1 //#define PATHLIB_RDFIELDS
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2 #ifdef PATHLIB_RDFIELDS
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3 #define path_next swampslug
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4 #define path_prev lasertarget
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14 .float pathlib_node_g;
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15 .float pathlib_node_h;
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16 .float pathlib_node_f;
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18 float pathlib_open_cnt;
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19 float pathlib_closed_cnt;
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20 float pathlib_made_cnt;
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21 float pathlib_merge_cnt;
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22 float pathlib_recycle_cnt;
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23 float pathlib_searched_cnt;
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25 float pathlib_bestopen_seached;
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26 float pathlib_bestcash_hits;
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27 float pathlib_bestcash_saved;
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29 float pathlib_gridsize;
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31 float pathlib_movecost;
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32 float pathlib_movecost_diag;
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33 float pathlib_movecost_waterfactor;
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35 float pathlib_edge_check_size;
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37 float pathlib_foundgoal;
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40 entity best_open_node;
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41 .float is_path_node;
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45 #define DEBUGPATHING
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47 float edge_show(vector point,float fsize);
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48 void mark_error(vector where,float lifetime);
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49 void mark_info(vector where,float lifetime);
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50 entity mark_misc(vector where,float lifetime);
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54 void pathlib_showpath(entity start)
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60 te_lightning1(e,e.origin,e.path_next.origin);
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65 void path_dbg_think()
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67 pathlib_showpath(self);
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68 self.nextthink = time + 1;
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71 void __showpath2_think()
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73 mark_info(self.origin,1);
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76 self.path_next.think = __showpath2_think;
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77 self.path_next.nextthink = time + 0.15;
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81 self.owner.think = __showpath2_think;
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82 self.owner.nextthink = time + 0.15;
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86 void pathlib_showpath2(entity path)
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88 path.think = __showpath2_think;
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89 path.nextthink = time;
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95 float pathlib_stdproc_path_validate(vector start,vector end)
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97 tracebox(start, self.mins * 2, self.maxs * 2, end, MOVE_WORLDONLY, self);
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99 if(vlen(trace_endpos - end) < 5)
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107 void pathlib_deletepath(entity start)
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111 e = findchainentity(owner, start);
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114 e.think = SUB_Remove;
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115 e.nextthink = time;
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120 float fsnap(float val,float fsize)
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122 return rint(val / fsize) * fsize;
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125 vector vsnap(vector point,float fsize)
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129 vret_x = rint(point_x / fsize) * fsize;
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130 vret_y = rint(point_y / fsize) * fsize;
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131 vret_z = ceil(point_z / fsize) * fsize;
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137 #define floor_failmask (DPCONTENTS_SLIME | DPCONTENTS_LAVA)
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138 // | DPCONTENTS_MONSTERCLIP | DPCONTENTS_DONOTENTER
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139 float walknode_stepsize;
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140 vector walknode_stepup;
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141 vector walknode_maxdrop;
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142 vector walknode_boxup;
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143 vector walknode_boxmax;
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144 vector walknode_boxmin;
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145 float pathlib_movenode_goodnode;
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147 float floor_ok(vector point)
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151 if(trace_dphitq3surfaceflags & Q3SURFACEFLAG_SKY)
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154 pc = pointcontents(point);
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158 case CONTENT_SOLID:
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159 case CONTENT_SLIME:
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163 case CONTENT_EMPTY:
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164 if not (pointcontents(point - '0 0 1') == CONTENT_SOLID)
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167 case CONTENT_WATER:
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170 if(pointcontents(point - '0 0 1') == CONTENT_SOLID)
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176 float inwater(vector point)
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178 if(pointcontents(point) == CONTENT_WATER)
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184 //#define _pcheck(p) traceline(p+z_up,p-z_down,MOVE_WORLDONLY,self); if(trace_fraction == 1.0) return 1
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185 #define _pcheck(p) traceline(p+z_up,p-z_down,MOVE_WORLDONLY,self); if not(floor_ok(trace_endpos)) return 1
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186 float edge_check(vector point,float fsize)
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188 vector z_up,z_down;
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190 z_up = '0 0 1' * fsize;
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191 z_down = '0 0 1' * fsize;
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193 _pcheck(point + ('1 1 0' * fsize));
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194 _pcheck(point + ('1 -1 0' * fsize));
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195 _pcheck(point + ('1 0 0' * fsize));
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197 _pcheck(point + ('0 1 0' * fsize));
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198 _pcheck(point + ('0 -1 0' * fsize));
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200 _pcheck(point + ('-1 0 0' * fsize));
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201 _pcheck(point + ('-1 1 0' * fsize));
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202 _pcheck(point + ('-1 -1 0' * fsize));
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207 #ifdef DEBUGPATHING
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208 #define _pshow(p) mark_error(p,10)
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209 float edge_show(vector point,float fsize)
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212 _pshow(point + ('1 1 0' * fsize));
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213 _pshow(point + ('1 -1 0' * fsize));
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214 _pshow(point + ('1 0 0' * fsize));
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216 _pshow(point + ('0 1 0' * fsize));
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217 _pshow(point + ('0 -1 0' * fsize));
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219 _pshow(point + ('-1 0 0' * fsize));
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220 _pshow(point + ('-1 1 0' * fsize));
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221 _pshow(point + ('-1 -1 0' * fsize));
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227 var vector pathlib_movenode(vector start,vector end,float doedge);
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228 vector pathlib_wateroutnode(vector start,vector end)
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232 pathlib_movenode_goodnode = 0;
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234 end_x = fsnap(end_x, pathlib_gridsize);
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235 end_y = fsnap(end_y, pathlib_gridsize);
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237 traceline(end + ('0 0 0.25' * pathlib_gridsize),end - ('0 0 1' * pathlib_gridsize),MOVE_WORLDONLY,self);
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238 end = trace_endpos;
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240 if not(pointcontents(end - '0 0 1') == CONTENT_SOLID)
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243 for(surface = start ; surface_z < (end_z + 32); ++surface_z)
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245 if(pointcontents(surface) == CONTENT_EMPTY)
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248 //mark_error(surface,10);
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250 if(pointcontents(surface + '0 0 1') != CONTENT_EMPTY)
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253 tracebox(start + '0 0 64', walknode_boxmin,walknode_boxmax, end + '0 0 64', MOVE_WORLDONLY, self);
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254 if(trace_fraction == 1)
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256 pathlib_movenode_goodnode = 1;
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257 //mark_error(end + '0 0 64',30);
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260 if(fabs(surface_z - end_z) > 32)
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261 pathlib_movenode_goodnode = 0;
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266 vector pathlib_swimnode(vector start,vector end)
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268 pathlib_movenode_goodnode = 0;
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270 if(pointcontents(start) != CONTENT_WATER)
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273 end_x = fsnap(end_x, pathlib_gridsize);
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274 end_y = fsnap(end_y, pathlib_gridsize);
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276 if(pointcontents(end) == CONTENT_EMPTY)
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277 return pathlib_wateroutnode( start, end);
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279 tracebox(start, walknode_boxmin,walknode_boxmax, end, MOVE_WORLDONLY, self);
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280 if(trace_fraction == 1)
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281 pathlib_movenode_goodnode = 1;
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286 vector pathlib_flynode(vector start,vector end)
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288 pathlib_movenode_goodnode = 0;
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291 if(pointcontents(start) == CONTENT_EMPTY)
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294 if(pointcontents(end) == CONTENT_EMPTY)
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297 end_x = fsnap(end_x, pathlib_gridsize);
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298 end_y = fsnap(end_y, pathlib_gridsize);
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300 tracebox(start, walknode_boxmin,walknode_boxmax, end, MOVE_WORLDONLY, self);
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301 if(trace_fraction == 1)
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302 pathlib_movenode_goodnode = 1;
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307 vector pathlib_walknode(vector start,vector end,float doedge)
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309 vector direction,point,last_point,s,e;
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310 float steps, distance, i,laststep;
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312 pathlib_movenode_goodnode = 0;
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318 direction = normalize(s - e);
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320 distance = vlen(start - end);
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321 laststep = distance / walknode_stepsize;
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322 steps = floor(laststep);
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323 laststep = laststep - steps;
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326 s = point + walknode_stepup;
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327 e = point - walknode_maxdrop;
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329 traceline(s, e,MOVE_WORLDONLY,self);
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330 if(trace_fraction == 1.0)
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331 return trace_endpos;
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333 if (floor_ok(trace_endpos) == 0)
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334 return trace_endpos;
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336 last_point = trace_endpos;
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338 for(i = 0; i < steps; ++i)
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340 point = last_point + direction * walknode_stepsize;
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342 s = point + walknode_stepup;
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343 e = point - walknode_maxdrop;
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344 traceline(s, e,MOVE_WORLDONLY,self);
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345 if(trace_fraction == 1.0)
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346 return trace_endpos;
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348 point = trace_endpos;
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349 if not(floor_ok(trace_endpos))
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350 return trace_endpos;
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352 tracebox(last_point + walknode_boxup, walknode_boxmin,walknode_boxmax, point + walknode_boxup, MOVE_WORLDONLY, self);
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353 if(trace_fraction != 1.0)
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354 return trace_endpos;
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357 if(edge_check(point,pathlib_edge_check_size))
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358 return trace_endpos;
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360 last_point = point;
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363 point = last_point + direction * walknode_stepsize * laststep;
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365 point_x = fsnap(point_x, pathlib_gridsize);
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366 point_y = fsnap(point_y, pathlib_gridsize);
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368 s = point + walknode_stepup;
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369 e = point - walknode_maxdrop;
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370 traceline(s, e,MOVE_WORLDONLY,self);
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372 if(trace_fraction == 1.0)
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373 return trace_endpos;
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375 point = trace_endpos;
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377 if not(floor_ok(trace_endpos))
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378 return trace_endpos;
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380 tracebox(last_point + walknode_boxup, walknode_boxmin,walknode_boxmax, point + walknode_boxup, MOVE_WORLDONLY, self);
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381 if(trace_fraction != 1.0)
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382 return trace_endpos;
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384 pathlib_movenode_goodnode = 1;
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388 var float pathlib_cost(entity parent,vector to, float static_cost);
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389 float pathlib_g_static(entity parent,vector to, float static_cost)
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392 return parent.pathlib_node_g + static_cost * pathlib_movecost_waterfactor;
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394 return parent.pathlib_node_g + static_cost;
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397 float pathlib_g_euclidean(entity parent,vector to, float static_cost)
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399 return vlen(parent.origin - to);
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402 var float(vector from,vector to) pathlib_heuristic;
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403 float pathlib_h_manhattan(vector a,vector b)
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405 //h(n) = D * (abs(n.x-goal.x) + abs(n.y-goal.y))
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408 h = fabs(a_x - b_x);
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409 h = h + fabs(a_y - b_y);
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410 h = pathlib_gridsize * h;
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415 float pathlib_h_diagonal(vector a,vector b)
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417 //h(n) = D * max(abs(n.x-goal.x), abs(n.y-goal.y))
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420 x = fabs(a_x - b_x);
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421 y = fabs(a_y - b_y);
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422 h = pathlib_movecost * max(x,y);
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427 float pathlib_h_euclidean(vector a,vector b)
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429 return vlen(a - b);
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432 float pathlib_h_diagonal2(vector a,vector b)
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434 float h_diag,h_str,h,x,y;
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437 h_diagonal(n) = min(abs(n.x-goal.x), abs(n.y-goal.y))
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438 h_straight(n) = (abs(n.x-goal.x) + abs(n.y-goal.y))
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439 h(n) = D2 * h_diagonal(n) + D * (h_straight(n) - 2*h_diagonal(n)))
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442 x = fabs(a_x - b_x);
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443 y = fabs(a_y - b_y);
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448 h = pathlib_movecost_diag * h_diag;
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449 h += pathlib_movecost * (h_str - 2 * h_diag);
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454 float pathlib_h_diagonal2tbs(vector start,vector point,vector end)
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456 float h_diag,h_str,h,x,y;
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459 h_diagonal(n) = min(abs(n.x-goal.x), abs(n.y-goal.y))
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460 h_straight(n) = (abs(n.x-goal.x) + abs(n.y-goal.y))
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461 h(n) = D2 * h_diagonal(n) + D * (h_straight(n) - 2*h_diagonal(n)))
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464 float dx1,dx2,dy1,dy2,fcross;
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465 dx1 = point_x - end_x;
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466 dy1 = point_y - end_y;
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467 dx2 = start_x - end_x;
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468 dy2 = start_y - end_y;
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469 fcross = fabs(dx1*dy2 - dx2*dy1);
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471 x = fabs(point_x - end_x);
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472 y = fabs(point_y - end_y);
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477 h = pathlib_movecost_diag * h_diag;
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478 h += pathlib_movecost * (h_str - 2 * h_diag);
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480 return h + (fcross * 0.001);
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483 float pathlib_h_diagonal2sdp(vector preprev,vector prev,vector point,vector end)
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485 float h_diag,h_str,h,x,y,z;
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487 //h_diagonal(n) = min(abs(n.x-goal.x), abs(n.y-goal.y))
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488 //h_straight(n) = (abs(n.x-goal.x) + abs(n.y-goal.y))
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489 //h(n) = D2 * h_diagonal(n) + D * (h_straight(n) - 2*h_diagonal(n)))
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491 x = fabs(point_x - end_x);
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492 y = fabs(point_y - end_y);
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493 z = fabs(point_z - end_z);
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495 h_diag = min3(x,y,z);
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498 h = pathlib_movecost_diag * h_diag;
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499 h += pathlib_movecost * (h_str - 2 * h_diag);
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505 d1 = normalize(preprev - prev);
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506 d2 = normalize(prev - point);
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507 if(vlen(d1-d2) > 0.6)
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515 float pathlib_h_diagonal3(vector a,vector b)
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517 float h_diag,h_str,h,x,y,z;
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519 //h_diagonal(n) = min(abs(n.x-goal.x), abs(n.y-goal.y))
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520 //h_straight(n) = (abs(n.x-goal.x) + abs(n.y-goal.y))
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521 //h(n) = D2 * h_diagonal(n) + D * (h_straight(n) - 2*h_diagonal(n)))
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523 x = fabs(a_x - b_x);
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524 y = fabs(a_y - b_y);
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525 z = fabs(a_z - b_z);
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527 h_diag = min3(x,y,z);
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530 h = pathlib_movecost_diag * h_diag;
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531 h += pathlib_movecost * (h_str - 2 * h_diag);
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539 //#define PATHLIB_USE_NODESCRAP
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540 float pathlib_scraplist_cnt;
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544 #ifdef PATHLIB_USE_NODESCRAP
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545 if(pathlib_scraplist_cnt)
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547 n = findentity(world,owner,scraplist);
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550 --pathlib_scraplist_cnt;
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551 ++pathlib_recycle_cnt;
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555 pathlib_scraplist_cnt = 0;
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558 ++pathlib_made_cnt;
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563 void dumpnode(entity n)
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565 #ifdef PATHLIB_USE_NODESCRAP
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566 ++pathlib_scraplist_cnt;
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567 n.owner = scraplist;
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569 n.is_path_node = FALSE;
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570 n.think = SUB_Remove;
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575 entity pathlib_mknode(vector where,entity parent)
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580 node.is_path_node = TRUE;
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581 node.owner = openlist;
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582 node.path_prev = parent;
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584 setorigin(node, where);
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586 ++pathlib_open_cnt;
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588 //if(inwater(where))
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590 //node.waterlevel = 1;
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591 //mark_info(where,5);
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593 //mark_info(where,30);
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596 var float pathlib_expandnode(entity node, vector start, vector goal);
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597 float pathlib_expandnode_star(entity node, vector start, vector goal);
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598 float pathlib_expandnode_box(entity node, vector start, vector goal);
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600 float pathlib_makenode(entity parent,vector start, vector to, vector goal,float cost)
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603 float h,g,f,doedge;
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606 ++pathlib_searched_cnt;
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608 if(inwater(parent.origin))
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612 //bprint("Switch to water tracing\n");
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613 pathlib_expandnode = pathlib_expandnode_box;
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614 pathlib_movenode = pathlib_swimnode;
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619 //bprint("Switch to get out of water tracing\n");
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620 pathlib_expandnode = pathlib_expandnode_box;
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621 pathlib_movenode = pathlib_swimnode;
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628 //bprint("Switch to get into water tracing\n");
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629 pathlib_expandnode = pathlib_expandnode_box;
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630 pathlib_movenode = pathlib_swimnode;
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635 //bprint("Switch to land tracing\n");
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636 pathlib_expandnode = pathlib_expandnode_star;
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637 pathlib_movenode = pathlib_walknode;
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642 where = pathlib_movenode(parent.origin,to,0);
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643 if not(pathlib_movenode_goodnode)
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645 //mark_error(where,15);
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650 if(edge_check(where,pathlib_edge_check_size))
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653 h = pathlib_heuristic(where,goal);
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656 if(parent.path_prev)
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657 h = pathlib_h_diagonal2sdp(parent.path_prev.origin,parent.origin,where,goal);
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659 h = pathlib_heuristic(where,goal);
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664 g = pathlib_cost(parent,where,cost);
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667 node = findradius(where,pathlib_gridsize * 0.75);
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670 if(node.is_path_node == TRUE)
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672 ++pathlib_merge_cnt;
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673 if(node.owner == openlist)
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675 if(node.pathlib_node_g > g)
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677 node.pathlib_node_h = h;
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678 node.pathlib_node_g = g;
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679 node.pathlib_node_f = f;
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680 node.path_prev = parent;
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683 if not (best_open_node)
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684 best_open_node = node;
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685 else if(best_open_node.pathlib_node_f > node.pathlib_node_f)
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686 best_open_node = node;
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694 node = pathlib_mknode(where,parent);
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696 node.pathlib_node_h = h;
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697 node.pathlib_node_g = g;
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698 node.pathlib_node_f = f;
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700 if not (best_open_node)
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701 best_open_node = node;
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702 else if(best_open_node.pathlib_node_f > node.pathlib_node_f)
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703 best_open_node = node;
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708 entity pathlib_getbestopen()
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715 ++pathlib_bestcash_hits;
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716 pathlib_bestcash_saved += pathlib_open_cnt;
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718 return best_open_node;
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721 node = findchainentity(owner,openlist);
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728 ++pathlib_bestopen_seached;
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729 if(node.pathlib_node_f < bestnode.pathlib_node_f)
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738 void pathlib_close_node(entity node,vector goal)
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741 if(node.owner == closedlist)
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743 dprint("Pathlib: Tried to close a closed node!\n");
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747 if(node == best_open_node)
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748 best_open_node = world;
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750 ++pathlib_closed_cnt;
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751 --pathlib_open_cnt;
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753 node.owner = closedlist;
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755 if(vlen(node.origin - goal) <= pathlib_gridsize)
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757 //if(vlen(node.origin - goal) < 128)
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759 goalmove = pathlib_walknode(node.origin,goal,1);
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760 if(pathlib_movenode_goodnode)
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763 pathlib_foundgoal = TRUE;
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768 float pathlib_expandnode_star(entity node, vector start, vector goal)
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774 where = node.origin;
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776 v_forward = '1 0 0';
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780 point = where + v_forward * pathlib_gridsize;
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781 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost);
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784 point = where - v_forward * pathlib_gridsize;
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785 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost);
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788 point = where + v_right * pathlib_gridsize;
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789 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost);
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792 point = where - v_right * pathlib_gridsize;
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793 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost);
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796 point = where + v_forward * pathlib_gridsize + v_right * pathlib_gridsize;
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797 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
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800 point = where + v_forward * pathlib_gridsize - v_right * pathlib_gridsize;
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801 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
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804 point = where - v_forward * pathlib_gridsize + v_right * pathlib_gridsize;
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805 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
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808 point = where - v_forward * pathlib_gridsize - v_right * pathlib_gridsize;
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809 nodecnt += pathlib_makenode(node,start,point,goal,pathlib_movecost_diag);
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811 return pathlib_open_cnt;
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814 float pathlib_expandnode_box(entity node, vector start, vector goal)
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818 for(v_z = node.origin_z - pathlib_gridsize; v_z <= node.origin_z + pathlib_gridsize; v_z += pathlib_gridsize)
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819 for(v_y = node.origin_y - pathlib_gridsize; v_y <= node.origin_y + pathlib_gridsize; v_y += pathlib_gridsize)
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820 for(v_x = node.origin_x - pathlib_gridsize; v_x <= node.origin_x + pathlib_gridsize; v_x += pathlib_gridsize)
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822 if(vlen(v - node.origin))
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823 pathlib_makenode(node,start,v,goal,pathlib_movecost);
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826 return pathlib_open_cnt;
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829 void pathlib_cleanup()
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833 best_open_node = world;
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835 node = findfloat(world,is_path_node, TRUE);
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838 node.path_next = world;
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839 node.path_prev = world;
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840 node.is_path_node = FALSE;
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842 node = findfloat(node,is_path_node, TRUE);
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849 remove(closedlist);
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852 entity pathlib_astar(vector from,vector to)
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859 pathlib_heuristic = pathlib_h_diagonal3;
\r
860 pathlib_cost = pathlib_g_static;
\r
861 pathlib_expandnode = pathlib_expandnode_star;
\r
862 pathlib_movenode = pathlib_walknode;
\r
865 openlist = spawn();
\r
868 closedlist = spawn();
\r
871 scraplist = spawn();
\r
873 pathlib_closed_cnt = 0;
\r
874 pathlib_open_cnt = 0;
\r
875 pathlib_made_cnt = 0;
\r
876 pathlib_merge_cnt = 0;
\r
877 pathlib_searched_cnt = 0;
\r
878 pathlib_bestcash_hits = 0;
\r
879 pathlib_bestcash_saved = 0;
\r
880 pathlib_recycle_cnt = 0;
\r
882 pathlib_gridsize = 192;
\r
883 pathlib_movecost = pathlib_gridsize;
\r
884 pathlib_movecost_diag = vlen(('1 1 0' * pathlib_gridsize));
\r
885 pathlib_movecost_waterfactor = 1.1;
\r
886 pathlib_foundgoal = 0;
\r
888 walknode_boxmax = self.maxs * 1.5;
\r
889 walknode_boxmin = self.mins * 1.5;
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891 pathlib_edge_check_size = (vlen(walknode_boxmin - walknode_boxmax) * 0.25);
\r
893 walknode_boxup = '0 0 2' * self.maxs_z;
\r
894 walknode_stepsize = 32;
\r
895 walknode_stepup = '0 0 1' * walknode_stepsize;
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896 walknode_maxdrop = '0 0 3' * walknode_stepsize;
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898 dprint("AStar init. ", ftos(pathlib_scraplist_cnt), " nodes on scrap\n");
\r
899 path = pathlib_mknode(from,world);
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900 pathlib_close_node(path,to);
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901 if(pathlib_foundgoal)
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903 dprint("A* Goal fond in first square!\n");
\r
907 open.classname = "path_end";
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908 setorigin(open,path.origin);
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914 if(pathlib_expandnode(path,from,to) <= 0)
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916 dprint("A* pathing fail\n");
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921 best_open_node = pathlib_getbestopen();
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922 n = best_open_node;
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923 pathlib_close_node(best_open_node,to);
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924 if(inwater(n.origin))
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925 pathlib_expandnode_box(n,from,to);
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927 pathlib_expandnode_star(n,from,to);
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929 while(pathlib_open_cnt)
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931 best_open_node = pathlib_getbestopen();
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932 n = best_open_node;
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933 pathlib_close_node(best_open_node,to);
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935 if(inwater(n.origin))
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936 pathlib_expandnode_box(n,from,to);
\r
938 pathlib_expandnode(n,from,to);
\r
940 if(pathlib_foundgoal)
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942 dprint("Path found, re-tracing...\n");
\r
945 open.is_path_node = FALSE;
\r
946 open.classname = "path_end";
\r
948 open.path_next = world;
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951 while(open.path_prev != path)
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954 open = open.path_prev;
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956 open.path_next = n;
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958 open.is_path_node = FALSE;
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959 open.classname = "path_node";
\r
962 open.path_prev = path;
\r
963 path.path_next = open;
\r
964 path.classname = "path_master";
\r
965 path.is_path_node = FALSE;
\r
970 #ifdef DEBUGPATHING
\r
971 dprint("Chain done..\n");
\r
972 pathlib_showpath2(path);
\r
975 dprint(" Nodes reused: ", ftos(pathlib_recycle_cnt),"\n");
\r
976 dprint(" Nodes created: ", ftos(pathlib_made_cnt),"\n");
\r
977 dprint(" Nodes make/reuse: ", ftos(pathlib_made_cnt / pathlib_recycle_cnt),"\n");
\r
978 dprint(" Nodes open: ", ftos(pathlib_open_cnt),"\n");
\r
979 dprint(" Nodes merged: ", ftos(pathlib_merge_cnt),"\n");
\r
980 dprint(" Nodes closed: ", ftos(pathlib_closed_cnt),"\n");
\r
981 dprint(" Nodes searched: ", ftos(pathlib_searched_cnt),"\n");
\r
982 dprint("Nodes bestopen searched: ", ftos(pathlib_bestopen_seached),"\n");
\r
983 dprint(" Nodes bestcash hits: ", ftos(pathlib_bestcash_hits),"\n");
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984 dprint(" Nodes bestcash save: ", ftos(pathlib_bestcash_saved),"\n");
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985 dprint("AStar done. ", ftos(pathlib_scraplist_cnt), " nodes on scrap\n\n");
\r
992 dprint("A* Faild to find a path! Try a smaller gridsize.\n");
\r