void _serialize(MMLObject* mml, DArray* out, NodeIdx node, uint padding) {
assert(mml);
assert(out);
MMLNode* node_ptr = mml_get_nodeptr(mml, node);
uint i = padding;
while(i--) {
darray_append(out, " ");
}
const char* name = mml_get_str(mml, node_ptr->name_start);
const char* value = mml_get_str(mml, node_ptr->value_start);
darray_append_multi(out, "( ", 2);
mml_insert_escapes(name, out);
darray_append(out, " ");
mml_insert_escapes(value, out);
if(node_ptr->first_child_idx == 0) {
// node has no children, print it on a single line
darray_append_multi(out, " )\n", 3);
return;
}
else {
// node has children, recurse
darray_append(out, "\n");
NodeIdx child = node_ptr->first_child_idx;
while(child) {
_serialize(mml, out, child, padding + 4);
child = mml_get_next(mml, child);
}
i = padding;
while(i--) {
darray_append(out, " ");
}
darray_append_multi(out, ")\n", 2);
}
}
DArray _gen_navpoints(DArray geometry, DArray platforms) {
DArray points = darray_create(sizeof(Vector2), 0);
darray_append_multi(&points, platforms.data, platforms.size);
uint fail_count = 0;
do {
Vector2 navpoint = vec2(rand_float_range(0.0f, SCREEN_WIDTH),
rand_float_range(0.0f, SCREEN_HEIGHT));
float wdist = ai_wall_distance(navpoint, geometry);
float pdist = _point_distance(navpoint, points);
if(wdist >= min_wall_distance && pdist >= min_point_distance) {
darray_append(&points, (void*)&navpoint);
fail_count = 0;
}
else {
fail_count++;
}
} while(fail_count < 1200);
return points;
}
NavMesh ai_precalc_navmesh(DArray geometry, DArray platforms,
float width, float height) {
NavMesh res;
ai_precalc_bounds(width, height);
DArray navpoints = _gen_navpoints(geometry, platforms);
DArray edges = _gen_edges(navpoints, geometry);
Vector2* navpoints_v = DARRAY_DATA_PTR(navpoints, Vector2);
Edge* edges_e = DARRAY_DATA_PTR(edges, Edge);
uint n = navpoints.size;
res.n_nodes = n;
res.navpoints = MEM_ALLOC(sizeof(Vector2) * n);
res.neighbour_count = MEM_ALLOC(sizeof(uint) * n);
res.neighbours_start = MEM_ALLOC(sizeof(uint) * n);
float* adjacency = MEM_ALLOC(sizeof(float) * n*n);
res.distance = MEM_ALLOC(sizeof(float) * n*n);
res.radius = MEM_ALLOC(sizeof(float) * n);
res.nn_grid_count = MEM_ALLOC(sizeof(uint) * nn_grid_cells);
res.nn_grid_start = MEM_ALLOC(sizeof(uint) * nn_grid_cells);
memset(res.neighbour_count, 0, sizeof(uint) * n);
memset(adjacency, 0, sizeof(float) * n*n);
memset(res.distance, 0, sizeof(float) * n*n);
memset(res.nn_grid_count, 0, sizeof(uint) * nn_grid_cells);
memset(res.nn_grid_start, 0, sizeof(uint) * nn_grid_cells);
for(uint i = 0; i < navpoints.size; ++i) {
res.navpoints[i] = navpoints_v[i];
res.radius[i] = ai_wall_distance(navpoints_v[i], geometry);
}
for(uint i = 0; i < edges.size; ++i) {
float dist = vec2_length(vec2_sub(
navpoints_v[edges_e[i].v1], navpoints_v[edges_e[i].v2]));
adjacency[IDX_2D(edges_e[i].v1, edges_e[i].v2, n)] = dist;
adjacency[IDX_2D(edges_e[i].v2, edges_e[i].v1, n)] = dist;
res.neighbour_count[edges_e[i].v1]++;
res.neighbour_count[edges_e[i].v2]++;
}
// Pracalc node neighbour lists
uint total_neighbours = res.neighbour_count[0];
res.neighbours_start[0] = 0;
for(uint i = 1; i < n; ++i) {
res.neighbours_start[i] =
res.neighbours_start[i-1] + res.neighbour_count[i-1];
total_neighbours += res.neighbour_count[i];
}
res.neighbours = MEM_ALLOC(sizeof(uint) * total_neighbours);
for(uint i = 0; i < n; ++i) {
uint idx = res.neighbours_start[i];
for(uint j = 0; j < n; ++j) {
if(adjacency[IDX_2D(i, j, n)] > 0.0f)
res.neighbours[idx++] = j;
}
assert(idx == res.neighbours_start[i] + res.neighbour_count[i]);
}
memcpy(res.distance, adjacency, sizeof(float) * n*n);
// Change zero distances to infinities
for(uint i = 0; i < n*n; ++i)
if(res.distance[i] == 0.0f)
res.distance[i] = 10000000.0f;
// Floyd-Warshall
for(uint i = 0; i < n; ++i)
for(uint j = 0; j < n; ++j)
for(uint k = 0; k < n; ++k)
res.distance[IDX_2D(j, k, n)] = MIN(res.distance[IDX_2D(j, k, n)],
res.distance[IDX_2D(j, i, n)]+res.distance[IDX_2D(i, k, n)]);
// Precalc nearest-navpoint grid
DArray grid_cell;
DArray nn_grid;
res.nn_grid_start[0] = 0;
nn_grid = darray_create(sizeof(uint), 0);
for(uint i = 0; i < nn_grid_cells; ++i) {
grid_cell = darray_create(sizeof(uint), 0);
for(uint j = 0; j < nn_samples; ++j) {
Vector2 p = _rand_point_in_nn_grid_cell(i);
uint nearest_navpoint = _nearest_navpoint(p, geometry, navpoints);
if(nearest_navpoint >= n) // Point was inside wall, skip
continue;
bool unique = true;
uint* existing_navpoints = DARRAY_DATA_PTR(grid_cell, uint);
for(uint k = 0; k < grid_cell.size; ++k)
if(existing_navpoints[k] == nearest_navpoint)
unique = false;
if(unique)
darray_append(&grid_cell, &nearest_navpoint);
}
res.nn_grid_count[i] = grid_cell.size;
if(i > 0)
res.nn_grid_start[i] =
res.nn_grid_start[i-1] + res.nn_grid_count[i-1];
uint* cell_navpoints = DARRAY_DATA_PTR(grid_cell, uint);
darray_append_multi(&nn_grid, cell_navpoints, grid_cell.size);
darray_free(&grid_cell);
}
// Hack, works properly as long as darray_free only does
// MEM_FREE(darray.data);
res.nn_grid = (uint*)nn_grid.data;
darray_free(&navpoints);
darray_free(&edges);
MEM_FREE(adjacency);
_precalc_vis(geometry, &res);
return res;
}