void HierarchicalPathfinder::Recompute(Grid<NavcellData>* grid,
const std::map<std::string, pass_class_t>& nonPathfindingPassClassMasks,
const std::map<std::string, pass_class_t>& pathfindingPassClassMasks)
{
PROFILE3("Hierarchical Recompute");
m_PassClassMasks = pathfindingPassClassMasks;
std::map<std::string, pass_class_t> allPassClasses = m_PassClassMasks;
allPassClasses.insert(nonPathfindingPassClassMasks.begin(), nonPathfindingPassClassMasks.end());
m_W = grid->m_W;
m_H = grid->m_H;
// Divide grid into chunks with round-to-positive-infinity
m_ChunksW = (grid->m_W + CHUNK_SIZE - 1) / CHUNK_SIZE;
m_ChunksH = (grid->m_H + CHUNK_SIZE - 1) / CHUNK_SIZE;
ENSURE(m_ChunksW < 256 && m_ChunksH < 256); // else the u8 Chunk::m_ChunkI will overflow
m_Chunks.clear();
m_Edges.clear();
for (auto& passClassMask : allPassClasses)
{
pass_class_t passClass = passClassMask.second;
// Compute the regions within each chunk
m_Chunks[passClass].resize(m_ChunksW*m_ChunksH);
for (int cj = 0; cj < m_ChunksH; ++cj)
{
for (int ci = 0; ci < m_ChunksW; ++ci)
{
m_Chunks[passClass].at(cj*m_ChunksW + ci).InitRegions(ci, cj, grid, passClass);
}
}
// Construct the search graph over the regions
EdgesMap& edges = m_Edges[passClass];
for (int cj = 0; cj < m_ChunksH; ++cj)
{
for (int ci = 0; ci < m_ChunksW; ++ci)
{
FindEdges(ci, cj, passClass, edges);
}
}
}
if (m_DebugOverlay)
{
PROFILE("debug overlay");
m_DebugOverlayLines.clear();
AddDebugEdges(GetPassabilityClass("default"));
}
}
void HierarchicalPathfinder::Update(Grid<NavcellData>* grid, const Grid<u8>& dirtinessGrid)
{
PROFILE3("Hierarchical Update");
std::vector<std::pair<int, int> > processedChunks;
for (int j = 0; j < dirtinessGrid.m_H; ++j)
{
for (int i = 0; i < dirtinessGrid.m_W; ++i)
{
if (!dirtinessGrid.get(i, j))
continue;
std::pair<int, int> chunkID(i / CHUNK_SIZE, j / CHUNK_SIZE);
for (auto& passClassMask : m_PassClassMasks)
{
pass_class_t passClass = passClassMask.second;
Chunk& a = m_Chunks[passClass].at(chunkID.second*m_ChunksW + chunkID.first);
if (std::find(processedChunks.begin(), processedChunks.end(), chunkID) == processedChunks.end())
{
processedChunks.push_back(chunkID);
a.InitRegions(chunkID.first, chunkID.second, grid, passClass);
}
}
}
}
// TODO: Also be clever with edges
m_Edges.clear();
for (auto& passClassMask : m_PassClassMasks)
{
pass_class_t passClass = passClassMask.second;
EdgesMap& edges = m_Edges[passClass];
for (int cj = 0; cj < m_ChunksH; ++cj)
{
for (int ci = 0; ci < m_ChunksW; ++ci)
{
FindEdges(ci, cj, passClass, edges);
}
}
}
if (m_DebugOverlay)
{
PROFILE("debug overlay");
m_DebugOverlayLines.clear();
AddDebugEdges(GetPassabilityClass("default"));
}
}
void HierarchicalPathfinder::SetDebugOverlay(bool enabled, const CSimContext* simContext)
{
if (enabled && !m_DebugOverlay)
{
m_DebugOverlay = new HierarchicalOverlay(*this);
m_DebugOverlayLines.clear();
m_SimContext = simContext;
AddDebugEdges(GetPassabilityClass("default"));
}
else if (!enabled && m_DebugOverlay)
{
SAFE_DELETE(m_DebugOverlay);
m_DebugOverlayLines.clear();
m_SimContext = NULL;
}
}
void HierarchicalPathfinder::Update(Grid<NavcellData>* grid, const Grid<u8>& dirtinessGrid)
{
PROFILE3("Hierarchical Update");
for (int cj = 0; cj < m_ChunksH; ++cj)
{
for (int ci = 0; ci < m_ChunksW; ++ci)
{
if (!IsChunkDirty(ci, cj, dirtinessGrid))
continue;
for (const std::pair<std::string, pass_class_t>& passClassMask : m_PassClassMasks)
{
pass_class_t passClass = passClassMask.second;
Chunk& a = m_Chunks[passClass].at(ci + cj*m_ChunksW);
a.InitRegions(ci, cj, grid, passClass);
}
}
}
// TODO: Also be clever with edges
m_Edges.clear();
for (const std::pair<std::string, pass_class_t>& passClassMask : m_PassClassMasks)
{
pass_class_t passClass = passClassMask.second;
EdgesMap& edges = m_Edges[passClass];
for (int cj = 0; cj < m_ChunksH; ++cj)
{
for (int ci = 0; ci < m_ChunksW; ++ci)
{
FindEdges(ci, cj, passClass, edges);
}
}
}
if (m_DebugOverlay)
{
PROFILE("debug overlay");
m_DebugOverlayLines.clear();
AddDebugEdges(GetPassabilityClass("default"));
}
}