bool CCmpPathfinder::CheckUnitPlacement(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t r, pass_class_t passClass) { // Check unit obstruction CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY); if (cmpObstructionManager.null()) return false; if (cmpObstructionManager->TestUnitShape(filter, x, z, r, NULL)) return false; // Test against terrain: UpdateGrid(); u16 i0, j0, i1, j1; NearestTile(x - r, z - r, i0, j0); NearestTile(x + r, z + r, i1, j1); for (u16 j = j0; j <= j1; ++j) { for (u16 i = i0; i <= i1; ++i) { if (!IS_TERRAIN_PASSABLE(m_Grid->get(i,j), passClass)) { return false; } } } return true; }
ICmpObstruction::EFoundationCheck CCmpPathfinder::CheckBuildingPlacement(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t a, entity_pos_t w, entity_pos_t h, entity_id_t id, pass_class_t passClass, bool onlyCenterPoint) { // Check unit obstruction CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY); if (!cmpObstructionManager) return ICmpObstruction::FOUNDATION_CHECK_FAIL_ERROR; if (cmpObstructionManager->TestStaticShape(filter, x, z, a, w, h, NULL)) return ICmpObstruction::FOUNDATION_CHECK_FAIL_OBSTRUCTS_FOUNDATION; // Test against terrain: UpdateGrid(); ICmpObstructionManager::ObstructionSquare square; CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), id); if (!cmpObstruction || !cmpObstruction->GetObstructionSquare(square)) return ICmpObstruction::FOUNDATION_CHECK_FAIL_NO_OBSTRUCTION; if (onlyCenterPoint) { u16 i, j; NearestTile(x, z, i, j); if (IS_TERRAIN_PASSABLE(m_Grid->get(i,j), passClass)) return ICmpObstruction::FOUNDATION_CHECK_SUCCESS; return ICmpObstruction::FOUNDATION_CHECK_FAIL_TERRAIN_CLASS; } // Expand bounds by 1/sqrt(2) tile (multiply by TERRAIN_TILE_SIZE since we want world coordinates) entity_pos_t expand = entity_pos_t::FromInt(2).Sqrt().Multiply(entity_pos_t::FromInt(TERRAIN_TILE_SIZE / 2)); CFixedVector2D halfSize(square.hw + expand, square.hh + expand); CFixedVector2D halfBound = Geometry::GetHalfBoundingBox(square.u, square.v, halfSize); u16 i0, j0, i1, j1; NearestTile(square.x - halfBound.X, square.z - halfBound.Y, i0, j0); NearestTile(square.x + halfBound.X, square.z + halfBound.Y, i1, j1); for (u16 j = j0; j <= j1; ++j) { for (u16 i = i0; i <= i1; ++i) { entity_pos_t x, z; TileCenter(i, j, x, z); if (Geometry::PointIsInSquare(CFixedVector2D(x - square.x, z - square.z), square.u, square.v, halfSize) && !IS_TERRAIN_PASSABLE(m_Grid->get(i,j), passClass)) { return ICmpObstruction::FOUNDATION_CHECK_FAIL_TERRAIN_CLASS; } } } return ICmpObstruction::FOUNDATION_CHECK_SUCCESS; }
fixed CCmpPathfinder::GetMovementSpeed(entity_pos_t x0, entity_pos_t z0, u8 costClass) { UpdateGrid(); u16 i, j; NearestTile(x0, z0, i, j); TerrainTile tileTag = m_Grid->get(i, j); return m_MoveSpeeds.at(costClass).at(GET_COST_CLASS(tileTag)); }
bool CCmpPathfinder::CheckMovement(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, entity_pos_t r, pass_class_t passClass) { CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY); if (cmpObstructionManager.null()) return false; if (cmpObstructionManager->TestLine(filter, x0, z0, x1, z1, r)) return false; // Test against terrain: // (TODO: this could probably be a tiny bit faster by not reusing all the vertex computation code) UpdateGrid(); std::vector<Edge> edgesAA; std::vector<Vertex> vertexes; u16 i0, j0, i1, j1; NearestTile(std::min(x0, x1) - r, std::min(z0, z1) - r, i0, j0); NearestTile(std::max(x0, x1) + r, std::max(z0, z1) + r, i1, j1); AddTerrainEdges(edgesAA, vertexes, i0, j0, i1, j1, r, passClass, *m_Grid); CFixedVector2D a(x0, z0); CFixedVector2D b(x1, z1); std::vector<EdgeAA> edgesLeft; std::vector<EdgeAA> edgesRight; std::vector<EdgeAA> edgesBottom; std::vector<EdgeAA> edgesTop; SplitAAEdges(a, edgesAA, edgesLeft, edgesRight, edgesBottom, edgesTop); bool visible = CheckVisibilityLeft(a, b, edgesLeft) && CheckVisibilityRight(a, b, edgesRight) && CheckVisibilityBottom(a, b, edgesBottom) && CheckVisibilityTop(a, b, edgesTop); return visible; }
ICmpObstruction::EFoundationCheck CCmpPathfinder::CheckUnitPlacement(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t r, pass_class_t passClass, bool onlyCenterPoint) { // Check unit obstruction CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY); if (!cmpObstructionManager) return ICmpObstruction::FOUNDATION_CHECK_FAIL_ERROR; if (cmpObstructionManager->TestUnitShape(filter, x, z, r, NULL)) return ICmpObstruction::FOUNDATION_CHECK_FAIL_OBSTRUCTS_FOUNDATION; // Test against terrain: UpdateGrid(); if (onlyCenterPoint) { u16 i, j; NearestTile(x , z, i, j); if (IS_TERRAIN_PASSABLE(m_Grid->get(i,j), passClass)) return ICmpObstruction::FOUNDATION_CHECK_SUCCESS; return ICmpObstruction::FOUNDATION_CHECK_FAIL_TERRAIN_CLASS; } u16 i0, j0, i1, j1; NearestTile(x - r, z - r, i0, j0); NearestTile(x + r, z + r, i1, j1); for (u16 j = j0; j <= j1; ++j) { for (u16 i = i0; i <= i1; ++i) { if (!IS_TERRAIN_PASSABLE(m_Grid->get(i,j), passClass)) { return ICmpObstruction::FOUNDATION_CHECK_FAIL_TERRAIN_CLASS; } } } return ICmpObstruction::FOUNDATION_CHECK_SUCCESS; }
void CCmpPathfinder::ComputeShortPath(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t r, entity_pos_t range, const Goal& goal, pass_class_t passClass, Path& path) { UpdateGrid(); // TODO: only need to bother updating if the terrain changed PROFILE("ComputeShortPath"); // ScopeTimer UID__(L"ComputeShortPath"); m_DebugOverlayShortPathLines.clear(); if (m_DebugOverlay) { // Render the goal shape m_DebugOverlayShortPathLines.push_back(SOverlayLine()); m_DebugOverlayShortPathLines.back().m_Color = CColor(1, 0, 0, 1); switch (goal.type) { case CCmpPathfinder::Goal::POINT: { SimRender::ConstructCircleOnGround(GetSimContext(), goal.x.ToFloat(), goal.z.ToFloat(), 0.2f, m_DebugOverlayShortPathLines.back(), true); break; } case CCmpPathfinder::Goal::CIRCLE: { SimRender::ConstructCircleOnGround(GetSimContext(), goal.x.ToFloat(), goal.z.ToFloat(), goal.hw.ToFloat(), m_DebugOverlayShortPathLines.back(), true); break; } case CCmpPathfinder::Goal::SQUARE: { float a = atan2f(goal.v.X.ToFloat(), goal.v.Y.ToFloat()); SimRender::ConstructSquareOnGround(GetSimContext(), goal.x.ToFloat(), goal.z.ToFloat(), goal.hw.ToFloat()*2, goal.hh.ToFloat()*2, a, m_DebugOverlayShortPathLines.back(), true); break; } } } // List of collision edges - paths must never cross these. // (Edges are one-sided so intersections are fine in one direction, but not the other direction.) std::vector<Edge> edges; std::vector<Edge> edgesAA; // axis-aligned squares // Create impassable edges at the max-range boundary, so we can't escape the region // where we're meant to be searching fixed rangeXMin = x0 - range; fixed rangeXMax = x0 + range; fixed rangeZMin = z0 - range; fixed rangeZMax = z0 + range; { // (The edges are the opposite direction to usual, so it's an inside-out square) Edge e0 = { CFixedVector2D(rangeXMin, rangeZMin), CFixedVector2D(rangeXMin, rangeZMax) }; Edge e1 = { CFixedVector2D(rangeXMin, rangeZMax), CFixedVector2D(rangeXMax, rangeZMax) }; Edge e2 = { CFixedVector2D(rangeXMax, rangeZMax), CFixedVector2D(rangeXMax, rangeZMin) }; Edge e3 = { CFixedVector2D(rangeXMax, rangeZMin), CFixedVector2D(rangeXMin, rangeZMin) }; edges.push_back(e0); edges.push_back(e1); edges.push_back(e2); edges.push_back(e3); } // List of obstruction vertexes (plus start/end points); we'll try to find paths through // the graph defined by these vertexes std::vector<Vertex> vertexes; // Add the start point to the graph CFixedVector2D posStart(x0, z0); fixed hStart = (posStart - NearestPointOnGoal(posStart, goal)).Length(); Vertex start = { posStart, fixed::Zero(), hStart, 0, Vertex::OPEN, QUADRANT_NONE, QUADRANT_ALL }; vertexes.push_back(start); const size_t START_VERTEX_ID = 0; // Add the goal vertex to the graph. // Since the goal isn't always a point, this a special magic virtual vertex which moves around - whenever // we look at it from another vertex, it is moved to be the closest point on the goal shape to that vertex. Vertex end = { CFixedVector2D(goal.x, goal.z), fixed::Zero(), fixed::Zero(), 0, Vertex::UNEXPLORED, QUADRANT_NONE, QUADRANT_ALL }; vertexes.push_back(end); const size_t GOAL_VERTEX_ID = 1; // Add terrain obstructions { u16 i0, j0, i1, j1; NearestTile(rangeXMin, rangeZMin, i0, j0); NearestTile(rangeXMax, rangeZMax, i1, j1); AddTerrainEdges(edgesAA, vertexes, i0, j0, i1, j1, r, passClass, *m_Grid); } // Find all the obstruction squares that might affect us CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY); std::vector<ICmpObstructionManager::ObstructionSquare> squares; cmpObstructionManager->GetObstructionsInRange(filter, rangeXMin - r, rangeZMin - r, rangeXMax + r, rangeZMax + r, squares); // Resize arrays to reduce reallocations vertexes.reserve(vertexes.size() + squares.size()*4); edgesAA.reserve(edgesAA.size() + squares.size()); // (assume most squares are AA) // Convert each obstruction square into collision edges and search graph vertexes for (size_t i = 0; i < squares.size(); ++i) { CFixedVector2D center(squares[i].x, squares[i].z); CFixedVector2D u = squares[i].u; CFixedVector2D v = squares[i].v; // Expand the vertexes by the moving unit's collision radius, to find the // closest we can get to it CFixedVector2D hd0(squares[i].hw + r + EDGE_EXPAND_DELTA, squares[i].hh + r + EDGE_EXPAND_DELTA); CFixedVector2D hd1(squares[i].hw + r + EDGE_EXPAND_DELTA, -(squares[i].hh + r + EDGE_EXPAND_DELTA)); // Check whether this is an axis-aligned square bool aa = (u.X == fixed::FromInt(1) && u.Y == fixed::Zero() && v.X == fixed::Zero() && v.Y == fixed::FromInt(1)); Vertex vert; vert.status = Vertex::UNEXPLORED; vert.quadInward = QUADRANT_NONE; vert.quadOutward = QUADRANT_ALL; vert.p.X = center.X - hd0.Dot(u); vert.p.Y = center.Y + hd0.Dot(v); if (aa) vert.quadInward = QUADRANT_BR; vertexes.push_back(vert); vert.p.X = center.X - hd1.Dot(u); vert.p.Y = center.Y + hd1.Dot(v); if (aa) vert.quadInward = QUADRANT_TR; vertexes.push_back(vert); vert.p.X = center.X + hd0.Dot(u); vert.p.Y = center.Y - hd0.Dot(v); if (aa) vert.quadInward = QUADRANT_TL; vertexes.push_back(vert); vert.p.X = center.X + hd1.Dot(u); vert.p.Y = center.Y - hd1.Dot(v); if (aa) vert.quadInward = QUADRANT_BL; vertexes.push_back(vert); // Add the edges: CFixedVector2D h0(squares[i].hw + r, squares[i].hh + r); CFixedVector2D h1(squares[i].hw + r, -(squares[i].hh + r)); CFixedVector2D ev0(center.X - h0.Dot(u), center.Y + h0.Dot(v)); CFixedVector2D ev1(center.X - h1.Dot(u), center.Y + h1.Dot(v)); CFixedVector2D ev2(center.X + h0.Dot(u), center.Y - h0.Dot(v)); CFixedVector2D ev3(center.X + h1.Dot(u), center.Y - h1.Dot(v)); if (aa) { Edge e = { ev1, ev3 }; edgesAA.push_back(e); } else { Edge e0 = { ev0, ev1 }; Edge e1 = { ev1, ev2 }; Edge e2 = { ev2, ev3 }; Edge e3 = { ev3, ev0 }; edges.push_back(e0); edges.push_back(e1); edges.push_back(e2); edges.push_back(e3); } // TODO: should clip out vertexes and edges that are outside the range, // to reduce the search space } ENSURE(vertexes.size() < 65536); // we store array indexes as u16 if (m_DebugOverlay) { // Render the obstruction edges for (size_t i = 0; i < edges.size(); ++i) { m_DebugOverlayShortPathLines.push_back(SOverlayLine()); m_DebugOverlayShortPathLines.back().m_Color = CColor(0, 1, 1, 1); std::vector<float> xz; xz.push_back(edges[i].p0.X.ToFloat()); xz.push_back(edges[i].p0.Y.ToFloat()); xz.push_back(edges[i].p1.X.ToFloat()); xz.push_back(edges[i].p1.Y.ToFloat()); SimRender::ConstructLineOnGround(GetSimContext(), xz, m_DebugOverlayShortPathLines.back(), true); } for (size_t i = 0; i < edgesAA.size(); ++i) { m_DebugOverlayShortPathLines.push_back(SOverlayLine()); m_DebugOverlayShortPathLines.back().m_Color = CColor(0, 1, 1, 1); std::vector<float> xz; xz.push_back(edgesAA[i].p0.X.ToFloat()); xz.push_back(edgesAA[i].p0.Y.ToFloat()); xz.push_back(edgesAA[i].p0.X.ToFloat()); xz.push_back(edgesAA[i].p1.Y.ToFloat()); xz.push_back(edgesAA[i].p1.X.ToFloat()); xz.push_back(edgesAA[i].p1.Y.ToFloat()); xz.push_back(edgesAA[i].p1.X.ToFloat()); xz.push_back(edgesAA[i].p0.Y.ToFloat()); xz.push_back(edgesAA[i].p0.X.ToFloat()); xz.push_back(edgesAA[i].p0.Y.ToFloat()); SimRender::ConstructLineOnGround(GetSimContext(), xz, m_DebugOverlayShortPathLines.back(), true); } } // Do an A* search over the vertex/visibility graph: // Since we are just measuring Euclidean distance the heuristic is admissible, // so we never have to re-examine a node once it's been moved to the closed set. // To save time in common cases, we don't precompute a graph of valid edges between vertexes; // we do it lazily instead. When the search algorithm reaches a vertex, we examine every other // vertex and see if we can reach it without hitting any collision edges, and ignore the ones // we can't reach. Since the algorithm can only reach a vertex once (and then it'll be marked // as closed), we won't be doing any redundant visibility computations. PROFILE_START("A*"); PriorityQueue open; PriorityQueue::Item qiStart = { START_VERTEX_ID, start.h }; open.push(qiStart); u16 idBest = START_VERTEX_ID; fixed hBest = start.h; while (!open.empty()) { // Move best tile from open to closed PriorityQueue::Item curr = open.pop(); vertexes[curr.id].status = Vertex::CLOSED; // If we've reached the destination, stop if (curr.id == GOAL_VERTEX_ID) { idBest = curr.id; break; } // Sort the edges so ones nearer this vertex are checked first by CheckVisibility, // since they're more likely to block the rays std::sort(edgesAA.begin(), edgesAA.end(), EdgeSort(vertexes[curr.id].p)); std::vector<EdgeAA> edgesLeft; std::vector<EdgeAA> edgesRight; std::vector<EdgeAA> edgesBottom; std::vector<EdgeAA> edgesTop; SplitAAEdges(vertexes[curr.id].p, edgesAA, edgesLeft, edgesRight, edgesBottom, edgesTop); // Check the lines to every other vertex for (size_t n = 0; n < vertexes.size(); ++n) { if (vertexes[n].status == Vertex::CLOSED) continue; // If this is the magical goal vertex, move it to near the current vertex CFixedVector2D npos; if (n == GOAL_VERTEX_ID) { npos = NearestPointOnGoal(vertexes[curr.id].p, goal); // To prevent integer overflows later on, we need to ensure all vertexes are // 'close' to the source. The goal might be far away (not a good idea but // sometimes it happens), so clamp it to the current search range npos.X = clamp(npos.X, rangeXMin, rangeXMax); npos.Y = clamp(npos.Y, rangeZMin, rangeZMax); } else { npos = vertexes[n].p; } // Work out which quadrant(s) we're approaching the new vertex from u8 quad = 0; if (vertexes[curr.id].p.X <= npos.X && vertexes[curr.id].p.Y <= npos.Y) quad |= QUADRANT_BL; if (vertexes[curr.id].p.X >= npos.X && vertexes[curr.id].p.Y >= npos.Y) quad |= QUADRANT_TR; if (vertexes[curr.id].p.X <= npos.X && vertexes[curr.id].p.Y >= npos.Y) quad |= QUADRANT_TL; if (vertexes[curr.id].p.X >= npos.X && vertexes[curr.id].p.Y <= npos.Y) quad |= QUADRANT_BR; // Check that the new vertex is in the right quadrant for the old vertex if (!(vertexes[curr.id].quadOutward & quad)) { // Hack: Always head towards the goal if possible, to avoid missing it if it's // inside another unit if (n != GOAL_VERTEX_ID) { continue; } } bool visible = CheckVisibilityLeft(vertexes[curr.id].p, npos, edgesLeft) && CheckVisibilityRight(vertexes[curr.id].p, npos, edgesRight) && CheckVisibilityBottom(vertexes[curr.id].p, npos, edgesBottom) && CheckVisibilityTop(vertexes[curr.id].p, npos, edgesTop) && CheckVisibility(vertexes[curr.id].p, npos, edges); /* // Render the edges that we examine m_DebugOverlayShortPathLines.push_back(SOverlayLine()); m_DebugOverlayShortPathLines.back().m_Color = visible ? CColor(0, 1, 0, 0.5) : CColor(1, 0, 0, 0.5); std::vector<float> xz; xz.push_back(vertexes[curr.id].p.X.ToFloat()); xz.push_back(vertexes[curr.id].p.Y.ToFloat()); xz.push_back(npos.X.ToFloat()); xz.push_back(npos.Y.ToFloat()); SimRender::ConstructLineOnGround(GetSimContext(), xz, m_DebugOverlayShortPathLines.back(), false); //*/ if (visible) { fixed g = vertexes[curr.id].g + (vertexes[curr.id].p - npos).Length(); // If this is a new tile, compute the heuristic distance if (vertexes[n].status == Vertex::UNEXPLORED) { // Add it to the open list: vertexes[n].status = Vertex::OPEN; vertexes[n].g = g; vertexes[n].h = DistanceToGoal(npos, goal); vertexes[n].pred = curr.id; // If this is an axis-aligned shape, the path must continue in the same quadrant // direction (but not go into the inside of the shape). // Hack: If we started *inside* a shape then perhaps headed to its corner (e.g. the unit // was very near another unit), don't restrict further pathing. if (vertexes[n].quadInward && !(curr.id == START_VERTEX_ID && g < fixed::FromInt(8))) vertexes[n].quadOutward = ((~vertexes[n].quadInward) & quad) & 0xF; if (n == GOAL_VERTEX_ID) vertexes[n].p = npos; // remember the new best goal position PriorityQueue::Item t = { (u16)n, g + vertexes[n].h }; open.push(t); // Remember the heuristically best vertex we've seen so far, in case we never actually reach the target if (vertexes[n].h < hBest) { idBest = (u16)n; hBest = vertexes[n].h; } } else // must be OPEN { // If we've already seen this tile, and the new path to this tile does not have a // better cost, then stop now if (g >= vertexes[n].g) continue; // Otherwise, we have a better path, so replace the old one with the new cost/parent vertexes[n].g = g; vertexes[n].pred = curr.id; // If this is an axis-aligned shape, the path must continue in the same quadrant // direction (but not go into the inside of the shape). if (vertexes[n].quadInward) vertexes[n].quadOutward = ((~vertexes[n].quadInward) & quad) & 0xF; if (n == GOAL_VERTEX_ID) vertexes[n].p = npos; // remember the new best goal position open.promote((u16)n, g + vertexes[n].h); } } } } // Reconstruct the path (in reverse) for (u16 id = idBest; id != START_VERTEX_ID; id = vertexes[id].pred) { Waypoint w = { vertexes[id].p.X, vertexes[id].p.Y }; path.m_Waypoints.push_back(w); } PROFILE_END("A*"); }
void CCmpPathfinder::ComputePath(entity_pos_t x0, entity_pos_t z0, const Goal& goal, pass_class_t passClass, cost_class_t costClass, Path& path) { UpdateGrid(); PROFILE("ComputePath"); PathfinderState state = { 0 }; // Convert the start/end coordinates to tile indexes u16 i0, j0; NearestTile(x0, z0, i0, j0); NearestTile(goal.x, goal.z, state.iGoal, state.jGoal); // If we're already at the goal tile, then move directly to the exact goal coordinates if (AtGoal(i0, j0, goal)) { Waypoint w = { goal.x, goal.z }; path.m_Waypoints.push_back(w); return; } // If the target is a circle, we want to aim for the edge of it (so e.g. if we're inside // a large circle then the heuristics will aim us directly outwards); // otherwise just aim at the center point. (We'll never try moving outwards to a square shape.) if (goal.type == Goal::CIRCLE) state.rGoal = (goal.hw / (int)CELL_SIZE).ToInt_RoundToZero(); else state.rGoal = 0; state.passClass = passClass; state.moveCosts = m_MoveCosts.at(costClass); state.steps = 0; state.tiles = new PathfindTileGrid(m_MapSize, m_MapSize); state.terrain = m_Grid; state.iBest = i0; state.jBest = j0; state.hBest = CalculateHeuristic(i0, j0, state.iGoal, state.jGoal, state.rGoal); PriorityQueue::Item start = { std::make_pair(i0, j0), 0 }; state.open.push(start); state.tiles->get(i0, j0).SetStatusOpen(); state.tiles->get(i0, j0).SetPred(i0, j0, i0, j0); state.tiles->get(i0, j0).cost = 0; // To prevent units getting very stuck, if they start on an impassable tile // surrounded entirely by impassable tiles, we ignore the impassability state.ignoreImpassable = !IS_PASSABLE(state.terrain->get(i0, j0), state.passClass); while (1) { ++state.steps; // Hack to avoid spending ages computing giant paths, particularly when // the destination is unreachable if (state.steps > 40000) break; // If we ran out of tiles to examine, give up if (state.open.empty()) break; #if PATHFIND_STATS state.sumOpenSize += state.open.size(); #endif // Move best tile from open to closed PriorityQueue::Item curr = state.open.pop(); u16 i = curr.id.first; u16 j = curr.id.second; state.tiles->get(i, j).SetStatusClosed(); // If we've reached the destination, stop if (AtGoal(i, j, goal)) { state.iBest = i; state.jBest = j; state.hBest = 0; break; } // As soon as we find an escape route from the impassable terrain, // take it and forbid any further use of impassable tiles if (state.ignoreImpassable) { if (i > 0 && IS_PASSABLE(state.terrain->get(i-1, j), state.passClass)) state.ignoreImpassable = false; else if (i < m_MapSize-1 && IS_PASSABLE(state.terrain->get(i+1, j), state.passClass)) state.ignoreImpassable = false; else if (j > 0 && IS_PASSABLE(state.terrain->get(i, j-1), state.passClass)) state.ignoreImpassable = false; else if (j < m_MapSize-1 && IS_PASSABLE(state.terrain->get(i, j+1), state.passClass)) state.ignoreImpassable = false; } u32 g = state.tiles->get(i, j).cost; if (i > 0) ProcessNeighbour(i, j, i-1, j, g, state); if (i < m_MapSize-1) ProcessNeighbour(i, j, i+1, j, g, state); if (j > 0) ProcessNeighbour(i, j, i, j-1, g, state); if (j < m_MapSize-1) ProcessNeighbour(i, j, i, j+1, g, state); } // Reconstruct the path (in reverse) u16 ip = state.iBest, jp = state.jBest; while (ip != i0 || jp != j0) { PathfindTile& n = state.tiles->get(ip, jp); entity_pos_t x, z; TileCenter(ip, jp, x, z); Waypoint w = { x, z }; path.m_Waypoints.push_back(w); // Follow the predecessor link ip = n.GetPredI(ip); jp = n.GetPredJ(jp); } // Save this grid for debug display delete m_DebugGrid; m_DebugGrid = state.tiles; m_DebugSteps = state.steps; #if PATHFIND_STATS printf("PATHFINDER: steps=%d avgo=%d proc=%d impc=%d impo=%d addo=%d\n", state.steps, state.sumOpenSize/state.steps, state.numProcessed, state.numImproveClosed, state.numImproveOpen, state.numAddToOpen); #endif }