static void Grid_SetMoveData (pathing_t *path, const pos3_t toPos, const int c, const byte length, const int dir, const int oz, const int oc, priorityQueue_t *pqueue)
{
pos4_t dummy;
RT_AREA_TEST_POS(path, toPos, c);
RT_AREA_POS(path, toPos, c) = length; /**< Store TUs for this square. */
RT_AREA_FROM_POS(path, toPos, c) = makeDV(dir, oz); /**< Store origination information for this square. */
Vector4Set(dummy, toPos[0], toPos[1], toPos[2], c);
/** @todo add heuristic for A* algorithm */
PQueuePush(pqueue, dummy, length);
}
/**
* @brief Tries to find a path from the given actor(-position) to a given target position
*
* Unlike Grid_CalcPathing, this function does not neccessarily calculate the TU values for
* all positions reachable from 'from'. Instead it tries to find the shortest/fastest path to
* the target position. There is no limit to maxTUs.
*
* @param[in] routing Reference to client or server side routing table (clMap, svMap)
* @param[in] actorSize The size of thing to calc the move for (e.g. size=2 means 2x2).
* The plan is to have the 'origin' in 2x2 units in the bottom-left (towards the lower coordinates) corner of the 2x2 square.
* @param[in,out] path Pointer to client or server side pathing table (clMap, svMap)
* @param[in] from The position to start the calculation from.
* @param[in] targetPos The position where we want to end up.
* @param[in] maxTUs The maximum TUs away from 'from' to calculate move-information for
* @param[in] crouchingState Whether the actor is currently crouching, 1 is yes, 0 is no.
* @param[in] fb_list Forbidden list (entities are standing at those points)
* @param[in] fb_length Length of forbidden list
* @sa G_MoveCalc
* @sa CL_ConditionalMoveCalc
*/
bool Grid_FindPath (const Routing &routing, const actorSizeEnum_t actorSize, pathing_t *path, const pos3_t from, const pos3_t targetPos, byte crouchingState, int maxTUs, byte ** fb_list, int fb_length)
{
bool found = false;
int count;
priorityQueue_t pqueue;
pos4_t epos; /**< Extended position; includes crouching state */
pos3_t pos;
/* this is the position of the current actor- so the actor can stand in the cell it is in when pathfinding */
pos3_t excludeFromForbiddenList;
/* Confirm bounds */
assert((from[2]) < PATHFINDING_HEIGHT);
assert(crouchingState == 0 || crouchingState == 1); /* s.a. ACTOR_MAX_STATES */
/* reset move data */
OBJSET(path->area, ROUTING_NOT_REACHABLE);
OBJSET(path->areaFrom, ROUTING_NOT_REACHABLE);
path->fblist = fb_list;
path->fblength = fb_length;
/* Prepare exclusion of starting-location (i.e. this should be ent-pos or le-pos) in Grid_CheckForbidden */
VectorCopy(from, excludeFromForbiddenList);
/* set starting position to 0 TUs.*/
RT_AREA_POS(path, from, crouchingState) = 0;
PQueueInitialise(&pqueue, 1024);
Vector4Set(epos, from[0], from[1], from[2], crouchingState);
PQueuePush(&pqueue, epos, 0);
count = 0;
while (!PQueueIsEmpty(&pqueue)) {
PQueuePop(&pqueue, epos);
VectorCopy(epos, pos);
count++;
/* if reaching that square already took too many TUs,
* don't bother to reach new squares *from* there. */
const byte usedTUs = RT_AREA_POS(path, pos, crouchingState);
if (usedTUs >= maxTUs)
continue;
for (int dir = 0; dir < PATHFINDING_DIRECTIONS; dir++) {
Step step(routing, pos, actorSize, crouchingState, dir);
/* Directions 12, 14, and 15 are currently undefined. */
if (dir == 12 || dir == 14 || dir == 15)
continue;
/* If this is a crouching or crouching move, forget it. */
if (dir == DIRECTION_STAND_UP || dir == DIRECTION_CROUCH)
continue;
if (!step.init())
continue; /* either dir is irrelevant or something worse happened */
if (!step.isPossible(path))
continue;
/* Is this a better move into this cell? */
RT_AREA_TEST_POS(path, step.toPos, step.crouchingState);
if (RT_AREA_POS(path, step.toPos, step.crouchingState) <= step.TUsAfter) {
continue; /* This move is not optimum. */
}
/* Test for forbidden (by other entities) areas. */
/* Do NOT check the forbiddenList. We might find a multi-turn path. */
#if 0
if (Grid_CheckForbidden(excludeFromForbiddenList, step.actorSize, path, step.toPos[0], step.toPos[1], step.toPos[2])) {
continue; /* That spot is occupied. */
}
#endif
/* Store move in pathing table. */
Grid_SetMoveData(path, step.toPos, step.crouchingState, step.TUsAfter, step.dir, step.fromPos[2]);
pos4_t dummy;
const int dist = step.TUsAfter + (int) (2 * VectorDist(step.toPos, targetPos));
Vector4Set(dummy, step.toPos[0], step.toPos[1], step.toPos[2], step.crouchingState);
PQueuePush(&pqueue, dummy, dist);
if (VectorEqual(step.toPos, targetPos)) {
found = true;
break;
}
}
if (found)
break;
}
/* Com_Printf("Loop: %i", count); */
PQueueFree(&pqueue);
return found;
}
/**
* @brief Recalculate the pathing table for the given actor(-position)
*
* We calculate the table for ALL possible movement states (atm stand and crouch)
* to be able to propose smart things like autostand.
* @param[in] routing Reference to client or server side routing table (clMap, svMap)
* @param[in] actorSize The size of thing to calc the move for (e.g. size=2 means 2x2).
* The plan is to have the 'origin' in 2x2 units in the bottom-left (towards the lower coordinates) corner of the 2x2 square.
* @param[in,out] path Pointer to client or server side pathing table (clMap, svMap)
* @param[in] from The position to start the calculation from.
* @param[in] maxTUs The maximum TUs away from 'from' to calculate move-information for
* @param[in] fb_list Forbidden list (entities are standing at those points)
* @param[in] fb_length Length of forbidden list
* @sa G_MoveCalc
* @sa CL_ConditionalMoveCalc
*/
void Grid_CalcPathing (const Routing &routing, const actorSizeEnum_t actorSize, pathing_t *path, const pos3_t from, int maxTUs, byte ** fb_list, int fb_length)
{
priorityQueue_t pqueue;
pos4_t epos; /**< Extended position; includes crouching state */
pos3_t pos;
int amst; /* acronym for actor movement state */
/* this is the position of the current actor- so the actor can stand in the cell it is in when pathfinding */
pos3_t excludeFromForbiddenList;
/* Confirm bounds */
assert((from[2]) < PATHFINDING_HEIGHT);
/* reset move data */
OBJSET(path->area, ROUTING_NOT_REACHABLE);
OBJSET(path->areaFrom, ROUTING_NOT_REACHABLE);
path->fblist = fb_list;
path->fblength = fb_length;
maxTUs = std::min(maxTUs, MAX_ROUTE_TUS);
/* Prepare exclusion of starting-location (i.e. this should be ent-pos or le-pos) in Grid_CheckForbidden */
VectorCopy(from, excludeFromForbiddenList);
for (amst = 0; amst < ACTOR_MAX_STATES; amst++) {
/* set starting position to 0 TUs.*/
RT_AREA_POS(path, from, amst) = 0;
PQueueInitialise(&pqueue, 1024);
Vector4Set(epos, from[0], from[1], from[2], amst);
PQueuePush(&pqueue, epos, 0);
int count = 0;
while (!PQueueIsEmpty(&pqueue)) {
int dir;
PQueuePop(&pqueue, epos);
VectorCopy(epos, pos);
count++;
/* if reaching that square already took too many TUs,
* don't bother to reach new squares *from* there. */
const byte usedTUs = RT_AREA_POS(path, pos, amst);
if (usedTUs >= maxTUs)
continue;
for (dir = 0; dir < PATHFINDING_DIRECTIONS; ++dir) {
Step step(routing, pos, actorSize, amst, dir);
/* Directions 12, 14, and 15 are currently undefined. */
if (dir == 12 || dir == 14 || dir == 15)
continue;
/* If this is a crouching or crouching move, forget it. */
if (dir == DIRECTION_STAND_UP || dir == DIRECTION_CROUCH)
continue;
if (!step.init())
continue; /* either dir is irrelevant or something worse happened */
if (step.isPossible(path)) {
/* Is this a better move into this cell? */
RT_AREA_TEST_POS(path, step.toPos, step.crouchingState);
if (RT_AREA_POS(path, step.toPos, step.crouchingState) <= step.TUsAfter) {
continue; /* This move is not optimum. */
}
/* Test for forbidden (by other entities) areas. */
if (Grid_CheckForbidden(excludeFromForbiddenList, step.actorSize, path, step.toPos[0],
step.toPos[1], step.toPos[2])) {
continue; /* That spot is occupied. */
}
/* Store move in pathing table. */
Grid_SetMoveData(path, step.toPos, step.crouchingState, step.TUsAfter, step.dir, step.fromPos[2]);
pos4_t dummy;
Vector4Set(dummy, step.toPos[0], step.toPos[1], step.toPos[2], step.crouchingState);
PQueuePush(&pqueue, dummy, step.TUsAfter);
}
}
}
/* Com_Printf("Loop: %i", count); */
PQueueFree(&pqueue);
}
}
static void Grid_SetMoveData (pathing_t *path, const pos3_t toPos, const int crouch, const byte length, const int dir, const int oldZ)
{
RT_AREA_TEST_POS(path, toPos, crouch);
RT_AREA_POS(path, toPos, crouch) = length; /**< Store TUs for this square. */
RT_AREA_FROM_POS(path, toPos, crouch) = makeDV(dir, oldZ); /**< Store origination information for this square. */
}
/**
* @param[in] map Pointer to client or server side routing table (clMap, svMap)
* @param[in] exclude Exclude this position from the forbidden list check
* @param[in] actorSize Give the field size of the actor (e.g. for 2x2 units) to check linked fields as well.
* @param[in,out] path Pointer to client or server side pathing table (clMap, svMap)
* @param[in] pos Current location in the map.
* @param[in] crouchingState Whether the actor is currently crouching, 1 is yes, 0 is no.
* @param[in] dir Direction vector index (see DIRECTIONS and dvecs)
* @param[in,out] pqueue Priority queue (heap) to insert the now reached tiles for reconsidering
* @sa Grid_CheckForbidden
*/
static void Grid_MoveMark (const routing_t *map, const pos3_t exclude, const actorSizeEnum_t actorSize, pathing_t *path, const pos3_t pos, byte crouchingState, const int dir, priorityQueue_t *pqueue)
{
step_t step_;
step_t *step = &step_; /* temporary solution */
pos3_t toPos;
byte TUsSoFar, TUsForMove, TUsAfter;
if (!Grid_StepInit(step, map, actorSize, crouchingState, dir))
return; /* either dir is irrelevant or something worse happened */
TUsSoFar = RT_AREA_POS(path, pos, crouchingState);
/* Find the number of TUs used (normally) to move in this direction. */
TUsForMove = Grid_GetTUsForDirection(dir, crouchingState);
/* calculate the position we would normally end up if moving in the given dir. */
if (!Grid_StepCalcNewPos(step, pos, toPos, dir)) {
return;
}
/* If there is no passageway (or rather lack of a wall) to the desired cell, then return. */
/* If the flier is moving up or down diagonally, then passage height will also adjust */
if (dir >= FLYING_DIRECTIONS) {
if (!Grid_StepCheckFlyingDirections(step, pos, toPos, dir)) {
return;
}
} else if (dir < CORE_DIRECTIONS) {
/** note that this function may modify toPos ! */
if (!Grid_StepCheckWalkingDirections(step, path, pos, toPos, dir, crouchingState)) {
return;
}
} else {
/* else there is no movement that uses passages. */
/* If we are falling, the height difference is the floor value. */
if (!Grid_StepCheckVerticalDirections(step, pos, dir)) {
return;
}
}
/* OK, at this point we are certain of a few things:
* There is not a wall obstructing access to the destination cell.
* If the actor is not a flier, the actor will not rise more than actor_stepup_height or fall more than
* falling_height, unless climbing.
*
* If the actor is a flier, as long as there is a passage, it can be moved through.
* There are no floor difference restrictions for fliers, only obstructions. */
/* nz can't move out of bounds */
if (toPos[2] >= PATHFINDING_HEIGHT)
toPos[2] = PATHFINDING_HEIGHT - 1;
/* Now add the TUs needed to get to the originating cell. */
TUsAfter = TUsSoFar + TUsForMove;
/* Is this a better move into this cell? */
RT_AREA_TEST_POS(path, toPos, crouchingState);
if (RT_AREA_POS(path, toPos, crouchingState) <= TUsAfter) {
return; /* This move is not optimum. */
}
/* Test for forbidden (by other entities) areas. */
if (Grid_CheckForbidden(exclude, actorSize, path, toPos[0], toPos[1], toPos[2])) {
return; /* That spot is occupied. */
}
/* Store move. */
if (pqueue) {
Grid_SetMoveData(path, toPos, crouchingState, TUsAfter, dir, pos[2], crouchingState, pqueue);
}
}
