void MapPainterSVG::DrawWay(const StyleConfig& styleConfig,
const Projection& projection,
const MapParameter& parameter,
const WayData& data)
{
std::map<LineStyle,std::string>::const_iterator styleNameEntry=lineStyleNameMap.find(*data.lineStyle);
assert(styleNameEntry!=lineStyleNameMap.end());
if (!data.lineStyle->GetDash().empty() &&
data.lineStyle->GetGapColor().GetA()>0.0) {
DrawPath(projection,
parameter,
data.lineStyle->GetGapColor(),
data.lineWidth,
emptyDash,
data.startIsClosed ? data.lineStyle->GetEndCap() : data.lineStyle->GetJoinCap(),
data.endIsClosed ? data.lineStyle->GetEndCap() : data.lineStyle->GetJoinCap(),
data.transStart,data.transEnd);
}
DrawPath(projection,
parameter,
styleNameEntry->second,
data.lineWidth,
data.startIsClosed ? data.lineStyle->GetEndCap() : data.lineStyle->GetJoinCap(),
data.endIsClosed ? data.lineStyle->GetEndCap() : data.lineStyle->GetJoinCap(),
data.transStart,data.transEnd);
}
void FGameplayDebuggerCategory_AI::DrawData(APlayerController* OwnerPC, FGameplayDebuggerCanvasContext& CanvasContext)
{
const bool bReducedMode = IsSimulateInEditor();
bShowCategoryName = !bReducedMode;
UWorld* MyWorld = OwnerPC->GetWorld();
AActor* SelectedActor = FindLocalDebugActor();
DrawPawnIcons(MyWorld, SelectedActor, OwnerPC ? OwnerPC->GetPawn() : nullptr, CanvasContext);
if (bReducedMode)
{
if (DataPack.bHasController)
{
DrawPath(MyWorld);
}
}
else
{
if (SelectedActor)
{
DrawOverheadInfo(*SelectedActor, CanvasContext);
}
DrawPath(MyWorld);
}
const bool bShowClassNames = !bReducedMode || DataPack.bHasController;
if (bShowClassNames)
{
CanvasContext.Printf(TEXT("Controller Name: {yellow}%s"), *DataPack.ControllerName);
CanvasContext.Printf(TEXT("Pawn Name: {yellow}%s"), *DataPack.PawnName);
}
if (DataPack.bIsUsingCharacter)
{
CanvasContext.Printf(TEXT("Movement Mode: {yellow}%s{white}, Base: {yellow}%s"), *DataPack.MovementModeInfo, *DataPack.MovementBaseInfo);
CanvasContext.Printf(TEXT("NavData: {yellow}%s{white}, Path following: {yellow}%s"), *DataPack.NavDataInfo, *DataPack.PathFollowingInfo);
}
if (DataPack.bIsUsingBehaviorTree)
{
CanvasContext.Printf(TEXT("Behavior: {yellow}%s{white}, Tree: {yellow}%s"), *DataPack.CurrentAIState, *DataPack.CurrentAIAssets);
CanvasContext.Printf(TEXT("Active task: {yellow}%s"), *DataPack.CurrentAITask);
}
if (DataPack.bIsUsingGameplayTasks)
{
if (DataPack.NumTickingTasks > 0)
{
CanvasContext.Printf(TEXT("Ticking tasks: {yellow}%d%s"), DataPack.NumTickingTasks, *DataPack.TickingTaskInfo);
}
CanvasContext.Printf(TEXT("Gameplay tasks: {yellow}%d%s"), DataPack.NumTasksInQueue, *DataPack.TaskQueueInfo);
}
if (DataPack.bIsUsingCharacter)
{
CanvasContext.Printf(TEXT("Montage: {yellow}%s"), *DataPack.MontageInfo);
}
}
int main()
{
std::vector< Coord > path;
Point *start = new Point( 5, 1, 0, nullptr );
Point *end = new Point( 5, 15, 0, nullptr );
glfwInit();
DrawPath( path );
GLFWwindow *wind = glfwCreateWindow( 800, 600, "A* Pathfinding", nullptr, nullptr );
glfwMakeContextCurrent( wind );
Reshape( wind, 800, 600 );
glfwSetWindowSizeCallback( wind, Reshape );
glfwSetCursorPosCallback( wind, mousePosCallBack );
glfwSetMouseButtonCallback( wind, mouseClickCallBack );
srand( time(nullptr) );
for( int y = 0; y < walls.size(); y++ )
{
for( int x = 0; x < walls[y].size(); x++ )
{
walls[x][y] = 1;
}
}
while( !glfwWindowShouldClose( wind ) )
{
glClear( GL_COLOR_BUFFER_BIT );
glLoadIdentity();
glTranslatef( 0.0f, 0.0f, -1.0f );
path = AStar( walls, *start, *end );
DrawMap();
DrawPath( path );
std::this_thread::sleep_for( std::chrono::milliseconds(17) );
//ResetKeys();
glfwPollEvents();
glfwSwapBuffers( wind );
}
glfwTerminate();
}
void AnyAngleAlgorithm::ShowPath(const MapEnvironment *env, float r, float g, float b)
{
env->SetColor(r, g, b);
if (!UsingXYLocCont()) {
DrawPath(env, this->xyloc_path_, true);
}
else {
DrawPath(env, this->xyloc_cont_path_, true);
}
}
void AnyAngleAlgorithm::ShowSmoothedPath(const MapEnvironment *env, float r, float g, float b)
{
if (!ShouldSmoothPaths())
return;
env->SetColor(r, g, b);
if (!UsingXYLocCont()) {
DrawPath(env, this->smoothed_xyloc_path_, false);
}
else {
DrawPath(env, this->smoothed_xyloc_cont_path_, false);
}
}
void MapGrid::draw(ALLEGRO_MOUSE_STATE mouse, std::string *title, std::string *description, bool waveInProgress)
{
hover = NULL;
for (int i = 0; i < GridHeight; i++)
{
for (int j = 0; j < GridWidth; j++)
{
if (grid[i][j].draw(mouse))
{
hover = &grid[i][j];
}
}
}
if(clicked != NULL && !waveInProgress){
clicked->draw(mouse);
*title = clicked->GetName();
*description = clicked->GetDescription();
if (!clicked->IsParentNull()) {
//std::string newDesc = "";
//std::stringstream sstm;
//sstm << "DEBUG: Parent X: " << clicked->GetParentX() << " Parent Y: " << clicked->GetParentY() << " My fScore: " << clicked->GetFScore() << " my gScore: " << clicked->GetGScore();
//newDesc = sstm.str();
//*description = newDesc;
}
}
if(hover != NULL && !waveInProgress){
hover->draw(mouse);
}
DrawPath();
}
void K1999::CalcRaceLine()
{
const unsigned int stepsize = 128;
//abort if the track isn't long enough
if (tx.size() < stepsize)
return;
//
// Smoothing loop
//
for (int Step = stepsize; (Step /= 2) > 0;)
{
for (int i = Iterations * int(sqrt(float(Step))); --i >= 0;)
Smooth(Step);
Interpolate(Step);
}
//
// Compute curvature along the path
//
for (int i = Divs; --i >= 0;)
{
int next = (i + 1) % Divs;
int prev = (i - 1 + Divs) % Divs;
double rInverse = GetRInverse(prev, tx[i], ty[i], next);
tRInverse[i] = rInverse;
}
#ifdef DRAWPATH
std::ofstream ofs("k1999.path");
DrawPath(ofs);
#endif
}
//---------------------------------------------------------------------------------------------------------------------
void VisToolSpline::RefreshGeometry()
{
if (point1Id > NULL_ID)
{
const QSharedPointer<VPointF> first = Visualization::data->GeometricObject<VPointF>(point1Id);
DrawPoint(lineP1, first->toQPointF(), supportColor);
if (point4Id <= NULL_ID)
{
DrawLine(line, QLineF(first->toQPointF(), Visualization::scenePos), mainColor);
}
else
{
const QSharedPointer<VPointF> second = Visualization::data->GeometricObject<VPointF>(point4Id);
DrawPoint(lineP4, second->toQPointF(), supportColor);
if (qFuzzyCompare(angle1, EMPTY_ANGLE) || qFuzzyCompare(angle2, EMPTY_ANGLE))
{
DrawLine(line, QLineF(first->toQPointF(), second->toQPointF()), mainColor);
}
else
{
VSpline spline(*first, *second, angle1, angle2, kAsm1, kAsm2, kCurve);
DrawPath(this, spline.GetPath(PathDirection::Show), mainColor, Qt::SolidLine, Qt::RoundCap);
}
}
}
}
void Painter::Draw()
{
glClear(GL_COLOR_BUFFER_BIT);
DrawCoordinate();
DrawPath();
glFlush();
}
void QTPFSPathDrawer::DrawPaths(const MoveDef* md) const {
const QTPFS::PathCache& pathCache = pm->pathCaches[md->pathType];
const QTPFS::PathCache::PathMap& paths = pathCache.GetLivePaths();
QTPFS::PathCache::PathMap::const_iterator pathsIt;
CVertexArray* va = GetVertexArray();
for (pathsIt = paths.begin(); pathsIt != paths.end(); ++pathsIt) {
DrawPath(pathsIt->second, va);
#ifdef QTPFS_TRACE_PATH_SEARCHES
#define PM QTPFS::PathManager
const PM::PathTypeMap::const_iterator typeIt = pm->pathTypes.find(pathsIt->first);
const PM::PathTraceMap::const_iterator traceIt = pm->pathTraces.find(pathsIt->first);
#undef PM
if (typeIt == pm->pathTypes.end() || traceIt == pm->pathTraces.end())
continue;
// this only happens if source-node was equal to target-node
if (traceIt->second == NULL)
continue;
DrawSearchExecution(typeIt->second, traceIt->second);
#endif
}
}
void AGameplayDebuggingHUDComponent::DrawBasicData(APlayerController* PC, class UGameplayDebuggingComponent *DebugComponent)
{
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
PrintString(DefaultContext, TEXT("\n{R=0,G=255,B=0,A=255}BASIC DATA\n"));
UFont* OldFont = DefaultContext.Font;
DefaultContext.Font = GEngine->GetMediumFont();
PrintString(DefaultContext, FString::Printf(TEXT("Controller Name: {yellow}%s\n"), *DebugComponent->ControllerName));
DefaultContext.Font = OldFont;
PrintString(DefaultContext, FString::Printf(TEXT("Pawn Name: {yellow}%s{white}, Pawn Class: {yellow}%s\n"), *DebugComponent->PawnName, *DebugComponent->PawnClass));
// movement
if (DebugComponent->bIsUsingCharacter)
{
PrintString(DefaultContext, FString::Printf(TEXT("Movement Mode: {yellow}%s{white}, Base: {yellow}%s\n"), *DebugComponent->MovementModeInfo, *DebugComponent->MovementBaseInfo));
PrintString(DefaultContext, FString::Printf(TEXT("NavData: {yellow}%s{white}, Path following: {yellow}%s\n"), *DebugComponent->NavDataInfo, *DebugComponent->PathFollowingInfo));
}
// logic
if (DebugComponent->bIsUsingBehaviorTree)
{
PrintString(DefaultContext, FString::Printf(TEXT("Behavior: {yellow}%s{white}, Tree: {yellow}%s\n"), *DebugComponent->CurrentAIState, *DebugComponent->CurrentAIAssets));
PrintString(DefaultContext, FString::Printf(TEXT("Active task: {yellow}%s\n"), *DebugComponent->CurrentAITask));
}
// ability + animation
if (DebugComponent->bIsUsingAbilities && DebugComponent->bIsUsingCharacter)
{
PrintString(DefaultContext, FString::Printf(TEXT("Ability: {yellow}%s{white}, Montage: {yellow}%s\n"), *DebugComponent->AbilityInfo, *DebugComponent->MontageInfo));
}
else if (DebugComponent->bIsUsingCharacter)
{
PrintString(DefaultContext, FString::Printf(TEXT("Montage: {yellow}%s\n"), *DebugComponent->MontageInfo));
}
else if (DebugComponent->bIsUsingAbilities)
{
PrintString(DefaultContext, FString::Printf(TEXT("Ability: {yellow}%s\n"), *DebugComponent->AbilityInfo));
}
// gameplay tasks
int32 NumTasks = 0;
if (DebugComponent->GameplayTasksState.Len() > 0)
{
int32 SearchStart = -2;
int32 PrevStart = 0;
do {
PrevStart = SearchStart + 1;
SearchStart = DebugComponent->GameplayTasksState.Find(TEXT("\n"), ESearchCase::IgnoreCase, ESearchDir::FromStart, PrevStart);
NumTasks++;
} while (SearchStart >= 0 && SearchStart > PrevStart);
NumTasks--;
}
PrintString(DefaultContext, FString::Printf(TEXT("GameplayTasks: {yellow}%d\n%s\n"), NumTasks, *DebugComponent->GameplayTasksState));
DrawPath(PC, DebugComponent);
#endif //!(UE_BUILD_SHIPPING || UE_BUILD_TEST)
}
void AGameplayDebuggingHUDComponent::DrawOverHeadInformation(APlayerController* PC, class UGameplayDebuggingComponent *DebugComponent)
{
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
APawn* MyPawn = Cast<APawn>(DebugComponent->GetSelectedActor());
const FVector Loc3d = MyPawn ? MyPawn->GetActorLocation() + FVector(0.f, 0.f, MyPawn->GetSimpleCollisionHalfHeight()) : FVector::ZeroVector;
if (OverHeadContext.Canvas->SceneView == NULL || OverHeadContext.Canvas->SceneView->ViewFrustum.IntersectBox(Loc3d, FVector::ZeroVector) == false)
{
return;
}
const FVector ScreenLoc = OverHeadContext.Canvas->Project(Loc3d);
static const FVector2D FontScale(1.f, 1.f);
UFont* Font = GEngine->GetSmallFont();
float TextXL = 0.f;
float YL = 0.f;
FString ObjectName = FString::Printf( TEXT("{yellow}%s {white}(%s)"), *DebugComponent->ControllerName, *DebugComponent->PawnName);
CalulateStringSize(OverHeadContext, OverHeadContext.Font, ObjectName, TextXL, YL);
bool bDrawFullOverHead = MyPawn != nullptr && GetDebuggingReplicator()->GetSelectedActorToDebug() == MyPawn;
float IconXLocation = OverHeadContext.DefaultX;
float IconYLocation = OverHeadContext.DefaultY;
if (bDrawFullOverHead)
{
OverHeadContext.DefaultX -= (0.5f*TextXL*FontScale.X);
OverHeadContext.DefaultY -= (1.2f*YL*FontScale.Y);
IconYLocation = OverHeadContext.DefaultY;
OverHeadContext.CursorX = OverHeadContext.DefaultX;
OverHeadContext.CursorY = OverHeadContext.DefaultY;
}
if (DebugComponent->DebugIcon.Len() > 0)
{
UTexture2D* RegularIcon = (UTexture2D*)StaticLoadObject(UTexture2D::StaticClass(), NULL, *DebugComponent->DebugIcon, NULL, LOAD_NoWarn | LOAD_Quiet, NULL);
if (RegularIcon)
{
FCanvasIcon Icon = UCanvas::MakeIcon(RegularIcon);
if (Icon.Texture)
{
const float DesiredIconSize = bDrawFullOverHead ? 32.f : 16.f;
DrawIcon(OverHeadContext, FColor::White, Icon, IconXLocation, IconYLocation - DesiredIconSize, DesiredIconSize / Icon.Texture->GetSurfaceWidth());
}
}
}
if (bDrawFullOverHead)
{
OverHeadContext.FontRenderInfo.bEnableShadow = bDrawFullOverHead;
PrintString(OverHeadContext, bDrawFullOverHead ? FColor::White : FColor(255, 255, 255, 128), FString::Printf(TEXT("%s\n"), *ObjectName));
OverHeadContext.FontRenderInfo.bEnableShadow = false;
}
if (EngineShowFlags.DebugAI)
{
DrawPath(PC, DebugComponent);
}
#endif //!(UE_BUILD_SHIPPING || UE_BUILD_TEST)
}
void wxSVGCanvasCairo::DrawCanvasPath(wxSVGCanvasPathCairo& canvasPath, wxSVGMatrix& matrix,
const wxCSSStyleDeclaration& style, wxSVGSVGElement& svgElem) {
// check Filter
if (style.GetFilter().GetCSSPrimitiveType() == wxCSS_URI && style.GetFilter().GetStringValue().length() > 1) {
wxString filterId = style.GetFilter().GetStringValue().substr(1);
wxSVGElement* filterElem = (wxSVGElement*) svgElem.GetElementById(filterId);
// feGaussianBlur
if (filterElem && filterElem->GetDtd() == wxSVG_FILTER_ELEMENT && filterElem->GetFirstChild() != NULL
&& ((wxSVGSVGElement*) filterElem->GetFirstChild())->GetDtd() == wxSVG_FEGAUSSIANBLUR_ELEMENT) {
float stdX = ((wxSVGFEGaussianBlurElement*) filterElem->GetFirstChild())->GetStdDeviationX().GetAnimVal();
float stdY = ((wxSVGFEGaussianBlurElement*) filterElem->GetFirstChild())->GetStdDeviationY().GetAnimVal();
if (stdX <= 0 || stdY <= 0)
return;
int dx = int(floor(stdX * 3 * sqrt(2 * M_PI) / 4 + 0.5));
int dy = int(floor(stdY * 3 * sqrt(2 * M_PI) / 4 + 0.5));
wxSVGRect rect = canvasPath.GetResultBBox(style, matrix.Inverse());
rect.SetX(rect.GetX() - 2*dx);
rect.SetY(rect.GetY() - 2*dy);
rect.SetWidth(rect.GetWidth() + 4*dx);
rect.SetHeight(rect.GetHeight() + 4*dy);
int width = (int) rect.GetWidth();
int height = (int) rect.GetHeight();
cairo_surface_t* surface = cairo_image_surface_create(CAIRO_FORMAT_ARGB32, width, height);
cairo_t* cr = cairo_create(surface);
wxSVGMatrix matrix2 = wxSVGMatrix(1, 0, 0, 1, - rect.GetX(), - rect.GetY()).Multiply(matrix);
DrawPath(cr, canvasPath, matrix2, style, svgElem);
gaussianBlur(surface, dx, dy);
// draw surface
cairo_save(m_cr);
SetMatrix(m_cr, wxSVGMatrix(1, 0, 0, 1, rect.GetX(), rect.GetY()));
cairo_set_source_surface(m_cr, surface, 0, 0);
cairo_rectangle(m_cr, 0, 0, width, height);
cairo_paint(m_cr); // fill the rectangle using the pattern
cairo_new_path(m_cr);
cairo_restore(m_cr);
cairo_destroy(cr);
cairo_surface_destroy(surface);
return;
}
}
DrawPath(m_cr, canvasPath, matrix, style, svgElem);
}
void wxGraphicsContext::DrawLines( size_t n, const wxPoint2DDouble *points, int fillStyle)
{
wxASSERT(n > 1);
wxGraphicsPath path = CreatePath();
path.MoveToPoint(points[0].m_x, points[0].m_y);
for ( size_t i = 1; i < n; ++i)
path.AddLineToPoint( points[i].m_x, points[i].m_y );
DrawPath( path , fillStyle);
}
FX_BOOL CFDE_GdiDevice::DrawRoundRectangle(IFDE_Pen* pPen,
FX_FLOAT fPenWidth,
const CFX_RectF& rect,
const CFX_SizeF& round,
const CFX_Matrix* pMatrix) {
CFDE_GdiPath path;
path.AddRoundRectangle(rect, round);
return DrawPath(pPen, fPenWidth, &path, pMatrix);
}
void CLabelTestDlg::OnPaint()
{
PAINTSTRUCT ps;
BeginPaint(&ps);
DrawPath();
CreateLabel();
DisplayPercentage();
EndPaint(&ps);
}
FX_BOOL CFDE_GdiDevice::DrawChord(IFDE_Pen* pPen,
FX_FLOAT fPenWidth,
const CFX_RectF& rect,
FX_FLOAT startAngle,
FX_FLOAT sweepAngle,
const CFX_Matrix* pMatrix) {
CFX_ArcF chord;
chord.Set(rect, startAngle, sweepAngle);
CFDE_GdiPath path;
path.AddChord(chord);
return DrawPath(pPen, fPenWidth, &path, pMatrix);
}
void
FieldView::DrawPaths(wxDC& dc, const CC_sheet& sheet)
{
if (mDrawPaths && mAnimation && mAnimation->GetNumberSheets() && (static_cast<unsigned>(mAnimation->GetNumberSheets()) > mShow->GetCurrentSheetNum()))
{
CC_coord origin = GetShowFieldOffset();
mAnimation->GotoSheet(mShow->GetCurrentSheetNum());
for (auto point = mShow->GetSelectionList().begin(); point != mShow->GetSelectionList().end(); ++point)
{
DrawPath(dc, mAnimation->GenPathToDraw(*point, origin), mAnimation->EndPosition(*point, origin));
}
}
}
bool FieldView::DrawAllPaths(){
Field::Paths paths = field->GetPaths();
const size_t size = paths.size();
bool result = true;
//if there is at least one path, then...
//simply draw every existing path
if(!paths.empty())
for(size_t i = 0; i < size; i++)
if(!DrawPath(paths[i]))
result = false;
paths.clear();
return result;
}
void PreviewWindow::Render(wxDC& dc)
{
dc.SetBackground(wxBrush(backgroundColour));
dc.Clear();
DrawPath(dc);
DrawTrajectory(dc);
DrawOrigin(dc);
wxString text;
text << wxT("X: ") << offset.x << wxT(" Y: ") << offset.y
<< wxT(" Z: ") << wheelPosition;
dc.SetTextForeground(wxColour(255, 255, 255));
dc.DrawText(text, 40, 10);
}
void AGameplayDebuggingHUDComponent::DrawBasicData(APlayerController* PC, class UGameplayDebuggingComponent *DebugComponent)
{
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
PrintString(DefaultContext, TEXT("\n{R=0,G=255,B=0,A=255}BASIC DATA\n"));
UFont* OldFont = DefaultContext.Font;
DefaultContext.Font = GEngine->GetMediumFont();
PrintString(DefaultContext, FString::Printf(TEXT("Controller Name: {yellow}%s\n"), *DebugComponent->ControllerName));
DefaultContext.Font = OldFont;
PrintString(DefaultContext, FString::Printf(TEXT("Pawn Name: {yellow}%s{white}, Pawn Class: {yellow}%s\n"), *DebugComponent->PawnName, *DebugComponent->PawnClass));
// movement
if (DebugComponent->bIsUsingCharacter)
{
PrintString(DefaultContext, FString::Printf(TEXT("Movement Mode: {yellow}%s{white}, Base: {yellow}%s\n"), *DebugComponent->MovementModeInfo, *DebugComponent->MovementBaseInfo));
PrintString(DefaultContext, FString::Printf(TEXT("NavData: {yellow}%s{white}, Path following: {yellow}%s\n"), *DebugComponent->NavDataInfo, *DebugComponent->PathFollowingInfo));
}
// logic
if (DebugComponent->bIsUsingBehaviorTree)
{
PrintString(DefaultContext, FString::Printf(TEXT("Behavior: {yellow}%s{white}, Tree: {yellow}%s\n"), *DebugComponent->CurrentAIState, *DebugComponent->CurrentAIAssets));
PrintString(DefaultContext, FString::Printf(TEXT("Active task: {yellow}%s\n"), *DebugComponent->CurrentAITask));
}
// ability + animation
if (DebugComponent->bIsUsingAbilities && DebugComponent->bIsUsingCharacter)
{
PrintString(DefaultContext, FString::Printf(TEXT("Ability: {yellow}%s{white}, Montage: {yellow}%s\n"), *DebugComponent->AbilityInfo, *DebugComponent->MontageInfo));
}
else if (DebugComponent->bIsUsingCharacter)
{
PrintString(DefaultContext, FString::Printf(TEXT("Montage: {yellow}%s\n"), *DebugComponent->MontageInfo));
}
else if (DebugComponent->bIsUsingAbilities)
{
PrintString(DefaultContext, FString::Printf(TEXT("Ability: {yellow}%s\n"), *DebugComponent->AbilityInfo));
}
// putting gameplay tasks' stuff last since it can expand heavily
PrintString(DefaultContext, FString::Printf(TEXT("GameplayTasks:\n{yellow}%s\n"), *DebugComponent->GameplayTasksState));
DrawPath(PC, DebugComponent);
#endif //!(UE_BUILD_SHIPPING || UE_BUILD_TEST)
}
void BotDebugDrawMesh( BotDebugInterface_t *in )
{
static DebugDrawQuake dd;
dd.init( in );
if ( !cmd.enabled )
{
return;
}
if ( !cmd.nav )
{
return;
}
if ( !cmd.nav->mesh || !cmd.nav->query )
{
return;
}
if ( cmd.shownodes )
{
duDebugDrawNavMeshNodes( &dd, *cmd.nav->query );
}
if ( cmd.showportals )
{
duDebugDrawNavMeshPortals( &dd, *cmd.nav->mesh );
}
duDebugDrawNavMeshWithClosedList(&dd, *cmd.nav->mesh, *cmd.nav->query, DU_DRAWNAVMESH_OFFMESHCONS | DU_DRAWNAVMESH_CLOSEDLIST);
BotDrawNavEdit( &dd );
for ( int i = 0; i < MAX_CLIENTS; i++ )
{
Bot_t *bot = &agents[ i ];
if ( bot->nav == cmd.nav )
{
DrawPath( bot, dd );
}
}
}
//---------------------------------------------------------------------------------------------------------------------
void VisToolSplinePath::RefreshGeometry()
{
if (path.CountPoint() > 0)
{
QVector<VSplinePoint> pathPoints = path.GetSplinePath();
if (path.CountPoint() == 1)
{
QGraphicsEllipseItem *point = this->getPoint(0);
DrawPoint(point, pathPoints.at(0).P().toQPointF(), supportColor);
if (mode == Mode::Creation)
{
QLineF sceneLine = QLineF(pathPoints.at(0).P().toQPointF(), Visualization::scenePos);
DrawLine(line, sceneLine, mainColor, lineStyle);
path[0].SetAngle2(sceneLine.angle());
emit PathChanged(path);
}
}
else
{
for (int i = 0; i < pathPoints.size(); ++i)
{
QGraphicsEllipseItem *point = this->getPoint(static_cast<unsigned>(i));
DrawPoint(point, pathPoints.at(i).P().toQPointF(), supportColor);
}
if (mode == Mode::Creation)
{
QLineF sceneLine = QLineF(pathPoints.at(pathPoints.size() - 1).P().toQPointF(),
Visualization::scenePos);
DrawLine(line, sceneLine, mainColor, lineStyle);
path[pathPoints.size() - 1].SetAngle2(sceneLine.angle());
emit PathChanged(path);
}
DrawPath(this, path.GetPath(PathDirection::Show), mainColor, Qt::SolidLine, Qt::RoundCap);
}
Visualization::toolTip = QString(tr("<b>Curve path</b>: <b>Enter</b> - finish creation"));
}
}
void touchmind::view::node::NodeViewManager::DrawNodePaths(touchmind::Context *pContext,
ID2D1RenderTarget *pRenderTarget,
std::shared_ptr<model::node::NodeModel> node) {
PATH_DIRECTION pathDirection;
touchmind::NODE_SIDE nodePosition = node->GetAncestorPosition();
switch (nodePosition) {
case touchmind::NODE_SIDE_RIGHT:
pathDirection = PATH_DIRECTION_RIGHT;
break;
case touchmind::NODE_SIDE_LEFT:
pathDirection = PATH_DIRECTION_LEFT;
break;
case touchmind::NODE_SIDE_UNDEFINED:
pathDirection = PATH_DIRECTION_AUTO;
break;
default:
pathDirection = PATH_DIRECTION_AUTO;
}
for (size_t i = 0; i < node->GetActualChildrenCount(); ++i) {
std::shared_ptr<touchmind::model::node::NodeModel> child = node->GetChild(i);
DrawPath(pContext, pRenderTarget, child);
}
}
/* Main window process messages callback function */
LRESULT CALLBACK WndProc( HWND hWnd, UINT message,
WPARAM wParam, LPARAM lParam )
{
PAINTSTRUCT ps;
HDC hdc;
static RECT rt, boardRect, xAxisRect, yAxisRect, figureRect, pathLenRect;
static Point fig1, fig2;
static Point path[MAX_PATH_QUEUE];
static HBRUSH hBlackBrush, hWhiteBrush, hRedBrush;
static HPEN hPen;
static ChessFigure *chessFigures;
static int nChessFigures, currentChessFigure = 0 , pathLen = -1;
int mX, mY;
switch (message)
{
case WM_CREATE:
/* Initializing chess figures */
nChessFigures = CreateChessFigures(&chessFigures);
/* Initializing board data */
srand((unsigned)time(NULL));
fig1.x = (int)((double)rand() / RAND_MAX * BOARD_X);
fig1.y = (int)((double)rand() / RAND_MAX * BOARD_Y);
fig2.x = (int)((double)rand() / RAND_MAX * BOARD_X);
fig2.y = (int)((double)rand() / RAND_MAX * BOARD_Y);
pathLen = SearchTurns(path, MAX_PATH_QUEUE, &fig1, &fig2,
&chessFigures[currentChessFigure]);
/* Creating instruments */
hBlackBrush = CreateSolidBrush(RGB(0x00, 0x00, 0x00));
hWhiteBrush = CreateSolidBrush(RGB(0xFF, 0xFF, 0xFF));
hRedBrush = CreateSolidBrush(RGB(0xFF, 0x00, 0x00));
hPen = CreatePen(PS_SOLID, 4, RGB(0xFF, 0x10, 0x10));
break;
case WM_SIZE:
break;
case WM_PAINT:
hdc = BeginPaint(hWnd, &ps);
/* Calculating render rectangles */
GetClientRect(hWnd, &rt);
/* Board rectangle */
boardRect.left = rt.left + AXIS_WIDTH;
boardRect.right = rt.right;
boardRect.top = rt.top + CAPTION_HEIGHT;
boardRect.bottom = rt.bottom - AXIS_HEIGHT;
/* Correcting aspect */
if ((double)(boardRect.right - boardRect.left) / BOARD_X >
(double)(boardRect.bottom - boardRect.top) / BOARD_Y)
{
boardRect.right = (long)(boardRect.left +
(double)(boardRect.bottom - boardRect.top) / BOARD_Y * BOARD_X);
}
else
{
boardRect.bottom = (long)(boardRect.top +
(double)(boardRect.right - boardRect.left) / BOARD_X * BOARD_Y);
}
/* 'X' axis rectangle */
xAxisRect.left = boardRect.left;
xAxisRect.right = boardRect.right;
xAxisRect.top = boardRect.bottom;
xAxisRect.bottom = boardRect.bottom + AXIS_HEIGHT;
/* 'Y' axis rectangle */
yAxisRect.left = rt.left;
yAxisRect.right = rt.left + AXIS_WIDTH;
yAxisRect.top = boardRect.top;
yAxisRect.bottom = boardRect.bottom;
/* Figure name rectangle */
figureRect.left = rt.left + AXIS_WIDTH;
figureRect.right = rt.left + AXIS_WIDTH + FIGURE_WIDTH;
figureRect.top = rt.top;
figureRect.bottom = rt.top + CAPTION_HEIGHT;
/* Path length string rectangle */
pathLenRect.left = rt.left + FIGURE_WIDTH + AXIS_WIDTH;
pathLenRect.right = rt.left + FIGURE_WIDTH + AXIS_WIDTH + PATH_WIDTH;
pathLenRect.top = rt.top;
pathLenRect.bottom = rt.top + CAPTION_HEIGHT;
/* Drawing figure caption */
DrawFigureCaption(hdc, &figureRect,
chessFigures[currentChessFigure].name);
/* Drawing path length caption */
DrawPathLenCaption(hdc, &pathLenRect, pathLen);
/* Drawing chessboard */
DrawChessboard(hdc, &boardRect, hBlackBrush, hWhiteBrush);
/* Drawing axes */
DrawXAxis(hdc, &xAxisRect);
DrawYAxis(hdc, &yAxisRect);
/* Drawing path */
DrawPath(hdc, &boardRect, &fig1, path, pathLen, hPen, hRedBrush);
/* Drawing figures labels */
DrawFigureName(hdc, &boardRect, &fig1, "Fig.1");
DrawFigureName(hdc, &boardRect, &fig2, "Fig.2");
EndPaint(hWnd, &ps);
break;
case WM_CHAR:
/* Quiting on escape */
if (wParam == 27)
SendMessage(hWnd, WM_DESTROY, 0, 0);
break;
case WM_LBUTTONUP:
mX = LOWORD(lParam);
mY = HIWORD(lParam);
/* Changing first figure position */
if (_isInRect(&boardRect, mX, mY))
{
fig1.x = _getXRectPart(&boardRect, BOARD_X, mX);
fig1.y = _getYRectPart(&boardRect, BOARD_Y, mY);
pathLen = SearchTurns(path, MAX_PATH_QUEUE, &fig1, &fig2,
&chessFigures[currentChessFigure]);
InvalidateRect(hWnd, &rt, TRUE);
}
/* Changing figure type (next) */
else if (_isInRect(&figureRect, mX, mY))
{
currentChessFigure = (currentChessFigure + 1) % nChessFigures;
pathLen = SearchTurns(path, MAX_PATH_QUEUE, &fig1, &fig2,
&chessFigures[currentChessFigure]);
InvalidateRect(hWnd, &rt, TRUE);
}
break;
case WM_RBUTTONUP:
mX = LOWORD(lParam);
mY = HIWORD(lParam);
if (_isInRect(&boardRect, mX, mY))
{
/* Changing second figure position */
fig2.x = _getXRectPart(&boardRect, BOARD_X, mX);
fig2.y = _getYRectPart(&boardRect, BOARD_Y, mY);
pathLen = SearchTurns(path, MAX_PATH_QUEUE, &fig1, &fig2,
&chessFigures[currentChessFigure]);
InvalidateRect(hWnd, &rt, TRUE);
}
/* Changing figure type (previous) */
else if (_isInRect(&figureRect, mX, mY))
{
currentChessFigure =
(currentChessFigure + nChessFigures - 1) % nChessFigures;
pathLen = SearchTurns(path, MAX_PATH_QUEUE, &fig1, &fig2,
&chessFigures[currentChessFigure]);
InvalidateRect(hWnd, &rt, TRUE);
}
break;
case WM_DESTROY:
/* Destroying created chess figures */
DestroyChessFigures(chessFigures, nChessFigures);
/* Destroying created instruments */
DeleteObject(hBlackBrush);
DeleteObject(hWhiteBrush);
DeleteObject(hRedBrush);
DeleteObject(hPen);
/* Quiting */
PostQuitMessage(0);
break;
default:
return DefWindowProc(hWnd, message, wParam, lParam);
}
return 0;
} /* End of 'WndProc' function */
/**
** Draw unit on map.
**
** @param unit Pointer to the unit.
*/
local void DrawUnit(Unit* unit)
{
int x;
int y;
int r;
UnitType* type;
UnitStats* stats;
type=unit->Type;
x=Map2ScreenX(unit->X)+unit->IX;
y=Map2ScreenY(unit->Y)+unit->IY;
if( type->UnitType==UnitTypeFly ) {
DrawShadow(unit,type,x,y);
}
DrawSelectionRectangle(unit,type,x,y);
PlayerPixels(unit->Player);
DrawUnitType(type,unit->Frame,x,y);
stats=unit->Stats;
//
// For debug draw sight, react and attack range!
//
if( NumSelected==1 && unit->Selected ) {
if( ShowSightRange ) {
DrawRectangle(ColorGreen
,x+TileSizeX/2-stats->SightRange*TileSizeX
,y+TileSizeY/2-stats->SightRange*TileSizeY
,stats->SightRange*TileSizeX*2
,stats->SightRange*TileSizeY*2);
}
if( type->CanAttack ) {
if( ShowReactRange ) {
r= (unit->Player->Type==PlayerHuman)
? type->ReactRangeHuman
: type->ReactRangeComputer;
if( r ) {
DrawRectangle(ColorBlue
,x+TileSizeX/2-r*TileSizeX
,y+TileSizeY/2-r*TileSizeY
,r*TileSizeX*2
,r*TileSizeY*2);
}
}
if( ShowAttackRange && stats->AttackRange ) {
DrawRectangle(ColorRed
,x+TileSizeX/2-stats->AttackRange*TileSizeX
,y+TileSizeY/2-stats->AttackRange*TileSizeY
,stats->AttackRange*TileSizeX*2
,stats->AttackRange*TileSizeY*2);
}
}
}
//
// For debug draw destination. FIXME: should become orders
//
if( ShowOrders && unit->Selected && (KeyModifiers&ModifierShift)) {
DrawPath(unit);
}
// FIXME: johns: ugly check here should be removed!
if( unit->Command.Action!=UnitActionDie ) {
DrawDecoration(unit,type,x,y);
}
}
// Move along the path. Return false if end of path reached.
CCSBot::PathResult CCSBot::UpdatePathMovement(bool allowSpeedChange)
{
if (m_pathLength == 0)
return PATH_FAILURE;
if (cv_bot_walk.value != 0.0f)
Walk();
// If we are navigating a ladder, it overrides all other path movement until complete
if (UpdateLadderMovement())
return PROGRESSING;
// ladder failure can destroy the path
if (m_pathLength == 0)
return PATH_FAILURE;
// we are not supposed to be on a ladder - if we are, jump off
if (IsOnLadder())
Jump(MUST_JUMP);
assert(m_pathIndex < m_pathLength);
// Check if reached the end of the path
bool nearEndOfPath = false;
if (m_pathIndex >= m_pathLength - 1)
{
Vector toEnd(pev->origin.x, pev->origin.y, GetFeetZ());
Vector d = GetPathEndpoint() - toEnd; // can't use 2D because path end may be below us (jump down)
const float walkRange = 200.0f;
// walk as we get close to the goal position to ensure we hit it
if (d.IsLengthLessThan(walkRange))
{
// don't walk if crouching - too slow
if (allowSpeedChange && !IsCrouching())
Walk();
// note if we are near the end of the path
const float nearEndRange = 50.0f;
if (d.IsLengthLessThan(nearEndRange))
nearEndOfPath = true;
const float closeEpsilon = 20.0f;
if (d.IsLengthLessThan(closeEpsilon))
{
// reached goal position - path complete
DestroyPath();
// TODO: We should push and pop walk state here, in case we want to continue walking after reaching goal
if (allowSpeedChange)
Run();
return END_OF_PATH;
}
}
}
// To keep us moving smoothly, we will move towards
// a point farther ahead of us down our path.
int prevIndex = 0; // closest index on path just prior to where we are now
const float aheadRange = 300.0f;
int newIndex = FindPathPoint(aheadRange, &m_goalPosition, &prevIndex);
// BOTPORT: Why is prevIndex sometimes -1?
if (prevIndex < 0)
prevIndex = 0;
// if goal position is near to us, we must be about to go around a corner - so look ahead!
const float nearCornerRange = 100.0f;
if (m_pathIndex < m_pathLength - 1 && (m_goalPosition - pev->origin).IsLengthLessThan(nearCornerRange))
{
ClearLookAt();
InhibitLookAround(0.5f);
}
// if we moved to a new node on the path, setup movement
if (newIndex > m_pathIndex)
{
SetPathIndex(newIndex);
}
if (!IsUsingLadder())
{
// Crouching
// if we are approaching a crouch area, crouch
// if there are no crouch areas coming up, stand
const float crouchRange = 50.0f;
bool didCrouch = false;
for (int i = prevIndex; i < m_pathLength; i++)
{
const CNavArea *to = m_path[i].area;
// if there is a jump area on the way to the crouch area, don't crouch as it messes up the jump
// unless we are already higher than the jump area - we must've jumped already but not moved into next area
if ((to->GetAttributes() & NAV_JUMP)/* && to->GetCenter()->z > GetFeetZ()*/)
break;
Vector close;
to->GetClosestPointOnArea(&pev->origin, &close);
if ((close - pev->origin).Make2D().IsLengthGreaterThan(crouchRange))
break;
if (to->GetAttributes() & NAV_CROUCH)
{
Crouch();
didCrouch = true;
break;
}
}
if (!didCrouch && !IsJumping())
{
// no crouch areas coming up
StandUp();
}
// end crouching logic
}
// compute our forward facing angle
m_forwardAngle = UTIL_VecToYaw(m_goalPosition - pev->origin);
// Look farther down the path to "lead" our view around corners
Vector toGoal;
if (m_pathIndex == 0)
{
toGoal = m_path[1].pos;
}
else if (m_pathIndex < m_pathLength)
{
toGoal = m_path[m_pathIndex].pos - pev->origin;
// actually aim our view farther down the path
const float lookAheadRange = 500.0f;
if (!m_path[m_pathIndex].ladder && !IsNearJump() && toGoal.Make2D().IsLengthLessThan(lookAheadRange))
{
float along = toGoal.Length2D();
int i;
for (i = m_pathIndex + 1; i < m_pathLength; i++)
{
Vector delta = m_path[i].pos - m_path[i - 1].pos;
float segmentLength = delta.Length2D();
if (along + segmentLength >= lookAheadRange)
{
// interpolate between points to keep look ahead point at fixed distance
float t = (lookAheadRange - along) / (segmentLength + along);
Vector target;
if (t <= 0.0f)
target = m_path[i - 1].pos;
else if (t >= 1.0f)
target = m_path[i].pos;
else
target = m_path[i - 1].pos + t * delta;
toGoal = target - pev->origin;
break;
}
// if we are coming up to a ladder or a jump, look at it
if (m_path[i].ladder || (m_path[i].area->GetAttributes() & NAV_JUMP))
{
toGoal = m_path[i].pos - pev->origin;
break;
}
along += segmentLength;
}
if (i == m_pathLength)
{
toGoal = GetPathEndpoint() - pev->origin;
}
}
}
else
{
toGoal = GetPathEndpoint() - pev->origin;
}
m_lookAheadAngle = UTIL_VecToYaw(toGoal);
// initialize "adjusted" goal to current goal
Vector adjustedGoal = m_goalPosition;
// Use short "feelers" to veer away from close-range obstacles
// Feelers come from our ankles, just above StepHeight, so we avoid short walls, too
// Don't use feelers if very near the end of the path, or about to jump
// TODO: Consider having feelers at several heights to deal with overhangs, etc.
if (!nearEndOfPath && !IsNearJump() && !IsJumping())
{
FeelerReflexAdjustment(&adjustedGoal);
}
// draw debug visualization
if ((cv_bot_traceview.value == 1.0f && IsLocalPlayerWatchingMe()) || cv_bot_traceview.value == 10.0f)
{
DrawPath();
const Vector *pos = &m_path[m_pathIndex].pos;
UTIL_DrawBeamPoints(*pos, *pos + Vector(0, 0, 50), 1, 255, 255, 0);
UTIL_DrawBeamPoints(adjustedGoal, adjustedGoal + Vector(0, 0, 50), 1, 255, 0, 255);
UTIL_DrawBeamPoints(pev->origin, adjustedGoal + Vector(0, 0, 50), 1, 255, 0, 255);
}
// dont use adjustedGoal, as it can vary wildly from the feeler adjustment
if (!IsAttacking() && IsFriendInTheWay(&m_goalPosition))
{
if (!m_isWaitingBehindFriend)
{
m_isWaitingBehindFriend = true;
const float politeDuration = 5.0f - 3.0f * GetProfile()->GetAggression();
m_politeTimer.Start(politeDuration);
}
else if (m_politeTimer.IsElapsed())
{
// we have run out of patience
m_isWaitingBehindFriend = false;
ResetStuckMonitor();
// repath to avoid clump of friends in the way
DestroyPath();
}
}
else if (m_isWaitingBehindFriend)
{
// we're done waiting for our friend to move
m_isWaitingBehindFriend = false;
ResetStuckMonitor();
}
// Move along our path if there are no friends blocking our way,
// or we have run out of patience
if (!m_isWaitingBehindFriend || m_politeTimer.IsElapsed())
{
// Move along path
MoveTowardsPosition(&adjustedGoal);
// Stuck check
if (m_isStuck && !IsJumping())
{
Wiggle();
}
}
// if our goal is high above us, we must have fallen
bool didFall = false;
if (m_goalPosition.z - GetFeetZ() > JumpCrouchHeight)
{
const float closeRange = 75.0f;
Vector2D to(pev->origin.x - m_goalPosition.x, pev->origin.y - m_goalPosition.y);
if (to.IsLengthLessThan(closeRange))
{
// we can't reach the goal position
// check if we can reach the next node, in case this was a "jump down" situation
if (m_pathIndex < m_pathLength - 1)
{
if (m_path[m_pathIndex + 1].pos.z - GetFeetZ() > JumpCrouchHeight)
{
// the next node is too high, too - we really did fall of the path
didFall = true;
}
}
else
{
// fell trying to get to the last node in the path
didFall = true;
}
}
}
// This timeout check is needed if the bot somehow slips way off
// of its path and cannot progress, but also moves around
// enough that it never becomes "stuck"
const float giveUpDuration = 5.0f; // 4.0f
if (didFall || gpGlobals->time - m_areaEnteredTimestamp > giveUpDuration)
{
if (didFall)
{
PrintIfWatched("I fell off!\n");
}
// if we havent made any progress in a long time, give up
if (m_pathIndex < m_pathLength - 1)
{
PrintIfWatched("Giving up trying to get to area #%d\n", m_path[m_pathIndex].area->GetID());
}
else
{
PrintIfWatched("Giving up trying to get to end of path\n");
}
Run();
StandUp();
DestroyPath();
return PATH_FAILURE;
}
return PROGRESSING;
}
void wxGraphicsContext::DrawEllipse( wxDouble x, wxDouble y, wxDouble w, wxDouble h)
{
wxGraphicsPath path = CreatePath();
path.AddEllipse(x,y,w,h);
DrawPath(path);
}
void wxGraphicsContext::DrawRoundedRectangle( wxDouble x, wxDouble y, wxDouble w, wxDouble h, wxDouble radius)
{
wxGraphicsPath path = CreatePath();
path.AddRoundedRectangle(x,y,w,h,radius);
DrawPath(path);
}
// Use A* algorithm to calculate shortest path between intersections
vector<unsigned> DirectedPath(unsigned startid, unsigned endid) {
unordered_map<unsigned, bool> flag; //if node is visited
unordered_map<unsigned, double> dist; //weight of edge
unordered_map<unsigned, pair<unsigned, unsigned>> prev; //the previous node&edge of key
prev[startid] = make_pair(startid, 0);
LatLon end = getIntersectionPosition(endid);
priority_queue<pair<unsigned, double>, vector<pair<unsigned, double>>, comparenorm> Q; // the node to be visited
vector<unsigned> Path;
Q.push(make_pair(startid, 0));
unordered_map<unsigned, unsigned>* outedges; //the out going edges of an intersection
// unordered_map<unsigned, unordered_map<unsigned, pair<unsigned, unsigned>>>::iterator memo;
// bool found_memo = false;
// unsigned memoid = 0;
/**************************DEBUG USE***************************/
bool DEBUG = 0; //enable to draw the process of computing the path
/***************************************************************/
while (!Q.empty()) {
unsigned currentid = Q.top().first; // accessing the weight of the edge, or distance
Q.pop();
if (currentid == endid) break;
if (flag[currentid] != 1) {
flag[currentid] = 1;
// memo = Memoize(currentid, endid); //unfinished implementation of memoization
// if (memo != Memo.end()) {
// found_memo = true;
// memoid = currentid;
// cout << "i broke out" <<endl;
// break;
// }
// vector<unsigned> testdraw; //for debug use
outedges = &getOutEdges(currentid); //obtain the outgoing edges and the other end point
for (unordered_map<unsigned, unsigned>::const_iterator iter = outedges->begin(); iter != outedges->end(); iter++) {
//for all the street segments around the current intersections
//street segment id
unsigned path_segment = iter->first;
//the other end point intersection id
unsigned nextid = iter->second;
// how long it takes to travel through this segment
double travel_time = find_segment_travel_time(path_segment) + dist[currentid];
//if the current street segment is on the same street with the next street segment
if (getStreetSegmentStreetID(path_segment) != getStreetSegmentStreetID(prev[currentid].second))
travel_time += 0.25;
// if (DEBUG) {
// testdraw.push_back(path_segment);
// DrawPath(testdraw, t_color(64, 153, 255));
// }
// if the current path to next intersection is found to be faster than the
// previous path, update the path and time
if ((dist[nextid] == 0) || (travel_time < dist[nextid])) {
dist[nextid] = travel_time;
prev[nextid] = make_pair(currentid, path_segment);
}
// get the position of the next intersection id
LatLon currentposition = getIntersectionPosition(nextid);
// find the distance between the next intersection id and the end point
double current_distance = find_distance_between_two_points(currentposition, end);
double weight = ((dist[nextid]) + current_distance * 0.06 / 100);
// put the intersection into the priority queue
Q.push(make_pair(nextid, weight));
}
}
}
// if(found_memo){
// unsigned iter = endid;
// while (iter != memoid) {
// pair<unsigned, unsigned> idandpath = ((memo->second).find(iter))->second;
// Path.insert(Path.begin(), idandpath.second);
// iter = idandpath.first;
// }
// endid = memoid;
// }
unsigned iter = endid;
while ((iter != startid) && (dist[endid] != 0)) {
pair<unsigned, unsigned> idandpath = prev[iter];
Path.insert(Path.begin(), idandpath.second);
// if (DEBUG) {
// bool OneWay = getStreetSegmentOneWay(idandpath.second);
// StreetSegmentEnds ids = getStreetSegmentEnds(idandpath.second);
// if (OneWay && (ids.from == iter)) {
// cout << "ONEWAY PATH: " << idandpath.second << endl;
// cout << "FROM: "<< ids.from << " TO: " << ids.to << endl;
// cout << "INSTEAD OF: " << idandpath.first << " TO: " << iter <<endl;
// bool connected = are_directly_connected(idandpath.first, iter);
// cout << "ARE THEY DIRECTLY CONNECTED? " << connected << endl;
// break;
// }
// }
// Memo[iter] = prev;
// prev.erase(iter);
iter = idandpath.first;
}
if (DEBUG) {
DrawPath(Path, t_color(255, 0, 0));
double computed_time = compute_path_travel_time(Path);
if (computed_time == 0) cout <<"PATH FROM: "<< startid <<" TO "<< endid << " NOT FOUND"<<endl;
}
return Path;
}