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A* Pathfinding

Temat rozp. Adminek AMXX.PL, 15.06.2014 23:21

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#1 Adminek AMXX.PL

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Napisano 15.06.2014 23:21

<div>A* Pathfinding Pathfinding API based on the A* method. Functions: 

<div style="margin:20px; margin-top:5px">
<div class="smallfont" style="margin-bottom:2px">Code:</div>
<pre class="alt2" dir="ltr" style="margin: 0px;padding: 6px;border: 1px inset;width: auto; height: px; text-align: left; overflow: auto"><div class="pawn" style="font-family: monospace;">/** Array:AStar(Float:Start[3], Float:Goal[3], StepSize = 30, Ignore = IGNORE_MONSTERS, IgnoreID = 0, GroundDistance = 35, Heuristic = 50);
 *
 * Finds a path between Start and Goal.
 *
 *
 * Parameters:
 *
 *  Float:Start[3]
 *    Starting position.
 *
 *  Float:Goal[3]
 *    Hopefully ending position.
 *
 *  (Optional) StepSize = 30
 *    Defines how far between each step to take in a pattern of -X + X in all three dimensions. This means that diagonally, the step will be longer.
 *
 *  (Optional) Ignore = IGNORE_MONSTERS
 *    Flags for the traceline check.
 *
 *  (Optional) IgnoreID = 0
 *    id of the calling player if IGNORE_MONSTERS is not set. Again, this is for the traceline.
 *
 *  (Optional) GroundDistance = 35
 *    Set the maximum distance from the ground for the point to be accepted as valid. If set to 0 this check is disabled, meaning pathfinding for flying entities.
 *
 *  (Optional) Heuristic = 50
 *    Optimization parameter. Decides how much importance the distance from the target has.
 *    Higher values might result in a faster execution but may also result in a suboptimal path.
 *
 * Returns a handle to a dynamic array that will contain each step between start and goal.
 * On failure it will return Invalid_Array.
**/
native Array:AStar(Float:Start[3], Float:Goal[3], StepSize = 30, Ignore = IGNORE_MONSTERS, IgnoreID = 0, GroundDistance = 35, Heuristic = 50);

/**
 * AStar_GetDistance()
 *
 * Returns the distance of the last path created.
**/
native Float:AStar_GetDistance();

/**
 * AStar_GetNodesAdded()
 *
 * Returns the ammount of nodes that were created from the last session.
**/
native AStar_GetNodesAdded();

/**
 * AStar_GetNodesValidated()
 *
 * Returns the ammount of nodes that were validated from the last session.
**/
native AStar_GetNodesValidated();

/**
 * AStar_GetNodesValidated()
 *
 * Returns the ammount of nodes that were cleared from the last session.
**/
native AStar_GetNodesCleared();</div></pre>
</div>

 (Overengineered) example of how it could be used: 

<div style="margin:20px; margin-top:5px">
<div class="smallfont" style="margin-bottom:2px">Code:</div>
<pre class="alt2" dir="ltr" style="margin: 0px;padding: 6px;border: 1px inset;width: auto; height: px; text-align: left; overflow: auto"><div class="pawn" style="font-family: monospace;">#include <amxmodx>
#include <fakemeta>
#include <astar>
#include <xs>

/*
new hTimer = TimerStart();
// ...
TimerStop(hTimer);
server_print("Timer: %d days, %d hours, %d minutes, %d seconds and %d milliseconds.", TimerDays(hTimer), TimerHours(hTimer), TimerMinutes(hTimer), TimerSeconds(hTimer), TimerMilliseconds(hTimer));
*/
#define TimerStart()            tickcount()
#define TimerMid(%0)            ( tickcount() - %0 )
#define TimerStop(%0)         ( %0 = tickcount() - %0 )
#define TimerDays(%0)         ( %0 / 86400000 )
#define TimerHours(%0)      ( %0 % 86400000 / 3600000 )
#define TimerMinutes(%0)        ( %0 % 3600000 / 60000 )
#define TimerSeconds(%0)        ( %0 % 60000 / 1000 )
#define TimerMilliseconds(%0)   ( %0 % 1000 )

/* TimerFormat(hTimer, output[], maxlen, mode = 1, bool:full = 0)
* Formats the result of a timer handle into a string.
*
* Parameters:
*
* hTimer
*    Timer Handle
*
* output[]
*    The output string
*
* maxlen
*    Maximum size of the output string
*
* mode
*    1: 00:00:00:00.000
*    2: 0d 0h 0m 0s 0ms
*
* bool:full
*    If full is set to true it will print all fields, even those which contains no value.
*    If full is set to false and mode is set to 1, it will print the first field that contains a value and everything after that point. For example: 03:00:00.295
*    If full is set to false and mode is set to 2, it will print only the fields that contains a value. For example: 3h 295ms
*/
stock TimerFormat(hTimer, output[], maxlen, mode = 1, bool:full = false) {
    new len, bool:started;
   
    if ( full || TimerDays(hTimer) ) {
        if ( mode == 1 )
            len = formatex(output, maxlen, "%02d:", TimerDays(hTimer));
        else
            len = formatex(output, maxlen, "%dd ", TimerDays(hTimer));
        started = true;
    }
    if ( full || ( started && mode == 1 ) || TimerHours(hTimer) ) {
        if ( mode == 1 )
            len += formatex(output[len], maxlen - len, "%02d:", TimerHours(hTimer));
        else
            len += formatex(output[len], maxlen - len, "%dh ", TimerHours(hTimer));
        started = true;
    }
    if ( full || ( started && mode == 1 ) || TimerMinutes(hTimer) ) {
        if ( mode == 1 )
            len += formatex(output[len], maxlen - len, "%02d:", TimerMinutes(hTimer));
        else
            len += formatex(output[len], maxlen - len, "%dm ", TimerMinutes(hTimer));
        started = true;
    }
    if ( full || ( started && mode == 1 ) || TimerSeconds(hTimer) ) {
        if ( mode == 1 )
            len += formatex(output[len], maxlen - len, "%02d.", TimerSeconds(hTimer));
        else
            len += formatex(output[len], maxlen - len, "%ds ", TimerSeconds(hTimer));
        started = true;
    }
    if ( full || ( started && mode == 1 ) || TimerMilliseconds(hTimer) ) {
        if ( mode == 1 )
            len += formatex(output[len], maxlen - len, "%03d", TimerMilliseconds(hTimer));
        else
            len += formatex(output[len], maxlen - len, "%dms", TimerMilliseconds(hTimer));
    }
}

public plugin_init() {
    register_plugin("A* Sample code", "1.0", "[ --{-@ ]");
   
    register_clcmd("astar_command", "testfunc");
}

new g_sprite;

public plugin_precache()
    g_sprite = precache_model("sprites/laserbeam.spr")

stock beam(origin1[3], origin2[3], Float:seconds) {
    message_begin(MSG_BROADCAST ,SVC_TEMPENTITY)
    write_byte(TE_BEAMPOINTS)
    write_coord(origin1[0]) // start position
    write_coord(origin1[1])
    write_coord(origin1[2])
    write_coord(origin2[0]) // end position
    write_coord(origin2[1])
    write_coord(origin2[2])
    write_short(g_sprite)   // sprite index
    write_byte(0)   // starting frame
    write_byte(10)  // frame rate in 0.1's
    write_byte(floatround(seconds*10))  // life in 0.1's
    write_byte(10)  // line width in 0.1's
    write_byte(1)   // noise amplitude in 0.01's
    write_byte(0)   // Red
    write_byte(0)   // Green
    write_byte(255) // Blue
    write_byte(127) // brightness
    write_byte(10)  // scroll speed in 0.1's
    message_end()
}

public testfunc(id) {
   
    new Float:startPos[3];
    new Float:endPos[3];
    new Float:tempPos[3];
    new Velocity = 250;
    new hTrace;

    pev(id, pev_origin, startPos);

    xs_vec_copy(startPos, endPos);
    endPos[2] -= 1000

    engfunc(EngFunc_TraceLine, startPos, endPos, IGNORE_MONSTERS, id, hTrace);
    get_tr2(hTrace, TR_vecEndPos, startPos);
    free_tr2(hTrace);

    startPos[2] += 10;

    do {
        Velocity += 50;
        velocity_by_aim(id, Velocity, endPos);
        xs_vec_add(endPos, startPos, endPos);
        if ( Velocity > 2000 ) {
            client_print(id, print_chat, "Could not find a good end point");
            return;
        }
    }
    while ( engfunc(EngFunc_PointContents, endPos) != CONTENTS_EMPTY )

    xs_vec_copy(endPos, tempPos);
    tempPos[2] -= 1000

    engfunc(EngFunc_TraceLine, endPos, tempPos, IGNORE_MONSTERS, id, hTrace);
    get_tr2(hTrace, TR_vecEndPos, endPos);
    free_tr2(hTrace)

    endPos[2] += 10;
   
    client_print(id, print_chat, "Start: %.0f, %.0f, %.0f. End: %.0f, %.0f, %.0f. (Distance %d units)", startPos[0], startPos[1], startPos[2], endPos[0], endPos[1], endPos[2], Velocity);
   
    new hTimer = TimerStart();
    new Array:hPath = AStar(startPos, endPos);
    TimerStop(hTimer);
   
    new timer[32];
    TimerFormat(hTimer, timer, charsmax(timer), 2);
    client_print(id, print_chat, "Execution time: %s (%d nodes, %d validated, %d successful)", timer, AStar_GetNodesAdded(), AStar_GetNodesValidated(), AStar_GetNodesCleared());
   
    if ( hPath == Invalid_Array )
        return;

    client_print(id, print_chat, "Distance of path: %.0f units, %d steps.", AStar_GetDistance(), ArraySize(hPath));
   
    new test[3];
    new test2[3];
   
    test2[0] = floatround(startPos[0]);
    test2[1] = floatround(startPos[1]);
    test2[2] = floatround(startPos[2]);
   
    for ( new i = 1 ; ArraySize(hPath) ; i++ ) {
        ArrayGetArray(hPath, 0, test);
        ArrayDeleteItem(hPath, 0);
        client_print(id, print_console, "Step %d: %d, %d, %d", i, test[0], test[1], test[2]);
       
        beam(test, test2, 30.0);
       
        test2[0] = test[0];
        test2[1] = test[1];
        test2[2] = test[2];
    }
    client_print(id, print_console, "End: %.0f, %.0f, %.0f (Distance: %.1f)", endPos[0], endPos[1], endPos[2], AStar_GetDistance());
}</div></pre>
</div>

 And here's an example image of a path between two points that has objects, corners and height differences. <div style="margin: 5px;">
<div class="smallfont" style="margin-bottom: 2px;">
Spoiler <input value="Show" style="margin: 0px; padding: 0px; width: 45px; font-size: 10px;" onclick="if(this.parentNode.parentNode.getElementsByTagName('div')[1].getElementsByTagName('div')[0].style.display != 'inline')
{ this.parentNode.parentNode.getElementsByTagName('div')[1].getElementsByTagName('div')[0].style.display = 'inline'; this.innerText = ''; this.value = 'Hide'; }
else
{ this.parentNode.parentNode.getElementsByTagName('div')[1].getElementsByTagName('div')[0].style.display = 'none'; this.innerText = ''; this.value='Show'; }" type="button">
</div>
<div class="alt2" style="border: 1px inset; padding: 6px;">
<div class="spoiler" style="display: none;"> <img src="http://DivinityX.eu/...mages/AStar.jpg" border="0" alt="" /> </div>
</div>
</div> It was hard taking a good picture since the beams disappear really fast. You get the point. Additional notes: Use this file however you want. Credit not required. This can be remade into a thinking thread that doesn't have to pause the server to complete the path. But obviously that requires another type of thinking when programming for it. Tell me if you're interested and I'll start right away on that version. The best would probably be to make it a module. Feel free to do so (I'm not good enough). You have my permission to use any of this code in that project. I'm always open to suggestions, feedback and criticism. I aim to add as much support as possible. Please share your thoughts.</div>

 <div style="padding:6px">

<fieldset class="fieldset">
<legend>Attached Files</legend>
<table cellpadding="0" cellspacing="3" border="0">

<tr>
<td><img class="inlineimg" src="https://forums.allie.../attach/sma.gif" alt="File Type: sma" width="16" height="16" border="0" style="vertical-align:baseline" /></td>
<td>

<a href="http://www.amxmodx.o...?file_id=134552">Get Plugin</a> or
<a href="https://forums.allie...38;d=1402881503">Get Source</a> (astar.sma - 6.1 KB)

</td>
</tr>

<tr>
<td><img class="inlineimg" src="https://forums.allie.../attach/inc.gif" alt="File Type: inc" width="16" height="16" border="0" style="vertical-align:baseline" /></td>
<td>

<a href="https://forums.allie...38;d=1402870256">astar.inc</a> (1.9 KB)

</td>
</tr>

</table>
</fieldset>

</div>



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