pathfinding/main.cpp in game_machine-0.0.11 vs pathfinding/main.cpp in game_machine-1.0.2

@@ -1,39 +1,130 @@
-#include "pathfind.h"
+#if _MSC_VER
+#else
+#include "pathfinder.h"
+#include <cstdlib>
+#include <stdio.h>
+#include <float.h>
+#include <time.h>
+#include <stdint.h>
 
-int main (int argc, char* argv[]) {
 
-  int find_straight_path = 1;
-  float *newPath;
-  newPath = getPathPtr(MAX_SMOOTH);
+#include <sys/time.h>
+#include <ctime>
+using namespace std;
 
-  //const char *file = "/home2/chris/game_machine/server/detour/meshes/terrain.bin";
-  const char *file = "/home2/chris/game_machine/data/meshes/all_tiles_navmesh.bin";
+ typedef unsigned long long timestamp_t;
 
+    static timestamp_t  get_timestamp ()
+    {
+      struct timeval now;
+      gettimeofday (&now, NULL);
+      return  now.tv_usec + (timestamp_t)now.tv_sec * 1000000;
+    }
 
-  int loadRes = loadNavMesh(1,file);
-  fprintf (stderr, "loadNavMesh returned %d\n", loadRes);
-  dtNavMeshQuery* query = getQuery(1);
+void testnavmesh() {
+  const char *file = "/home/chris/game_machine/server/pathfinding/all_tiles_navmesh.bin";
+  Navmesh* navmesh = new Navmesh(1,file);
 
-  if (loadRes == 1) {
+  int find_straight_path = 1;
+  float *newPath;
+  newPath = navmesh->getPathPtr(Navmesh::MAX_SMOOTH);
+  timestamp_t t0;
+  timestamp_t t1;
+  double secs;
+
+  t0 = get_timestamp();
+  for (int j = 0; j < 15; ++j) {
+    navmesh->gmapSetPassable(200,200,3);
+    navmesh->gmapSetBlocked(130,95,3);
+  }
+  t1 = get_timestamp();
+  secs = (t1 - t0) / 1000000.0L;
+  fprintf (stderr, "setPassable %f\n", secs);
+
+  if (navmesh->meshLoaded()) {
     for (int j = 0; j < 1; ++j) {
       for (int i = 0; i < 1; ++i) {
-        //int res = findPath(query, 563.0, 0.2, 504.0, 509.0, 0.2, 528.0,
-        int res = findPath(query, 563.0f, 0.2f, 504.0f, 563.0f, 0.2f, 541.0f,
+        t0 = get_timestamp();
+        int res = navmesh->findPath(10.0f, 0.2f, 10.0f, 300.0f, 0.2f, 300.0f,
             find_straight_path, newPath);
+        t1 = get_timestamp();
+        secs = (t1 - t0) / 1000000.0L;
+        fprintf (stderr, "end time %f\n", secs);
+
         fprintf (stderr, "findPath returned %d\n", res);
         for (int i = 0; i < res; ++i) {
           //fprintf (stderr, "%d\n", i);
           const float* v = &newPath[i*3];
-          fprintf (stderr, "%f.%f.%f\n", v[0], v[1], v[2]);
+          fprintf (stderr, "%f %f %f\n", v[0], v[1], v[2]);
         }
       }
     }
   }
+  
+  
 
   fprintf (stderr, "endLoop\n");
-  freePath(newPath);
+  navmesh->freePath(newPath);
   fprintf (stderr, "freePath\n");
-  freeQuery(query);
-  fprintf (stderr, "freeQuery\n");
+  
+
+  
+
+  Crowd* crowd = new Crowd(navmesh);
+  float delta = 1.01f;
+  float agentPos[3] = {10.0f,0.0f,10.0f};
+  float targetPos[3] = {300.0f,0.0f,300.0f};
+  const float* ap = &agentPos[0];
+  const float* tp = &targetPos[0];
+  fprintf (stderr, "createCrowd\n");
+
+  
+  crowd->setMoveTarget(tp, false, -1);
+  fprintf (stderr, "setMoveTarget\n");
+
+  for (int j = 0; j < 100; ++j) {
+    crowd->addAgent(ap, 8.0f, 3.5f, 0.6f, 2.0f,5,2.0f);
+  }
+  
+  fprintf (stderr, "addAgent\n");
+
+  for (int j = 0; j < 900; ++j) {
+    crowd->updateTick(delta);
+    for (int i = 0; i < crowd->getCrowd()->getAgentCount(); ++i)
+    {
+      const dtCrowdAgent* ag = crowd->getCrowd()->getAgent(i);
+      if (!ag->active)
+        continue;
+      const float* v = ag->npos;
+      fprintf (stderr, "%d = %f %f %f\n", i, v[0], v[1], v[2]);
+    }
+
+  }
+  fprintf (stderr, "updateTick\n");
+
+  
+}
+
+#endif
+
+int main (int argc, char* argv[]) {
+  #if _MSC_VER
+  #else
+  testnavmesh();
+  return 1;
+
+  addPathfinder(1,500,500);
+  for (int j = 0; j < 500; ++j) {
+      for (int i = 0; i < 500; ++i) {
+        //setPassable(1,j,i);
+      }
+  }
+  fprintf (stderr, "grid created\n");
+
+  int res = findpath2d(1,0,0,100,100);
+  fprintf (stderr, "findpath2d returned %d\n", res);
+  
+  #endif
+
   return 1;
 }