bool ClawUnitActor::setPathTo(Unit *unit, const VC3 &destination_)
{
VC3 destination = destination_;
frozenbyte::ai::Path *path = solvePath(unit, unit->getPosition(), destination);
// luckily, getPath may modify the destination value, if it is blocked
// so no need to check that here.
if (path != NULL)
{
unit->setPath(path);
unit->setPathIndex(unit->getPathIndex() + 1);
// (...path object is now contained within the unit,
// unit will handle it's proper deletion)
unit->setWaypoint(unit->getPosition());
unit->setFinalDestination(VC3(destination.x,
game->gameMap->getScaledHeightAt(destination.x, destination.z),
destination.z));
return true;
} else {
unit->setPath(NULL);
unit->setFinalDestination(unit->getPosition());
unit->setWaypoint(unit->getPosition());
return false;
}
}
bool SimpleSolve::doSolve(Solver& s, const SolveParams& p) {
s.stats.reset();
Enumerator* enumerator = s.sharedContext()->enumerator();
bool hasWork = true, complete = true;
InitParams init= p.init;
SolveLimits lim = getSolveLimits();
Timer<RealTime> tt; tt.start();
s.sharedContext()->reportProgress(SolveStateEvent(s, "algorithm"));
// Remove any existing assumptions and restore solver to a usable state.
// If this fails, the problem is unsat, even under no assumptions.
while (s.clearAssumptions() && hasWork) {
// Add assumptions - if this fails, the problem is unsat
// under the current assumptions but not necessarily unsat.
if (initPath(s, getInitialPath(), init)) {
complete = (solvePath(s, p, lim) != value_free && s.decisionLevel() == s.rootLevel());
}
// finished current work item
hasWork = complete && enumerator->optimizeNext();
}
setSolveLimits(lim);
tt.stop();
s.sharedContext()->reportProgress(SolveStateEvent(s, "algorithm", tt.total()));
return !complete;
}
