TbBool creature_can_navigate_to_with_storage_f(const struct Thing *creatng, const struct Coord3d *pos, NaviRouteFlags flags, const char *func_name)
{
AriadneReturn aret;
NAVIDBG(8,"%s: Route for %s index %d from %3d,%3d to %3d,%3d", func_name, thing_model_name(creatng),(int)creatng->index,
(int)creatng->mappos.x.stl.num, (int)creatng->mappos.y.stl.num, (int)pos->x.stl.num, (int)pos->y.stl.num);
aret = ariadne_initialise_creature_route_f((struct Thing *)creatng, pos, get_creature_speed(creatng), flags, func_name);
NAVIDBG(18,"Ariadne returned %d",(int)aret);
return (aret == AridRet_OK);
}
void delaunay_stack_point(long pt_x, long pt_y)
{
long tri_idx,cor_idx;
long dst_tri_idx,dst_cor_idx;
long tri_id2, i;
NAVIDBG(19,"Starting");
//_DK_delaunay_stack_point(pt_x, pt_y); return;
tri_idx = triangle_find8(pt_x << 8, pt_y << 8);
if (tri_idx == -1) {
NAVIDBG(19,"Tri not found");
return;
}
delaunay_add_triangle(tri_idx);
for (cor_idx=0; cor_idx < 3; cor_idx++)
{
tri_id2 = Triangles[tri_idx].tags[cor_idx];
if (tri_id2 != -1) {
delaunay_add_triangle(tri_id2);
}
}
if (point_find(pt_x, pt_y, &dst_tri_idx, &dst_cor_idx))
{
tri_idx = dst_tri_idx;
cor_idx = dst_cor_idx;
unsigned long k;
k = 0;
do
{
tri_id2 = Triangles[tri_idx].tags[cor_idx];
if (tri_id2 == -1) {
NAVIDBG(19,"Tag not found");
break;
}
i = link_find(tri_id2, tri_idx);
if (i == -1) {
NAVIDBG(19,"Link not found");
break;
}
cor_idx = MOD3[i+1];
tri_idx = tri_id2;
delaunay_add_triangle(tri_idx);
k++;
if (k >= TRIANLGLES_COUNT) {
ERRORDBG(9,"Infinite loop detected");
break;
}
}
while (tri_idx != dst_tri_idx);
}
NAVIDBG(19,"Done");
}
long delaunay_seeded(long start_x, long start_y, long end_x, long end_y)
{
long tri_idx,cor_idx;
long tri_id2,cor_id2;
long count;
NAVIDBG(19,"Starting");
//return _DK_delaunay_seeded(start_x, start_y, end_x, end_y);
tags_init();
delaunay_init();
delaunay_stack_point(start_x, start_y);
delaunay_stack_point(start_x, end_y);
delaunay_stack_point(end_x, start_y);
delaunay_stack_point(end_x, end_y);
count = 0;
while (ix_delaunay > 0)
{
ix_delaunay--;
tri_idx = delaunay_stack[ix_delaunay];
for (cor_idx=0; cor_idx < 3; cor_idx++)
{
if (!optimise_heuristic(tri_idx, cor_idx))
continue;
count++;
edge_rotateAC(tri_idx, cor_idx);
if (ix_delaunay+4 >= DELAUNAY_COUNT)
{
ERRORLOG("stack full");
return count;
}
for (cor_id2=0; cor_id2 < 3; cor_id2++)
{
tri_id2 = Triangles[tri_idx].tags[cor_id2];
if (tri_id2 == -1)
continue;
delaunay_add_triangle(tri_id2);
}
}
}
return count;
}
