void PathfindingBehavior::MoveTo(RuntimeScene & scene, float x, float y)
{
if ( parentScene != &scene ) //Parent scene has changed
{
parentScene = &scene;
sceneManager = parentScene ? &ScenePathfindingObstaclesManager::managers[&scene] : NULL;
}
path.clear();
//First be sure that there is a path to compute.
int targetCellX = GDRound(x/(float)cellWidth);
int targetCellY = GDRound(y/(float)cellHeight);
int startCellX = GDRound(object->GetX()/(float)cellWidth);
int startCellY = GDRound(object->GetY()/(float)cellHeight);
if ( startCellX == targetCellX && startCellY == targetCellY ) {
path.push_back(sf::Vector2f(object->GetX(), object->GetY()));
path.push_back(sf::Vector2f(x, y));
EnterSegment(0);
pathFound = true;
return;
}
//Start searching for a path
//TODO: Customizable heuristic.
::SearchContext ctx(*sceneManager, allowDiagonals);
ctx.SetCellSize(cellWidth, cellHeight).SetStartPosition(object->GetX(), object->GetY());
ctx.SetObjectSize(object->GetX()-object->GetDrawableX()+extraBorder,
object->GetY()-object->GetDrawableY()+extraBorder,
object->GetWidth()-(object->GetX()-object->GetDrawableX())+extraBorder,
object->GetHeight()-(object->GetY()-object->GetDrawableY())+extraBorder);
if (ctx.ComputePathTo(x, y))
{
//Path found: memorize it
const ::Node * node = ctx.GetFinalNode();
while (node) {
path.push_back(sf::Vector2f(node->pos.x*(float)cellWidth, node->pos.y*(float)cellHeight));
node = node->parent;
}
std::reverse(path.begin(), path.end());
path[0] = sf::Vector2f(object->GetX(), object->GetY());
EnterSegment(0);
pathFound = true;
return;
}
//Not path found
pathFound = false;
}
void PathBehavior::Reverse()
{
float tempTimeOnSegment = timeOnSegment;
std::reverse(path.begin(), path.end());
EnterSegment(path.size() - currentSegment - 2);
timeOnSegment = totalSegmentTime - tempTimeOnSegment;
}
/**
* Called at each frame before events :
* Position the object on the path
*/
void PathBehavior::DoStepPreEvents(RuntimeScene & scene)
{
if(!isPathLoaded)
{
LoadPath(scene);
Reset();
}
// add to the current time along the path
timeOnSegment += static_cast<double>(scene.GetTimeManager().GetElapsedTime())
/ 1000000.0 * speed;
// if I reached the end of this segment, move to a new segment
if (timeOnSegment >= totalSegmentTime && currentSegment < path.size())
EnterSegment(currentSegment + 1);
//Position object on the segment
sf::Vector2f newPos;
if ( !path.empty() && currentSegment < path.size()-1 )
newPos = offset + path[currentSegment] + (path[currentSegment + 1] - path[currentSegment]) * (timeOnSegment / totalSegmentTime);
else
{
if ( stopAtEnd && !path.empty()) newPos = path.back() + offset;
else if (reverseAtEnd)
{
std::reverse(path.begin(), path.end());
EnterSegment(0);
if (!path.empty()) newPos = path.front() + offset;
}
else
{
EnterSegment(0);
if (!path.empty()) newPos = path.front() + offset;
}
}
object->SetX(newPos.x);
object->SetY(newPos.y);
return;
}
void PathBehavior::DoStepPostEvents(RuntimeScene & scene)
{
if(!isPathLoaded)
{
LoadPath(scene);
Reset();
}
if(futureSegment != -1)
{
EnterSegment(futureSegment);
futureSegment = -1;
}
if(futurePosition != -1)
{
timeOnSegment = futurePosition * totalSegmentTime;
futurePosition = -1;
}
}
void PathfindingBehavior::DoStepPreEvents(RuntimeScene & scene)
{
if ( parentScene != &scene ) //Parent scene has changed
{
parentScene = &scene;
sceneManager = parentScene ? &ScenePathfindingObstaclesManager::managers[&scene] : NULL;
}
if ( !sceneManager ) return;
if (path.empty() || reachedEnd) return;
//Update the speed of the object
float timeDelta = static_cast<double>(scene.GetTimeManager().GetElapsedTime()) / 1000000.0;
speed += acceleration*timeDelta;
if ( speed > maxSpeed ) speed = maxSpeed;
angularSpeed = angularMaxSpeed; //No acceleration for angular speed for now
//Update the time on the segment and change segment if needed
timeOnSegment += speed*timeDelta;
if (timeOnSegment >= totalSegmentTime && currentSegment < path.size())
EnterSegment(currentSegment + 1);
//Position object on the segment and update its angle
sf::Vector2f newPos;
float pathAngle = object->GetAngle();
if ( currentSegment < path.size()-1 ) {
newPos = path[currentSegment] + (path[currentSegment + 1] - path[currentSegment]) * (timeOnSegment / totalSegmentTime);
pathAngle = atan2(path[currentSegment+1].y - path[currentSegment].y,
path[currentSegment+1].x - path[currentSegment].x)*180/3.14159+angleOffset;
}
else
newPos = path.back();
object->SetX(newPos.x);
object->SetY(newPos.y);
//Also update angle if needed
if ( rotateObject )
object->RotateTowardAngle(pathAngle, angularSpeed, scene);
}
void PathBehavior::Reset()
{
EnterSegment(0);
}