void GlassLayer::draw(Graphics* const TheGraphics, const Pnt2f& TopLeft, const Pnt2f& BottomRight, const Real32 Opacity) const
{
Pnt2f IntermediatePosition;
Vec3f Bounds(BottomRight- TopLeft);
//Setup the Blending equations properly
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_BLEND);
glBegin(GL_TRIANGLE_FAN);
glColor4f(getEdgeColor().red(),getEdgeColor().green(),getEdgeColor().blue(),getEdgeColor().alpha() * Opacity);
glVertex2f(getStartPosition().x(), getEndPosition().y());
glColor4f(getCenterColor().red(),getCenterColor().green(),getCenterColor().blue(),getCenterColor().alpha() * Opacity);
glVertex2fv(getStartPosition().getValues());
for(UInt32 i(0) ; i<_Segments.size(); ++i)
{
IntermediatePosition.setValues(_Segments[i].x() * Bounds.x(),_Segments[i].y() * Bounds.y());
glVertex2fv(IntermediatePosition.getValues());
}
glVertex2fv(getEndPosition().getValues());
glEnd();
glDisable(GL_BLEND);
}
void Needle::setTransformFromEndEffectorBoxConstrained(const Vector3d& new_ee_pos, const Matrix3d& new_ee_rot, Box* box)
{
Vector3d old_ee_pos;
Matrix3d old_ee_rot;
getEndEffectorTransform(old_ee_pos, old_ee_rot);
Vector3d old_proj = (old_ee_pos - position);
old_proj.normalize();
Vector3d proj = (new_ee_pos-position).dot(rotation.col(0))*rotation.col(0) + (new_ee_pos-position).dot(rotation.col(2))*rotation.col(2);
proj.normalize();
glColor3f(0.8,0.8,0);
drawArrow(position, 20*proj);
glColor3f(0.8,0,0);
drawArrow(position, 20*old_proj);
Vector3d normal = proj.cross(old_proj);
normal.normalize();
double angle = angle_between(proj, old_proj)*180.0/M_PI;
if (angle > 90.0) {
angle = 0.0;
//TODO return;
} else {
double sign = ((normal - rotation.col(1)).squaredNorm() < 1e-5) ? -1 : 1;
angle = sign*min(angle_between(proj, old_proj)*180.0/M_PI, 5.0);
}
if (!isnan(angle) && abs(angle)>1e-5 && angle>0.0) { //TODO for now, only allows forward movement of needle through box
rotateAboutAxis(angle);
if(isThreadAttached()) {
thread->updateConstrainedTransform(constraint_ind, getEndPosition(), getEndRotation());
}
}
if (isThreadAttached()) {
Vector3d direction;
if (!box->isThreadAttached() && (sphereBoxDistance(getEndPosition(), getThicknessRadius(), box->getPosition(), box->getHalfLength(), direction) < 0)) {
cout << "thread gets into the box" << endl;
//box->attach(getThread());
box->attachThreadIn(getThread(), getEndPosition(), getEndRotation());
}
if (box->isThreadAttached() && !boxCollision(box->getPosition(), box->getHalfLength())) {
cout << "thread gets out of the box" << endl;
box->attachThreadOut(getThread(), getEndPosition(), getEndRotation());
}
}
}
void Needle::setTransformFromEndEffector(const Vector3d& ee_pos, const Matrix3d& ee_rot)
{
vector<Box*> boxes;
world->getObjects<Box>(boxes);
Box* box = NULL;
for (int i = 0; i < boxes.size(); i++) {
if (boxes[i]->isNeedleAttached() && (boxes[i]->getNeedle() == this)) {
box = boxes[i];
break;
}
}
if (box == NULL) {
setTransform(ee_pos + ee_rot*rotation_offset*position_offset, ee_rot * rotation_offset);
if(isThreadAttached()) {
vector<int> constraint_inds;
thread->getConstrainedVerticesNums(constraint_inds);
if (constraint_inds.size() != 3) {
cout << "adding constraint" << endl;
thread->addConstraint(10);
//thread->updateRotationOffset(1, (Matrix3d) Angle;
}
Vector3d position_diff = thread->rotationAtConstraint(1).transpose() * (thread->positionAtConstraint(1) - thread->positionAtConstraint(0));
position_diff = (thread->positionAtConstraint(1) - thread->positionAtConstraint(0));
//Matrix3d rotation_diff = thread->rotationAtConstraint(0).transpose() * thread->rotationAtConstraint(1);
Matrix3d rotation_diff = thread->rotationAtConstraint(0).transpose() * thread->rotationAtConstraint(1);
assert(constraint_ind == 0);
//thread->updateConstrainedTransform(constraint_ind, getEndPosition(), getEndRotation());
thread->updateConstrainedTransform(0, getEndPosition(), getEndRotation());
Matrix3d ee_rot = thread->rotationAtConstraint(0) * rotation_diff;
//ee_rot = (Matrix3d) AngleAxisd(ee_rot);
// ee_rot.col(1) = ee_rot.col(2).cross(ee_rot.col(0));
// ee_rot.col(2) = ee_rot.col(0).cross(ee_rot.col(1));
// ee_rot.col(0).normalize();
// ee_rot.col(1).normalize();
// ee_rot.col(2).normalize();
//position_diff = Vector3d(-10,0,0);
//thread->updateConstrainedTransform(1, ee_rot*position_diff + getEndPosition(), ee_rot);
thread->updateConstrainedTransform(1, position_diff + getEndPosition(), ee_rot); //thread->rotationAtConstraint(1);
//thread->updateConstrainedRawTransform(1, position_diff + getEndPosition(), ee_rot, ee_rot);
//thread->updateConstrainedRawTransform(1, ee_rot*position_diff + getEndPosition(), ee_rot, ee_rot);
//thread->minimize_energy();
}
} else {
setTransformFromEndEffectorBoxConstrained(ee_pos, ee_rot, box);
}
checkBoxAttach();
}
bool PathFinder::calculate(float destX, float destY, float destZ, bool forceDest)
{
Vector3 oldDest = getEndPosition();
Vector3 dest(destX, destY, destZ);
setEndPosition(dest);
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
Vector3 start(x, y, z);
setStartPosition(start);
m_forceDestination = forceDest;
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::calculate() for %u \n", m_sourceUnit->GetGUIDLow());
// make sure navMesh works - we can run on map w/o mmap
// check if the start and end point have a .mmtile loaded (can we pass via not loaded tile on the way?)
if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->hasUnitState(UNIT_STAT_IGNORE_PATHFINDING) ||
!HaveTile(start) || !HaveTile(dest) || m_sourceUnit->m_movementInfo.HasMovementFlag(MOVEFLAG_TAXI)) //for transport
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
updateFilter();
BuildPolyPath(start, dest);
return true;
}
void Needle::rotateAboutAxis(double degrees)
{
setTransform(position, AngleAxisd(degrees * M_PI/180.0, rotation.col(1)) * rotation);
if(isThreadAttached()) {
thread->updateConstrainedTransform(constraint_ind, getEndPosition(), getEndRotation());
}
}
void PathInfo::Build()
{
float x, y, z;
// set start and a default next position
m_sourceObject->GetPosition(x, y, z);
setStartPosition(x, y, z);
setNextPosition(x, y, z);
// get nav mesh
m_navMesh = m_sourceObject->GetMap()->GetNavMesh();
if(!m_navMesh)
{
// if there is no navmesh, just move to destination
shortcut();
return;
}
float extents[3] = {2.0f, 4.0f, 2.0f}; // defines bounds of box for search area
dtQueryFilter filter = dtQueryFilter(); // use general filter so we know if we are near navmesh
// get start and end positions
getStartPosition(x, y, z);
float startPos[3] = {y, z, x};
getEndPosition(x, y, z);
float endPos[3] = {y, z, x};
// find start and end poly
dtPolyRef startPoly = m_navMesh->findNearestPoly(startPos, extents, &filter, 0);
dtPolyRef endPoly = m_navMesh->findNearestPoly(endPos, extents, &filter, 0);
Build(startPoly, endPoly);
}
bool PathFinder::calculate(float destX, float destY, float destZ, bool forceDest)
{
Vector3 oldDest = getEndPosition();
Vector3 dest(destX, destY, destZ);
setEndPosition(dest);
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
Vector3 start(x, y, z);
setStartPosition(start);
m_forceDestination = forceDest;
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::calculate() for %u \n", m_sourceUnit->GetGUIDLow());
// make sure navMesh works - we can run on map w/o mmap
// check if the start and end point have a .mmtile loaded (can we pass via not loaded tile on the way?)
if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->hasUnitState(UNIT_STAT_IGNORE_PATHFINDING) ||
!HaveTile(start) || !HaveTile(dest) || (m_sourceUnit->GetTypeId() == TYPEID_UNIT && ((Creature*)m_sourceUnit)->IsLevitating()))
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
updateFilter();
{
ReadGuard Guard(MMAP::MMapFactory::createOrGetMMapManager()->GetLock(m_sourceUnit->GetMapId()));
BuildPolyPath(start, dest);
}
return true;
}
void PathInfo::shortcut()
{
clear();
float x, y, z;
getEndPosition(x, y, z);
setNextPosition(x, y, z);
m_type = PATHFIND_SHORTCUT;
}
bool PathInfo::Update(const float destX, const float destY, const float destZ, bool useStraightPath)
{
PathNode newDest(destX, destY, m_sourceUnit->GetMap()->GetHeight(destX,destY,destZ,100.0f));
PathNode oldDest = getEndPosition();
setEndPosition(newDest);
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
PathNode newStart(x, y, m_sourceUnit->GetMap()->GetHeight(x,y,z,100.0f));
PathNode oldStart = getStartPosition();
setStartPosition(newStart);
m_useStraightPath = useStraightPath;
PATH_DEBUG("++ PathInfo::Update() for %u \n", m_sourceUnit->GetGUID());
// make sure navMesh works - we can run on map w/o mmap
if (!m_navMesh || !m_navMeshQuery)
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
float dist = m_sourceUnit->GetObjectBoundingRadius();
bool oldDestInRange = inRange(oldDest, newDest, dist, dist);
// this can happen only if caller did a bad job calculating the need for path update
if (oldDestInRange && inRange(newStart, oldStart, dist, dist))
{
setEndPosition(oldDest);
setStartPosition(oldStart);
return false;
}
// check if destination moved - if not we can optimize something here
// we are following old, precalculated path?
if (oldDestInRange && m_pathPoints.size() > 2)
{
// our target is not moving - we just coming closer
// we are moving on precalculated path - enjoy the ride
PATH_DEBUG("++ PathInfo::Update:: precalculated path\n");
m_pathPoints.crop(1, 0);
setNextPosition(m_pathPoints[1]);
return false;
}
else
{
// target moved, so we need to update the poly path
BuildPolyPath(newStart, newDest);
return true;
}
}
void MissionObjectiveImplementation::awardReward() {
Vector<ManagedReference<CreatureObject*> > players;
PlayMusicMessage* pmm = new PlayMusicMessage("sound/music_mission_complete.snd");
Vector3 missionEndPoint = getEndPosition();
ManagedReference<CreatureObject*> owner = getPlayerOwner();
ManagedReference<GroupObject*> group = owner->getGroup();
if (group != NULL) {
Locker lockerGroup(group, _this.get());
for(int i = 0; i < group->getGroupSize(); i++) {
Reference<CreatureObject*> groupMember = group->getGroupMember(i)->isPlayerCreature() ? (group->getGroupMember(i)).castTo<CreatureObject*>() : NULL;
if (groupMember != NULL) {
//Play mission complete sound.
groupMember->sendMessage(pmm->clone());
if (groupMember->getWorldPosition().distanceTo(missionEndPoint) < 128) {
players.add(groupMember);
}
}
}
delete pmm;
} else {
//Play mission complete sound.
owner->sendMessage(pmm);
players.add(owner);
}
if (players.size() == 0) {
players.add(owner);
}
ManagedReference<MissionObject* > mission = this->mission.get();
int dividedReward = mission->getRewardCredits() / players.size();
for (int i = 0; i < players.size(); i++) {
ManagedReference<CreatureObject*> player = players.get(i);
StringIdChatParameter stringId("mission/mission_generic", "success_w_amount");
stringId.setDI(dividedReward);
player->sendSystemMessage(stringId);
Locker lockerPl(player, _this.get());
player->addBankCredits(dividedReward, true);
}
StatisticsManager::instance()->completeMission(mission->getTypeCRC() ,mission->getRewardCredits());
}
bool PathFinderMovementGenerator::calculate(float destX, float destY, float destZ, bool forceDest)
{
if (!SkyFire::IsValidMapCoord(destX, destY, destZ) ||
!SkyFire::IsValidMapCoord(m_sourceUnit->GetPositionX(), m_sourceUnit->GetPositionY(), m_sourceUnit->GetPositionZ()))
return false;
Vector3 oldDest = getEndPosition();
Vector3 dest(destX, destY, destZ);
setEndPosition(dest);
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
Vector3 start(x, y, z);
setStartPosition(start);
m_forceDestination = forceDest;
sLog->outDebug(LOG_FILTER_MAPS, "++ PathFinderMovementGenerator::calculate() for %u \n", m_sourceUnit->GetGUIDLow());
// make sure navMesh works - we can run on map w/o mmap
// check if the start and end point have a .mmtile loaded (can we pass via not loaded tile on the way?)
if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->HasUnitState(UNIT_STATE_IGNORE_PATHFINDING) ||
!HaveTile(start) || !HaveTile(dest))
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
updateFilter();
// check if destination moved - if not we can optimize something here
// we are following old, precalculated path?
float dist = m_sourceUnit->GetObjectSize();
if (inRange(oldDest, dest, dist, dist) && m_pathPoints.size() > 2)
{
// our target is not moving - we just coming closer
// we are moving on precalculated path - enjoy the ride
sLog->outStaticDebug("++ PathFinderMovementGenerator::calculate:: precalculated path\n");
m_pathPoints.erase(m_pathPoints.begin());
return false;
}
else
{
// target moved, so we need to update the poly path
m_navMeshLock->acquire_read();
BuildPolyPath(start, dest);
m_navMeshLock->release();
return true;
}
}
bool PathInfo::Update(const float destX, const float destY, const float destZ,
bool useStraightPath, bool forceDest)
{
PathNode newDest(destX, destY, destZ);
PathNode oldDest = getEndPosition();
setEndPosition(newDest);
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
PathNode newStart(x, y, z);
PathNode oldStart = getStartPosition();
setStartPosition(newStart);
m_useStraightPath = useStraightPath;
m_forceDestination = forceDest;
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::Update() for %u \n", m_sourceUnit->GetGUID());
// make sure navMesh works - we can run on map w/o mmap
if (!m_navMesh || !m_navMeshQuery || !HaveTiles(newDest) ||
m_sourceUnit->hasUnitState(UNIT_STAT_IGNORE_PATHFINDING))
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
updateFilter();
// check if destination moved - if not we can optimize something here
// we are following old, precalculated path?
float dist = m_sourceUnit->GetObjectBoundingRadius();
if (inRange(oldDest, newDest, dist, dist) && m_pathPoints.size() > 2)
{
// our target is not moving - we just coming closer
// we are moving on precalculated path - enjoy the ride
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::Update:: precalculated path\n");
m_pathPoints.crop(1, 0);
setNextPosition(m_pathPoints[1]);
return false;
}
else
{
// target moved, so we need to update the poly path
BuildPolyPath(newStart, newDest);
return true;
}
}
bool PathFinder::calculate(float destX, float destY, float destZ, bool forceDest)
{
Vector3 oldDest = getEndPosition();
Vector3 dest(destX, destY, destZ);
setEndPosition(dest);
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
Vector3 start(x, y, z);
setStartPosition(start);
m_forceDestination = forceDest;
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::calculate() for %u \n", m_sourceUnit->GetGUIDLow());
// make sure navMesh works - we can run on map w/o mmap
// check if the start and end point have a .mmtile loaded (can we pass via not loaded tile on the way?)
if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->hasUnitState(UNIT_STAT_IGNORE_PATHFINDING) ||
!HaveTile(start) || !HaveTile(dest))
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
updateFilter();
// check if destination moved - if not we can optimize something here
// we are following old, precalculated path?
float dist = m_sourceUnit->GetObjectBoundingRadius();
if (inRange(oldDest, dest, dist, dist) && m_pathPoints.size() > 2)
{
// our target is not moving - we just coming closer
// we are moving on precalculated path - enjoy the ride
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::calculate:: precalculated path\n");
m_pathPoints.erase(m_pathPoints.begin());
return false;
}
else
{
// target moved, so we need to update the poly path
ReadGuard Guard(MMAP::MMapFactory::createOrGetMMapManager()->GetLock(m_sourceUnit->GetMapId()));
BuildPolyPath(start, dest);
return true;
}
}
bool PathInfo::Update(float destX, float destY, float destZ, bool forceDest)
{
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
if (!Oregon::IsValidMapCoord(destX, destY, destZ) || !Oregon::IsValidMapCoord(x, y, z))
{
sLog.outMMap("PathInfo::Update() called with invalid map coords, destX: %f destY: %f destZ: %f x: %f y: %f z: %f for creature %u", destX, destY, destZ, x, y, z, m_sourceUnit->GetGUIDLow());
m_type = PATHFIND_NOPATH;
return false;
}
Vector3 oldDest = getEndPosition();
Vector3 newDest(destX, destY, destZ);
setEndPosition(newDest);
Vector3 newStart(x, y, z);
setStartPosition(newStart);
m_forceDestination = forceDest;
sLog.outMMap("PathInfo::Update() for %u \n", m_sourceUnit->GetGUIDLow());
// make sure navMesh works - we can run on map w/o mmap
// check if the start and end point have a .mmtile loaded (can we pass via not loaded tile on the way?)
if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->HasUnitState(UNIT_STATE_IGNORE_PATHFINDING) ||
!HaveTile(newStart) || !HaveTile(newDest))
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
updateFilter();
BuildPolyPath(newStart, newDest);
return true;
}
void GlassLayer::updateSegments(void)
{
//Calculate a Cubic Hermite spline
_Segments.clear();
Vec2f Pos;
Real32 t,
t_sqr,
t_cub;
for(UInt32 i(1) ; i<getSegments() ; ++i)
{
t = static_cast<Real32>(i)/static_cast<Real32>(getSegments());
t_sqr = t*t;
t_cub = t_sqr*t;
Pos = ( 2.0f * t_cub - 3.0f*t_sqr + 1.0f) * getStartPosition().subZero() +
( t_cub - 2.0f*t_sqr + t) * getStartDirection() +
(-2.0f * t_cub + 3.0f*t_sqr ) * getEndPosition().subZero() +
( t_cub - t_sqr ) * getEndDirection();
_Segments.push_back(Pos);
}
}
void PathInfo::Update(const float destX, const float destY, const float destZ)
{
float x, y, z;
// update start and end
m_sourceObject->GetPosition(x, y, z);
setStartPosition(x, y, z);
setEndPosition(destX, destY, destZ);
// make sure navMesh works
if(!m_navMesh)
{
m_sourceObject->GetPosition(x, y, z);
m_navMesh = m_sourceObject->GetMap()->GetNavMesh();
if(!m_navMesh)
{
// can't pathfind if navmesh doesn't exist
shortcut();
return;
}
}
if(!m_pathPolyRefs)
{
// path was not built before, most likely because navmesh wasn't working
// start from scratch, then return
Build();
return;
}
// should be safe to update path now
bool startOffPath = false;
bool endOffPath = false;
// find start and end poly
// navMesh.findNearestPoly is expensive, so first we check just the current path
getStartPosition(x, y, z);
dtPolyRef startPoly = getPathPolyByPosition(x, y, z);
getEndPosition(x, y, z);
dtPolyRef endPoly = getPathPolyByPosition(x, y, z);
if(startPoly != 0 && endPoly != 0)
trim(startPoly, endPoly);
else
{
// start or end is off the path, need to find the polygon
float extents[3] = {2.f, 4.f, 2.f}; // bounds of poly search area
dtQueryFilter filter = dtQueryFilter(); // filter for poly search
if(!startPoly)
{
getStartPosition(x, y, z);
float startPos[3] = {y, z, x};
startOffPath = true;
startPoly = m_navMesh->findNearestPoly(startPos, extents, &filter, 0);
}
if(!endPoly)
{
getEndPosition(x, y, z);
float endPos[3] = {y, z, x};
endOffPath = true;
endPoly = m_navMesh->findNearestPoly(endPos, extents, &filter, 0);
}
if(startPoly == 0 || endPoly == 0)
{
// source or dest not near navmesh polygons:
// flying, falling, swimming, or navmesh has a hole
// ignore obstacles/terrain is better than giving up
// PATHFIND TODO: prevent walking/swimming mobs from flying into the air
shortcut();
return;
}
}
if(startPoly == endPoly)
{
// start and end are on same polygon
// just need to move in straight line
// PATHFIND TODO: prevent walking/swimming mobs from flying into the air
clear();
m_pathPolyRefs = new dtPolyRef[1];
m_pathPolyRefs[0] = startPoly;
m_length = 1;
getEndPosition(x, y, z);
setNextPosition(x, y, z);
m_type = PathType(m_type | PATHFIND_NORMAL);
return;
}
if(startOffPath)
{
bool adjacent = false;
int i;
for(i = 0; i < DT_VERTS_PER_POLYGON; ++i)
if(startPoly == m_navMesh->getPolyByRef(m_pathPolyRefs[0])->neis[i])
{
adjacent = true;
break;
}
if(adjacent)
{
// startPoly is adjacent to the path, we can add it to the start of the path
// 50th poly will fall off of path, shouldn't be an issue because most paths aren't that long
m_length = m_length < MAX_PATH_LENGTH ? m_length + 1 : m_length;
dtPolyRef* temp = new dtPolyRef[m_length];
temp[0] = startPoly;
for(i = 1; i < m_length; ++i)
temp[i] = m_pathPolyRefs[i - 1];
delete [] m_pathPolyRefs;
m_pathPolyRefs = temp;
}
else
{
// waste of time to optimize, just find brand new path
Build(startPoly, endPoly);
return;
}
}
if(endOffPath)
{
bool adjacent = false;
int i;
for(i = 0; i < DT_VERTS_PER_POLYGON; ++i)
if(startPoly == m_navMesh->getPolyByRef(m_pathPolyRefs[0])->neis[i])
{
adjacent = true;
break;
}
if(adjacent)
{
if(m_length < MAX_PATH_LENGTH)
{
// endPoly is adjacent to the path, and we have enough room to add it to the end
dtPolyRef* temp = new dtPolyRef[m_length + 1];
for(i = 0; i < m_length; ++i)
temp[i] = m_pathPolyRefs[i];
temp[i] = endPoly;
delete [] m_pathPolyRefs;
m_pathPolyRefs = temp;
}
//else
// ; // endPoly is adjacent to the path, we just don't have room to store it
}
else
{
// waste of time to optimize, just find brand new path
Build(startPoly, endPoly);
return;
}
}
updateNextPosition();
}
void PathFinder::BuildPointPath(const float *startPoint, const float *endPoint)
{
float pathPoints[MAX_POINT_PATH_LENGTH*VERTEX_SIZE];
uint32 pointCount = 0;
dtStatus dtResult = DT_FAILURE;
if(m_useStraightPath)
{
dtResult = m_navMeshQuery->findStraightPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // lenth of current path
pathPoints, // [out] path corner points
NULL, // [out] flags
NULL, // [out] shortened path
(int*)&pointCount,
m_pointPathLimit); // maximum number of points/polygons to use
}
else
{
dtResult = findSmoothPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // length of current path
pathPoints, // [out] path corner points
(int*)&pointCount,
m_pointPathLimit); // maximum number of points
}
if(pointCount < 2 || dtResult != DT_SUCCESS)
{
// only happens if pass bad data to findStraightPath or navmesh is broken
// single point paths can be generated here
// TODO : check the exact cases
sLog->outDebug(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath FAILED! path sized %d returned\n", pointCount);
BuildShortcut();
m_type = PATHFIND_NOPATH;
return;
}
m_pathPoints.resize(pointCount);
for(uint32 i = 0; i < pointCount; ++i)
m_pathPoints[i] = Vector3(pathPoints[i*VERTEX_SIZE+2], pathPoints[i*VERTEX_SIZE], pathPoints[i*VERTEX_SIZE+1]);
// first point is always our current location - we need the next one
setActualEndPosition(m_pathPoints[pointCount-1]);
// force the given destination, if needed
if(m_forceDestination &&
(!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
{
// we may want to keep partial subpath
if(dist3DSqr(getActualEndPosition(), getEndPosition()) <
0.3f * dist3DSqr(getStartPosition(), getEndPosition()))
{
setActualEndPosition(getEndPosition());
m_pathPoints[m_pathPoints.size()-1] = getEndPosition();
}
else
{
setActualEndPosition(getEndPosition());
BuildShortcut();
}
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
}
sLog->outDebug(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath path type %d size %d poly-size %d\n", m_type, pointCount, m_polyLength);
}
void PathInfo::BuildPointPath(float *startPoint, float *endPoint)
{
float pathPoints[MAX_POINT_PATH_LENGTH*VERTEX_SIZE];
uint32 pointCount = 0;
dtStatus dtResult = DT_FAILURE;
bool usedOffmesh = false;
if (m_useStraightPath)
{
dtResult = m_navMeshQuery->findStraightPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // lenth of current path
pathPoints, // [out] path corner points
NULL, // [out] flags
NULL, // [out] shortened path
(int*)&pointCount,
MAX_POINT_PATH_LENGTH); // maximum number of points/polygons to use
}
else
{
dtResult = findSmoothPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // length of current path
pathPoints, // [out] path corner points
(int*)&pointCount,
usedOffmesh,
MAX_POINT_PATH_LENGTH); // maximum number of points
}
if (pointCount < 2 || dtResult != DT_SUCCESS)
{
// only happens if pass bad data to findStraightPath or navmesh is broken
// single point paths can be generated here
// TODO : check the exact cases
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::BuildPointPath FAILED! path sized %d returned\n", pointCount);
BuildShortcut();
m_type = PATHFIND_NOPATH;
return;
}
// we need to flash our poly path to prevent it being used as subpath next cycle
// in case of off mesh connection was used
if(usedOffmesh)
m_polyLength = 0;
m_pathPoints.resize(pointCount);
for (uint32 i = 0; i < pointCount; ++i)
m_pathPoints.set(i, PathNode(pathPoints[i*VERTEX_SIZE+2], pathPoints[i*VERTEX_SIZE], pathPoints[i*VERTEX_SIZE+1]));
// first point is always our current location - we need the next one
setNextPosition(m_pathPoints[1]);
setActualEndPosition(m_pathPoints[pointCount-1]);
// force the given destination, if needed
if(m_forceDestination &&
(!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
{
setActualEndPosition(getEndPosition());
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return;
}
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::BuildPointPath path type %d size %d poly-size %d\n", m_type, pointCount, m_polyLength);
}
void PathInfo::updateNextPosition()
{
float x, y, z;
getStartPosition(x, y, z);
float startPos[3] = {y, z, x};
getEndPosition(x, y, z);
float endPos[3] = {y, z, x};
float* pathPoints = new float[MAX_PATH_LENGTH*3];
int pointCount = m_navMesh->findStraightPath(
startPos, // start position
endPos, // end position
m_pathPolyRefs, // current path
m_length, // lenth of current path
pathPoints, // [out] path corner points
0, // [out] flags
0, // [out] shortened path PATHFIND TODO: see if this is usable (IE, doesn't leave gaps in path)
MAX_PATH_LENGTH); // maximum number of points/polygons to use
// TODO: imitate PATHFIND_ITER code from RecastDemo so that terrain following is smoother
if(pointCount == 0)
{
delete [] pathPoints;
// only happens if pass bad data to findStraightPath or navmesh is broken
sLog.outDebug("%u's UpdateNextPosition failed: 0 length path", m_sourceObject->GetGUID());
shortcut();
return;
}
int ix, iy, iz;
if(pointCount == 1)
{
ix = 2; iy = 0; iz = 1;
}
else
{
ix = 5; iy = 3; iz = 4;
}
setNextPosition(pathPoints[ix], pathPoints[iy], pathPoints[iz]);
// if startPosition == nextPosition, NPC will never advance to destination
if(isSamePoint(m_startPosition, m_nextPosition) && !isSamePoint(m_nextPosition, m_endPosition))
setNextPosition(pathPoints[ix + 3], pathPoints[iy + 3], pathPoints[iz + 3]);
delete [] m_pathPoints;
m_pathPoints = pathPoints;
m_type = PathType(m_type | PATHFIND_NORMAL);
// if end position from findStraightPath isn't the
// place we want to go, there is likely no path
endPos[0] = pathPoints[(pointCount-1)*3+2];
endPos[1] = pathPoints[(pointCount-1)*3];
endPos[2] = pathPoints[(pointCount-1)*3+1];
if(!dtVequal(endPos, m_endPosition))
m_type = PathType(m_type | PATHFIND_NOPATH);
}
void PathFinderMovementGenerator::BuildPointPath(const float *startPoint, const float *endPoint)
{
float pathPoints[MAX_POINT_PATH_LENGTH*VERTEX_SIZE];
uint32 pointCount = 0;
dtStatus dtResult = DT_FAILURE;
if (m_useStraightPath)
{
dtResult = m_navMeshQuery->findStraightPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // lenth of current path
pathPoints, // [out] path corner points
NULL, // [out] flags
NULL, // [out] shortened path
(int*)&pointCount,
m_pointPathLimit); // maximum number of points/polygons to use
}
else
{
dtResult = findSmoothPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // length of current path
pathPoints, // [out] path corner points
(int*)&pointCount,
m_pointPathLimit); // maximum number of points
}
if (pointCount < 2 || dtResult != DT_SUCCESS)
{
// only happens if pass bad data to findStraightPath or navmesh is broken
// single point paths can be generated here
// TODO : check the exact cases
sLog->outDebug(LOG_FILTER_MAPS, "++ PathFinderMovementGenerator::BuildPointPath FAILED! path sized %d returned\n", pointCount);
BuildShortcut();
m_type = PATHFIND_NOPATH;
return;
}
else if (pointCount == m_pointPathLimit)
{
sLog->outDebug(LOG_FILTER_MAPS, "++ PathGenerator::BuildPointPath FAILED! path sized %d returned, lower than limit set to %d\n", pointCount, m_pointPathLimit);
BuildShortcut();
m_type = PATHFIND_SHORT;
return;
}
m_pathPoints.resize(pointCount);
for (uint32 i = 0; i < pointCount; ++i)
m_pathPoints[i] = Vector3(pathPoints[i*VERTEX_SIZE+2], pathPoints[i*VERTEX_SIZE], pathPoints[i*VERTEX_SIZE+1]);
// first point is always our current location - we need the next one
setActualEndPosition(m_pathPoints[pointCount-1]);
// force the given destination, if needed
if(m_forceDestination &&
(!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
{
// we may want to keep partial subpath
if(dist3DSqr(getActualEndPosition(), getEndPosition()) <
0.3f * dist3DSqr(getStartPosition(), getEndPosition()))
{
setActualEndPosition(getEndPosition());
m_pathPoints[m_pathPoints.size()-1] = getEndPosition();
}
else
{
setActualEndPosition(getEndPosition());
BuildShortcut();
}
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
}
// Custom point for bugged zone - start
float startEndDist = dist3DSqr(getStartPosition(), getEndPosition());
// Blade's Edge Arena (mapid)
if (m_sourceUnit->GetMapId() == 562)
{
// Start & End Position
// NAPOLOVINA RABOTESHT PILLAR
if (startEndDist < 3000.0f && startPoint[1] >= 9.000000f && startPoint[2] <= 6234.335938f && startPoint[2] >= 6224.140430f && startPoint[0] >= 244.160000f && startPoint[0] <= 255.118940f) // southeast pillar
{
clear();
m_pathPoints.resize(4);
m_pathPoints[0] = getStartPosition();
m_pathPoints[1] = Vector3(6231.038574f, 252.630981f, 11.300000f);
m_pathPoints[2] = Vector3(6234.254395f, 256.513702f, 11.280000f);
m_pathPoints[3] = getEndPosition();
}
// Problemna chast:
else if (startEndDist < 3000.0f && endPoint[1] >= 9.000000f && endPoint[2] <= 6234.335938f && endPoint[2] >= 6224.140430f && endPoint[0] >= 244.160000f && endPoint[0] <= 255.118940f) // southeast pillar
{
clear();
m_pathPoints.resize(4);
m_pathPoints[0] = getStartPosition();
m_pathPoints[1] = Vector3(6234.254395f, 256.513702f, 11.280000f);
m_pathPoints[2] = Vector3(6231.038574f, 252.630981f, 11.300000f);
m_pathPoints[3] = getEndPosition();
}
// RABOTESHT PILLAR
// TODO: (na zemqta ima mqsto na koeto Z e > 9 koeto znachi che moje da se charge i ot dolu -> fail
if (startEndDist < 3000.0f && startPoint[1] >= 9.000000f && startPoint[2] >= 6243.385660f && startPoint[2] <= 6254.611660f && startPoint[0] >= 268.757917f && startPoint[0] <= 279.558794f) // northwest pillar
{
clear();
m_pathPoints.resize(4);
m_pathPoints[0] = getStartPosition();
m_pathPoints[1] = Vector3(6246.324219f, 271.570000f, 11.300000f);
m_pathPoints[2] = Vector3(6242.942484f, 267.210030f, 11.280000f);
m_pathPoints[3] = getEndPosition();
}
else if (startEndDist < 3000.0f && endPoint[1] >= 9.000000f && endPoint[2] >= 6243.385660f && endPoint[2] <= 6254.611660f && endPoint[0] >= 268.757917f && endPoint[0] <= 279.558794f) // northwest pillar
{
clear();
m_pathPoints.resize(4);
m_pathPoints[0] = getStartPosition();
m_pathPoints[1] = Vector3(6242.942484f, 267.210030f, 11.280000f);
m_pathPoints[2] = Vector3(6246.324219f, 271.570000f, 11.300000f);
m_pathPoints[3] = getEndPosition();
}
}
// Dalaran Sewers
if (m_sourceUnit->GetMapId() == 617)
{
if (startPoint[2] >= 1330.033223f && startPoint[1] >= 9.000000f) // Canal 1#
{
// Path x,y,z
m_pathPoints.resize(5);
m_pathPoints[0] = getStartPosition();
m_pathPoints[1] = Vector3(1332.749268f, 816.274780f, 8.355900f);
m_pathPoints[2] = Vector3(1325.749268f, 816.602539f, 5.4000000f);
m_pathPoints[3] = Vector3(1328.749268f, 816.602539f, 3.4000000f);
m_pathPoints[4] = getEndPosition();
}
else if (startPoint[2] <= 1253.904785f && startPoint[1] >= 9.000000f) // Canal 2#
{
// Path x,y,z
m_pathPoints.resize(5);
m_pathPoints[0] = getStartPosition();
m_pathPoints[1] = Vector3(1252.425395f, 764.971680f, 8.000000f);
m_pathPoints[3] = Vector3(1255.425395f, 764.971680f, 5.3559000f);
m_pathPoints[3] = Vector3(1257.425395f, 764.971680f, 3.3559000f);
m_pathPoints[4] = getEndPosition();
}
}
// Custom point for bugged zone - end
sLog->outDebug(LOG_FILTER_MAPS, "++ PathFinderMovementGenerator::BuildPointPath path type %d size %d poly-size %d\n", m_type, pointCount, m_polyLength);
}
void GradientLayer::draw(Graphics* const TheGraphics, const Pnt2f& TopLeft, const Pnt2f& BottomRight, const Real32 Opacity) const
{
if(getMFColors()->size() == getMFStops()->size())
{
if(getMFColors()->size() == 1)
{
TheGraphics->drawQuad(TopLeft, Pnt2f(BottomRight.x(), TopLeft.y()), BottomRight, Pnt2f(TopLeft.x(), BottomRight.y()), getColors(0), getColors(0), getColors(0), getColors(0), Opacity);
}
else
{
Pnt2f StartPosition= TopLeft;
StartPosition[0] += getStartPosition()[0]*(BottomRight[0] - TopLeft[0]);
StartPosition[1] += getStartPosition()[1]*(BottomRight[1] - TopLeft[1]);
Pnt2f EndPosition= TopLeft;
EndPosition[0] += getEndPosition()[0]*(BottomRight[0] - TopLeft[0]);
EndPosition[1] += getEndPosition()[1]*(BottomRight[1] - TopLeft[1]);
//Calculate the coordinate system
Vec2f u(EndPosition-StartPosition);
u.normalize();
Vec3f v3D(Vec3f(u.x(), u.y(), 0.0f).cross(Vec3f(0.0,0.0,-1.0)));
Vec2f v(v3D.x(), v3D.y());
Matrix22<Real32> CoordinateSystem(u.x(), u.y(), v.x(), v.y());
Pnt2f Min;
Pnt2f Max;
{
//Calculate the bounding box in the new coordinate system
Pnt2f UVTopLeft(CoordinateSystem*TopLeft),
UVBottomRight(CoordinateSystem*BottomRight),
UVTopRight(CoordinateSystem*Vec2f(BottomRight.x(), TopLeft.y())),
UVBottomLeft(CoordinateSystem*Vec2f(TopLeft.x(), BottomRight.y()));
Min.setValues( osgMin(UVTopLeft.x(), osgMin(UVBottomRight.x(), osgMin(UVTopRight.x(), UVBottomLeft.x()))),
osgMin(UVTopLeft.y(), osgMin(UVBottomRight.y(), osgMin(UVTopRight.y(), UVBottomLeft.y()))));
Max.setValues( osgMax(UVTopLeft.x(), osgMax(UVBottomRight.x(), osgMax(UVTopRight.x(), UVBottomLeft.x()))),
osgMax(UVTopLeft.y(), osgMax(UVBottomRight.y(), osgMax(UVTopRight.y(), UVBottomLeft.y()))));
}
Pnt2f Origin(CoordinateSystem.inverse() * Min);
Real32 PreStartLength(((CoordinateSystem*StartPosition).x()-Min.x())/(Max.x() - Min.x())),
PostEndLength((Max.x()- (CoordinateSystem*EndPosition).x())/(Max.x() - Min.x())),
GradientLength(1.0f-PostEndLength-PreStartLength);
if(getSpreadMethod() == SPREAD_REFLECT||
getSpreadMethod() == SPREAD_REPEAT)
{
//Code for drawing the Gradient with Repeating/Reflection
//Determine the Number of Repeats
UInt32 RepeatCount = static_cast<UInt32>(osgCeil(1.0f/GradientLength));
//Determine the relative location in the gradient that the Start left is at
Real32 StartGradientLocation = PreStartLength - GradientLength * osgCeil(PreStartLength/GradientLength);
//Determine whether the start is a reflection or normal
bool isReflection = getSpreadMethod() == SPREAD_REFLECT && static_cast<UInt32>(osgCeil(PreStartLength/GradientLength))%2==1;
for(UInt32 i(0) ; i<RepeatCount ; ++i)
{
if(isReflection)
{
drawGradient(TheGraphics, Origin, Max-Min,u,StartGradientLocation+GradientLength*(i+1),StartGradientLocation+GradientLength*i,Opacity);
}
else
{
drawGradient(TheGraphics, Origin, Max-Min,u,StartGradientLocation+GradientLength*i,StartGradientLocation+GradientLength*(i+1),Opacity);
}
if(getSpreadMethod() == SPREAD_REFLECT)
{
isReflection = !isReflection;
}
}
}
else
{
//Code for drawing the Gradient with Padding
//Front Pad
if(PreStartLength != 0.0f)
{
drawPad(TheGraphics, Origin,
Max-Min,u,0.0,PreStartLength,getMFColors()->front(),Opacity);
}
drawGradient(TheGraphics, Origin, Max-Min,u,PreStartLength,PreStartLength+GradientLength,Opacity);
//End Pad
if(PostEndLength != 0.0f)
{
drawPad(TheGraphics, Origin, Max-Min,u,PreStartLength+GradientLength,1.0,getMFColors()->back(),Opacity);
}
}
}
}
}
void PathInfo::Build(dtPolyRef startPoly, dtPolyRef endPoly)
{
clear();
float x, y, z;
if(startPoly == 0 || endPoly == 0)
{
// polygon didn't touch the search box
// could mean start or end has...
// (x,y) outside navmesh
// (z) above/below the navmesh
sLog.outDebug("%u's Path Build failed: invalid start or end polygon", m_sourceObject->GetGUID());
//if(canFly()) // TODO
shortcut();
return;
}
getStartPosition(x, y, z);
float startPos[3] = {y, z, x};
getEndPosition(x, y, z);
float endPos[3] = {y, z, x};
bool startOffPoly, endOffPoly;
float distanceStart, distanceEnd;
startOffPoly = !isPointInPolyBounds(startPos[2], startPos[0], startPos[1], distanceStart, startPoly);
endOffPoly = !isPointInPolyBounds(endPos[2], endPos[0], endPos[1], distanceEnd, endPoly);
dtQueryFilter filter = createFilter(); // use special filter so we use proper terrain types
dtPolyRef pathPolys[MAX_PATH_LENGTH];
m_length = m_navMesh->findPath(
startPoly, // start polygon
endPoly, // end polygon
startPos, // start position
endPos, // end position
&filter, // polygon search filter
pathPolys, // [out] path
MAX_PATH_LENGTH); // max number of polygons in output path
if(m_length == 0)
{
// only happens if we passed bad data to findPath(), or navmesh is messed up
sLog.outDebug("%u's Path Build failed: 0-length path", m_sourceObject->GetGUID());
shortcut();
return;
}
// pathPolyRefs was deleted when we entered Build(dtPolyRef, dtPolyRef)
m_pathPolyRefs = new dtPolyRef[m_length];
int i;
for(i = 0; i < m_length; ++i)
m_pathPolyRefs[i] = pathPolys[i];
updateNextPosition();
if(m_length >= MAX_PATH_LENGTH)
m_type = PathType(m_type | PATHFIND_INCOMPLETE);
m_currentNode = 0;
}
void PathFinder::BuildPointPath(const float* startPoint, const float* endPoint)
{
float pathPoints[MAX_POINT_PATH_LENGTH * VERTEX_SIZE];
uint32 pointCount = 0;
dtStatus dtResult = DT_FAILURE;
if (m_useStraightPath)
{
dtResult = m_navMeshQuery->findStraightPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // lenth of current path
pathPoints, // [out] path corner points
NULL, // [out] flags
NULL, // [out] shortened path
(int*)&pointCount,
m_pointPathLimit); // maximum number of points/polygons to use
}
else
{
dtResult = findSmoothPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // length of current path
pathPoints, // [out] path corner points
(int*)&pointCount,
m_pointPathLimit); // maximum number of points
}
if (pointCount < 2 || dtStatusFailed(dtResult))
{
// only happens if pass bad data to findStraightPath or navmesh is broken
// single point paths can be generated here
// TODO : check the exact cases
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath FAILED! path sized %d returned\n", pointCount);
BuildShortcut();
m_type = PATHFIND_NOPATH;
return;
}
uint32 tempPointCounter = 2;
uint8 cutLimit = 0;
PointsArray tempPathPoints;
tempPathPoints.resize(pointCount);
for (uint32 i = 0; i < pointCount; ++i)
tempPathPoints[i] = Vector3(pathPoints[i*VERTEX_SIZE+2], pathPoints[i*VERTEX_SIZE], pathPoints[i*VERTEX_SIZE+1]);
// Optimize points
for (uint32 i = 1; i < pointCount - 1; ++i)
{
G3D::Vector3 p = tempPathPoints[i]; // Point
G3D::Vector3 p1 = tempPathPoints[i - 1]; // PrevPoint
G3D::Vector3 p2 = tempPathPoints[i + 1]; // NextPoint
float line = (p1.y - p2.y) * p.x + (p2.x - p1.x) * p.y + (p1.x * p2.y - p2.x * p1.y);
if (fabs(line) < LINE_FAULT && cutLimit < SKIP_POINT_LIMIT)
{
tempPathPoints[i] = Vector3(0, 0, 0);
++cutLimit;
}
else
{
++tempPointCounter;
cutLimit = 0;
}
}
m_pathPoints.resize(tempPointCounter);
uint32 b = 0;
for (uint32 i = 0; i < pointCount; ++i)
{
if (tempPathPoints[i] != Vector3(0, 0, 0))
{
m_pathPoints[b] = tempPathPoints[i];
++b;
}
}
pointCount = tempPointCounter;
// first point is always our current location - we need the next one
setActualEndPosition(m_pathPoints[pointCount - 1]);
// force the given destination, if needed
if (m_forceDestination &&
(!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
{
// we may want to keep partial subpath
if (dist3DSqr(getActualEndPosition(), getEndPosition()) <
0.3f * dist3DSqr(getStartPosition(), getEndPosition()))
{
setActualEndPosition(getEndPosition());
m_pathPoints[m_pathPoints.size()-1] = getEndPosition();
}
else
{
setActualEndPosition(getEndPosition());
BuildShortcut();
}
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
}
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath path type %d size %d poly-size %d\n", m_type, pointCount, m_polyLength);
}