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• External drive hanging, load average through the roof

  - by Paul Tomblin

  I have an external USB drive, and I run an hourly rsync to it as a backup. This has been working fine for years. This weekend, I got two new 2Tb internal drives, and decided it was time to re-install Ubuntu from scratch to clear out all the old cruft. About once a day since the re-install, the backup script hangs hard, usually in the "rm -rf" I do before the rsync. By the time I notice the problem, my load average is in the stratosphere and climbing fast (one time, it was over 150), but anything that doesn't touch the drive seems to be running fine. One thing that I find suspicious is that something, I don't know what, is doing a "smartctl" and a "hdparm" command on the USB drive. I'm pretty sure smartctl isn't supposed to run on external drives. I can't figure out what's doing it, either. Here's part of ps auwwfx when it's hung: root 7310 0.0 0.0 4248 352 ? D 20:15 0:00 /sbin/hdparm -C /dev/sdd root 7808 0.0 0.0 17372 1632 ? D 20:15 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 8427 0.0 0.0 4248 356 ? D 20:20 0:00 /sbin/hdparm -C /dev/sdd root 8925 0.0 0.0 17372 1628 ? D 20:20 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 9529 0.0 0.0 4248 356 ? D 20:25 0:00 /sbin/hdparm -C /dev/sdd root 10026 0.0 0.0 17372 1628 ? D 20:25 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 10655 0.0 0.0 4248 356 ? D 20:30 0:00 /sbin/hdparm -C /dev/sdd root 11151 0.0 0.0 17372 1632 ? D 20:30 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 11774 0.0 0.0 4248 356 ? D 20:35 0:00 /sbin/hdparm -C /dev/sdd root 12271 0.0 0.0 17372 1628 ? D 20:35 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 12878 0.0 0.0 4248 352 ? D 20:40 0:00 /sbin/hdparm -C /dev/sdd root 13374 0.0 0.0 17372 1632 ? D 20:40 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 14011 0.0 0.0 4248 352 ? D 20:45 0:00 /sbin/hdparm -C /dev/sdd root 14507 0.0 0.0 17372 1628 ? D 20:45 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 15116 0.0 0.0 4248 352 ? D 20:50 0:00 /sbin/hdparm -C /dev/sdd root 15612 0.0 0.0 17372 1632 ? D 20:50 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 16223 0.0 0.0 4248 352 ? D 20:55 0:00 /sbin/hdparm -C /dev/sdd root 16734 0.0 0.0 17372 1632 ? D 20:55 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 17345 0.0 0.0 4248 352 ? D 21:00 0:00 /sbin/hdparm -C /dev/sdd root 17842 0.0 0.0 17372 1628 ? D 21:00 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 18463 0.0 0.0 4248 352 ? D 21:05 0:00 /sbin/hdparm -C /dev/sdd root 18960 0.0 0.0 17372 1628 ? D 21:05 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 19598 0.0 0.0 4248 356 ? D 21:10 0:00 /sbin/hdparm -C /dev/sdd root 20096 0.0 0.0 17372 1628 ? D 21:10 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 21280 0.0 0.0 4244 356 ? D 21:15 0:00 /sbin/hdparm -C /dev/sdd root 21784 0.0 0.0 17372 1632 ? D 21:15 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 22414 0.0 0.0 4244 356 ? D 21:20 0:00 /sbin/hdparm -C /dev/sdd root 22912 0.0 0.0 17372 1628 ? D 21:20 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 23541 0.0 0.0 4244 356 ? D 21:25 0:00 /sbin/hdparm -C /dev/sdd root 24038 0.0 0.0 17372 1632 ? D 21:25 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd root 24658 0.0 0.0 4244 356 ? D 21:30 0:00 /sbin/hdparm -C /dev/sdd root 25157 0.0 0.0 17372 1628 ? D 21:30 0:00 /usr/sbin/smartctl -a -n standby -A -i /dev/sdd Why is this happening, and how can I stop it?

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• ODI 12c - Parallel Table Load

  - by David Allan

  In this post we will look at the ODI 12c capability of parallel table load from the aspect of the mapping developer and the knowledge module developer - two quite different viewpoints. This is about parallel table loading which isn't to be confused with loading multiple targets per se. It supports the ability for ODI mappings to be executed concurrently especially if there is an overlap of the datastores that they access, so any temporary resources created may be uniquely constructed by ODI. Temporary objects can be anything basically - common examples are staging tables, indexes, views, directories - anything in the ETL to help the data integration flow do its job. In ODI 11g users found a few workarounds (such as changing the technology prefixes - see here) to build unique temporary names but it was more of a challenge in error cases. ODI 12c mappings by default operate exactly as they did in ODI 11g with respect to these temporary names (this is also true for upgraded interfaces and scenarios) but can be configured to support the uniqueness capabilities. We will look at this feature from two aspects; that of a mapping developer and that of a developer (of procedures or KMs). 1. Firstly as a Mapping Developer..... 1.1 Control when uniqueness is enabled A new property is available to set unique name generation on/off. When unique names have been enabled for a mapping, all temporary names used by the collection and integration objects will be generated using unique names. This property is presented as a check-box in the Property Inspector for a deployment specification. 1.2 Handle cleanup after successful execution Provided that all temporary objects that are created have a corresponding drop statement then all of the temporary objects should be removed during a successful execution. This should be the case with the KMs developed by Oracle. 1.3 Handle cleanup after unsuccessful execution If an execution failed in ODI 11g then temporary tables would have been left around and cleaned up in the subsequent run. In ODI 12c, KM tasks can now have a cleanup-type task which is executed even after a failure in the main tasks. These cleanup tasks will be executed even on failure if the property 'Remove Temporary Objects on Error' is set. If the agent was to crash and not be able to execute this task, then there is an ODI tool (OdiRemoveTemporaryObjects here) you can invoke to cleanup the tables - it supports date ranges and the like. That's all there is to it from the aspect of the mapping developer it's much, much simpler and straightforward. You can now execute the same mapping concurrently or execute many mappings using the same resource concurrently without worrying about conflict.  2. Secondly as a Procedure or KM Developer..... In the ODI Operator the executed code shows the actual name that is generated - you can also see the runtime code prior to execution (introduced in 11.1.1.7), for example below in the code type I selected 'Pre-executed Code' this lets you see the code about to be processed and you can also see the executed code (which is the default view). References to the collection (C$) and integration (I$) names will be automatically made unique by using the odiRef APIs - these objects will have unique names whenever concurrency has been enabled for a particular mapping deployment specification. It's also possible to use name uniqueness functions in procedures and your own KMs. 2.1 New uniqueness tags  You can also make your own temporary objects have unique names by explicitly including either %UNIQUE_STEP_TAG or %UNIQUE_SESSION_TAG in the name passed to calls to the odiRef APIs. Such names would always include the unique tag regardless of the concurrency setting. To illustrate, let's look at the getObjectName() method. At <% expansion time, this API will append %UNIQUE_STEP_TAG to the object name for collection and integration tables. The name parameter passed to this API may contain  %UNIQUE_STEP_TAG or %UNIQUE_SESSION_TAG. This API always generates to the <? version of getObjectName() At execution time this API will replace the unique tag macros with a string that is unique to the current execution scope. The returned name will conform to the name-length restriction for the target technology, and its pattern for the unique tag. Any necessary truncation will be performed against the initial name for the object and any other fixed text that may have been specified. Examples are:- <?=odiRef.getObjectName("L", "%COL_PRFEMP%UNIQUE_STEP_TAG", "D")?> SCOTT.C$_EABH7QI1BR1EQI3M76PG9SIMBQQ <?=odiRef.getObjectName("L", "EMP%UNIQUE_STEP_TAG_AE", "D")?> SCOTT.EMPAO96Q2JEKO0FTHQP77TMSAIOSR_ Methods which have this kind of support include getFrom, getTableName, getTable, getObjectShortName and getTemporaryIndex. There are APIs for retrieving this tag info also, the getInfo API has been extended with the following properties (the UNIQUE* properties can also be used in ODI procedures); UNIQUE_STEP_TAG - Returns the unique value for the current step scope, e.g. 5rvmd8hOIy7OU2o1FhsF61 Note that this will be a different value for each loop-iteration when the step is in a loop. UNIQUE_SESSION_TAG - Returns the unique value for the current session scope, e.g. 6N38vXLrgjwUwT5MseHHY9 IS_CONCURRENT - Returns info about the current mapping, will return 0 or 1 (only in % phase) GUID_SRC_SET - Returns the UUID for the current source set/execution unit (only in % phase) The getPop API has been extended with the IS_CONCURRENT property which returns info about an mapping, will return 0 or 1.  2.2 Additional APIs Some new APIs are provided including getFormattedName which will allow KM developers to construct a name from fixed-text or ODI symbols that can be optionally truncate to a max length and use a specific encoding for the unique tag. It has syntax getFormattedName(String pName[, String pTechnologyCode]) This API is available at both the % and the ? phase.  The format string can contain the ODI prefixes that are available for getObjectName(), e.g. %INT_PRF, %COL_PRF, %ERR_PRF, %IDX_PRF alongwith %UNIQUE_STEP_TAG or %UNIQUE_SESSION_TAG. The latter tags will be expanded into a unique string according to the specified technology. Calls to this API within the same execution context are guaranteed to return the same unique name provided that the same parameters are passed to the call. e.g. <%=odiRef.getFormattedName("%COL_PRFMY_TABLE%UNIQUE_STEP_TAG_AE", "ORACLE")%> <?=odiRef.getFormattedName("%COL_PRFMY_TABLE%UNIQUE_STEP_TAG_AE", "ORACLE")?> C$_MY_TAB7wDiBe80vBog1auacS1xB_AE <?=odiRef.getFormattedName("%COL_PRFMY_TABLE%UNIQUE_STEP_TAG.log", "FILE")?> C2_MY_TAB7wDiBe80vBog1auacS1xB.log 2.3 Name length generation  As part of name generation, the length of the generated name will be compared with the maximum length for the target technology and truncation may need to be applied. When a unique tag is included in the generated string it is important that uniqueness is not compromised by truncation of the unique tag. When a unique tag is NOT part of the generated name, the name will be truncated by removing characters from the end - this is the existing 11g algorithm. When a unique tag is included, the algorithm will first truncate the <postfix> and if necessary  the <prefix>. It is recommended that users will ensure there is sufficient uniqueness in the <prefix> section to ensure uniqueness of the final resultant name. SUMMARY To summarize, ODI 12c make it much simpler to utilize mappings in concurrent cases and provides APIs for helping developing any procedures or custom knowledge modules in such a way they can be used in highly concurrent, parallel scenarios. 

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• Dynamically creating astar node map by triangular polygonal map

  - by jett

  My game's map format uses a bunch of triangles to make up the platforms and terrain in 2d. Right now I can set up a 2d array of nodes for the astar algorithm that basically is a bunch of rectangles across the maps x and y that can be set to "wall" if the a* algorithm should try to go around it. However I want a function in the map loader to create the node overlay if the nodes are not specified. I was thinking if more than n percent of the a* rectangle overlaid on map was filled by polygons I could mark that entry in the array as "wall". However I'm stuck on how to do this(or even start) where/when the triangles can be overlapping and also of variable size.

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• Stuck with A* implementation

  - by Syed

  I have implemented some A* code in C# using this JavaScript code. My C# implementation is the same as the above javascript code. But I'm unable to get it to work properly, e.g pathfinder blocks itself when the same number of walls are placed in front of it and some other scenarios as well like blocking it one way completely, I am assuming that code is standalone (not having other functionality included in other scripts). Can anyone tell me if the above code is missing any A star functionality?

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• Is finding graph minors without single node pinch points possible?

  - by Alturis

  Is it possible to robustly find all the graph minors within an arbitrary node graph where the pinch points are generally not single nodes? I have read some other posts on here about how to break up your graph into a Hamiltonian cycle and then from that find the graph minors but it seems to be such an algorithm would require that each "room" had "doorways" consisting of single nodes. To explain a bit more a visual aid is necessary. Lets say the nodes below are an example of the typical node graph. What I am looking for is a way to automatically find the different colored regions of the graph (or graph minors)

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• Direction of the bullet - how to have something else than left, right, top, bottom

  - by Florian Margaine

  I'm making a simple shooter game using canvas and javascript. The current code can be seen here. To know which way I want the bullet to be shot, I simply have a direction property that can have 4 values (left, right, bottom, top), and I can then calculate the next position of the bullet easily. However, I'd like to move the bullet to the mouse position, but I don't really see how to do this. How do I calculate the next position? I'm guessing there is some formula to calculate the line between two positions (the player's and the mouse's), but I don't have much idea yet. So there is no obstacle, but I don't see how to calculate this, and be able have the next position of the bullet at each frame.

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• Dynamic real-time pathfinding with C# and unity

  - by Yakri

  A buddy and I are working on a simple 2D top down arena combat game similar to OpenGLAD (grew up on ye olde GLADIATOR). Thing is, we want to make some substantial deviation from our source of inspiration, including completely destructible/changeable terrain. Like rivers that can be frozen, walls which can be knocked down, etc. As well as letting players and NPC's build new terrain objects, some of which cannot be moved through or seen through. So I'm tasked with creating the AI, starting with pathfinding. Because of all the changeable terrain, we need something that can check to see if the player/other NPC's are in line of sight, and which can then check to find current paths around existing terrain, without getting completely confused by new terrain popping up, and old terrain vanishing, and even capable of breaking through terrain. A lot of that will just be filling in the framework of the feature, but I really just don't know where to start. What I'm really looking for are relevant websites, books, articles, or keywords to google. I just can't quite find a direction to start in, because most pathfinding types we've googled up just won't give us even the most basic level of robustness we need.

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• Electronic circuit simulator four-way flood-filling issues

  - by AJ Weeks

  I've made an electronic circuit board simulator which has simply 3 types of tiles: wires, power sources, and inverters. Wires connect to anything they touch, other than the sides of inverters; inverters have one input side and one output side; and finally power tiles connect in a similar manner as wires. In the case of an infinite loop, caused by the output of the inverter feeding into its input, I want inverters to oscillate (quickly turn on/off). I've attempted to implement a FloodFill algorithm to spread the power throughout the grid, but seem to have gotten something wrong, as only the tiles above the power source get powered (as seen below) I've attempted to debug the program, but have had no luck thus far. My code concerning the updating of power can be seen here.

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• How can I locate empty space next to polygon regions?

  - by Stephen

  Let's say I have the following area in a top-down map: The circle is the player, the black square is an obstacle, and the grey polygons with red borders are walk-able areas that will be used as a navigation mesh for enemies. Obstacles and grey polygons are always convex. The grey regions were defined using an algorithm when the world was generated at runtime. Notice the little white column. I need to figure out where any empty space like this is, if at all, after the algorithm builds the grey regions, so that I can fill the space with another region. Basically what I'm hoping for is an algorithm that can detect empty space next to a polygon.

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• Tool for creating complex paths?

  - by TerryB

  I want to create some fairly complex predefined paths for my AI sprites to follow. I'll need to use curves, splines etc to get the effect I want. Is there a drawing tool out there that will allow me to draw such curves, "mesh" them by placing lots of points along them at some defined density and then output the coordinates of all of those points for me? I could write this tool myself but hopefully one of the drawing packages can do this? Cheers!

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• Pathfinding in multi goal, multi agent environment

  - by Rohan Agrawal

  I have an environment in which I have multiple agents (a), multiple goals (g) and obstacles (o). . . . a o . . . . . . . o . g . . a . . . . . . . . . . o . . . . o o o o . g . . o . . . . . . . o . . . . o . . . . o o o o a What would an appropriate algorithm for pathfinding in this environment? The only thing I can think of right now, is to Run a separate version of A* for each goal separately, but i don't think that's very efficient.

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• Wikipedia A* pathfinding algorithm takes a lot of time

  - by Vee

  I've successfully implemented A* pathfinding in C# but it is very slow, and I don't understand why. I even tried not sorting the openNodes list but it's still the same. The map is 80x80, and there are 10-11 nodes. I took the pseudocode from here Wikipedia And this is my implementation: public static List<PGNode> Pathfind(PGMap mMap, PGNode mStart, PGNode mEnd) { mMap.ClearNodes(); mMap.GetTile(mStart.X, mStart.Y).Value = 0; mMap.GetTile(mEnd.X, mEnd.Y).Value = 0; List<PGNode> openNodes = new List<PGNode>(); List<PGNode> closedNodes = new List<PGNode>(); List<PGNode> solutionNodes = new List<PGNode>(); mStart.G = 0; mStart.H = GetManhattanHeuristic(mStart, mEnd); solutionNodes.Add(mStart); solutionNodes.Add(mEnd); openNodes.Add(mStart); // 1) Add the starting square (or node) to the open list. while (openNodes.Count > 0) // 2) Repeat the following: { openNodes.Sort((p1, p2) => p1.F.CompareTo(p2.F)); PGNode current = openNodes[0]; // a) We refer to this as the current square.) if (current == mEnd) { while (current != null) { solutionNodes.Add(current); current = current.Parent; } return solutionNodes; } openNodes.Remove(current); closedNodes.Add(current); // b) Switch it to the closed list. List<PGNode> neighborNodes = current.GetNeighborNodes(); double cost = 0; bool isCostBetter = false; for (int i = 0; i < neighborNodes.Count; i++) { PGNode neighbor = neighborNodes[i]; cost = current.G + 10; isCostBetter = false; if (neighbor.Passable == false || closedNodes.Contains(neighbor)) continue; // If it is not walkable or if it is on the closed list, ignore it. if (openNodes.Contains(neighbor) == false) { openNodes.Add(neighbor); // If it isn’t on the open list, add it to the open list. isCostBetter = true; } else if (cost < neighbor.G) { isCostBetter = true; } if (isCostBetter) { neighbor.Parent = current; // Make the current square the parent of this square. neighbor.G = cost; neighbor.H = GetManhattanHeuristic(current, neighbor); } } } return null; } Here's the heuristic I'm using: private static double GetManhattanHeuristic(PGNode mStart, PGNode mEnd) { return Math.Abs(mStart.X - mEnd.X) + Math.Abs(mStart.Y - mEnd.Y); } What am I doing wrong? It's an entire day I keep looking at the same code.

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• 2D Grid Map Connectivity Check (avoiding stack overflow)

  - by SombreErmine

  I am trying to create a routine in C++ that will run before a more expensive A* algorithm that checks to see if two nodes on a 2D grid map are connected or not. What I need to know is a good way to accomplish this sequentially rather than recursively to avoid overflowing the stack. What I've Done Already I've implemented this with ease using a recursive algorithm; however, depending upon different situations it will generate a stack overflow. Upon researching this, I've come to the conclusion that it is overflowing the stack because of too many recursive function calls. I am sure that my recursion does not enter an infinite loop. I generate connected sets at the beginning of the level, and then I use those connected sets to determine connectivity on the fly later. Basically, the generating algorithm starts from left-to-right top-to-bottom. It skips wall nodes and marks them as visited. Whenever it reaches a walkable node, it recursively checks in all four cardinal directions for connected walkable nodes. Every node that gets checked is marked as visited so they aren't handled twice. After checking a node, it is added to either a walls set, a doors set, or one of multiple walkable nodes sets. Once it fills that area, it continues the original ltr ttb loop skipping already-visited nodes. I've also looked into flood-fill algorithms, but I can't make sense of the sequential algorithms and how to adapt them. Can anyone suggest a better way to accomplish this without causing a stack overflow? The only way I can think of is to do the left-to-right top-to-bottom loop generating connected sets on a row basis. Then check the previous row to see if any of the connected sets are connected and then join the sets that are. I haven't decided on the best data structures to use for that though. I also just thought about having the connected sets pre-generated outside the game, but I wouldn't know where to start with creating a tool for that. Any help is appreciated. Thanks!

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• Displaying possible movement tiles

  - by Ash Blue

  What's the fastest way to highlight all possible movement tiles for a player on a square grid? Players can only move up, down, left, right. Tiles can cost more than one movement, multiple levels are available to move, and players can be larger than one tile. Think of games like Fire Emblem, Front Mission, and XCOM. My first thought was to recursively search for connecting tiles. This quickly demonstrated many shortcomings when blockers, movement costs, and other features were added into the mix. My second thought was to use an A* pathfinding algorithm to check all tiles presumed valid. Presumed valid tiles would come from an algorithm that generates a diamond of tiles from the player's speed (see example here http://jsfiddle.net/truefreestyle/Suww8/9/). Problem is this seems a little slow and expensive. Is there a faster way? Edit: In Lua for Corona SDK, I integrated the following movement generation controller. I've linked to a Gist here because the solution is around 90 lines of code. https://gist.github.com/ashblue/5546009

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• Complexity of defense AI

  - by Fredrik Johansson

  I have a non-released game, and currently it's only possible to play with another human being. As the game rules are made up by me, I think it would be great if new players could learn basic game play by playing against an AI opponent. I mean it's not like Tennis, where the majority knows at least the fundamental rules. On the other hand, I'm a bit concerned that this AI implementation can be quite complex. I hope you can help me with an complexity estimation. I've tried to summarize the gameplay below. Is this defense AI very hard to do? Basic Defense Game Play Player Defender can move within his land, i.e. inside a random, non-convex, polygon. This land will also contain obstacles modeled as polygons, that Defender has to move around. Player Attacker has also a land, modeled as another such polygon. Assume that Defender shall defend against Attacker. Attacker will then throw a thingy towards Defender's land. To be rewarded, Attacker wants to hit Defender's land, and Defender will want to strike away the thingy from his land before it stops to prevent Attacker from scoring. To feint Defender, Attacker might run around within his land before the throw, and based on these attacker movements Defender shall then continuously move to the best defense position within his land.

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• How do I make A* check all diagonal and orthogonal directions?

  - by Munezane

  I'm making a turn-based tactical game and I'm trying to implement the A* algorithm. I've been following a tutorial and got to this point, but my characters can't move diagonally up and left. Can anyone help me with this? The return x and y are int pointers which the characters are using to move towards the target. void level::aStar(int startx, int starty, int targetx, int targety, int* returnx, int* returny) { aStarGridSquare* currentSquare = new aStarGridSquare(); aStarGridSquare* startSquare = new aStarGridSquare(); aStarGridSquare* targetSquare = new aStarGridSquare(); aStarGridSquare* adjacentSquare = new aStarGridSquare(); aStarOpenList.clear(); for(unsigned int i=0; i<aStarGridSquareList.size(); i++) { aStarGridSquareList[i]->open=false; aStarGridSquareList[i]->closed=false; } startSquare=getaStarGridSquare(startx, starty); targetSquare=getaStarGridSquare(targetx, targety); if(startSquare==targetSquare) { *returnx=startx; *returny=starty; return; } startSquare->CostFromStart=0; startSquare->CostToTraverse=0; startSquare->parent = NULL; currentSquare=startSquare; aStarOpenList.push_back(currentSquare); while(currentSquare!=targetSquare && aStarOpenList.size()>0) { //unsigned int totalCostEstimate=aStarOpenList[0]->TotalCostEstimate; //currentSquare=aStarOpenList[0]; for(unsigned int i=0; i<aStarOpenList.size(); i++) { if(aStarOpenList.size()>1) { for(unsigned int j=1; j<aStarOpenList.size()-1; j++) { if(aStarOpenList[i]->TotalCostEstimate<aStarOpenList[j]->TotalCostEstimate) { currentSquare=aStarOpenList[i]; } else { currentSquare=aStarOpenList[j]; } } } else { currentSquare = aStarOpenList[i]; } } currentSquare->closed=true; currentSquare->open=false; for(unsigned int i=0; i<aStarOpenList.size(); i++) { if(aStarOpenList[i]==currentSquare) { aStarOpenList.erase(aStarOpenList.begin()+i); } } for(unsigned int i = currentSquare->blocky - 32; i <= currentSquare->blocky + 32; i+=32) { for(unsigned int j = currentSquare->blockx - 32; j<= currentSquare->blockx + 32; j+=32) { adjacentSquare=getaStarGridSquare(j/32, i/32); if(adjacentSquare!=NULL) { if(adjacentSquare->blocked==false && adjacentSquare->closed==false) { if(adjacentSquare->open==false) { adjacentSquare->parent=currentSquare; if(currentSquare->parent!=NULL) { currentSquare->CostFromStart = currentSquare->parent->CostFromStart + currentSquare->CostToTraverse + startSquare->CostFromStart; } else { currentSquare->CostFromStart=0; } adjacentSquare->CostFromStart =currentSquare->CostFromStart + adjacentSquare->CostToTraverse;// adjacentSquare->parent->CostFromStart + adjacentSquare->CostToTraverse; //currentSquare->CostToEndEstimate = abs(currentSquare->blockx - targetSquare->blockx) + abs(currentSquare->blocky - targetSquare->blocky); //currentSquare->TotalCostEstimate = currentSquare->CostFromStart + currentSquare->CostToEndEstimate; adjacentSquare->open = true; adjacentSquare->CostToEndEstimate=abs(adjacentSquare->blockx- targetSquare->blockx) + abs(adjacentSquare->blocky-targetSquare->blocky); adjacentSquare->TotalCostEstimate = adjacentSquare->CostFromStart+adjacentSquare->CostToEndEstimate; //adjacentSquare->open=true;*/ aStarOpenList.push_back(adjacentSquare); } else { if(adjacentSquare->parent->CostFromStart > currentSquare->CostFromStart) { adjacentSquare->parent=currentSquare; if(currentSquare->parent!=NULL) { currentSquare->CostFromStart = currentSquare->parent->CostFromStart + currentSquare->CostToTraverse + startSquare->CostFromStart; } else { currentSquare->CostFromStart=0; } adjacentSquare->CostFromStart =currentSquare->CostFromStart + adjacentSquare->CostToTraverse;// adjacentSquare->parent->CostFromStart + adjacentSquare->CostToTraverse; //currentSquare->CostToEndEstimate = abs(currentSquare->blockx - targetSquare->blockx) + abs(currentSquare->blocky - targetSquare->blocky); //currentSquare->TotalCostEstimate = currentSquare->CostFromStart + currentSquare->CostToEndEstimate; adjacentSquare->CostFromStart = adjacentSquare->parent->CostFromStart + adjacentSquare->CostToTraverse; adjacentSquare->CostToEndEstimate=abs(adjacentSquare->blockx - targetSquare->blockx) + abs(adjacentSquare->blocky - targetSquare->blocky); adjacentSquare->TotalCostEstimate = adjacentSquare->CostFromStart+adjacentSquare->CostToEndEstimate; } } } } } } } if(aStarOpenList.size()==0)//if empty { *returnx =startx; *returny =starty; return; } else { for(unsigned int i=0; i< aStarOpenList.size(); i++) { if(currentSquare->parent==NULL) { //int tempX = targetSquare->blockx; //int tempY = targetSquare->blocky; *returnx=targetSquare->blockx; *returny=targetSquare->blocky; break; } else { currentSquare=currentSquare->parent; } } } }

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• How can I plot a radius of all reachable points with pathfinding for a Mob?

  - by PugWrath

  I am designing a tactical turn based game. The maps are 2d, but do have varying level-layers and blocking objects/terrain. I'm looking for an algorithm for pathfinding which will allow me to show an opaque shape representing all of the possible max-distance pixels that a mob can move to, knowing the mob's max pixel distance. Any thoughts on this, or do I just need to write a good pathfinding algorithm and use it to find the cutoff points for any direction in which an obstacle exists?

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• Dynamic navigation mesh changes

  - by Nairou

  I'm currently trying to convert from grids to navigation meshes for pathfinding, since grids are either too coarse for accurate navigation, or too fine to be useful for object tracking. While my map is fairly static, and the navigation mesh could be created in advance, this is somewhat of a tower defense game, where objects can be placed to block paths, so I need a way to recalculate portions of the navigation mesh to allow pathing around them. Is there any existing documentation on good ways to do this? I'm still very new to navigation meshes, so the prospect of modifying them to cut or fill holes sounds daunting.

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• Combining pathfinding with global AI objectives

  - by V_Programmer

  I'm making a turn-based strategy game using Java and LibGDX. Now I want to code the AI. I haven't written the AI code yet. I've simply designed it. The AI will have two components, one focused in tactics and resource management (create troops, determine who have strategical advantage, detect important objectives, etc) and a individual component, focused in assign the work to each unit, examine its possibilites and move the unit. Now I'm facing an important problem. The map where the action take place is a grid-based map. Each terrain has different movement cost. I read about pathfinding and I think A* is a very good option to determine a good route between two points. However, imagine I have an unit with movement = 5 (i.e, it can move 5 tiles of movement cost = 1). My tactical AI has found an objective at a distance d = 20 tiles (Manhattan distance) from my unit. My problem is the following: the unit won't be able to reach the objective in one turn. So the AI will have to store a list of position and execute them in various turns. I don't know how to solve this. PS. In my unit code, I have a list called "selectionMarks" which stores all the possible places where the unit can go in this turn. This places are calculed recursively using a "getSelectionMarks" function. Any help is appreciated :D

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• 3D RTS pathfinding

  - by xcrypt

  I understand the A* algorithm, but I have some trouble doing it in 3D to suit the needs of my RTS Basically, in the game I'm making, there will be agents with different sizes of OBB collision boxes. I can use steering behaviours for avoiding other agents, so I don't need complete dynamic pathfinding. However, there is a problem because different agents have different collision geometry, and structures can be placed in almost any place. This means that there might be a gap between two structures where some agents can go through and some can't. A solution I have found to this problem is to do a sweep of the collision geometry of the agent from start node of the edge the pf algorithm is currently testing, to the end node of that edge. But this is probably a bit overkill since every edge the algorithm tests would also have to create and test with a collision geometry sweep. What are some reasonable approaches to this problem? I should mention that I'd prefer not to use navmeshes, I prefer waypoints because my entire system is based on it atm.

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• Having trouble with pathfinding

  - by user2144536

  I'm trying to implement pathfinding in a game I'm programming using this method. I'm implementing it with recursion but some of the values after the immediate circle of tiles around the player are way off. For some reason I cannot find the problem with it. This is a screen cap of the problem: The pathfinding values are displayed in the center of every tile. Clipped blocks are displayed with the value of 'c' because the values were too high and were covering up the next value. The red circle is the first value that is incorrect. The code below is the recursive method. //tileX is the coordinates of the current tile, val is the current pathfinding value, used[][] is a boolean //array to keep track of which tiles' values have already been assigned public void pathFind(int tileX, int tileY, int val, boolean[][] used) { //increment pathfinding value int curVal = val + 1; //set current tile to true if it hasn't been already used[tileX][tileY] = true; //booleans to know which tiles the recursive call needs to be used on boolean topLeftUsed = false, topUsed = false, topRightUsed = false, leftUsed = false, rightUsed = false, botomLeftUsed = false, botomUsed = false, botomRightUsed = false; //set value of top left tile if necessary if(tileX - 1 >= 0 && tileY - 1 >= 0) { //isClipped(int x, int y) returns true if the coordinates givin are in a tile that can't be walked through (IE walls) //occupied[][] is an array that keeps track of which tiles have an enemy in them // //if the tile is not clipped and not occupied set the pathfinding value if(isClipped((tileX - 1) * 50 + 25, (tileY - 1) * 50 + 25) == false && occupied[tileX - 1][tileY - 1] == false && !(used[tileX - 1][tileY - 1])) { pathFindingValues[tileX - 1][tileY - 1] = curVal; topLeftUsed = true; used[tileX - 1][tileY - 1] = true; } //if it is occupied set it to an arbitrary high number so enemies find alternate routes if the best is clogged if(occupied[tileX - 1][tileY - 1] == true) pathFindingValues[tileX - 1][tileY - 1] = 1000000000; //if it is clipped set it to an arbitrary higher number so enemies don't travel through walls if(isClipped((tileX - 1) * 50 + 25, (tileY - 1) * 50 + 25) == true) pathFindingValues[tileX - 1][tileY - 1] = 2000000000; } //top middle if(tileY - 1 >= 0 ) { if(isClipped(tileX * 50 + 25, (tileY - 1) * 50 + 25) == false && occupied[tileX][tileY - 1] == false && !(used[tileX][tileY - 1])) { pathFindingValues[tileX][tileY - 1] = curVal; topUsed = true; used[tileX][tileY - 1] = true; } if(occupied[tileX][tileY - 1] == true) pathFindingValues[tileX][tileY - 1] = 1000000000; if(isClipped(tileX * 50 + 25, (tileY - 1) * 50 + 25) == true) pathFindingValues[tileX][tileY - 1] = 2000000000; } //top right if(tileX + 1 <= used.length && tileY - 1 >= 0) { if(isClipped((tileX + 1) * 50 + 25, (tileY - 1) * 50 + 25) == false && occupied[tileX + 1][tileY - 1] == false && !(used[tileX + 1][tileY - 1])) { pathFindingValues[tileX + 1][tileY - 1] = curVal; topRightUsed = true; used[tileX + 1][tileY - 1] = true; } if(occupied[tileX + 1][tileY - 1] == true) pathFindingValues[tileX + 1][tileY - 1] = 1000000000; if(isClipped((tileX + 1) * 50 + 25, (tileY - 1) * 50 + 25) == true) pathFindingValues[tileX + 1][tileY - 1] = 2000000000; } //left if(tileX - 1 >= 0) { if(isClipped((tileX - 1) * 50 + 25, (tileY) * 50 + 25) == false && occupied[tileX - 1][tileY] == false && !(used[tileX - 1][tileY])) { pathFindingValues[tileX - 1][tileY] = curVal; leftUsed = true; used[tileX - 1][tileY] = true; } if(occupied[tileX - 1][tileY] == true) pathFindingValues[tileX - 1][tileY] = 1000000000; if(isClipped((tileX - 1) * 50 + 25, (tileY) * 50 + 25) == true) pathFindingValues[tileX - 1][tileY] = 2000000000; } //right if(tileX + 1 <= used.length) { if(isClipped((tileX + 1) * 50 + 25, (tileY) * 50 + 25) == false && occupied[tileX + 1][tileY] == false && !(used[tileX + 1][tileY])) { pathFindingValues[tileX + 1][tileY] = curVal; rightUsed = true; used[tileX + 1][tileY] = true; } if(occupied[tileX + 1][tileY] == true) pathFindingValues[tileX + 1][tileY] = 1000000000; if(isClipped((tileX + 1) * 50 + 25, (tileY) * 50 + 25) == true) pathFindingValues[tileX + 1][tileY] = 2000000000; } //botom left if(tileX - 1 >= 0 && tileY + 1 <= used[0].length) { if(isClipped((tileX - 1) * 50 + 25, (tileY + 1) * 50 + 25) == false && occupied[tileX - 1][tileY + 1] == false && !(used[tileX - 1][tileY + 1])) { pathFindingValues[tileX - 1][tileY + 1] = curVal; botomLeftUsed = true; used[tileX - 1][tileY + 1] = true; } if(occupied[tileX - 1][tileY + 1] == true) pathFindingValues[tileX - 1][tileY + 1] = 1000000000; if(isClipped((tileX - 1) * 50 + 25, (tileY + 1) * 50 + 25) == true) pathFindingValues[tileX - 1][tileY + 1] = 2000000000; } //botom middle if(tileY + 1 <= used[0].length) { if(isClipped((tileX) * 50 + 25, (tileY + 1) * 50 + 25) == false && occupied[tileX][tileY + 1] == false && !(used[tileX][tileY + 1])) { pathFindingValues[tileX][tileY + 1] = curVal; botomUsed = true; used[tileX][tileY + 1] = true; } if(occupied[tileX][tileY + 1] == true) pathFindingValues[tileX][tileY + 1] = 1000000000; if(isClipped((tileX) * 50 + 25, (tileY + 1) * 50 + 25) == true) pathFindingValues[tileX][tileY + 1] = 2000000000; } //botom right if(tileX + 1 <= used.length && tileY + 1 <= used[0].length) { if(isClipped((tileX + 1) * 50 + 25, (tileY + 1) * 50 + 25) == false && occupied[tileX + 1][tileY + 1] == false && !(used[tileX + 1][tileY + 1])) { pathFindingValues[tileX + 1][tileY + 1] = curVal; botomRightUsed = true; used[tileX + 1][tileY + 1] = true; } if(occupied[tileX + 1][tileY + 1] == true) pathFindingValues[tileX + 1][tileY + 1] = 1000000000; if(isClipped((tileX + 1) * 50 + 25, (tileY + 1) * 50 + 25) == true) pathFindingValues[tileX + 1][tileY + 1] = 2000000000; } //call the method on the tiles that need it if(tileX - 1 >= 0 && tileY - 1 >= 0 && topLeftUsed) pathFind(tileX - 1, tileY - 1, curVal, used); if(tileY - 1 >= 0 && topUsed) pathFind(tileX , tileY - 1, curVal, used); if(tileX + 1 <= used.length && tileY - 1 >= 0 && topRightUsed) pathFind(tileX + 1, tileY - 1, curVal, used); if(tileX - 1 >= 0 && leftUsed) pathFind(tileX - 1, tileY, curVal, used); if(tileX + 1 <= used.length && rightUsed) pathFind(tileX + 1, tileY, curVal, used); if(tileX - 1 >= 0 && tileY + 1 <= used[0].length && botomLeftUsed) pathFind(tileX - 1, tileY + 1, curVal, used); if(tileY + 1 <= used[0].length && botomUsed) pathFind(tileX, tileY + 1, curVal, used); if(tileX + 1 <= used.length && tileY + 1 <= used[0].length && botomRightUsed) pathFind(tileX + 1, tileY + 1, curVal, used); }

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• Estimating costs in a GOAP system

  - by fullwall

  I'm currently developing a GOAP system in Java. An explanation of GOAP can be found at http://web.media.mit.edu/~jorkin/goap.html. Essentially, it's using A* to plot between Actions that mutate the world state. To provide a fair chance for all Actions and Goals to execute, I'm using a heuristic function to estimate the cost of doing something. What is the best way to estimate this cost so that it is comparable to all the other costs? As an example, estimating the cost of running away from an enemy versus attacking it - how should the cost be calculated to be comparable?

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• Where are the values of java.library.path being set?

  - by lmestre

  This one could be a WebLogic Server question, but this post is general for any java environment.We were getting  at the very beginning  java library path something like this: /home/lmestre/jdk1.6/jre/lib/amd64/server:/home/lmestre/jdk1.6/jre/lib/amd64:/home/lmestre/jdk1.6/jre/../lib/amd64So, the question was: Where WebLogic Server is setting java.library.path?I never found the answer, so why don't we try to try to answerWhere the JVM is setting java.library.path?public class LibraryPathPrinter {   public static void main(String[] args) {       String javaLibraryPath= System.getProperty("java.library.path");       System.out.println("java.library.path "+javaLibraryPath );   }}after a simplejavac LibraryPathPrinter.javaand then an easyjava LibraryPathPrintervoila!The program printed something like thisjava.library.path  /home/lmestre/jdk1.6/jre/lib/amd64/server:/home/lmestre/jdk1.6/jre/lib/amd64:/home/lmestre/jdk1.6/jre/../lib/amd64So the JVM was the culprit.Enjoy!

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• Restricted pathfinding Area

  - by SubZeron

  So i'm triying to create a little "XCOM : Enemy Unknown" like game ,and using the Aron Granberg's Pathfinding-Tool (free version) to handle the "click to move part. i want to add a little trap system where the hero get stuck inside an area, so he will have only the possibility to move inside this trapped area, so far everything is fine however when i click outside the trapped area, the hero try to reach the destination even though the wall will prevents him from reaching it. so my question is, is there any way to restrict the area where the pathfinding system work to the trapped area dynamically. and wich Graph Type is recommended to use in this situation or this kind of Games (Grid Graph/Navmesh Graph/Point Graph). Thank you. image link for explanation : https://dl.dropbox.com/u/77993668/exemple.jpg

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• How can I plot a radius of all reachable points with pathfinding for a Mob (XNA)?

  - by PugWrath

  I am designing a tactical turn based game. The maps are 2d, but do have varying level-layers and blocking objects/terrain. I'm looking for an algorithm for pathfinding which will allow me to show an opaque shape representing all of the possible max-distance pixels that a mob can move to, knowing the mob's max pixel distance. Any thoughts on this, or do I just need to write a good pathfinding algorithm and use it to find the cutoff points for any direction in which an obstacle exists?

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