/*
* radius is in full res.
* returns the path cost.
*/
float CPathFinder::MakePath(F3Vec& posPath, float3& startPos, float3& endPos, int radius) {
ai->math->TimerStart();
path.clear();
ai->math->F3MapBound(startPos);
ai->math->F3MapBound(endPos);
float totalcost = 0.0f;
int ex = int(endPos.x / (8 * resmodifier));
int ey = int(endPos.z / (8 * resmodifier));
int sy = int(startPos.z / (8 * resmodifier));
int sx = int(startPos.x / (8 * resmodifier));
radius /= int(8 * resmodifier);
if (micropather->FindBestPathToPointOnRadius(XY2Node(sx, sy), XY2Node(ex, ey), &path, &totalcost, radius) == MicroPather::SOLVED) {
posPath.reserve(path.size());
for (unsigned i = 0; i < path.size(); i++) {
float3 mypos = Node2Pos(path[i]);
mypos.y = ai->cb->GetElevation(mypos.x, mypos.z);
posPath.push_back(mypos);
}
}
return totalcost;
}
/*
radius is in full res.
returns the path cost.
*/
float CPathFinder::MakePath(vector<float3> *posPath, float3 *startPos, float3 *endPos, int radius)
{
////L("Makepath radius Started");
ai->math->TimerStart();
float totalcost;
ClearPath();
int sx,sy,ex,ey;
ai->math->F3MapBound(startPos);
ai->math->F3MapBound(endPos);
ex = int(endPos->x / (8 *resmodifier));
ey = int(endPos->z / (8 *resmodifier));
sy = int(startPos->z / (8 *resmodifier));
sx = int(startPos->x / (8 *resmodifier));
radius /= int(8 *resmodifier);
////L("StartPos : " << startPos->x << "," << startPos->z << " End Pos: " << endPos->x << "," << endPos->z);
if(micropather->FindBestPathToPointOnRadius(XY2Node(sx,sy),XY2Node(ex,ey),&path,&totalcost, radius) == MicroPather::SOLVED){
////L("attack solution solved! Path size = " << path.size());
posPath->reserve(path.size());
for(unsigned i = 0; i < path.size();i++) {
////L("adding path point");
float3 mypos = Node2Pos(path[i]);
mypos.y = ai->cb->GetElevation(mypos.x, mypos.z);
posPath->push_back(mypos);
}
//char c[500];
//sprintf(c,"Time Taken: %f Total Cost %i",ai->math->TimerSecs(),int(totalcost));
//ai->cb->SendTextMsg(c,0);
}
else{
//L("MakePath: path failed");
//ai->cb->SendTextMsg("ATTACK FAILED!",0);
}
return totalcost;
}
float CPathFinder::FindBestPath(F3Vec& posPath, float3& startPos, float myMaxRange, F3Vec& possibleTargets) {
ai->math->TimerStart();
path.clear();
// make a list with the points that will count as end nodes
float totalcost = 0.0f;
const unsigned int radius = int(myMaxRange / (8 * resmodifier));
int offsetSize = 0;
std::vector<std::pair<int, int> > offsets;
std::vector<int> xend;
std::vector<void*> endNodes;
endNodes.reserve(possibleTargets.size() * radius * 10);
{
const unsigned int DoubleRadius = radius * 2;
const unsigned int SquareRadius = radius * radius;
xend.resize(DoubleRadius + 1);
offsets.resize(DoubleRadius * 5);
for (size_t a = 0; a < DoubleRadius + 1; a++) {
const float z = (int) (a - radius);
const float floatsqrradius = SquareRadius;
xend[a] = int(sqrt(floatsqrradius - z * z));
}
offsets[0].first = 0;
offsets[0].second = 0;
size_t index = 1;
size_t index2 = 1;
for (size_t a = 1; a < radius + 1; a++) {
int endPosIdx = xend[a];
int startPosIdx = xend[a - 1];
while (startPosIdx <= endPosIdx) {
assert(index < offsets.size());
offsets[index].first = startPosIdx;
offsets[index].second = a;
startPosIdx++;
index++;
}
startPosIdx--;
}
index2 = index;
for (size_t a = 0; a < index2 - 2; a++) {
assert(index < offsets.size());
assert(a < offsets.size());
offsets[index].first = offsets[a].first;
offsets[index].second = DoubleRadius - (offsets[a].second);
index++;
}
index2 = index;
for (size_t a = 0; a < index2; a++) {
assert(index < offsets.size());
assert(a < offsets.size());
offsets[index].first = -(offsets[a].first);
offsets[index].second = offsets[a].second;
index++;
}
for (size_t a = 0; a < index; a++) {
assert(a < offsets.size());
offsets[a].first = offsets[a].first; // ??
offsets[a].second = offsets[a].second - radius;
}
offsetSize = index;
}
for (unsigned i = 0; i < possibleTargets.size(); i++) {
float3& f = possibleTargets[i];
int x, y;
// TODO: make the circle here
ai->math->F3MapBound(f);
Node2XY(Pos2Node(f), &x, &y);
for (int j = 0; j < offsetSize; j++) {
const int sx = x + offsets[j].first;
const int sy = y + offsets[j].second;
if (sx >= 0 && sx < PathMapXSize && sy >= 0 && sy < PathMapYSize) {
endNodes.push_back(XY2Node(sx, sy));
}
}
}
ai->math->F3MapBound(startPos);
if (micropather->FindBestPathToAnyGivenPoint(Pos2Node(startPos), endNodes, &path, &totalcost) == MicroPather::SOLVED) {
posPath.reserve(path.size());
for (unsigned i = 0; i < path.size(); i++) {
int x, y;
Node2XY(path[i], &x, &y);
float3 mypos = Node2Pos(path[i]);
mypos.y = ai->cb->GetElevation(mypos.x, mypos.z);
posPath.push_back(mypos);
}
}
return totalcost;
}
float CPathFinder::FindBestPath(vector<float3> *posPath, float3 *startPos, float myMaxRange, vector<float3> *possibleTargets)
{
////L("FindBestPath Started");
////L("startPos: x: " << startPos->x << ", z: " << startPos->z);
ai->math->TimerStart();
float totalcost;
ClearPath();
// Make a list with the points that will count as end nodes.
static vector<void*> endNodes;
int radius = int(myMaxRange / (8 *resmodifier));
int offsetSize = 0;
endNodes.resize(0);
endNodes.reserve(possibleTargets->size() * radius * 10);
////L("possibleTargets->size(): " << possibleTargets->size());
pair<int, int> * offsets;
{
////L("radius: " << radius);
int DoubleRadius = radius * 2;
int SquareRadius = radius * radius; //used to speed up loops so no recalculation needed
int * xend = new int[DoubleRadius+1];
////L("1");
for (int a=0;a<DoubleRadius+1;a++){
float z=a-radius;
float floatsqrradius = SquareRadius;
xend[a]=int(sqrt(floatsqrradius-z*z));
}
////L("2");
offsets = new pair<int, int>[DoubleRadius*5];
int index = 0;
int startPos = 0;
////L("3");
offsets[index].first = 0;
////L("offsets[index].first: " << offsets[index].first);
offsets[index].second = 0;
////L("offsets[index].second: " << offsets[index].second);
index++;
for (int a=1;a<radius+1;a++){
////L("a: " << a);
int endPos = xend[a];
int startPos = xend[a-1];
////L("endPos: " << endPos);
while(startPos <= endPos)
{
////L("startPos: " << startPos);
offsets[index].first = startPos;
////L("offsets[index].first: " << offsets[index].first);
offsets[index].second = a;
////L("offsets[index].second: " << offsets[index].second);
startPos++;
index++;
}
startPos--;
}
int index2 = index;
for (int a=0;a<index2-2;a++)
{
offsets[index].first = offsets[a].first;
////L("offsets[index].first: " << offsets[index].first);
offsets[index].second = DoubleRadius - ( offsets[a].second);
////L("offsets[index].second: " << offsets[index].second);
index++;
}
index2 = index;
////L("3.7");
for (int a=0;a<index2;a++)
{
offsets[index].first = - ( offsets[a].first);
////L("offsets[index].first: " << offsets[index].first);
offsets[index].second = offsets[a].second;
////L("offsets[index].second: " << offsets[index].second);
index++;
}
for (int a=0;a<index;a++)
{
offsets[a].first = offsets[a].first;// + radius;
////L("offsets[index].first: " << offsets[a].first);
offsets[a].second = offsets[a].second - radius;
////L("offsets[index].second: " << offsets[a].second);
}
offsetSize = index;
delete [] xend;
}
for(unsigned i = 0; i < possibleTargets->size(); i++)
{
float3 f = (*possibleTargets)[i];
int x, y;
////L("Added: x: " << f.x << ", z: " << f.z);
// TODO: Make the circle here:
ai->math->F3MapBound(&f);
void * node = Pos2Node(f);
Node2XY(node, &x, &y);
for(int j = 0; j < offsetSize; j++)
{
int sx = x + offsets[j].first;
int sy = y + offsets[j].second;
if(sx >= 0 && sx < PathMapXSize && sy >= 0 && sy < PathMapYSize)
endNodes.push_back(XY2Node(sx, sy));
}
////L("node: " << ((int) node) << ", x: " << x << ", y: " << y);
//endNodes.push_back(node);
}
ai->math->F3MapBound(startPos);
////L("endNodes.size(): " << endNodes.size());
delete [] offsets;
if(micropather->FindBestPathToAnyGivenPoint( Pos2Node(*startPos), endNodes, &path, &totalcost) == MicroPather::SOLVED)
{
// Solved
////L("attack solution solved! Path size = " << path.size());
posPath->reserve(path.size());
for(unsigned i = 0; i < path.size(); i++) {
////L("adding path point");
int x, y;
Node2XY(path[i], &x, &y);
////L("node: " << ((int) path[i]) << ". x: " << x << ", y: " << y);
float3 mypos = Node2Pos(path[i]);
////L("mypos: x: " << mypos.x << ", z: " << mypos.z);
mypos.y = ai->cb->GetElevation(mypos.x, mypos.z);
posPath->push_back(mypos);
}
//char c[500];
//sprintf(c,"Time Taken: %f Total Cost %i",ai->math->TimerSecs(), int(totalcost));
////L(c);
}
else
//L("FindBestPath: path failed!");
return totalcost;
}
float CPathFinder::FindBestPath(vector<float3>* posPath, float3* startPos, float myMaxRange, vector<float3>* possibleTargets) {
ai->math->TimerStart();
float totalcost;
ClearPath();
// make a list with the points that will count as end nodes
static vector<void*> endNodes;
int radius = int(myMaxRange / (8 * resmodifier));
int offsetSize = 0;
endNodes.resize(0);
endNodes.reserve(possibleTargets->size() * radius * 10);
pair<int, int>* offsets;
{
// L("radius: " << radius);
int DoubleRadius = radius * 2;
// used to speed up loops so no recalculation needed
int SquareRadius = radius * radius;
int* xend = new int[DoubleRadius + 1];
for (int a = 0; a < DoubleRadius + 1; a++) {
float z = a - radius;
float floatsqrradius = SquareRadius;
xend[a] = int(sqrt(floatsqrradius - z * z));
}
offsets = new pair<int, int>[DoubleRadius * 5];
int index = 0;
offsets[index].first = 0;
offsets[index].second = 0;
index++;
for (int a = 1; a < radius + 1; a++) {
// L("a: " << a);
int endPos = xend[a];
int startPos = xend[a - 1];
while (startPos <= endPos) {
offsets[index].first = startPos;
offsets[index].second = a;
startPos++;
index++;
}
startPos--;
}
int index2 = index;
for (int a = 0; a < index2 - 2; a++) {
offsets[index].first = offsets[a].first;
offsets[index].second = DoubleRadius - ( offsets[a].second);
index++;
}
index2 = index;
for (int a = 0; a < index2; a++) {
offsets[index].first = -( offsets[a].first);
offsets[index].second = offsets[a].second;
index++;
}
for (int a = 0; a < index; a++) {
offsets[a].first = offsets[a].first;
offsets[a].second = offsets[a].second - radius;
}
offsetSize = index;
delete[] xend;
}
for (unsigned i = 0; i < possibleTargets->size(); i++) {
float3 f = (*possibleTargets)[i];
int x, y;
// L("Added: x: " << f.x << ", z: " << f.z);
// TODO: make the circle here
ai->math->F3MapBound(&f);
void * node = Pos2Node(f);
Node2XY(node, &x, &y);
for (int j = 0; j < offsetSize; j++) {
int sx = x + offsets[j].first;
int sy = y + offsets[j].second
;
if (sx >= 0 && sx < PathMapXSize && sy >= 0 && sy < PathMapYSize)
endNodes.push_back(XY2Node(sx, sy));
}
}
ai->math->F3MapBound(startPos);
delete[] offsets;
if (micropather->FindBestPathToAnyGivenPoint(Pos2Node(*startPos), endNodes, &path, &totalcost) == MicroPather::SOLVED) {
posPath->reserve(path.size());
for (unsigned i = 0; i < path.size(); i++) {
int x, y;
Node2XY(path[i], &x, &y);
float3 mypos = Node2Pos(path[i]);
mypos.y = ai->cb->GetElevation(mypos.x, mypos.z);
posPath->push_back(mypos);
}
}
return totalcost;
}