toAngles ()).y;
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if (cur.angles < 0.0f) {
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cur.angles += 360.0f;
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}
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}
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}
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// sort the paths from the lowest to the highest angle (related to the vector closest waypoint - checked index)...
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do {
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sorting = false;
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for (int i = 0; i < MAX_PATH_INDEX - 1; i++) {
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if (sorted[i].index != INVALID_WAYPOINT_INDEX && sorted[i].angles > sorted[i + 1].angles) {
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cr::swap (sorted[i], sorted[i + 1]);
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sorting = true;
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}
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}
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} while (sorting);
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// reset top state
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top.reset ();
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auto unassignPath = [&](const int id1, const int id2) {
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m_waypointsChanged = true;
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m_paths[id1]->index[id2] = INVALID_WAYPOINT_INDEX;
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m_paths[id1]->distances[id2] = 0;
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m_paths[id1]->connectionFlags[id2] = 0;
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m_paths[id1]->connectionVelocity[id2].nullify ();
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m_waypointsChanged = true;
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g_waypointOn = true;
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numConnectionsFixed++;
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};
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// check pass 0
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auto inspect_p0 = [&](const int id, const auto &self) -> bool {
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if (id < 2) {
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return false;
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}
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auto &cur = sorted[id], &prev = sorted[id - 1], &prev2 = sorted[id - 2];
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if (cur.index == INVALID_WAYPOINT_INDEX || prev.index == INVALID_WAYPOINT_INDEX || prev2.index == INVALID_WAYPOINT_INDEX) {
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return false;
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}
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// store the highest index which should be tested later...
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top.index = cur.index;
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top.distance = cur.distance;
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top.angles = cur.angles;
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if (cur.angles - prev2.angles < 80.0f) {
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// leave alone ladder connections and don't remove jump connections..
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if (((m_paths[index]->flags & FLAG_LADDER) && (m_paths[prev.index]->flags & FLAG_LADDER)) || (m_paths[index]->connectionFlags[prev.number] & PATHFLAG_JUMP)) {
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return false;
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}
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if ((cur.distance + prev2.distance) * 1.1f / 2.0f < static_cast <float> (prev.distance)) {
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if (m_paths[index]->index[prev.number] == prev.index) {
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printInfo ("Removing a useless (P.0.1) connection from index = %d to %d.", index, prev.index);
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// unassign this path
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unassignPath (index, prev.number);
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for (int j = 0; j < MAX_PATH_INDEX; j++) {
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if (m_paths[prev.index]->index[j] == index && !(m_paths[prev.index]->connectionFlags[j] & PATHFLAG_JUMP)) {
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printInfo ("Removing a useless (P.0.2) connection from index = %d to %d.", prev.index, index);
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// unassign this path
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unassignPath (prev.index, j);
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}
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}
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prev.index = INVALID_WAYPOINT_INDEX;
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for (int j = id - 1; j < MAX_PATH_INDEX - 1; j++) {
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sorted[j] = cr::move (sorted[j + 1]);
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}
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sorted[MAX_PATH_INDEX - 1].index = INVALID_WAYPOINT_INDEX;
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// do a second check
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return self (id, self);
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}
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else {
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printInfo ("Failed to remove a useless (P.0) connection from index = %d to %d.", index, prev.index);
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return false;
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}
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}
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}
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return true;
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};
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for (int i = 2; i < MAX_PATH_INDEX; i++) {
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inspect_p0 (i, inspect_p0);
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}
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// check pass 1
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if (exists (top.index) && exists (sorted[0].index) && exists (sorted[1].index)) {
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if ((sorted[1].angles - top.angles < 80.0f || 360.0f - (sorted[1].angles - top.angles) < 80.0f) && (!(m_paths[sorted[0].index]->flags & FLAG_LADDER) || !(m_paths[index]->flags & FLAG_LADDER)) && !(m_paths[index]->connectionFlags[sorted[0].number] & PATHFLAG_JUMP)) {
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if ((sorted[1].distance + top.distance) * 1.1f / 2.0f < static_cast <float> (sorted[0].distance)) {
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if (m_paths[index]->index[sorted[0].number] == sorted[0].index) {
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printInfo ("Removing a useless (P.1.1) connection from index = %d to %d.", index, sorted[0].index);
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// unassign this path
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unassignPath (index, sorted[0].number);
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for (int j = 0; j < MAX_PATH_INDEX; j++) {
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if (m_paths[sorted[0].index]->index[j] == index && !(m_paths[sorted[0].index]->connectionFlags[j] & PATHFLAG_JUMP)) {
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printInfo ("Removing a useless (P.1.2) connection from index = %d to %d.", sorted[0].index, index);
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// unassign this path
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unassignPath (sorted[0].index, j);
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}
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}
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sorted[0].index = INVALID_WAYPOINT_INDEX;
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for (int j = 0; j < MAX_PATH_INDEX - 1; j++) {
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sorted[j] = cr::move (sorted[j + 1]);
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}
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sorted[MAX_PATH_INDEX - 1].index = INVALID_WAYPOINT_INDEX;
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}
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else {
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printInfo ("Failed to remove a useless (P.1) connection from index = %d to %d.", sorted[0].index, index);
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}
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}
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}
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}
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top.reset ();
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// check pass 2
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auto inspect_p2 = [&](const int id, const auto &self) -> bool {
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if (id < 1) {
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return false;
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}
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auto &cur = sorted[id], &prev = sorted[id - 1];
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if (cur.index == INVALID_WAYPOINT_INDEX || prev.index == INVALID_WAYPOINT_INDEX) {
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return false;
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}
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if (cur.angles - prev.angles < 40.0f) {
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if (prev.distance < static_cast <float> (cur.distance * 1.1f)) {
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// leave alone ladder connections and don't remove jump connections..
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if (((m_paths[index]->flags & FLAG_LADDER) && (m_paths[cur.index]->flags & FLAG_LADDER)) || (m_paths[index]->connectionFlags[cur.number] & PATHFLAG_JUMP)) {
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return false;
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}
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if (m_paths[index]->index[cur.number] == cur.index) {
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printInfo ("Removing a useless (P.2.1) connection from index = %d to %d.", index, cur.index);
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// unassign this path
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unassignPath (index, cur.number);
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for (int j = 0; j < MAX_PATH_INDEX; j++) {
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if (m_paths[cur.index]->index[j] == index && !(m_paths[cur.index]->connectionFlags[j] & PATHFLAG_JUMP)) {
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printInfo ("Removing a useless (P.2.2) connection from index = %d to %d.", cur.index, index);
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// unassign this path
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unassignPath (cur.index, j);
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}
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}
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cur.index = INVALID_WAYPOINT_INDEX;
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for (int j = id - 1; j < MAX_PATH_INDEX - 1; j++) {
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sorted[j] = cr::move (sorted[j + 1]);
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}
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sorted[MAX_PATH_INDEX - 1].index = INVALID_WAYPOINT_INDEX;
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// do a second check
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return self (id, self);
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}
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else {
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printInfo ("Failed to remove a useless (P.2) connection from index = %d to %d.", index, cur.index);
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}
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}
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else if (cur.distance < static_cast <float> (prev.distance * 1.1f)) {
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// leave alone ladder connections and don't remove jump connections..
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if (((m_paths[index]->flags & FLAG_LADDER) && (m_paths[prev.index]->flags & FLAG_LADDER)) || (m_paths[index]->connectionFlags[prev.number] & PATHFLAG_JUMP)) {
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return false;
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}
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if (m_paths[index]->index[prev.number] == prev.index) {
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printInfo ("Removing a useless (P.2.3) connection from index = %d to %d.", index, prev.index);
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// unassign this path
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unassignPath (index, prev.number);
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for (int j = 0; j < MAX_PATH_INDEX; j++) {
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if (m_paths[prev.index]->index[j] == index && !(m_paths[prev.index]->connectionFlags[j] & PATHFLAG_JUMP)) {
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printInfo ("Removing a useless (P.2.4) connection from index = %d to %d.", prev.index, index);
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// unassign this path
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unassignPath (prev.index, j);
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}
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}
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prev.index = INVALID_WAYPOINT_INDEX;
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for (int j = id - 1; j < MAX_PATH_INDEX - 1; j++) {
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sorted[j] = cr::move (sorted[j + 1]);
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}
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sorted[MAX_PATH_INDEX - 1].index = INVALID_WAYPOINT_INDEX;
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// do a second check
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return self (id, self);
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}
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else {
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printInfo ("Failed to remove a useless (P.2) connection from index = %d to %d.", index, prev.index);
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}
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}
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}
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else {
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top = cur;
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}
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return true;
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};
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for (int i = 1; i < MAX_PATH_INDEX; i++) {
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inspect_p2 (i, inspect_p2);
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}
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// check pass 3
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if (exists (top.index) && exists (sorted[0].index)) {
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if ((top.angles - sorted[0].angles < 40.0f || (360.0f - top.angles - sorted[0].angles) < 40.0f) && (!(m_paths[sorted[0].index]->flags & FLAG_LADDER) || !(m_paths[index]->flags & FLAG_LADDER)) && !(m_paths[index]->connectionFlags[sorted[0].number] & PATHFLAG_JUMP)) {
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if (top.distance * 1.1f < static_cast <float> (sorted[0].distance)) {
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if (m_paths[index]->index[sorted[0].number] == sorted[0].index) {
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printInfo ("Removing a useless (P.3.1) connection from index = %d to %d.", index, sorted[0].index);
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// unassign this path
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unassignPath (index, sorted[0].number);
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for (int j = 0; j < MAX_PATH_INDEX; j++) {
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if (m_paths[sorted[0].index]->index[j] == index && !(m_paths[sorted[0].index]->connectionFlags[j] & PATHFLAG_JUMP)) {
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printInfo ("Removing a useless (P.3.2) connection from index = %d to %d.", sorted[0].index, index);
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// unassign this path
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unassignPath (sorted[0].index, j);
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}
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}
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sorted[0].index = INVALID_WAYPOINT_INDEX;
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for (int j = 0; j < MAX_PATH_INDEX - 1; j++) {
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sorted[j] = cr::move (sorted[j + 1]);
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}
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sorted[MAX_PATH_INDEX - 1].index = INVALID_WAYPOINT_INDEX;
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}
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else {
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printInfo ("Failed to remove a useless (P.3) connection from index = %d to %d.", sorted[0].index, index);
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}
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}
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else if (sorted[0].distance * 1.1f < static_cast <float> (top.distance) && !(m_paths[index]->connectionFlags[top.number] & PATHFLAG_JUMP)) {
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if (m_paths[index]->index[top.number] == top.index) {
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printInfo ("Removing a useless (P.3.3) connection from index = %d to %d.", index, sorted[0].index);
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// unassign this path
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unassignPath (index, top.number);
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for (int j = 0; j < MAX_PATH_INDEX; j++) {
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if (m_paths[top.index]->index[j] == index && !(m_paths[top.index]->connectionFlags[j] & PATHFLAG_JUMP)) {
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printInfo ("Removing a useless (P.3.4) connection from index = %d to %d.", sorted[0].index, index);
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// unassign this path
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unassignPath (top.index, j);
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}
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}
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sorted[0].index = INVALID_WAYPOINT_INDEX;
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}
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else {
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printInfo ("Failed to remove a useless (P.3) connection from index = %d to %d.", sorted[0].index, index);
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}
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}
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}
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}
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return numConnectionsFixed;
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}
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void Waypoint::addPath (int addIndex, int pathIndex, float distance) {
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if (!exists (addIndex) || !exists (pathIndex)) {
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return;
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@ -450,6 +824,7 @@ void Waypoint::push (int flags, const Vector &waypointOrigin) {
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addPath (i, index, distance);
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}
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}
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removeUselessConnections (index, false);
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}
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engine.playSound (g_hostEntity, "weapons/xbow_hit1.wav");
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calculatePathRadius (index); // calculate the wayzone of this waypoint
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