Pathfinding

Moose Development/Moose/Core/Astar.lua

@@ -438,9 +438,7 @@ function ASTAR:CreateGrid(ValidSurfaceTypes, BoxHY, SpaceX, deltaX, deltaY, Mark
   
   -- Debug info.
   local text=string.format("Building grid with nx=%d ny=%d => total=%d nodes", nx, nz, nx*nz)
-  self:I(self.lid..text)
+  self:T(self.lid..text)
-  MESSAGE:New(text, 10, "ASTAR"):ToAllIf(self.Debug)
-  
   
   -- Loop over x and z coordinate to create a 2D grid.
   for i=1,nx do
@@ -479,8 +477,7 @@ function ASTAR:CreateGrid(ValidSurfaceTypes, BoxHY, SpaceX, deltaX, deltaY, Mark
     
   -- Debug info.
   local text=string.format("Done building grid!")
-  self:I(self.lid..text)
+  self:T2(self.lid..text)
-  MESSAGE:New(text, 10, "ASTAR"):ToAllIf(self.Debug)
 
   return self
 end
@@ -651,7 +648,7 @@ function ASTAR:FindStartNode()
   self.startNode=node
   
   if dist>1000 then
-    self:I(self.lid.."Adding start node to node grid!")
+    self:T(self.lid.."Adding start node to node grid!")
     self:AddNode(node)
   end
     
@@ -669,7 +666,7 @@ function ASTAR:FindEndNode()
   self.endNode=node
   
   if dist>1000 then
-    self:I(self.lid.."Adding end node to node grid!")
+    self:T(self.lid.."Adding end node to node grid!")
     self:AddNode(node)
   end
     
@@ -713,8 +710,7 @@ function ASTAR:GetPath(ExcludeStartNode, ExcludeEndNode)
 
   -- Debug message.
   local text=string.format("Starting A* pathfinding with %d Nodes", self.Nnodes)
-  self:I(self.lid..text)
+  self:T(self.lid..text)
-  MESSAGE:New(text, 10, "ASTAR"):ToAllIf(self.Debug)
   
   local Tstart=UTILS.GetOSTime()
 
@@ -751,8 +747,7 @@ function ASTAR:GetPath(ExcludeStartNode, ExcludeEndNode)
       end
       text=text..string.format(", Nvalid=%d [%d cached]", self.nvalid, self.nvalidcache)
       text=text..string.format(", Ncost=%d [%d cached]", self.ncost, self.ncostcache)
-      self:I(self.lid..text)
+      self:T(self.lid..text)
-      MESSAGE:New(text, 60, "ASTAR"):ToAllIf(self.Debug)
       
       return path
     end

Moose Development/Moose/Ops/NavyGroup.lua

@@ -22,6 +22,7 @@
 -- @field #number depth Ordered depth in meters.
 -- @field #boolean collisionwarning If true, collition warning.
 -- @field #boolean pathfindingOn If true, enable pathfining.
+-- @field #number pathCorridor Path corrdidor width in meters.
 -- @field #boolean ispathfinding If true, group is currently path finding.
 -- @extends Ops.OpsGroup#OPSGROUP
 
@@ -42,6 +43,7 @@ NAVYGROUP = {
   intowind        = nil,
   intowindcounter = 0,
   Qintowind       = {},
+  pathCorridor    = 400,
 }
 
 --- Navy group element.
@@ -187,11 +189,32 @@ end
 --- Enable/disable pathfinding.
 -- @param #NAVYGROUP self
 -- @param #boolean Switch If true, enable pathfinding.
+-- @param #number CorridorWidth Corridor with in meters. Default 400 m.
 -- @return #NAVYGROUP self
-function NAVYGROUP:SetPathfinding(Switch)
+function NAVYGROUP:SetPathfinding(Switch, CorridorWidth)
   self.pathfindingOn=Switch
+  self.pathCorridor=CorridorWidth or 400
+  return self
 end
 
+--- Enable pathfinding.
+-- @param #NAVYGROUP self
+-- @param #number CorridorWidth Corridor with in meters. Default 400 m.
+-- @return #NAVYGROUP self
+function NAVYGROUP:SetPathfindingOn(CorridorWidth)
+  self:SetPathfinding(true, CorridorWidth)
+  return self
+end
+
+--- Disable pathfinding.
+-- @param #NAVYGROUP self
+-- @return #NAVYGROUP self
+function NAVYGROUP:SetPathfindingOff()
+  self:SetPathfinding(true, self.pathCorridor)
+  return self
+end
+
+
 --- Add a *scheduled* task.
 -- @param #NAVYGROUP self
 -- @param Core.Point#COORDINATE Coordinate Coordinate of the target.
@@ -1454,7 +1477,7 @@ function NAVYGROUP:_FindPathToNextWaypoint()
   astar:CreateGrid({land.SurfaceType.WATER}, boxwidth, spacex, delta, delta*2, self.Debug)
   
   -- Valid neighbour nodes need to have line of sight.
-  astar:SetValidNeighbourLoS(400)
+  astar:SetValidNeighbourLoS(self.pathCorridor)
   
   --- Function to find a path and add waypoints to the group.
   local function findpath()
@@ -1478,7 +1501,7 @@ function NAVYGROUP:_FindPathToNextWaypoint()
         uid=wp.uid
 
         -- Debug: smoke and mark path.
-        node.coordinate:MarkToAll(string.format("Path node #%d", i))
+        --node.coordinate:MarkToAll(string.format("Path node #%d", i))
         
       end
       
@@ -1489,8 +1512,8 @@ function NAVYGROUP:_FindPathToNextWaypoint()
     
   end
 
+  -- Return if path was found.
   return findpath()
-
 end
 
 -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Moose Development/Moose/Ops/OpsGroup.lua

@@ -1383,7 +1383,7 @@ function OPSGROUP:RemoveWaypoint(wpindex)
     local n=#self.waypoints
     
     -- Debug info.
-    self:I(self.lid..string.format("Removing waypoint index %d, current wp index %d. N %d-->%d", wpindex, self.currentwp, N, n))
+    self:T(self.lid..string.format("Removing waypoint index %d, current wp index %d. N %d-->%d", wpindex, self.currentwp, N, n))
   
     -- Waypoint was not reached yet.
     if wpindex > self.currentwp then