static bool CreateAppShortcut(bool allUsers)
{
ScopedMem<WCHAR> shortcutPath(GetShortcutPath(allUsers));
if (!shortcutPath.Get())
return false;
ScopedMem<WCHAR> installedExePath(GetInstalledExePath());
return CreateShortcut(shortcutPath, installedExePath);
}
void ompl::geometric::PathSimplifier::simplify(PathGeometric &path, const base::PlannerTerminationCondition &ptc)
{
if (path.getStateCount() < 3)
return;
// try a randomized step of connecting vertices
bool tryMore = false;
if (ptc == false)
tryMore = reduceVertices(path);
// try to collapse close-by vertices
if (ptc == false)
collapseCloseVertices(path);
// try to reduce verices some more, if there is any point in doing so
int times = 0;
while (tryMore && ptc == false && ++times <= 5)
tryMore = reduceVertices(path);
// if the space is metric, we can do some additional smoothing
if(si_->getStateSpace()->isMetricSpace())
{
bool tryMore = true;
unsigned int times = 0;
do
{
bool shortcut = shortcutPath(path); // split path segments, not just vertices
bool better_goal = gsr_ ? findBetterGoal(path, ptc) : false; // Try to connect the path to a closer goal
tryMore = shortcut || better_goal;
} while(ptc == false && tryMore && ++times <= 5);
// smooth the path with BSpline interpolation
if(ptc == false)
smoothBSpline(path, 3, path.length()/100.0);
// we always run this if the metric-space algorithms were run. In non-metric spaces this does not work.
const std::pair<bool, bool> &p = path.checkAndRepair(magic::MAX_VALID_SAMPLE_ATTEMPTS);
if (!p.second)
OMPL_WARN("Solution path may slightly touch on an invalid region of the state space");
else
if (!p.first)
OMPL_DEBUG("The solution path was slightly touching on an invalid region of the state space, but it was successfully fixed.");
}
}
bool MWMechanics::AiPackage::pathTo(const MWWorld::Ptr& actor, const ESM::Pathgrid::Point& dest, float duration, float destTolerance)
{
mTimer += duration; //Update timer
ESM::Position pos = actor.getRefData().getPosition(); //position of the actor
/// Stops the actor when it gets too close to a unloaded cell
//... At current time, this test is unnecessary. AI shuts down when actor is more than 7168
//... units from player, and exterior cells are 8192 units long and wide.
//... But AI processing distance may increase in the future.
if (isNearInactiveCell(pos))
{
actor.getClass().getMovementSettings(actor).mPosition[1] = 0;
return false;
}
// handle path building and shortcutting
ESM::Pathgrid::Point start = pos.pos;
float distToTarget = distance(start, dest);
bool isDestReached = (distToTarget <= destTolerance);
if (!isDestReached && mTimer > AI_REACTION_TIME)
{
bool wasShortcutting = mIsShortcutting;
bool destInLOS = false;
if (getTypeId() != TypeIdWander) // prohibit shortcuts for AiWander
mIsShortcutting = shortcutPath(start, dest, actor, &destInLOS); // try to shortcut first
if (!mIsShortcutting)
{
if (wasShortcutting || doesPathNeedRecalc(dest, actor.getCell())) // if need to rebuild path
{
mPathFinder.buildSyncedPath(start, dest, actor.getCell());
mRotateOnTheRunChecks = 3;
// give priority to go directly on target if there is minimal opportunity
if (destInLOS && mPathFinder.getPath().size() > 1)
{
// get point just before dest
std::list<ESM::Pathgrid::Point>::const_iterator pPointBeforeDest = mPathFinder.getPath().end();
--pPointBeforeDest;
--pPointBeforeDest;
// if start point is closer to the target then last point of path (excluding target itself) then go straight on the target
if (distance(start, dest) <= distance(dest, *pPointBeforeDest))
{
mPathFinder.clearPath();
mPathFinder.addPointToPath(dest);
}
}
}
if (!mPathFinder.getPath().empty()) //Path has points in it
{
ESM::Pathgrid::Point lastPos = mPathFinder.getPath().back(); //Get the end of the proposed path
if(distance(dest, lastPos) > 100) //End of the path is far from the destination
mPathFinder.addPointToPath(dest); //Adds the final destination to the path, to try to get to where you want to go
}
}
mTimer = 0;
}
if (isDestReached || mPathFinder.checkPathCompleted(pos.pos[0], pos.pos[1])) // if path is finished
{
// turn to destination point
zTurn(actor, getZAngleToPoint(start, dest));
smoothTurn(actor, getXAngleToPoint(start, dest), 0);
return true;
}
else
{
if (mRotateOnTheRunChecks == 0
|| isReachableRotatingOnTheRun(actor, *mPathFinder.getPath().begin())) // to prevent circling around a path point
{
actor.getClass().getMovementSettings(actor).mPosition[1] = 1; // move to the target
if (mRotateOnTheRunChecks > 0) mRotateOnTheRunChecks--;
}
// handle obstacles on the way
evadeObstacles(actor, duration, pos);
}
// turn to next path point by X,Z axes
zTurn(actor, mPathFinder.getZAngleToNext(pos.pos[0], pos.pos[1]));
smoothTurn(actor, mPathFinder.getXAngleToNext(pos.pos[0], pos.pos[1], pos.pos[2]), 0);
return false;
}
