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https://github.com/nzp-team/glquake.git
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Pathfinding performance improvement
This commit is contained in:
Ian
parent
b76d859ca7
commit
71c575826e
5 changed files with 168 additions and 122 deletions
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@ -52,6 +52,7 @@ extern int nanmask;
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#define DEG2RAD( a ) ( a * M_PI ) / 180.0F
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#define VectorNormalizeFast( v ){float ilength = (float)rsqrt(DotProduct(v,v));v[0] *= ilength;v[1] *= ilength;v[2] *= ilength; }
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#define VectorDistanceSquared(a,b)((a[0]-b[0])*(a[0]-b[0])+(a[1]-b[1])*(a[1]-b[1])+(a[2]-b[2])*(a[2]-b[2]))
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void VectorMA (vec3_t veca, float scale, vec3_t vecb, vec3_t vecc);
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154
source/pr_cmds.c
154
source/pr_cmds.c
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@ -1585,7 +1585,7 @@ int CheckIfWayInList (int listnumber, int waynum)
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float heuristic_cost_estimate (int start_way, int end_way)
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{
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//for now we will just look the distance between.
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return VecLength2(waypoints[start_way].origin, waypoints[end_way].origin);
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return VectorDistanceSquared(waypoints[start_way].origin, waypoints[end_way].origin);
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}
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int proces_list[MAX_WAYPOINTS];
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@ -1624,6 +1624,8 @@ void reconstruct_path(int start_node, int current_node)
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//Con_DPrintf("reconstruct_path: waypoints[current].came_from %i is in list!\n", waypoints[current].came_from);
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for (i = 0;i < 8; i++)
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{
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if (waypoints[waypoints[current].came_from].target_id[i] < 0) break;
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//Con_DPrintf("reconstruct_path for loop: waypoints[waypoints[current].came_from].target_id[i] = %i, current = %i\n", waypoints[waypoints[current].came_from].target_id[i], current)
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if (waypoints[waypoints[current].came_from].target_id[i] == current)
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{
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@ -1641,11 +1643,13 @@ void reconstruct_path(int start_node, int current_node)
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s++;
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}
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Con_DPrintf("\nreconstruct_path: dumping the final list\n");
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/*
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for (s = MAX_WAYPOINTS - 1; s > -1; s--)
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{
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//if (proces_list[s])
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//Con_DPrintf("reconstruct_path final: s = %i, proces_list[s] = %i\n", s, proces_list[s]);
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}
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*/
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}
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int Pathfind (int start_way, int end_way)//note thease 2 are ARRAY locations. Not the waypoints names.
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@ -1687,8 +1691,8 @@ int Pathfind (int start_way, int end_way)//note thease 2 are ARRAY locations. No
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for (i = 0;i < 8; i++)
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{
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//Con_DPrintf("Pathfind for start\n");
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if (waypoints[current].target_id[i] < 0) break;
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if (!waypoints[waypoints[current].target_id[i]].open)
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{
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@ -1738,6 +1742,7 @@ Get_Waypoint_Near
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vector Get_Waypoint_Near (entity)
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=================
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*/
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void Get_Waypoint_Near (void)
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{
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float best_dist;
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@ -1756,13 +1761,13 @@ void Get_Waypoint_Near (void)
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{
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if (waypoints[i].open)
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{
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trace = SV_Move (ent->v.origin, vec3_origin, vec3_origin, waypoints[i].origin, 1, ent);
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dist = VecLength2(waypoints[i].origin, ent->v.origin);
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dist = VecLength2(waypoints[i].origin, ent->v.origin);
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if(dist < best_dist)
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{
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trace = SV_Move (ent->v.origin, vec3_origin, vec3_origin, waypoints[i].origin, 1, ent);
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//Con_DPrintf("Waypoint: %i, distance: %f, fraction: %f\n", i, dist, trace.fraction);
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if (trace.fraction >= 1)
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{
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if(dist < best_dist)
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if (trace.fraction >= 1)
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{
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best_dist = dist;
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best = i;
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@ -1843,70 +1848,111 @@ Do_Pathfind
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float Do_Pathfind (entity zombie, entity target)
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=================
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*/
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float max_waypoint_distance = 750;
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short closest_waypoints[MAX_EDICTS];
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void Do_Pathfind (void)
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{
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float best_dist;
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float dist;
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int i, s, best, best_target;
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int i, s;
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trace_t trace;
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edict_t *ent;
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edict_t *zombie;
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int entnum;
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entnum = G_EDICTNUM(OFS_PARM0);
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best = 0;
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Con_DPrintf("Starting Do_Pathfind\n"); //we first need to look for closest point for both zombie and the player
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zombie = G_EDICT(OFS_PARM0);
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ent = G_EDICT(OFS_PARM1);
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best_dist = 1000000000;
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dist = 0;
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int zombie_entnum = G_EDICTNUM(OFS_PARM0);
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int target_entnum = G_EDICTNUM(OFS_PARM1);
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edict_t * zombie = G_EDICT(OFS_PARM0);
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edict_t * ent = G_EDICT(OFS_PARM1);
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for (i = 0; i < MAX_WAYPOINTS; i++)
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{
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if (waypoints[i].used && waypoints[i].open)
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{
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float best_dist_z = max_waypoint_distance * max_waypoint_distance;
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float dist_z = 0;
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int best_z = -1;
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float best_dist_e = max_waypoint_distance * max_waypoint_distance;
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float dist_e = 0;
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int best_e = -1;
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int prevclosest = closest_waypoints[zombie_entnum];
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if (prevclosest >= 0) {
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trace = SV_Move (zombie->v.origin, vec3_origin, vec3_origin, waypoints[prevclosest].origin, 1, zombie);
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if (trace.fraction >= 1) {
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dist_z = VectorDistanceSquared(waypoints[prevclosest].origin, zombie->v.origin);
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best_dist_z = dist_z;
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best_z = prevclosest;
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} else {
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for (s = 0; s < 8; s++) {
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int neighbor = waypoints[prevclosest].target_id[s];
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if (neighbor < 0) break;
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dist_z = VectorDistanceSquared(waypoints[neighbor].origin, zombie->v.origin);
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if (dist_z < best_dist_z) {
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trace = SV_Move (zombie->v.origin, vec3_origin, vec3_origin, waypoints[neighbor].origin, 1, zombie);
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if (trace.fraction >= 1) {
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best_dist_z = dist_z;
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best_z = neighbor;
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break;
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}
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}
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}
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}
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}
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// copypasta, forgive me
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prevclosest = closest_waypoints[target_entnum];
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if (prevclosest >= 0) {
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trace = SV_Move (ent->v.origin, vec3_origin, vec3_origin, waypoints[prevclosest].origin, 1, ent);
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if (trace.fraction >= 1) {
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dist_e = VectorDistanceSquared(waypoints[prevclosest].origin, ent->v.origin);
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best_dist_e = dist_e;
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best_e = prevclosest;
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} else {
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for (s = 0; s < 8; s++) {
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int neighbor = waypoints[prevclosest].target_id[s];
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if (neighbor < 0) break;
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dist_e = VectorDistanceSquared(waypoints[neighbor].origin, ent->v.origin);
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if (dist_e < best_dist_e) {
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trace = SV_Move (ent->v.origin, vec3_origin, vec3_origin, waypoints[neighbor].origin, 1, ent);
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if (trace.fraction >= 1) {
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best_dist_e = dist_e;
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best_e = neighbor;
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break;
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}
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}
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}
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}
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}
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for (i = 0; i < MAX_WAYPOINTS; i++) {
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if (!waypoints[i].used || !waypoints[i].open)
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continue;
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dist_z = VectorDistanceSquared(waypoints[i].origin, zombie->v.origin);
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if (dist_z < best_dist_z) {
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trace = SV_Move (zombie->v.origin, vec3_origin, vec3_origin, waypoints[i].origin, 1, zombie);
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if (trace.fraction >= 1)
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{
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dist = VecLength2(waypoints[i].origin, zombie->v.origin);
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if(dist < best_dist)
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{
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best_dist = dist;
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best = i;
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}
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if (trace.fraction >= 1) {
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best_dist_z = dist_z;
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best_z = i;
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}
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}
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}
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best_dist = 1000000000;
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dist = 0;
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best_target = 0;
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for (i = 0; i < MAX_WAYPOINTS; i++)
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{
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if (waypoints[i].used && waypoints[i].open)
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{
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dist_e = VectorDistanceSquared(waypoints[i].origin, ent->v.origin);
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if (dist_e < best_dist_e) {
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trace = SV_Move (ent->v.origin, vec3_origin, vec3_origin, waypoints[i].origin, 1, ent);
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if (trace.fraction >= 1)
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{
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dist = VecLength2(waypoints[i].origin, ent->v.origin);
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if(dist < best_dist)
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{
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best_dist = dist;
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best_target = i;
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}
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if (trace.fraction >= 1) {
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best_dist_e = dist_e;
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best_e = i;
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}
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}
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}
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Con_DPrintf("Starting waypoint: %i, Ending waypoint: %i\n", best, best_target);
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if (Pathfind(best, best_target))
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closest_waypoints[zombie_entnum] = best_z;
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closest_waypoints[target_entnum] = best_e;
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Con_DPrintf("Starting waypoint: %i, Ending waypoint: %i\n", best_z, best_e);
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if (Pathfind(best_z, best_e))
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{
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for (i = 0; i < MaxZombies; i++)
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{
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if (entnum == zombie_list[i].zombienum)
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if (zombie_entnum == zombie_list[i].zombienum)
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{
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for (s = 0; s < MAX_WAYPOINTS; s++)
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{
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@ -1920,7 +1966,7 @@ void Do_Pathfind (void)
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{
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if (!zombie_list[i].zombienum)
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{
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zombie_list[i].zombienum = entnum;
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zombie_list[i].zombienum = zombie_entnum;
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for (s = 0; s < MAX_WAYPOINTS; s++)
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{
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zombie_list[i].pathlist[s] = proces_list[s];
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@ -151,6 +151,9 @@ FIXME: walk all entities and NULL out references to this entity
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*/
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void ED_Free (edict_t *ed)
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{
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// pathfind optimization:
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closest_waypoints[NUM_FOR_EDICT(ed)] = -1;
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SV_UnlinkEdict (ed); // unlink from world bsp
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ed->free = true;
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@ -48,6 +48,7 @@ Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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#include <stdlib.h>
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#include <setjmp.h>
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#include <stdbool.h>
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#include <ctype.h>
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#if defined(_WIN32) && !defined(WINDED)
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@ -446,7 +447,7 @@ typedef struct
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} waypoint_ai;
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extern waypoint_ai waypoints[MAX_WAYPOINTS];
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extern short closest_waypoints[MAX_EDICTS];
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extern func_t EndFrame;
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129
source/sv_main.c
129
source/sv_main.c
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@ -1396,12 +1396,22 @@ void Load_Waypoint ()
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Con_DPrintf("No waypoint file (%s/maps/%s.way) found\n", com_gamedir, sv.name);
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return;
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}
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for (i = 1; i < MAX_WAYPOINTS; i++)
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for (i = 0; i < MAX_WAYPOINTS; i++)
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{
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waypoints[i].used = 0;
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waypoints[i].id = -1;
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for (p = 0; p < 8; p++) {
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waypoints[i].target[p] = -1;
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waypoints[i].target_id[p] = -1;
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}
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}
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i = 1;
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for (i = 0; i < MAX_EDICTS; i++)
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{
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closest_waypoints[i] = -1;
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}
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i = 0;
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Con_DPrintf("Loading waypoints\n");
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while (1)
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{
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@ -1412,8 +1422,6 @@ void Load_Waypoint ()
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}
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else
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{
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if (i == MAX_WAYPOINTS)
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Sys_Error ("Maximum waypoints loaded {%i)\n", MAX_WAYPOINTS);
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W_fgets (h);
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W_stov (W_substring (W_fgets (h), 9, 20), d);
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@ -1421,7 +1429,12 @@ void Load_Waypoint ()
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strcpy(temp, W_substring (W_fgets (h), 5, 20));
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i = atoi (temp);
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waypoints[i].id = atoi (temp);
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if (i >= MAX_WAYPOINTS)
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Sys_Error ("Waypoint with id %d past MAX_WAYPOINTS {%i)\n", i, MAX_WAYPOINTS);
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// what's the point of id and index being the same?
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waypoints[i].id = i;
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VectorCopy (d, waypoints[i].origin);
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strcpy(waypoints[i].special, W_substring (W_fgets (h), 10, 20));
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@ -1431,35 +1444,18 @@ void Load_Waypoint ()
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else
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waypoints[i].open = 1;
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strcpy(temp, W_substring (W_fgets (h), 9, 20));
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waypoints[i].target[0] = atoi (temp);
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strcpy(temp, W_substring (W_fgets (h), 10, 20));
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waypoints[i].target[1] = atoi (temp);
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strcpy(temp, W_substring (W_fgets (h), 10, 20));
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waypoints[i].target[2] = atoi (temp);
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strcpy(temp, W_substring (W_fgets (h), 10, 20));
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waypoints[i].target[3] = atoi (temp);
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strcpy(temp, W_substring (W_fgets (h), 10, 20));
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waypoints[i].target[4] = atoi (temp);
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strcpy(temp, W_substring (W_fgets (h), 10, 20));
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waypoints[i].target[5] = atoi (temp);
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strcpy(temp, W_substring (W_fgets (h), 10, 20));
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waypoints[i].target[6] = atoi (temp);
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strcpy(temp, W_substring (W_fgets (h), 10, 20));
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waypoints[i].target[7] = atoi (temp);
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// Note: this block makes sure that empty/invalid neighbors are always packed to the end
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// In other words, when iterating from start, first empty means rest are empty too.
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int slot = 0;
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for (int t = 0; t < 8; t++) {
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int start = t == 0 ? 9 : 10;
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strcpy(temp, W_substring (W_fgets (h), start, 20));
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if (isdigit(temp[0])) {
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waypoints[i].target[slot] = atoi (temp);
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waypoints[i].target_id[slot] = waypoints[i].target[slot];
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slot++;
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}
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}
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W_fgets (h);
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W_fgets (h);
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@ -1482,48 +1478,47 @@ void Load_Waypoint ()
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}
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}
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Con_DPrintf("Total waypoints: %i\n", i);
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for (i = 1;i < MAX_WAYPOINTS; i++) //for sake of saving time later we are now going to save each targets array position and distace to each waypoint
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for (i = 0; i < MAX_WAYPOINTS; i++) //for sake of saving time later we are now going to save each targets array position and distace to each waypoint
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{
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for (p = 0;waypoints[i].target[p]; p++)
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for (p = 0; waypoints[i].target[p]; p++)
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{
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for (s = 1; s < MAX_WAYPOINTS; s++)
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if (waypoints[i].target[p] < 0) break;
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for (s = 0; s < MAX_WAYPOINTS; s++)
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{
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if (s == MAX_WAYPOINTS)
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Sys_Error ("Waypoint (%i) without a target!\n", s);
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if (waypoints[i].target[p] == waypoints[s].id)
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if (waypoints[i].target[p] == s)
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{
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waypoints[i].dist[p] = VecLength2(waypoints[s].origin, waypoints[i].origin);
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waypoints[i].target_id[p] = s;
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break;
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}
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}
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}
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Con_DPrintf("Waypoint (%i)target: %i (%i, %f), target2: %i (%i, %f), target3: %i (%i, %f), target4: %i (%i, %f), target5: %i (%i, %f), target6: %i (%i, %f), target7: %i (%i, %f), target8: %i (%i, %f)\n",
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waypoints[i].id,
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waypoints[i].target[0],
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waypoints[i].target_id[0],
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waypoints[i].dist[0],
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waypoints[i].target[1],
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waypoints[i].target_id[1],
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waypoints[i].dist[1],
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waypoints[i].target[2],
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waypoints[i].target_id[2],
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waypoints[i].dist[2],
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waypoints[i].target[3],
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waypoints[i].target_id[3],
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waypoints[i].dist[3],
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waypoints[i].target[4],
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waypoints[i].target_id[4],
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waypoints[i].dist[4],
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waypoints[i].target[5],
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||||
waypoints[i].target_id[5],
|
||||
waypoints[i].dist[5],
|
||||
waypoints[i].target[6],
|
||||
waypoints[i].target_id[6],
|
||||
waypoints[i].dist[6],
|
||||
waypoints[i].target[7],
|
||||
waypoints[i].target_id[7],
|
||||
waypoints[i].dist[7]);
|
||||
Con_DPrintf("Waypoint (%i)\n target: %i (%i, %f),\n target2: %i (%i, %f),\n target3: %i (%i, %f),\n target4: %i (%i, %f),\n target5: %i (%i, %f),\n target6: %i (%i, %f),\n target7: %i (%i, %f),\n target8: %i (%i, %f)\n",
|
||||
waypoints[i].id,
|
||||
waypoints[i].target[0],
|
||||
waypoints[i].target_id[0],
|
||||
waypoints[i].dist[0],
|
||||
waypoints[i].target[1],
|
||||
waypoints[i].target_id[1],
|
||||
waypoints[i].dist[1],
|
||||
waypoints[i].target[2],
|
||||
waypoints[i].target_id[2],
|
||||
waypoints[i].dist[2],
|
||||
waypoints[i].target[3],
|
||||
waypoints[i].target_id[3],
|
||||
waypoints[i].dist[3],
|
||||
waypoints[i].target[4],
|
||||
waypoints[i].target_id[4],
|
||||
waypoints[i].dist[4],
|
||||
waypoints[i].target[5],
|
||||
waypoints[i].target_id[5],
|
||||
waypoints[i].dist[5],
|
||||
waypoints[i].target[6],
|
||||
waypoints[i].target_id[6],
|
||||
waypoints[i].dist[6],
|
||||
waypoints[i].target[7],
|
||||
waypoints[i].target_id[7],
|
||||
waypoints[i].dist[7]);
|
||||
}
|
||||
W_fclose(h);
|
||||
//Z_Free (w_string_temp);
|
||||
|
|
|
|||
Loading…
Reference in a new issue