/*
Removes and return the next waypoint in the multipath corresponding to given id.
*/
float3 CPathManager::NextWaypoint(unsigned int pathId, float3 callerPos, float minDistance,
int numRetries, int ownerId) const
{
SCOPED_TIMER("PFS");
//0 indicate a no-path id.
if(pathId == 0)
return float3(-1,-1,-1);
if(numRetries>4)
return float3(-1,-1,-1);
//Find corresponding multipath.
std::map<unsigned int, MultiPath*>::const_iterator pi = pathMap.find(pathId);
if(pi == pathMap.end())
return float3(-1,-1,-1);
MultiPath* multiPath = pi->second;
if(callerPos==ZeroVector){
if(!multiPath->detailedPath.path.empty())
callerPos=multiPath->detailedPath.path.back();
}
//check if detailed path need bettering
if(!multiPath->estimatedPath.path.empty()
&& (multiPath->estimatedPath.path.back().SqDistance2D(callerPos) < Square(MIN_DETAILED_DISTANCE * SQUARE_SIZE)
|| multiPath->detailedPath.path.size() <= 2)){
if(!multiPath->estimatedPath2.path.empty() //if so check if estimated path also need bettering
&& (multiPath->estimatedPath2.path.back().SqDistance2D(callerPos) < Square(MIN_ESTIMATE_DISTANCE * SQUARE_SIZE)
|| multiPath->estimatedPath.path.size() <= 2)){
Estimate2ToEstimate(*multiPath, callerPos, ownerId);
}
if(multiPath->caller)
multiPath->caller->UnBlock();
EstimateToDetailed(*multiPath, callerPos, ownerId);
if(multiPath->caller)
multiPath->caller->Block();
}
//Repeat until a waypoint distant enought are found.
float3 waypoint;
do {
//Get next waypoint.
if(multiPath->detailedPath.path.empty()) {
if(multiPath->estimatedPath2.path.empty() && multiPath->estimatedPath.path.empty())
return multiPath->finalGoal;
else
return NextWaypoint(pathId,callerPos,minDistance,numRetries+1,ownerId);
} else {
waypoint = multiPath->detailedPath.path.back();
multiPath->detailedPath.path.pop_back();
}
} while(callerPos.SqDistance2D(waypoint) < Square(minDistance) && waypoint != multiPath->detailedPath.pathGoal);
return waypoint;
}
/*
Request a new multipath, store the result and return an handle-id to it.
*/
unsigned int CPathManager::RequestPath(const MoveData* moveData, float3 startPos, CPathFinderDef* peDef, float3 goalPos, CSolidObject* caller) {
SCOPED_TIMER("AI:PFS");
// Creates a new multipath.
MultiPath* newPath = SAFE_NEW MultiPath(startPos, peDef, moveData);
newPath->finalGoal = goalPos;
newPath->caller = caller;
if (caller) {
caller->UnBlock();
}
unsigned int retValue = 0;
// Choose finder dependent on distance to goal.
float distanceToGoal = peDef->Heuristic(int(startPos.x / SQUARE_SIZE), int(startPos.z / SQUARE_SIZE));
if (distanceToGoal < DETAILED_DISTANCE) {
// Get a detailed path.
IPath::SearchResult result = pf->GetPath(*moveData, startPos, *peDef, newPath->detailedPath, true);
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
retValue = Store(newPath);
} else {
delete newPath;
}
} else if (distanceToGoal < ESTIMATE_DISTANCE) {
// Get an estimate path.
IPath::SearchResult result = pe->GetPath(*moveData, startPos, *peDef, newPath->estimatedPath);
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
// Turn a part of it into detailed path.
EstimateToDetailed(*newPath, startPos);
// Store the path.
retValue = Store(newPath);
} else {
// if we fail see if it can work find a better block to start from
float3 sp = pe->FindBestBlockCenter(moveData, startPos);
if (sp.x != 0 &&
(((int) sp.x) / (SQUARE_SIZE * 8) != ((int) startPos.x) / (SQUARE_SIZE * 8) ||
((int) sp.z) / (SQUARE_SIZE * 8) != ((int) startPos.z) / (SQUARE_SIZE * 8))) {
IPath::SearchResult result = pe->GetPath(*moveData, sp, *peDef, newPath->estimatedPath);
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
EstimateToDetailed(*newPath, startPos);
retValue = Store(newPath);
} else {
delete newPath;
}
} else {
delete newPath;
}
}
} else {
// Get a low-res. estimate path.
IPath::SearchResult result = pe2->GetPath(*moveData, startPos, *peDef, newPath->estimatedPath2);
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
// Turn a part of it into hi-res. estimate path.
Estimate2ToEstimate(*newPath, startPos);
// And estimate into detailed.
EstimateToDetailed(*newPath, startPos);
// Store the path.
retValue = Store(newPath);
} else {
// sometimes the 32*32 squares can be wrong so if it fails to get a path also try with 8*8 squares
IPath::SearchResult result = pe->GetPath(*moveData, startPos, *peDef, newPath->estimatedPath);
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
EstimateToDetailed(*newPath, startPos);
retValue = Store(newPath);
} else {
// 8*8 can also fail rarely, so see if we can find a better 8*8 to start from
float3 sp = pe->FindBestBlockCenter(moveData, startPos);
if (sp.x != 0 &&
(((int) sp.x) / (SQUARE_SIZE * 8) != ((int) startPos.x) / (SQUARE_SIZE * 8) ||
((int) sp.z) / (SQUARE_SIZE * 8) != ((int) startPos.z) / (SQUARE_SIZE * 8))) {
IPath::SearchResult result = pe->GetPath(*moveData, sp, *peDef, newPath->estimatedPath);
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
EstimateToDetailed(*newPath, startPos);
retValue = Store(newPath);
} else {
delete newPath;
}
} else {
delete newPath;
}
}
}
}
if (caller) {
caller->Block();
}
return retValue;
}
/*
Removes and return the next waypoint in the multipath corresponding to given id.
*/
float3 CPathManager::NextWaypoint(unsigned int pathId, float3 callerPos, float minDistance,
int numRetries, int ownerId, bool synced) const
{
SCOPED_TIMER("PFS");
// 0 indicates a no-path id
if (pathId == 0)
return float3(-1.0f, -1.0f, -1.0f);
if (numRetries > 4)
return float3(-1.0f, -1.0f, -1.0f);
//Find corresponding multipath.
std::map<unsigned int, MultiPath*>::const_iterator pi = pathMap.find(pathId);
if (pi == pathMap.end())
return float3(-1.0f, -1.0f, -1.0f);
MultiPath* multiPath = pi->second;
if (callerPos == ZeroVector) {
if (!multiPath->detailedPath.path.empty())
callerPos = multiPath->detailedPath.path.back();
}
// check if detailed path needs bettering
if (!multiPath->estimatedPath.path.empty() &&
(multiPath->estimatedPath.path.back().SqDistance2D(callerPos) < Square(MIN_DETAILED_DISTANCE * SQUARE_SIZE) ||
multiPath->detailedPath.path.size() <= 2)) {
if (!multiPath->estimatedPath2.path.empty() && // if so, check if estimated path also needs bettering
(multiPath->estimatedPath2.path.back().SqDistance2D(callerPos) < Square(MIN_ESTIMATE_DISTANCE * SQUARE_SIZE) ||
multiPath->estimatedPath.path.size() <= 2)) {
Estimate2ToEstimate(*multiPath, callerPos, ownerId, synced);
}
if (multiPath->caller) {
multiPath->caller->UnBlock();
}
EstimateToDetailed(*multiPath, callerPos, ownerId);
if (multiPath->caller) {
multiPath->caller->Block();
}
}
float3 waypoint;
do {
// get the next waypoint from the high-res path
//
// if this is not possible, then either we are
// at the goal OR the path could not reach all
// the way to it (ie. a GoalOutOfRange result)
if (multiPath->detailedPath.path.empty()) {
if (multiPath->estimatedPath2.path.empty() && multiPath->estimatedPath.path.empty()) {
if (multiPath->searchResult == IPath::Ok) {
return multiPath->finalGoal;
} else {
return float3(-1.0f, -1.0f, -1.0f);
}
} else {
return NextWaypoint(pathId, callerPos, minDistance, numRetries + 1, ownerId, synced);
}
} else {
waypoint = multiPath->detailedPath.path.back();
multiPath->detailedPath.path.pop_back();
}
} while (callerPos.SqDistance2D(waypoint) < Square(minDistance) && waypoint != multiPath->detailedPath.pathGoal);
return waypoint;
}
/*
Removes and return the next waypoint in the multipath corresponding to given id.
*/
float3 CPathManager::NextWaypoint(unsigned int pathId, float3 callerPos, float minDistance, int numRetries) {
#ifdef PROFILE_TIME
LARGE_INTEGER starttime;
QueryPerformanceCounter(&starttime);
#endif
//0 indicate a no-path id.
if(pathId == 0)
return float3(-1,-1,-1);
if(numRetries>4)
return float3(-1,-1,-1);
//Find corresponding multipath.
map<unsigned int, MultiPath*>::iterator pi = pathMap.find(pathId);
if(pi == pathMap.end())
return float3(-1,-1,-1);
MultiPath* multiPath = pi->second;
if(callerPos==ZeroVector){
if(!multiPath->detailedPath.path.empty())
callerPos=multiPath->detailedPath.path.back();
}
//check if detailed path need bettering
if(!multiPath->estimatedPath.path.empty()
&& (multiPath->estimatedPath.path.back().distance2D(callerPos) < MIN_DETAILED_DISTANCE * SQUARE_SIZE
|| multiPath->detailedPath.path.size() <= 2)){
if(!multiPath->estimatedPath2.path.empty() //if so check if estimated path also need bettering
&& (multiPath->estimatedPath2.path.back().distance2D(callerPos) < MIN_ESTIMATE_DISTANCE * SQUARE_SIZE
|| multiPath->estimatedPath.path.size() <= 2)){
Estimate2ToEstimate(*multiPath, callerPos);
}
if(multiPath->caller)
multiPath->caller->UnBlock();
EstimateToDetailed(*multiPath, callerPos);
if(multiPath->caller)
multiPath->caller->Block();
}
//Repeat until a waypoint distant enought are found.
float3 waypoint;
do {
//Get next waypoint.
if(multiPath->detailedPath.path.empty()) {
if(multiPath->estimatedPath2.path.empty() && multiPath->estimatedPath.path.empty())
return multiPath->finalGoal;
else
return NextWaypoint(pathId,callerPos,minDistance,numRetries+1);
} else {
waypoint = multiPath->detailedPath.path.back();
multiPath->detailedPath.path.pop_back();
}
} while(callerPos.distance2D(waypoint) < minDistance && waypoint != multiPath->detailedPath.pathGoal);
//Return the result.
#ifdef PROFILE_TIME
LARGE_INTEGER stop;
QueryPerformanceCounter(&stop);
profiler.AddTime("AI:PFS",stop.QuadPart - starttime.QuadPart);
#endif
return waypoint;
}