void list_swap(t_list *list, int idx_first,
int idx_second)
{
if (idx_first < list->size &&
idx_second < list->size &&
idx_first != idx_second &&
idx_second >= 0 && idx_first >= 0)
{
swap_value(get_node_at(list, idx_first),
get_node_at(list, idx_second));
}
}
internal grid_node* get_random_walkable_node(Grid *grid) {
grid_node *result;
do {
result = get_node_at(grid, rand_int(grid->width), rand_int(grid->height), rand_int(grid->depth));
} while (!result->walkable);
return result;
}
void list_remove(linked_list list, const int index){
struct list_node* n; // The node to remove
// Handle head case
if(index == 0 && list->size > 0){
n = list->head;
list->head = list->head->next;
} else {
n = get_node_at(list, index-1);
// Handle tail case
if(index == list->size - 1){
list->tail = n;
n = list->tail->next;
list->tail->next = NULL;
} else {
// Handle normal case, link previous with following node
struct list_node* to_remove = n->next;
n->next = to_remove->next;
n = to_remove;
}
}
// Custom free
if(list->fun != NULL)
list->fun(n->elem);
// Free node and its element
free(n->elem);
free(n);
// Decrease size
list->size--;
}
internal grid_node* get_neighboring_walkable_node(Grid *grid, int x, int y, int z){
grid_node *result = NULL;
for (int h = -1; h<2; h++) {
for (int v = -1; v <2; v++) {
result = get_node_at(grid, x+h, y+v, z);
if (result->walkable) {
return result;
}
}
}
return result;
}
extern void game_update_and_render(Memory* memory, RenderState *renderer, float last_frame_time_seconds, const u8 *keys, SDL_Event e) {
UNUSED(keys);
UNUSED(e);
ASSERT(sizeof(PermanentState) <= memory->permanent_size);
PermanentState *permanent = (PermanentState *)memory->permanent;
ASSERT(sizeof(ScratchState) <= memory->scratch_size);
ScratchState *scratch = (ScratchState *)memory->scratch;
ASSERT(sizeof(DebugState) <= memory->debug_size);
DebugState *debug = (DebugState *)memory->debug;
ASSERT(sizeof(Node16Arena) <= memory->node16_size);
Node16Arena *node16 = (Node16Arena *)memory->node16;
ASSERT(sizeof(Node16) == sizeof(Node16*)*2 + 16);
ASSERT(sizeof(FoundPathNode) == sizeof(BarNode));
if (memory->is_initialized == false) {
initialize_memory(permanent, node16, renderer, memory);
}
// dynamic blocks
for (u32 i = 0; i < permanent->dynamic_block_count; i++) {
if ( permanent->dynamic_blocks[i].total_frames > 1) {
permanent->dynamic_blocks[i].frame_duration_left += last_frame_time_seconds;
if (permanent->dynamic_blocks[i].frame_duration_left >= permanent->dynamic_blocks[i].duration_per_frame) {
int frame_index = permanent->dynamic_blocks[i].current_frame;
if (permanent->dynamic_blocks[i].plays_forward == 1) {
frame_index +=1;
if (frame_index > permanent->dynamic_blocks[i].last_frame)
frame_index = permanent->dynamic_blocks[i].first_frame;
} else {
frame_index -= 1;
if (frame_index < permanent->dynamic_blocks[i].first_frame)
frame_index = permanent->dynamic_blocks[i].last_frame;
}
permanent->dynamic_blocks[i].current_frame = frame_index;
permanent->dynamic_blocks[i].frame_duration_left = 0;
SimpleFrame f = generated_frames[frame_index];
permanent->dynamic_blocks[i].frame.x_pos = f.frameX;
permanent->dynamic_blocks[i].frame.y_pos = f.frameY;
permanent->dynamic_blocks[i].frame.width = f.frameW;
permanent->dynamic_blocks[i].frame.height = f.frameH;
permanent->dynamic_blocks[i].frame.y_internal_off = f.ssH - (f.sssY + f.frameH);
permanent->dynamic_blocks[i].frame.x_internal_off = f.ssW - (f.sssX + f.frameW);
}
}
}
permanent->colored_line_count = 0;
#if 1
{
permanent->colored_line_count = 0;
for (u32 i = 0; i < permanent->actor_count; i++) {
if (permanent->paths[i].Sentinel->Next != permanent->paths[i].Sentinel) {
float distance = Vector3Distance(permanent->steer_data[i].location, permanent->paths[i].Sentinel->Next->path.node);
if (distance < 5.f){
Node16 *First = permanent->paths[i].Sentinel->Next;
permanent->paths[i].Sentinel->Next = First->Next;
First->Next = node16->Free->Next;
node16->Free->Next = First;
First->Prev = node16->Free;
}
}
BEGIN_PERFORMANCE_COUNTER(actors_steering);
{
Vector3 seek_force = seek_return(&permanent->steer_data[i], permanent->paths[i].Sentinel->Next->path.node);
seek_force = Vector3MultiplyScalar(seek_force, 1);
actor_apply_force(&permanent->steer_data[i], seek_force);
permanent->steer_data[i].velocity = Vector3Add(permanent->steer_data[i].velocity, permanent->steer_data[i].acceleration);
permanent->steer_data[i].velocity = Vector3Limit(permanent->steer_data[i].velocity, permanent->steer_data[i].max_speed);
permanent->steer_data[i].location = Vector3Add(permanent->steer_data[i].location, Vector3MultiplyScalar(permanent->steer_data[i].velocity, last_frame_time_seconds));
permanent->steer_data[i].acceleration = Vector3MultiplyScalar(permanent->steer_data[i].acceleration, 0);
// left = frame 0, down = frame 1 right = frame 2,up = frame 3
double angle = (180.0 / PI) * atan2(permanent->steer_data[i].velocity.x, permanent->steer_data[i].velocity.y);
angle = angle + 180;
if (angle > 315 || angle < 45) {
permanent->anim_data[i].frame = 10; //11
} else if (angle >= 45 && angle <= 135) {
permanent->anim_data[i].frame = 4;// 5
} else if (angle >=135 && angle <= 225) {
permanent->anim_data[i].frame = 6; //7
} else if (angle > 225 && angle <= 315) {
permanent->anim_data[i].frame = 8; //9
}
permanent->anim_data[i].frame_duration_left += last_frame_time_seconds;
if (permanent->anim_data[i].frame_duration_left > 0.1f) {
permanent->anim_data[i].frame += 1;
}
if (permanent->anim_data[i].frame_duration_left > 0.2f) {
permanent->anim_data[i].frame_duration_left = 0;
}
END_PERFORMANCE_COUNTER(actors_steering);
}
#if 1
if (permanent->paths[i].Sentinel->Next != permanent->paths[i].Sentinel) {
Node16 * d= permanent->paths[i].Sentinel->Next;
u32 c = permanent->colored_line_count;
while (d->Next != permanent->paths[i].Sentinel){
//if (d->path.node.z != d->Next->path.node.z) {
// printf("going from %f,%f,[%f] to %f,%f,[%f]\n", d->path.node.x, d->path.node.y, d->path.node.z, d->Next->path.node.x, d->Next->path.node.y, d->Next->path.node.z);
//}
permanent->colored_lines[c].x1 = getRotatedXFloat(d->path.node.x, d->path.node.y, facing_side, permanent->dims);
permanent->colored_lines[c].y1 = getRotatedYFloat(d->path.node.x, d->path.node.y, facing_side, permanent->dims);
permanent->colored_lines[c].z1 = d->path.node.z;
permanent->colored_lines[c].x2 = getRotatedXFloat(d->Next->path.node.x, d->Next->path.node.y, facing_side, permanent->dims);
permanent->colored_lines[c].y2 = getRotatedYFloat(d->Next->path.node.x, d->Next->path.node.y, facing_side, permanent->dims);
permanent->colored_lines[c].z2 = d->Next->path.node.z;
permanent->colored_lines[c].r = 0.0f;
permanent->colored_lines[c].g = 0.0f;
permanent->colored_lines[c].b = 0.0f;
d = d->Next;
c++;
}
permanent->colored_line_count = c;
}
#endif
ASSERT( permanent->colored_line_count < LINE_BATCH_COUNT * MAX_IN_BUFFER)
if (permanent->paths[i].Sentinel->Next != permanent->paths[i].Sentinel) {
continue;
}
BEGIN_PERFORMANCE_COUNTER(mass_pathfinding);
TempMemory temp_mem = begin_temporary_memory(&scratch->arena);
grid_node * Start = get_node_at(permanent->grid,
permanent->steer_data[i].location.x/permanent->block_size.x,
permanent->steer_data[i].location.y/permanent->block_size.y,
(permanent->steer_data[i].location.z + 10)/permanent->block_size.z_level);
if (Start->walkable) {
} else {
Start = get_neighboring_walkable_node(permanent->grid, Start->X, Start->Y, Start->Z);
if (!Start->walkable) {
Start = get_random_walkable_node(permanent->grid);
}
}
grid_node * End = get_random_walkable_node(permanent->grid);
ASSERT(Start->walkable);
ASSERT(End->walkable);
path_list * PathRaw = find_path(Start, End, permanent->grid, &scratch->arena);
path_list *Path = NULL;
if (PathRaw) {
//Path = smooth_path(PathRaw, &scratch->arena, permanent->grid);
Path = PathRaw;
if (Path) {
path_node * done= Path->Sentinel->Prev;
while (done != Path->Sentinel) {
Node16 *N = NULL;
if ( node16->Free->Next != node16->Free) {
N = node16->Free->Next;
node16->Free->Next = N->Next;
node16->Free->Next->Prev = node16->Free;
} else {
N = PUSH_STRUCT(&node16->arena, Node16);
}
ActorPath * p = &(permanent->paths[i]);
// TODO iam not sure about this, is this the right way to center all positions in the path nodes?
// should it be done somewhere else instead?
// TODO and why o why does it need something extra when facing Front and not under other circumstances.
//float xMult = 0;//facing_side == Front ? 1 : facing_side == Left ? -0.5 : 0.5;
//float yMult = 0;//facing_side == Front ? 0.5 : 1;
N->path.node.x = (permanent->block_size.x/2) + done->X * permanent->block_size.x;
N->path.node.y = (permanent->block_size.y/2) + done->Y * permanent->block_size.y;
N->path.node.z = done->Z * permanent->block_size.z_level;
/* if (done->Prev != Path->Sentinel) { */
/* // going up */
/* if (done->Z > done->Prev->Z) { */
/* printf("going up\n"); */
/* printf("%d,%d,%d %d,%d,%d\n", done->X,done->Y,done->Z, done->Prev->X, done->Prev->Y, done->Prev->Z); */
/* } */
/* if (done->Z < done->Prev->Z) { */
/* printf("going down 222\n"); */
/* printf("%d,%d,%d %d,%d,%d\n", done->X,done->Y,done->Z, done->Prev->X, done->Prev->Y, done->Prev->Z); */
/* } */
/* } */
/* if (done->Next != Path->Sentinel) { */
/* // going down */
/* if (done->Z < done->Next->Z) { */
/* printf("going down\n"); */
/* printf("%d,%d,%d %d,%d,%d\n", done->X,done->Y,done->Z, done->Next->X, done->Next->Y, done->Next->Z); */
/* } */
/* } */
// if this is part of a stair move going up east/west
// TODO: this routine patches some issues which, IMO would better be solved at the root, dunno how wnad where though./
#if 0 // pathing movemenst going up on east/west stairs
if (facing_side == Front) {
if (done->Prev != Path->Sentinel) {
// going up
if (done->Z > done->Prev->Z) {
if (done->X < done->Prev->X){
N->path.node.x += permanent->block_size.x;
} else if (done->X > done->Prev->X){
N->path.node.x -= permanent->block_size.x;
}
}
}
if (done->Next != Path->Sentinel) {
// going down
if (done->Z < done->Next->Z) {
if (done->X < done->Next->X){
N->path.node.x -= permanent->block_size.x;
} else if (done->X > done->Next->X){
N->path.node.x += permanent->block_size.x;
}
}
}
}
if (facing_side == Left) {
if (done->Prev != Path->Sentinel) {
// going up
if (done->Z > done->Prev->Z) {
if (done->Y < done->Prev->Y){
N->path.node.y += permanent->block_size.y;
} else if (done->Y > done->Prev->Y){
N->path.node.y -= permanent->block_size.y;
}
}
}
if (done->Next != Path->Sentinel) {
// going down
if (done->Z < done->Next->Z) {
if (done->Y < done->Next->Y){
N->path.node.y -= permanent->block_size.y;
} else if (done->Y > done->Next->Y){
N->path.node.y += permanent->block_size.y;
}
}
}
}
if (facing_side == Right) {
if (done->Prev != Path->Sentinel) {
// going up
if (done->Z > done->Prev->Z) {
if (done->Y < done->Prev->Y){
N->path.node.y += permanent->block_size.y;
} else if (done->Y > done->Prev->Y){
N->path.node.y -= permanent->block_size.y;
}
}
}
if (done->Next != Path->Sentinel) {
// going down
if (done->Z < done->Next->Z) {
if (done->Y < done->Next->Y){
N->path.node.y -= permanent->block_size.y;
} else if (done->Y > done->Next->Y){
N->path.node.y += permanent->block_size.y;
}
}
}
}
#endif
DLIST_ADDFIRST(p, N);
done = done->Prev;
}
}
}
END_PERFORMANCE_COUNTER(mass_pathfinding);
//path_list * Path = ExpandPath(PathSmooth, &scratch->arena);
BEGIN_PERFORMANCE_COUNTER(grid_cleaning);
for (int i = 0; i < permanent->grid->width * permanent->grid->height * permanent->grid->depth;i++) {
permanent->grid->nodes[i].f = 0;
permanent->grid->nodes[i].g = 0;
permanent->grid->nodes[i].opened = 0;
permanent->grid->nodes[i].closed = 0;
permanent->grid->nodes[i].Next = NULL;
permanent->grid->nodes[i].parent = NULL;
}
END_PERFORMANCE_COUNTER(grid_cleaning);
end_temporary_memory(temp_mem);
}
set_colored_line_batch_sizes(permanent, renderer);
}
#endif
BEGIN_PERFORMANCE_COUNTER(actors_data_gathering);
for (u32 i = 0; i < permanent->actor_count; i++) {
permanent->actors[i]._location = getRotatedVec3( permanent->steer_data[i].location, facing_side, permanent->dims, permanent->block_size);
permanent->actors[i]._palette_index = permanent->anim_data[i].palette_index;
permanent->actors[i]._frame = permanent->anim_data[i].frame;
permanent->actors[i].x_off = 0;
permanent->actors[i].y_off = 0;
if ( permanent->anim_data[i].frame == 4) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_west_body_000];
} else if (permanent->anim_data[i].frame == 5) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_west_body_001];
} else if (permanent->anim_data[i].frame == 6) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_south_body_000];
} else if (permanent->anim_data[i].frame == 7) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_south_body_001];
} else if (permanent->anim_data[i].frame == 8) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_east_body_000];
} else if (permanent->anim_data[i].frame == 9) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_east_body_001];
} else if (permanent->anim_data[i].frame == 10) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_north_body_000];
} else if (permanent->anim_data[i].frame == 11) {
permanent->actors[i].complex = &generated_body_frames[BP_walking_north_body_001];
}
/* if ( permanent->anim_data[i].frame % 2 == 0) { */
/* permanent->actors[i].complex = &generated_body_frames[BP_total_east_body_000]; */
/* } else { */
/* permanent->actors[i].complex = &generated_body_frames[BP_total_east_body_001]; */
/* } */
}
for (u32 i = permanent->actor_count; i < permanent->actor_count*2; i++) {
u32 j = i - permanent->actor_count;
permanent->actors[i]._location = getRotatedVec3( permanent->steer_data[j].location, facing_side, permanent->dims, permanent->block_size);
permanent->actors[i]._palette_index = (1.0f / 16.0f) * (j % 16);//permanent->anim_data[j].palette_index;
permanent->actors[i]._frame = permanent->anim_data[j].frame;
int deltaX = permanent->actors[j].complex->anchorX - permanent->actors[j].complex->pivotX;
int deltaY = permanent->actors[j].complex->anchorY - permanent->actors[j].complex->pivotY;
permanent->actors[i].x_off = deltaX;
permanent->actors[i].y_off = -1 * deltaY;
if ( permanent->anim_data[j].frame == 4) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_west_head_000];
} else if (permanent->anim_data[j].frame == 5) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_west_head_000];
} else if (permanent->anim_data[j].frame == 6) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_south_head_000];
} else if (permanent->anim_data[j].frame == 7) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_south_head_000];
} else if (permanent->anim_data[j].frame == 8) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_east_head_000];
} else if (permanent->anim_data[j].frame == 9) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_east_head_000];
} else if (permanent->anim_data[j].frame == 10) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_north_head_000];
} else if (permanent->anim_data[j].frame == 11) {
permanent->actors[i].complex = &generated_body_frames[BP_facing_north_head_000];
}
}
END_PERFORMANCE_COUNTER(actors_data_gathering);
BEGIN_PERFORMANCE_COUNTER(actors_sort);
Actor_quick_sort(permanent->actors, permanent->actor_count*2);
END_PERFORMANCE_COUNTER(actors_sort);
}
void list_set(linked_list list, const int index, const void *elem){
struct list_node* n = get_node_at(list, index);
// Copy new element memory content onto the old one
memcpy(n->elem, elem, list->elem_size);
}
void* list_get(linked_list list, const int index){
struct list_node* n = get_node_at(list, index);
return n->elem;
}
bool NPC::pathfind_to_closest_item(const string & item_id, World & world)
{
// leave this for debugging
// cout << "\nSearching for path from " << x << "," << y << " to any " << item_id << ".\n";
/* Pathfinding resources:
http://www.redblobgames.com/pathfinding/a-star/introduction.html
http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html#S7
F = G + H
G : actual cost to reach a certain room
H : estimated cost to reach destination from a certain room
F-cost = G + H */
vector<Node> open_list, closed_list;
// Add current room to open list.
open_list.push_back(Node(this->x, this->y, ""));
// cost to reach current room is of course 0
open_list[0].set_g(0);
// Do
do
{
// -- Find lowest f - cost room on open list
// -- Move it to closed list
// find the cheapest room in the open list. Select it and move it to the closed list
const Node current_room = move_and_get_lowest_g_cost(open_list, closed_list);
// for each room adjacent to current
for (const string & direction : C::direction_ids)
{
if (direction == C::UP || direction == C::DOWN) { continue; } // only pathfinding in 2D now
// calculate the location deltas
int dx = 0, dy = 0, dz = 0;
R::assign_movement_deltas(direction, dx, dy, dz);
// skip if the room if it is out of bounds,
if (!R::bounds_check(current_room.x + dx, current_room.y + dy, C::GROUND_INDEX)) { continue; }
// or it is not loaded,
if (world.room_at(current_room.x + dx, current_room.y + dy, C::GROUND_INDEX) == nullptr) { continue; }
// or it is not within view distance,
if (!world.room_at(current_room.x + dx, current_room.y + dy, C::GROUND_INDEX)->is_observed_by(this->name)) { continue; }
// or we can not travel to it from the current room
if (validate_movement(current_room.x, current_room.y, C::GROUND_INDEX, direction, dx, dy, 0, world) != C::GOOD_SIGNAL) { continue; }
// create a node to select the next adjacent room
Node adjacent_room(current_room.x + dx, current_room.y + dy, direction);
// pass if the adjacent node is already on the closed list
if (room_in_node_list(adjacent_room.x, adjacent_room.y, closed_list)) { continue; }
// if the room is not on the open list
if (!room_in_node_list(adjacent_room.x, adjacent_room.y, open_list))
{
// make the current room the parent of the adjacent room
adjacent_room.parent_x = current_room.x;
adjacent_room.parent_y = current_room.y;
// calculate the movement cost
int move_cost = (
// check if the NPC will have to move through a forest
(world.room_at(adjacent_room.x, adjacent_room.y, C::GROUND_INDEX)->contains_item(C::TREE_ID))
?
// determine if the movement is in a primary direction
((R::contains(C::primary_direction_ids, direction) ? C::AI_MOVEMENT_COST_FOREST : C::AI_MOVEMENT_COST_FOREST_DIAGONAL))
:
((R::contains(C::primary_direction_ids, direction) ? C::AI_MOVEMENT_COST : C::AI_MOVEMENT_COST_DIAGONAL))
);
// calculate the cost to this room
adjacent_room.set_g(current_room.g + move_cost);
}
// else the room is on the open list
else
{
// pull adjacent_room out of open_list
for (unsigned i = 0; i < open_list.size(); ++i) // for each node in the open list
{
if (open_list[i].x == adjacent_room.x && open_list[i].y == adjacent_room.y) // if the node is the current room
{
adjacent_room = get_node_at(adjacent_room.x, adjacent_room.y, open_list); // save it
open_list.erase(open_list.begin() + i); // erase the original
break; // adjacent_room is now the one from the list
}
}
// calculate the move cost
int move_cost = (
// check if the NPC will have to move through a forest
(world.room_at(adjacent_room.x, adjacent_room.y, C::GROUND_INDEX)->contains_item(C::TREE_ID))
?
// determine if the movement is in a primary direction
((R::contains(C::primary_direction_ids, direction) ? C::AI_MOVEMENT_COST_FOREST : C::AI_MOVEMENT_COST_FOREST_DIAGONAL))
:
((R::contains(C::primary_direction_ids, direction) ? C::AI_MOVEMENT_COST : C::AI_MOVEMENT_COST_DIAGONAL))
);
// if this way to the room is cheaper than the current best cost to the room
if (current_room.g + move_cost < adjacent_room.g)
{
// update the adjacent room's parent room to the current room
adjacent_room.parent_x = current_room.x;
adjacent_room.parent_y = current_room.y;
// update the g-score cost to the room
adjacent_room.set_g(current_room.g + move_cost);
}
}
// add the adjacent room to the open list
open_list.push_back(adjacent_room);
} // end for each adjacent room
// keep searching as long as there are still rooms to search
} while (open_list.size() > 0);
// get the target (destination) room
Node destination_room;
destination_room.g = 999999;
for (const Node & node : closed_list)
{
if (world.room_at(node.x, node.y, C::GROUND_INDEX)->contains_item(item_id) &&
node.g < destination_room.g)
{
destination_room = node;
}
}
// if no destination was found, there is no path
if (destination_room.x == -1 || destination_room.y == -1) { return false; }
Node current_room = destination_room;
// Starting from the target room, continue finding the parent room until the current room is found
// (this represents the path in reverse)
do
{
// get the parent room of the current room
Node parent_room = get_node_at(current_room.parent_x, current_room.parent_y, closed_list);
// leave this here for debugging
// cout << "\nI can get to " << current_room.x << "," << current_room.y << " from " << parent_room.x << "," << parent_room.y << ".";
// if the parent of current_room is our location
if (parent_room.x == this->x && parent_room.y == this->y)
{
// move to current_room
move(current_room.direction_from_parent, world);
/* leave this here for debugging
cout << endl;
for (const Node & node : closed_list)
{
cout << "Parent of " << node.x << "," << node.y << " is " << node.parent_x << "," << node.parent_y << ". Actual cost to node: " << node.g << ". Estimated cost to target: " << node.h << endl;
} */
return true; // we're done here
}
// if there is no parent room in the closed list (?!)
else if (parent_room.x == -1 || parent_room.y == -1)
{
return false; // something went horribly wrong
}
// move up the path by one room
current_room = parent_room;
} while (true);
}
