Fixes code according to modern code style. Fixes a few expression bugs.
This commit is contained in:
Kamron Batman
parent
89eea25e5f
commit
970fd563b2
3324 changed files with 441118 additions and 433755 deletions
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@ -5,288 +5,313 @@ using MoveImpl = Server.Movement.MovementImpl;
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namespace Server.PathAlgorithms.FastAStar
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{
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public struct PathNode
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{
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public int cost, total;
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public int parent, next, prev;
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public int z;
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}
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public struct PathNode
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{
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public int cost, total;
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public int parent, next, prev;
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public int z;
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}
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public class FastAStarAlgorithm : PathAlgorithm
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{
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public static PathAlgorithm Instance = new FastAStarAlgorithm();
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public class FastAStarAlgorithm : PathAlgorithm
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{
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private const int MaxDepth = 300;
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private const int AreaSize = 38;
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private const int MaxDepth = 300;
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private const int AreaSize = 38;
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private const int NodeCount = AreaSize * AreaSize * PlaneCount;
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private const int NodeCount = AreaSize * AreaSize * PlaneCount;
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private const int PlaneOffset = 128;
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private const int PlaneCount = 13;
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private const int PlaneHeight = 20;
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public static PathAlgorithm Instance = new FastAStarAlgorithm();
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private const int PlaneOffset = 128;
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private const int PlaneCount = 13;
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private const int PlaneHeight = 20;
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private static Direction[] m_Path = new Direction[AreaSize * AreaSize];
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private static PathNode[] m_Nodes = new PathNode[NodeCount];
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private static BitArray m_Touched = new BitArray(NodeCount);
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private static BitArray m_OnOpen = new BitArray(NodeCount);
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private static int[] m_Successors = new int[8];
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private static Direction[] m_Path = new Direction[AreaSize * AreaSize];
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private static PathNode[] m_Nodes = new PathNode[NodeCount];
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private static BitArray m_Touched = new BitArray( NodeCount );
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private static BitArray m_OnOpen = new BitArray( NodeCount );
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private static int[] m_Successors = new int[8];
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private static int m_xOffset, m_yOffset;
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private static int m_OpenList;
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private static int m_xOffset, m_yOffset;
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private static int m_OpenList;
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private Point3D m_Goal;
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private Point3D m_Goal;
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public int Heuristic(int x, int y, int z)
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{
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x -= m_Goal.X - m_xOffset;
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y -= m_Goal.Y - m_yOffset;
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z -= m_Goal.Z;
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public int Heuristic( int x, int y, int z )
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{
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x -= m_Goal.X - m_xOffset;
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y -= m_Goal.Y - m_yOffset;
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z -= m_Goal.Z;
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x *= 11;
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y *= 11;
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x *= 11;
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y *= 11;
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return x * x + y * y + z * z;
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}
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return (x*x)+(y*y)+(z*z);
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}
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public override bool CheckCondition(Mobile m, Map map, Point3D start, Point3D goal)
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{
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return Utility.InRange(start, goal, AreaSize);
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}
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public override bool CheckCondition( Mobile m, Map map, Point3D start, Point3D goal )
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{
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return Utility.InRange( start, goal, AreaSize );
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}
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private void RemoveFromChain(int node)
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{
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if (node < 0 || node >= NodeCount)
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return;
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private void RemoveFromChain( int node )
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{
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if ( node < 0 || node >= NodeCount )
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return;
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if (!m_Touched[node] || !m_OnOpen[node])
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return;
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if ( !m_Touched[node] || !m_OnOpen[node] )
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return;
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int prev = m_Nodes[node].prev;
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int next = m_Nodes[node].next;
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int prev = m_Nodes[node].prev;
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int next = m_Nodes[node].next;
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if (m_OpenList == node)
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m_OpenList = next;
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if ( m_OpenList == node )
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m_OpenList = next;
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if (prev != -1)
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m_Nodes[prev].next = next;
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if ( prev != -1 )
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m_Nodes[prev].next = next;
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if (next != -1)
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m_Nodes[next].prev = prev;
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if ( next != -1 )
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m_Nodes[next].prev = prev;
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m_Nodes[node].prev = -1;
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m_Nodes[node].next = -1;
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}
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m_Nodes[node].prev = -1;
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m_Nodes[node].next = -1;
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}
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private void AddToChain(int node)
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{
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if (node < 0 || node >= NodeCount)
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return;
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private void AddToChain( int node )
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{
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if ( node < 0 || node >= NodeCount )
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return;
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RemoveFromChain(node);
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RemoveFromChain( node );
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if (m_OpenList != -1)
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m_Nodes[m_OpenList].prev = node;
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if ( m_OpenList != -1 )
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m_Nodes[m_OpenList].prev = node;
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m_Nodes[node].next = m_OpenList;
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m_Nodes[node].prev = -1;
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m_Nodes[node].next = m_OpenList;
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m_Nodes[node].prev = -1;
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m_OpenList = node;
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m_OpenList = node;
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m_Touched[node] = true;
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m_OnOpen[node] = true;
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}
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m_Touched[node] = true;
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m_OnOpen[node] = true;
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}
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public override Direction[] Find(Mobile m, Map map, Point3D start, Point3D goal)
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{
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if (!Utility.InRange(start, goal, AreaSize))
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return null;
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public override Direction[] Find( Mobile m, Map map, Point3D start, Point3D goal )
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{
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if ( !Utility.InRange( start, goal, AreaSize ) )
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return null;
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m_Touched.SetAll(false);
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m_Touched.SetAll( false );
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m_Goal = goal;
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m_Goal = goal;
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m_xOffset = (start.X + goal.X - AreaSize) / 2;
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m_yOffset = (start.Y + goal.Y - AreaSize) / 2;
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m_xOffset = (start.X + goal.X - AreaSize) / 2;
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m_yOffset = (start.Y + goal.Y - AreaSize) / 2;
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int fromNode = GetIndex(start.X, start.Y, start.Z);
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int destNode = GetIndex(goal.X, goal.Y, goal.Z);
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int fromNode = GetIndex( start.X, start.Y, start.Z );
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int destNode = GetIndex( goal.X, goal.Y, goal.Z );
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m_OpenList = fromNode;
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m_OpenList = fromNode;
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m_Nodes[m_OpenList].cost = 0;
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m_Nodes[m_OpenList].total = Heuristic(start.X - m_xOffset, start.Y - m_yOffset, start.Z);
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m_Nodes[m_OpenList].parent = -1;
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m_Nodes[m_OpenList].next = -1;
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m_Nodes[m_OpenList].prev = -1;
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m_Nodes[m_OpenList].z = start.Z;
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m_Nodes[m_OpenList].cost = 0;
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m_Nodes[m_OpenList].total = Heuristic( start.X - m_xOffset, start.Y - m_yOffset, start.Z );
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m_Nodes[m_OpenList].parent = -1;
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m_Nodes[m_OpenList].next = -1;
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m_Nodes[m_OpenList].prev = -1;
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m_Nodes[m_OpenList].z = start.Z;
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m_OnOpen[m_OpenList] = true;
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m_Touched[m_OpenList] = true;
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m_OnOpen[m_OpenList] = true;
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m_Touched[m_OpenList] = true;
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BaseCreature bc = m as BaseCreature;
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BaseCreature bc = m as BaseCreature;
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int pathCount, parent;
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int backtrack = 0, depth = 0;
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int pathCount, parent;
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int backtrack = 0, depth = 0;
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Direction[] path = m_Path;
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Direction[] path = m_Path;
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while (m_OpenList != -1)
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{
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int bestNode = FindBest(m_OpenList);
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while ( m_OpenList != -1 )
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{
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int bestNode = FindBest( m_OpenList );
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if (++depth > MaxDepth)
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break;
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if ( ++depth > MaxDepth )
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break;
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if (bc != null)
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{
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MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
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MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
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}
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if ( bc != null )
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{
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MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
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MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
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}
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MoveImpl.Goal = goal;
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MoveImpl.Goal = goal;
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int[] vals = m_Successors;
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int count = GetSuccessors(bestNode, m, map);
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int[] vals = m_Successors;
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int count = GetSuccessors( bestNode, m, map );
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MoveImpl.AlwaysIgnoreDoors = false;
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MoveImpl.IgnoreMovableImpassables = false;
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MoveImpl.Goal = Point3D.Zero;
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MoveImpl.AlwaysIgnoreDoors = false;
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MoveImpl.IgnoreMovableImpassables = false;
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MoveImpl.Goal = Point3D.Zero;
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if (count == 0)
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break;
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if ( count == 0 )
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break;
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for (int i = 0; i < count; ++i)
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{
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int newNode = vals[i];
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for ( int i = 0; i < count; ++i )
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{
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int newNode = vals[i];
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bool wasTouched = m_Touched[newNode];
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bool wasTouched = m_Touched[newNode];
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if (!wasTouched)
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{
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int newCost = m_Nodes[bestNode].cost + 1;
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int newTotal = newCost + Heuristic(newNode % AreaSize, newNode / AreaSize % AreaSize,
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m_Nodes[newNode].z);
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if ( !wasTouched )
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{
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int newCost = m_Nodes[bestNode].cost + 1;
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int newTotal = newCost + Heuristic( newNode % AreaSize, (newNode / AreaSize) % AreaSize, m_Nodes[newNode].z );
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if ( !wasTouched || m_Nodes[newNode].total > newTotal )
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{
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m_Nodes[newNode].parent = bestNode;
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m_Nodes[newNode].cost = newCost;
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m_Nodes[newNode].total = newTotal;
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if ( !wasTouched || !m_OnOpen[newNode] )
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{
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AddToChain( newNode );
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if ( newNode == destNode )
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{
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pathCount = 0;
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parent = m_Nodes[newNode].parent;
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while ( parent != -1 )
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{
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path[pathCount++] = GetDirection( parent % AreaSize, (parent / AreaSize) % AreaSize, newNode % AreaSize, (newNode / AreaSize) % AreaSize );
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newNode = parent;
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parent = m_Nodes[newNode].parent;
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if ( newNode == fromNode )
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break;
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}
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Direction[] dirs = new Direction[pathCount];
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while ( pathCount > 0 )
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dirs[backtrack++] = path[--pathCount];
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return dirs;
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}
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}
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}
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}
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}
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}
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return null;
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}
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private int GetIndex( int x, int y, int z )
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{
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x -= m_xOffset;
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y -= m_yOffset;
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z += PlaneOffset;
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z /= PlaneHeight;
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return x + (y * AreaSize) + (z * AreaSize * AreaSize);
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}
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private int FindBest( int node )
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{
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int least = m_Nodes[node].total;
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int leastNode = node;
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while ( node != -1 )
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{
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if ( m_Nodes[node].total < least )
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{
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least = m_Nodes[node].total;
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leastNode = node;
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}
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node = m_Nodes[node].next;
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}
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RemoveFromChain( leastNode );
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m_Touched[leastNode] = true;
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m_OnOpen[leastNode] = false;
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return leastNode;
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}
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public int GetSuccessors( int p, Mobile m, Map map )
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{
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int px = p % AreaSize;
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int py = (p / AreaSize) % AreaSize;
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int pz = m_Nodes[p].z;
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int x, y, z;
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Point3D p3D = new Point3D( px + m_xOffset, py + m_yOffset, pz );
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int[] vals = m_Successors;
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int count = 0;
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for ( int i = 0; i < 8; ++i )
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{
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switch ( i )
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{
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default:
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case 0: x = 0; y = -1; break;
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case 1: x = 1; y = -1; break;
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case 2: x = 1; y = 0; break;
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case 3: x = 1; y = 1; break;
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case 4: x = 0; y = 1; break;
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case 5: x = -1; y = 1; break;
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case 6: x = -1; y = 0; break;
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case 7: x = -1; y = -1; break;
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}
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x += px;
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y += py;
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if ( x < 0 || x >= AreaSize || y < 0 || y >= AreaSize )
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continue;
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if ( CalcMoves.CheckMovement( m, map, p3D, (Direction)i, out z ) )
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{
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int idx = GetIndex( x + m_xOffset, y + m_yOffset, z );
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if ( idx >= 0 && idx < NodeCount )
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{
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m_Nodes[idx].z = z;
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vals[count++] = idx;
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}
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}
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}
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return count;
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}
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}
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}
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if (!wasTouched || m_Nodes[newNode].total > newTotal)
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{
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m_Nodes[newNode].parent = bestNode;
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m_Nodes[newNode].cost = newCost;
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m_Nodes[newNode].total = newTotal;
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if (!wasTouched || !m_OnOpen[newNode])
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{
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AddToChain(newNode);
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if (newNode == destNode)
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{
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pathCount = 0;
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parent = m_Nodes[newNode].parent;
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while (parent != -1)
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{
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path[pathCount++] = GetDirection(parent % AreaSize, parent / AreaSize % AreaSize,
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newNode % AreaSize, newNode / AreaSize % AreaSize);
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newNode = parent;
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parent = m_Nodes[newNode].parent;
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if (newNode == fromNode)
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break;
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}
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Direction[] dirs = new Direction[pathCount];
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while (pathCount > 0)
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dirs[backtrack++] = path[--pathCount];
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return dirs;
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}
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}
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}
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}
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}
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}
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return null;
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}
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private int GetIndex(int x, int y, int z)
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{
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x -= m_xOffset;
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y -= m_yOffset;
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z += PlaneOffset;
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z /= PlaneHeight;
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return x + y * AreaSize + z * AreaSize * AreaSize;
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}
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private int FindBest(int node)
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{
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int least = m_Nodes[node].total;
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int leastNode = node;
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while (node != -1)
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{
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if (m_Nodes[node].total < least)
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{
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least = m_Nodes[node].total;
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leastNode = node;
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}
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node = m_Nodes[node].next;
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}
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RemoveFromChain(leastNode);
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m_Touched[leastNode] = true;
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m_OnOpen[leastNode] = false;
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return leastNode;
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}
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public int GetSuccessors(int p, Mobile m, Map map)
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{
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int px = p % AreaSize;
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int py = p / AreaSize % AreaSize;
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int pz = m_Nodes[p].z;
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int x, y, z;
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Point3D p3D = new Point3D(px + m_xOffset, py + m_yOffset, pz);
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int[] vals = m_Successors;
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int count = 0;
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for (int i = 0; i < 8; ++i)
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{
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switch (i)
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{
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default:
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case 0:
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x = 0;
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y = -1;
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break;
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case 1:
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x = 1;
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y = -1;
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break;
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case 2:
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x = 1;
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y = 0;
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break;
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case 3:
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x = 1;
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y = 1;
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break;
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case 4:
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x = 0;
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y = 1;
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break;
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case 5:
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||||
x = -1;
|
||||
y = 1;
|
||||
break;
|
||||
case 6:
|
||||
x = -1;
|
||||
y = 0;
|
||||
break;
|
||||
case 7:
|
||||
x = -1;
|
||||
y = -1;
|
||||
break;
|
||||
}
|
||||
|
||||
x += px;
|
||||
y += py;
|
||||
|
||||
if (x < 0 || x >= AreaSize || y < 0 || y >= AreaSize)
|
||||
continue;
|
||||
|
||||
if (CalcMoves.CheckMovement(m, map, p3D, (Direction)i, out z))
|
||||
{
|
||||
int idx = GetIndex(x + m_xOffset, y + m_yOffset, z);
|
||||
|
||||
if (idx >= 0 && idx < NodeCount)
|
||||
{
|
||||
m_Nodes[idx].z = z;
|
||||
vals[count++] = idx;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return count;
|
||||
}
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load diff
|
|
@ -1,12 +1,12 @@
|
|||
namespace Server
|
||||
{
|
||||
public delegate MoveResult MoveMethod( Direction d );
|
||||
public delegate MoveResult MoveMethod(Direction d);
|
||||
|
||||
public enum MoveResult
|
||||
{
|
||||
BadState,
|
||||
Blocked,
|
||||
Success,
|
||||
SuccessAutoTurn
|
||||
}
|
||||
public enum MoveResult
|
||||
{
|
||||
BadState,
|
||||
Blocked,
|
||||
Success,
|
||||
SuccessAutoTurn
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load diff
|
|
@ -1,154 +1,150 @@
|
|||
using System;
|
||||
using Server.Targeting;
|
||||
using Server.PathAlgorithms;
|
||||
using Server.PathAlgorithms.SlowAStar;
|
||||
using Server.PathAlgorithms.FastAStar;
|
||||
using Server.Commands;
|
||||
using Server.Items;
|
||||
using Server.PathAlgorithms;
|
||||
using Server.PathAlgorithms.FastAStar;
|
||||
using Server.PathAlgorithms.SlowAStar;
|
||||
using Server.Spells;
|
||||
using Server.Targeting;
|
||||
|
||||
namespace Server
|
||||
{
|
||||
public sealed class MovementPath
|
||||
{
|
||||
public Map Map { get; }
|
||||
public sealed class MovementPath
|
||||
{
|
||||
public MovementPath(Mobile m, Point3D goal)
|
||||
{
|
||||
Point3D start = m.Location;
|
||||
Map map = m.Map;
|
||||
|
||||
public Point3D Start { get; }
|
||||
Map = map;
|
||||
Start = start;
|
||||
Goal = goal;
|
||||
|
||||
public Point3D Goal { get; }
|
||||
if (map == null || map == Map.Internal)
|
||||
return;
|
||||
|
||||
public Direction[] Directions { get; }
|
||||
if (Utility.InRange(start, goal, 1))
|
||||
return;
|
||||
|
||||
public bool Success => ( Directions != null && Directions.Length > 0 );
|
||||
try
|
||||
{
|
||||
PathAlgorithm alg = OverrideAlgorithm;
|
||||
|
||||
public static void Initialize()
|
||||
{
|
||||
CommandSystem.Register( "Path", AccessLevel.GameMaster, Path_OnCommand );
|
||||
}
|
||||
if (alg == null) alg = FastAStarAlgorithm.Instance;
|
||||
|
||||
public static void Path_OnCommand( CommandEventArgs e )
|
||||
{
|
||||
e.Mobile.BeginTarget( -1, true, TargetFlags.None, Path_OnTarget );
|
||||
e.Mobile.SendMessage( "Target a location and a path will be drawn there." );
|
||||
}
|
||||
if (alg != null && alg.CheckCondition(m, map, start, goal))
|
||||
Directions = alg.Find(m, map, start, goal);
|
||||
}
|
||||
catch (Exception e)
|
||||
{
|
||||
Console.WriteLine("Warning: {0}: Pathing error from {1} to {2}", e.GetType().Name, start, goal);
|
||||
}
|
||||
}
|
||||
|
||||
private static void Path( Mobile from, IPoint3D p, PathAlgorithm alg, string name, int zOffset )
|
||||
{
|
||||
OverrideAlgorithm = alg;
|
||||
public Map Map{ get; }
|
||||
|
||||
long start = DateTime.UtcNow.Ticks;
|
||||
MovementPath path = new MovementPath( from, new Point3D( p ) );
|
||||
long end = DateTime.UtcNow.Ticks;
|
||||
double len = Math.Round( (end-start) / 10000.0, 2 );
|
||||
public Point3D Start{ get; }
|
||||
|
||||
if ( !path.Success )
|
||||
{
|
||||
from.SendMessage( "{0} path failed: {1}ms", name, len );
|
||||
}
|
||||
else
|
||||
{
|
||||
from.SendMessage( "{0} path success: {1}ms", name, len );
|
||||
public Point3D Goal{ get; }
|
||||
|
||||
int x = from.X;
|
||||
int y = from.Y;
|
||||
int z = from.Z;
|
||||
public Direction[] Directions{ get; }
|
||||
|
||||
for ( int i = 0; i < path.Directions.Length; ++i )
|
||||
{
|
||||
Movement.Movement.Offset( path.Directions[i], ref x, ref y );
|
||||
public bool Success => Directions != null && Directions.Length > 0;
|
||||
|
||||
new Items.RecallRune().MoveToWorld( new Point3D( x, y, z+zOffset ), from.Map );
|
||||
}
|
||||
}
|
||||
}
|
||||
public static PathAlgorithm OverrideAlgorithm{ get; set; }
|
||||
|
||||
public static void Path_OnTarget( Mobile from, object obj )
|
||||
{
|
||||
if ( !(obj is IPoint3D p) )
|
||||
return;
|
||||
public static void Initialize()
|
||||
{
|
||||
CommandSystem.Register("Path", AccessLevel.GameMaster, Path_OnCommand);
|
||||
}
|
||||
|
||||
Spells.SpellHelper.GetSurfaceTop( ref p );
|
||||
public static void Path_OnCommand(CommandEventArgs e)
|
||||
{
|
||||
e.Mobile.BeginTarget(-1, true, TargetFlags.None, Path_OnTarget);
|
||||
e.Mobile.SendMessage("Target a location and a path will be drawn there.");
|
||||
}
|
||||
|
||||
Path( from, p, FastAStarAlgorithm.Instance, "Fast", 0 );
|
||||
Path( from, p, SlowAStarAlgorithm.Instance, "Slow", 2 );
|
||||
OverrideAlgorithm = null;
|
||||
private static void Path(Mobile from, IPoint3D p, PathAlgorithm alg, string name, int zOffset)
|
||||
{
|
||||
OverrideAlgorithm = alg;
|
||||
|
||||
/*MovementPath path = new MovementPath( from, new Point3D( p ) );
|
||||
long start = DateTime.UtcNow.Ticks;
|
||||
MovementPath path = new MovementPath(from, new Point3D(p));
|
||||
long end = DateTime.UtcNow.Ticks;
|
||||
double len = Math.Round((end - start) / 10000.0, 2);
|
||||
|
||||
if ( !path.Success )
|
||||
{
|
||||
from.SendMessage( "No path to there could be found." );
|
||||
}
|
||||
else
|
||||
{
|
||||
//for ( int i = 0; i < path.Directions.Length; ++i )
|
||||
// Timer.DelayCall( TimeSpan.FromSeconds( 0.1 + (i * 0.3) ), new TimerStateCallback( Pathfind ), new object[]{ from, path.Directions[i] } );
|
||||
int x = from.X;
|
||||
int y = from.Y;
|
||||
int z = from.Z;
|
||||
if (!path.Success)
|
||||
{
|
||||
from.SendMessage("{0} path failed: {1}ms", name, len);
|
||||
}
|
||||
else
|
||||
{
|
||||
from.SendMessage("{0} path success: {1}ms", name, len);
|
||||
|
||||
for ( int i = 0; i < path.Directions.Length; ++i )
|
||||
{
|
||||
Movement.Movement.Offset( path.Directions[i], ref x, ref y );
|
||||
int x = from.X;
|
||||
int y = from.Y;
|
||||
int z = from.Z;
|
||||
|
||||
new Items.RecallRune().MoveToWorld( new Point3D( x, y, z ), from.Map );
|
||||
}
|
||||
}*/
|
||||
}
|
||||
for (int i = 0; i < path.Directions.Length; ++i)
|
||||
{
|
||||
Movement.Movement.Offset(path.Directions[i], ref x, ref y);
|
||||
|
||||
public static void Pathfind( object state )
|
||||
{
|
||||
object[] states = (object[])state;
|
||||
Mobile from = (Mobile) states[0];
|
||||
Direction d = (Direction) states[1];
|
||||
new RecallRune().MoveToWorld(new Point3D(x, y, z + zOffset), from.Map);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
from.Direction = d;
|
||||
from.NetState.BlockAllPackets=true;
|
||||
from.Move( d );
|
||||
from.NetState.BlockAllPackets=false;
|
||||
from.ProcessDelta();
|
||||
}
|
||||
catch
|
||||
{
|
||||
}
|
||||
}
|
||||
public static void Path_OnTarget(Mobile from, object obj)
|
||||
{
|
||||
if (!(obj is IPoint3D p))
|
||||
return;
|
||||
|
||||
public static PathAlgorithm OverrideAlgorithm { get; set; }
|
||||
SpellHelper.GetSurfaceTop(ref p);
|
||||
|
||||
public MovementPath( Mobile m, Point3D goal )
|
||||
{
|
||||
Point3D start = m.Location;
|
||||
Map map = m.Map;
|
||||
Path(from, p, FastAStarAlgorithm.Instance, "Fast", 0);
|
||||
Path(from, p, SlowAStarAlgorithm.Instance, "Slow", 2);
|
||||
OverrideAlgorithm = null;
|
||||
|
||||
Map = map;
|
||||
Start = start;
|
||||
Goal = goal;
|
||||
/*MovementPath path = new MovementPath( from, new Point3D( p ) );
|
||||
|
||||
if ( map == null || map == Map.Internal )
|
||||
return;
|
||||
if ( !path.Success )
|
||||
{
|
||||
from.SendMessage( "No path to there could be found." );
|
||||
}
|
||||
else
|
||||
{
|
||||
//for ( int i = 0; i < path.Directions.Length; ++i )
|
||||
// Timer.DelayCall( TimeSpan.FromSeconds( 0.1 + (i * 0.3) ), new TimerStateCallback( Pathfind ), new object[]{ from, path.Directions[i] } );
|
||||
int x = from.X;
|
||||
int y = from.Y;
|
||||
int z = from.Z;
|
||||
|
||||
if ( Utility.InRange( start, goal, 1 ) )
|
||||
return;
|
||||
for ( int i = 0; i < path.Directions.Length; ++i )
|
||||
{
|
||||
Movement.Movement.Offset( path.Directions[i], ref x, ref y );
|
||||
|
||||
try
|
||||
{
|
||||
PathAlgorithm alg = OverrideAlgorithm;
|
||||
new Items.RecallRune().MoveToWorld( new Point3D( x, y, z ), from.Map );
|
||||
}
|
||||
}*/
|
||||
}
|
||||
|
||||
if ( alg == null )
|
||||
{
|
||||
alg = FastAStarAlgorithm.Instance;
|
||||
public static void Pathfind(object state)
|
||||
{
|
||||
object[] states = (object[])state;
|
||||
Mobile from = (Mobile)states[0];
|
||||
Direction d = (Direction)states[1];
|
||||
|
||||
//if ( !alg.CheckCondition( m, map, start, goal ) ) // SlowAstar is still broken
|
||||
// alg = SlowAStarAlgorithm.Instance; // TODO: Fix SlowAstar
|
||||
}
|
||||
|
||||
if ( alg != null && alg.CheckCondition( m, map, start, goal ) )
|
||||
Directions = alg.Find( m, map, start, goal );
|
||||
}
|
||||
catch ( Exception e )
|
||||
{
|
||||
Console.WriteLine( "Warning: {0}: Pathing error from {1} to {2}", e.GetType().Name, start, goal );
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
try
|
||||
{
|
||||
from.Direction = d;
|
||||
from.NetState.BlockAllPackets = true;
|
||||
from.Move(d);
|
||||
from.NetState.BlockAllPackets = false;
|
||||
from.ProcessDelta();
|
||||
}
|
||||
catch
|
||||
{
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,33 +1,33 @@
|
|||
namespace Server.PathAlgorithms
|
||||
{
|
||||
public abstract class PathAlgorithm
|
||||
{
|
||||
public abstract bool CheckCondition( Mobile m, Map map, Point3D start, Point3D goal );
|
||||
public abstract Direction[] Find( Mobile m, Map map, Point3D start, Point3D goal );
|
||||
public abstract class PathAlgorithm
|
||||
{
|
||||
private static Direction[] m_CalcDirections = new Direction[9]
|
||||
{
|
||||
Direction.Up,
|
||||
Direction.North,
|
||||
Direction.Right,
|
||||
Direction.West,
|
||||
Direction.North,
|
||||
Direction.East,
|
||||
Direction.Left,
|
||||
Direction.South,
|
||||
Direction.Down
|
||||
};
|
||||
|
||||
private static Direction[] m_CalcDirections = new Direction[9]
|
||||
{
|
||||
Direction.Up,
|
||||
Direction.North,
|
||||
Direction.Right,
|
||||
Direction.West,
|
||||
Direction.North,
|
||||
Direction.East,
|
||||
Direction.Left,
|
||||
Direction.South,
|
||||
Direction.Down
|
||||
};
|
||||
public abstract bool CheckCondition(Mobile m, Map map, Point3D start, Point3D goal);
|
||||
public abstract Direction[] Find(Mobile m, Map map, Point3D start, Point3D goal);
|
||||
|
||||
public Direction GetDirection( int xSource, int ySource, int xDest, int yDest )
|
||||
{
|
||||
int x = xDest + 1 - xSource;
|
||||
int y = yDest + 1 - ySource;
|
||||
int v = (y * 3) + x;
|
||||
public Direction GetDirection(int xSource, int ySource, int xDest, int yDest)
|
||||
{
|
||||
int x = xDest + 1 - xSource;
|
||||
int y = yDest + 1 - ySource;
|
||||
int v = y * 3 + x;
|
||||
|
||||
if ( v < 0 || v >= 9 )
|
||||
return Direction.North;
|
||||
if (v < 0 || v >= 9)
|
||||
return Direction.North;
|
||||
|
||||
return m_CalcDirections[v];
|
||||
}
|
||||
}
|
||||
return m_CalcDirections[v];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -3,191 +3,191 @@ using CalcMoves = Server.Movement.Movement;
|
|||
|
||||
namespace Server
|
||||
{
|
||||
public class PathFollower
|
||||
{
|
||||
// Should we use pathfinding? 'false' for not
|
||||
private static bool Enabled = true;
|
||||
public class PathFollower
|
||||
{
|
||||
// Should we use pathfinding? 'false' for not
|
||||
private static bool Enabled = true;
|
||||
|
||||
private Mobile m_From;
|
||||
private MovementPath m_Path;
|
||||
private int m_Index;
|
||||
private Point3D m_Next, m_LastGoalLoc;
|
||||
private DateTime m_LastPathTime;
|
||||
private static TimeSpan RepathDelay = TimeSpan.FromSeconds(2.0);
|
||||
|
||||
public MoveMethod Mover { get; set; }
|
||||
private Mobile m_From;
|
||||
private int m_Index;
|
||||
private DateTime m_LastPathTime;
|
||||
private Point3D m_Next, m_LastGoalLoc;
|
||||
private MovementPath m_Path;
|
||||
|
||||
public IPoint3D Goal { get; }
|
||||
public PathFollower(Mobile from, IPoint3D goal)
|
||||
{
|
||||
m_From = from;
|
||||
Goal = goal;
|
||||
}
|
||||
|
||||
public PathFollower( Mobile from, IPoint3D goal )
|
||||
{
|
||||
m_From = from;
|
||||
Goal = goal;
|
||||
}
|
||||
public MoveMethod Mover{ get; set; }
|
||||
|
||||
public MoveResult Move( Direction d )
|
||||
{
|
||||
if ( Mover == null )
|
||||
return ( m_From.Move( d ) ? MoveResult.Success : MoveResult.Blocked );
|
||||
public IPoint3D Goal{ get; }
|
||||
|
||||
return Mover( d );
|
||||
}
|
||||
public MoveResult Move(Direction d)
|
||||
{
|
||||
if (Mover == null)
|
||||
return m_From.Move(d) ? MoveResult.Success : MoveResult.Blocked;
|
||||
|
||||
public Point3D GetGoalLocation()
|
||||
{
|
||||
if ( Goal is Item item )
|
||||
return item.GetWorldLocation();
|
||||
return Mover(d);
|
||||
}
|
||||
|
||||
return new Point3D( Goal );
|
||||
}
|
||||
public Point3D GetGoalLocation()
|
||||
{
|
||||
if (Goal is Item item)
|
||||
return item.GetWorldLocation();
|
||||
|
||||
private static TimeSpan RepathDelay = TimeSpan.FromSeconds( 2.0 );
|
||||
return new Point3D(Goal);
|
||||
}
|
||||
|
||||
public void Advance( ref Point3D p, int index )
|
||||
{
|
||||
if ( m_Path != null && m_Path.Success )
|
||||
{
|
||||
Direction[] dirs = m_Path.Directions;
|
||||
public void Advance(ref Point3D p, int index)
|
||||
{
|
||||
if (m_Path != null && m_Path.Success)
|
||||
{
|
||||
Direction[] dirs = m_Path.Directions;
|
||||
|
||||
if ( index >= 0 && index < dirs.Length )
|
||||
{
|
||||
int x = p.X, y = p.Y;
|
||||
if (index >= 0 && index < dirs.Length)
|
||||
{
|
||||
int x = p.X, y = p.Y;
|
||||
|
||||
CalcMoves.Offset( dirs[index], ref x, ref y );
|
||||
CalcMoves.Offset(dirs[index], ref x, ref y);
|
||||
|
||||
p.X = x;
|
||||
p.Y = y;
|
||||
}
|
||||
}
|
||||
}
|
||||
p.X = x;
|
||||
p.Y = y;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public void ForceRepath()
|
||||
{
|
||||
m_Path = null;
|
||||
}
|
||||
public void ForceRepath()
|
||||
{
|
||||
m_Path = null;
|
||||
}
|
||||
|
||||
public bool CheckPath()
|
||||
{
|
||||
if ( !Enabled )
|
||||
return false;
|
||||
public bool CheckPath()
|
||||
{
|
||||
if (!Enabled)
|
||||
return false;
|
||||
|
||||
bool repath = false;
|
||||
bool repath = false;
|
||||
|
||||
Point3D goal = GetGoalLocation();
|
||||
Point3D goal = GetGoalLocation();
|
||||
|
||||
if ( m_Path == null )
|
||||
repath = true;
|
||||
else if ( (!m_Path.Success || goal != m_LastGoalLoc) && (m_LastPathTime + RepathDelay) <= DateTime.UtcNow )
|
||||
repath = true;
|
||||
else if ( m_Path.Success && Check( m_From.Location, m_LastGoalLoc, 0 ) )
|
||||
repath = true;
|
||||
if (m_Path == null)
|
||||
repath = true;
|
||||
else if ((!m_Path.Success || goal != m_LastGoalLoc) && m_LastPathTime + RepathDelay <= DateTime.UtcNow)
|
||||
repath = true;
|
||||
else if (m_Path.Success && Check(m_From.Location, m_LastGoalLoc, 0))
|
||||
repath = true;
|
||||
|
||||
if ( !repath )
|
||||
return false;
|
||||
if (!repath)
|
||||
return false;
|
||||
|
||||
m_LastPathTime = DateTime.UtcNow;
|
||||
m_LastGoalLoc = goal;
|
||||
m_LastPathTime = DateTime.UtcNow;
|
||||
m_LastGoalLoc = goal;
|
||||
|
||||
m_Path = new MovementPath( m_From, goal );
|
||||
m_Path = new MovementPath(m_From, goal);
|
||||
|
||||
m_Index = 0;
|
||||
m_Next = m_From.Location;
|
||||
m_Index = 0;
|
||||
m_Next = m_From.Location;
|
||||
|
||||
Advance( ref m_Next, m_Index );
|
||||
Advance(ref m_Next, m_Index);
|
||||
|
||||
return true;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
public bool Check( Point3D loc, Point3D goal, int range )
|
||||
{
|
||||
if ( !Utility.InRange( loc, goal, range ) )
|
||||
return false;
|
||||
public bool Check(Point3D loc, Point3D goal, int range)
|
||||
{
|
||||
if (!Utility.InRange(loc, goal, range))
|
||||
return false;
|
||||
|
||||
if ( range <= 1 && Math.Abs( loc.Z - goal.Z ) >= 16 )
|
||||
return false;
|
||||
if (range <= 1 && Math.Abs(loc.Z - goal.Z) >= 16)
|
||||
return false;
|
||||
|
||||
return true;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
public bool Follow( bool run, int range )
|
||||
{
|
||||
Point3D goal = GetGoalLocation();
|
||||
Direction d;
|
||||
public bool Follow(bool run, int range)
|
||||
{
|
||||
Point3D goal = GetGoalLocation();
|
||||
Direction d;
|
||||
|
||||
if ( Check( m_From.Location, goal, range ) )
|
||||
return true;
|
||||
if (Check(m_From.Location, goal, range))
|
||||
return true;
|
||||
|
||||
bool repathed = CheckPath();
|
||||
bool repathed = CheckPath();
|
||||
|
||||
if ( !Enabled || !m_Path.Success )
|
||||
{
|
||||
d = m_From.GetDirectionTo( goal );
|
||||
if (!Enabled || !m_Path.Success)
|
||||
{
|
||||
d = m_From.GetDirectionTo(goal);
|
||||
|
||||
if ( run )
|
||||
d |= Direction.Running;
|
||||
if (run)
|
||||
d |= Direction.Running;
|
||||
|
||||
m_From.SetDirection( d );
|
||||
Move( d );
|
||||
m_From.SetDirection(d);
|
||||
Move(d);
|
||||
|
||||
return Check( m_From.Location, goal, range );
|
||||
}
|
||||
return Check(m_From.Location, goal, range);
|
||||
}
|
||||
|
||||
d = m_From.GetDirectionTo( m_Next );
|
||||
d = m_From.GetDirectionTo(m_Next);
|
||||
|
||||
if ( run )
|
||||
d |= Direction.Running;
|
||||
if (run)
|
||||
d |= Direction.Running;
|
||||
|
||||
m_From.SetDirection( d );
|
||||
m_From.SetDirection(d);
|
||||
|
||||
MoveResult res = Move( d );
|
||||
MoveResult res = Move(d);
|
||||
|
||||
if ( res == MoveResult.Blocked )
|
||||
{
|
||||
if ( repathed )
|
||||
return false;
|
||||
if (res == MoveResult.Blocked)
|
||||
{
|
||||
if (repathed)
|
||||
return false;
|
||||
|
||||
m_Path = null;
|
||||
CheckPath();
|
||||
m_Path = null;
|
||||
CheckPath();
|
||||
|
||||
if ( !m_Path.Success )
|
||||
{
|
||||
d = m_From.GetDirectionTo( goal );
|
||||
if (!m_Path.Success)
|
||||
{
|
||||
d = m_From.GetDirectionTo(goal);
|
||||
|
||||
if ( run )
|
||||
d |= Direction.Running;
|
||||
if (run)
|
||||
d |= Direction.Running;
|
||||
|
||||
m_From.SetDirection( d );
|
||||
Move( d );
|
||||
m_From.SetDirection(d);
|
||||
Move(d);
|
||||
|
||||
return Check( m_From.Location, goal, range );
|
||||
}
|
||||
return Check(m_From.Location, goal, range);
|
||||
}
|
||||
|
||||
d = m_From.GetDirectionTo( m_Next );
|
||||
d = m_From.GetDirectionTo(m_Next);
|
||||
|
||||
if ( run )
|
||||
d |= Direction.Running;
|
||||
if (run)
|
||||
d |= Direction.Running;
|
||||
|
||||
m_From.SetDirection( d );
|
||||
m_From.SetDirection(d);
|
||||
|
||||
res = Move( d );
|
||||
res = Move(d);
|
||||
|
||||
if ( res == MoveResult.Blocked )
|
||||
return false;
|
||||
}
|
||||
if (res == MoveResult.Blocked)
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( m_From.X == m_Next.X && m_From.Y == m_Next.Y )
|
||||
{
|
||||
if ( m_From.Z == m_Next.Z )
|
||||
{
|
||||
++m_Index;
|
||||
Advance( ref m_Next, m_Index );
|
||||
}
|
||||
else
|
||||
{
|
||||
m_Path = null;
|
||||
}
|
||||
}
|
||||
if (m_From.X == m_Next.X && m_From.Y == m_Next.Y)
|
||||
{
|
||||
if (m_From.Z == m_Next.Z)
|
||||
{
|
||||
++m_Index;
|
||||
Advance(ref m_Next, m_Index);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_Path = null;
|
||||
}
|
||||
}
|
||||
|
||||
return Check( m_From.Location, goal, range );
|
||||
}
|
||||
}
|
||||
}
|
||||
return Check(m_From.Location, goal, range);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -5,257 +5,272 @@ using MoveImpl = Server.Movement.MovementImpl;
|
|||
|
||||
namespace Server.PathAlgorithms.SlowAStar
|
||||
{
|
||||
public struct PathNode
|
||||
{
|
||||
public int x, y, z;
|
||||
public int g, h;
|
||||
public int px, py, pz;
|
||||
public int dir;
|
||||
}
|
||||
public struct PathNode
|
||||
{
|
||||
public int x, y, z;
|
||||
public int g, h;
|
||||
public int px, py, pz;
|
||||
public int dir;
|
||||
}
|
||||
|
||||
public class SlowAStarAlgorithm : PathAlgorithm
|
||||
{
|
||||
public static PathAlgorithm Instance = new SlowAStarAlgorithm();
|
||||
public class SlowAStarAlgorithm : PathAlgorithm
|
||||
{
|
||||
private const int MaxDepth = 300;
|
||||
private const int MaxNodes = MaxDepth * 16;
|
||||
public static PathAlgorithm Instance = new SlowAStarAlgorithm();
|
||||
|
||||
private const int MaxDepth = 300;
|
||||
private const int MaxNodes = MaxDepth * 16;
|
||||
private static PathNode[] m_Closed = new PathNode[MaxNodes];
|
||||
private static PathNode[] m_Open = new PathNode[MaxNodes];
|
||||
private static PathNode[] m_Successors = new PathNode[8];
|
||||
private static Direction[] m_Path = new Direction[MaxNodes];
|
||||
|
||||
private static PathNode[] m_Closed = new PathNode[MaxNodes];
|
||||
private static PathNode[] m_Open = new PathNode[MaxNodes];
|
||||
private static PathNode[] m_Successors = new PathNode[8];
|
||||
private static Direction[] m_Path = new Direction[MaxNodes];
|
||||
private Point3D m_Goal;
|
||||
|
||||
private Point3D m_Goal;
|
||||
public int Heuristic(int x, int y, int z)
|
||||
{
|
||||
x -= m_Goal.X;
|
||||
y -= m_Goal.Y;
|
||||
z -= m_Goal.Z;
|
||||
|
||||
public int Heuristic( int x, int y, int z )
|
||||
{
|
||||
x -= m_Goal.X;
|
||||
y -= m_Goal.Y;
|
||||
z -= m_Goal.Z;
|
||||
x *= 11;
|
||||
y *= 11;
|
||||
|
||||
x *= 11;
|
||||
y *= 11;
|
||||
return x * x + y * y + z * z;
|
||||
}
|
||||
|
||||
return (x*x)+(y*y)+(z*z);
|
||||
}
|
||||
public override bool CheckCondition(Mobile m, Map map, Point3D start, Point3D goal)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
public override bool CheckCondition( Mobile m, Map map, Point3D start, Point3D goal )
|
||||
{
|
||||
return false;
|
||||
}
|
||||
public override Direction[] Find(Mobile m, Map map, Point3D start, Point3D goal)
|
||||
{
|
||||
m_Goal = goal;
|
||||
|
||||
public override Direction[] Find( Mobile m, Map map, Point3D start, Point3D goal )
|
||||
{
|
||||
m_Goal = goal;
|
||||
BaseCreature bc = m as BaseCreature;
|
||||
|
||||
BaseCreature bc = m as BaseCreature;
|
||||
PathNode curNode;
|
||||
|
||||
PathNode curNode;
|
||||
PathNode goalNode = new PathNode();
|
||||
goalNode.x = goal.X;
|
||||
goalNode.y = goal.Y;
|
||||
goalNode.z = goal.Z;
|
||||
|
||||
PathNode goalNode = new PathNode();
|
||||
goalNode.x = goal.X;
|
||||
goalNode.y = goal.Y;
|
||||
goalNode.z = goal.Z;
|
||||
PathNode startNode = new PathNode();
|
||||
startNode.x = start.X;
|
||||
startNode.y = start.Y;
|
||||
startNode.z = start.Z;
|
||||
startNode.h = Heuristic(startNode.x, startNode.y, startNode.z);
|
||||
|
||||
PathNode startNode = new PathNode();
|
||||
startNode.x = start.X;
|
||||
startNode.y = start.Y;
|
||||
startNode.z = start.Z;
|
||||
startNode.h = Heuristic( startNode.x, startNode.y, startNode.z );
|
||||
PathNode[] closed = m_Closed, open = m_Open, successors = m_Successors;
|
||||
Direction[] path = m_Path;
|
||||
|
||||
PathNode[] closed = m_Closed, open = m_Open, successors = m_Successors;
|
||||
Direction[] path = m_Path;
|
||||
int closedCount = 0, openCount = 0, sucCount = 0, pathCount = 0;
|
||||
int popIndex, curF;
|
||||
int x, y, z;
|
||||
int depth = 0;
|
||||
|
||||
int closedCount = 0, openCount = 0, sucCount = 0, pathCount = 0;
|
||||
int popIndex, curF;
|
||||
int x, y, z;
|
||||
int depth = 0;
|
||||
int xBacktrack, yBacktrack, zBacktrack, iBacktrack = 0;
|
||||
|
||||
int xBacktrack, yBacktrack, zBacktrack, iBacktrack = 0;
|
||||
open[openCount++] = startNode;
|
||||
|
||||
open[openCount++] = startNode;
|
||||
while (openCount > 0)
|
||||
{
|
||||
curNode = open[0];
|
||||
curF = curNode.g + curNode.h;
|
||||
popIndex = 0;
|
||||
|
||||
while ( openCount > 0 )
|
||||
{
|
||||
curNode = open[0];
|
||||
curF = curNode.g + curNode.h;
|
||||
popIndex = 0;
|
||||
for (int i = 1; i < openCount; ++i)
|
||||
if (open[i].g + open[i].h < curF)
|
||||
{
|
||||
curNode = open[i];
|
||||
curF = curNode.g + curNode.h;
|
||||
popIndex = i;
|
||||
}
|
||||
|
||||
for ( int i = 1; i < openCount; ++i )
|
||||
{
|
||||
if ( (open[i].g + open[i].h) < curF )
|
||||
{
|
||||
curNode = open[i];
|
||||
curF = curNode.g + curNode.h;
|
||||
popIndex = i;
|
||||
}
|
||||
}
|
||||
if (curNode.x == goalNode.x && curNode.y == goalNode.y && Math.Abs(curNode.z - goalNode.z) < 16)
|
||||
{
|
||||
if (closedCount == MaxNodes)
|
||||
break;
|
||||
|
||||
if ( curNode.x == goalNode.x && curNode.y == goalNode.y && Math.Abs( curNode.z-goalNode.z ) < 16 )
|
||||
{
|
||||
if ( closedCount == MaxNodes )
|
||||
break;
|
||||
closed[closedCount++] = curNode;
|
||||
|
||||
closed[closedCount++] = curNode;
|
||||
xBacktrack = curNode.px;
|
||||
yBacktrack = curNode.py;
|
||||
zBacktrack = curNode.pz;
|
||||
|
||||
xBacktrack = curNode.px;
|
||||
yBacktrack = curNode.py;
|
||||
zBacktrack = curNode.pz;
|
||||
if (pathCount == MaxNodes)
|
||||
break;
|
||||
|
||||
if ( pathCount == MaxNodes )
|
||||
break;
|
||||
path[pathCount++] = (Direction)curNode.dir;
|
||||
|
||||
path[pathCount++] = (Direction)curNode.dir;
|
||||
while (xBacktrack != startNode.x || yBacktrack != startNode.y || zBacktrack != startNode.z)
|
||||
{
|
||||
bool found = false;
|
||||
|
||||
while ( xBacktrack != startNode.x || yBacktrack != startNode.y || zBacktrack != startNode.z )
|
||||
{
|
||||
bool found = false;
|
||||
for (int j = 0; !found && j < closedCount; ++j)
|
||||
if (closed[j].x == xBacktrack && closed[j].y == yBacktrack && closed[j].z == zBacktrack)
|
||||
{
|
||||
if (pathCount == MaxNodes)
|
||||
break;
|
||||
|
||||
for ( int j = 0; !found && j < closedCount; ++j )
|
||||
{
|
||||
if ( closed[j].x == xBacktrack && closed[j].y == yBacktrack && closed[j].z == zBacktrack )
|
||||
{
|
||||
if ( pathCount == MaxNodes )
|
||||
break;
|
||||
curNode = closed[j];
|
||||
path[pathCount++] = (Direction)curNode.dir;
|
||||
xBacktrack = curNode.px;
|
||||
yBacktrack = curNode.py;
|
||||
zBacktrack = curNode.pz;
|
||||
found = true;
|
||||
}
|
||||
|
||||
curNode = closed[j];
|
||||
path[pathCount++] = (Direction)curNode.dir;
|
||||
xBacktrack = curNode.px;
|
||||
yBacktrack = curNode.py;
|
||||
zBacktrack = curNode.pz;
|
||||
found = true;
|
||||
}
|
||||
}
|
||||
if (!found)
|
||||
{
|
||||
Console.WriteLine("bugaboo..");
|
||||
return null;
|
||||
}
|
||||
|
||||
if ( !found )
|
||||
{
|
||||
Console.WriteLine( "bugaboo.." );
|
||||
return null;
|
||||
}
|
||||
if (pathCount == MaxNodes)
|
||||
break;
|
||||
}
|
||||
|
||||
if ( pathCount == MaxNodes )
|
||||
break;
|
||||
}
|
||||
if (pathCount == MaxNodes)
|
||||
break;
|
||||
|
||||
if ( pathCount == MaxNodes )
|
||||
break;
|
||||
Direction[] dirs = new Direction[pathCount];
|
||||
|
||||
Direction[] dirs = new Direction[pathCount];
|
||||
while (pathCount > 0)
|
||||
dirs[iBacktrack++] = path[--pathCount];
|
||||
|
||||
while ( pathCount > 0 )
|
||||
dirs[iBacktrack++] = path[--pathCount];
|
||||
return dirs;
|
||||
}
|
||||
|
||||
return dirs;
|
||||
}
|
||||
--openCount;
|
||||
|
||||
--openCount;
|
||||
for (int i = popIndex; i < openCount; ++i)
|
||||
open[i] = open[i + 1];
|
||||
|
||||
for ( int i = popIndex; i < openCount; ++i )
|
||||
open[i] = open[i + 1];
|
||||
sucCount = 0;
|
||||
|
||||
sucCount = 0;
|
||||
if (bc != null)
|
||||
{
|
||||
MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
|
||||
MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
|
||||
}
|
||||
|
||||
if ( bc != null )
|
||||
{
|
||||
MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
|
||||
MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
|
||||
}
|
||||
MoveImpl.Goal = goal;
|
||||
|
||||
MoveImpl.Goal = goal;
|
||||
for (int i = 0; i < 8; ++i)
|
||||
{
|
||||
switch (i)
|
||||
{
|
||||
default:
|
||||
case 0:
|
||||
x = 0;
|
||||
y = -1;
|
||||
break;
|
||||
case 1:
|
||||
x = 1;
|
||||
y = -1;
|
||||
break;
|
||||
case 2:
|
||||
x = 1;
|
||||
y = 0;
|
||||
break;
|
||||
case 3:
|
||||
x = 1;
|
||||
y = 1;
|
||||
break;
|
||||
case 4:
|
||||
x = 0;
|
||||
y = 1;
|
||||
break;
|
||||
case 5:
|
||||
x = -1;
|
||||
y = 1;
|
||||
break;
|
||||
case 6:
|
||||
x = -1;
|
||||
y = 0;
|
||||
break;
|
||||
case 7:
|
||||
x = -1;
|
||||
y = -1;
|
||||
break;
|
||||
}
|
||||
|
||||
for ( int i = 0; i < 8; ++i )
|
||||
{
|
||||
switch ( i )
|
||||
{
|
||||
default:
|
||||
case 0: x = 0; y = -1; break;
|
||||
case 1: x = 1; y = -1; break;
|
||||
case 2: x = 1; y = 0; break;
|
||||
case 3: x = 1; y = 1; break;
|
||||
case 4: x = 0; y = 1; break;
|
||||
case 5: x = -1; y = 1; break;
|
||||
case 6: x = -1; y = 0; break;
|
||||
case 7: x = -1; y = -1; break;
|
||||
}
|
||||
if (CalcMoves.CheckMovement(m, map, new Point3D(curNode.x, curNode.y, curNode.z), (Direction)i, out z))
|
||||
{
|
||||
successors[sucCount].x = x + curNode.x;
|
||||
successors[sucCount].y = y + curNode.y;
|
||||
successors[sucCount++].z = z;
|
||||
}
|
||||
}
|
||||
|
||||
if ( CalcMoves.CheckMovement( m, map, new Point3D( curNode.x, curNode.y, curNode.z ), (Direction)i, out z ) )
|
||||
{
|
||||
successors[sucCount].x = x + curNode.x;
|
||||
successors[sucCount].y = y + curNode.y;
|
||||
successors[sucCount++].z = z;
|
||||
}
|
||||
}
|
||||
MoveImpl.AlwaysIgnoreDoors = false;
|
||||
MoveImpl.IgnoreMovableImpassables = false;
|
||||
MoveImpl.Goal = Point3D.Zero;
|
||||
|
||||
MoveImpl.AlwaysIgnoreDoors = false;
|
||||
MoveImpl.IgnoreMovableImpassables = false;
|
||||
MoveImpl.Goal = Point3D.Zero;
|
||||
if (sucCount == 0 || ++depth > MaxDepth)
|
||||
break;
|
||||
|
||||
if ( sucCount == 0 || ++depth > MaxDepth )
|
||||
break;
|
||||
for (int i = 0; i < sucCount; ++i)
|
||||
{
|
||||
x = successors[i].x;
|
||||
y = successors[i].y;
|
||||
z = successors[i].z;
|
||||
|
||||
for ( int i = 0; i < sucCount; ++i )
|
||||
{
|
||||
x = successors[i].x;
|
||||
y = successors[i].y;
|
||||
z = successors[i].z;
|
||||
successors[i].g = curNode.g + 1;
|
||||
|
||||
successors[i].g = curNode.g + 1;
|
||||
int openIndex = -1, closedIndex = -1;
|
||||
|
||||
int openIndex = -1, closedIndex = -1;
|
||||
for (int j = 0; openIndex == -1 && j < openCount; ++j)
|
||||
if (open[j].x == x && open[j].y == y && open[j].z == z)
|
||||
openIndex = j;
|
||||
|
||||
for ( int j = 0; openIndex == -1 && j < openCount; ++j )
|
||||
{
|
||||
if ( open[j].x == x && open[j].y == y && open[j].z == z )
|
||||
openIndex = j;
|
||||
}
|
||||
if (openIndex >= 0 && open[openIndex].g < successors[i].g)
|
||||
continue;
|
||||
|
||||
if ( openIndex >= 0 && open[openIndex].g < successors[i].g )
|
||||
continue;
|
||||
for (int j = 0; closedIndex == -1 && j < closedCount; ++j)
|
||||
if (closed[j].x == x && closed[j].y == y && closed[j].z == z)
|
||||
closedIndex = j;
|
||||
|
||||
for ( int j = 0; closedIndex == -1 && j < closedCount; ++j )
|
||||
{
|
||||
if ( closed[j].x == x && closed[j].y == y && closed[j].z == z )
|
||||
closedIndex = j;
|
||||
}
|
||||
if (closedIndex >= 0 && closed[closedIndex].g < successors[i].g)
|
||||
continue;
|
||||
|
||||
if ( closedIndex >= 0 && closed[closedIndex].g < successors[i].g )
|
||||
continue;
|
||||
if (openIndex >= 0)
|
||||
{
|
||||
--openCount;
|
||||
|
||||
if ( openIndex >= 0 )
|
||||
{
|
||||
--openCount;
|
||||
for (int j = openIndex; j < openCount; ++j)
|
||||
open[j] = open[j + 1];
|
||||
}
|
||||
|
||||
for ( int j = openIndex; j < openCount; ++j )
|
||||
open[j] = open[j + 1];
|
||||
}
|
||||
if (closedIndex >= 0)
|
||||
{
|
||||
--closedCount;
|
||||
|
||||
if ( closedIndex >= 0 )
|
||||
{
|
||||
--closedCount;
|
||||
for (int j = closedIndex; j < closedCount; ++j)
|
||||
closed[j] = closed[j + 1];
|
||||
}
|
||||
|
||||
for ( int j = closedIndex; j < closedCount; ++j )
|
||||
closed[j] = closed[j + 1];
|
||||
}
|
||||
successors[i].px = curNode.x;
|
||||
successors[i].py = curNode.y;
|
||||
successors[i].pz = curNode.z;
|
||||
successors[i].dir = (int)GetDirection(curNode.x, curNode.y, x, y);
|
||||
successors[i].h = Heuristic(x, y, z);
|
||||
|
||||
successors[i].px = curNode.x;
|
||||
successors[i].py = curNode.y;
|
||||
successors[i].pz = curNode.z;
|
||||
successors[i].dir = (int)GetDirection( curNode.x, curNode.y, x, y );
|
||||
successors[i].h = Heuristic( x, y, z );
|
||||
if (openCount == MaxNodes)
|
||||
break;
|
||||
|
||||
if ( openCount == MaxNodes )
|
||||
break;
|
||||
open[openCount++] = successors[i];
|
||||
}
|
||||
|
||||
open[openCount++] = successors[i];
|
||||
}
|
||||
if (openCount == MaxNodes || closedCount == MaxNodes)
|
||||
break;
|
||||
|
||||
if ( openCount == MaxNodes || closedCount == MaxNodes )
|
||||
break;
|
||||
closed[closedCount++] = curNode;
|
||||
}
|
||||
|
||||
closed[closedCount++] = curNode;
|
||||
}
|
||||
|
||||
return null;
|
||||
}
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue