static CFixedVector2D NearestPointOnGoal(CFixedVector2D pos, const CCmpPathfinder::Goal& goal)
{
CFixedVector2D g(goal.x, goal.z);
switch (goal.type)
{
case CCmpPathfinder::Goal::POINT:
{
return g;
}
case CCmpPathfinder::Goal::CIRCLE:
{
CFixedVector2D d = pos - g;
if (d.IsZero())
d = CFixedVector2D(fixed::FromInt(1), fixed::Zero()); // some arbitrary direction
d.Normalize(goal.hw);
return g + d;
}
case CCmpPathfinder::Goal::SQUARE:
{
CFixedVector2D halfSize(goal.hw, goal.hh);
CFixedVector2D d = pos - g;
return g + Geometry::NearestPointOnSquare(d, goal.u, goal.v, halfSize);
}
default:
debug_warn(L"invalid type");
return CFixedVector2D();
}
}
virtual CFixedVector2D GetPreviousPosition2D()
{
if (!m_InWorld)
{
LOGERROR(L"CCmpPosition::GetPreviousPosition2D called on entity when IsInWorld is false");
return CFixedVector2D();
}
return CFixedVector2D(m_PrevX, m_PrevZ);
}
virtual void UpdateTurretPosition()
{
if (m_TurretParent == INVALID_ENTITY)
return;
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), m_TurretParent);
if (!cmpPosition)
{
LOGERROR("Turret with parent without position component");
return;
}
if (!cmpPosition->IsInWorld())
MoveOutOfWorld();
else
{
CFixedVector2D rotatedPosition = CFixedVector2D(m_TurretPosition.X, m_TurretPosition.Z);
rotatedPosition = rotatedPosition.Rotate(cmpPosition->GetRotation().Y);
CFixedVector2D rootPosition = cmpPosition->GetPosition2D();
entity_pos_t x = rootPosition.X + rotatedPosition.X;
entity_pos_t z = rootPosition.Y + rotatedPosition.Y;
if (!m_InWorld || m_X != x || m_Z != z)
MoveTo(x, z);
entity_pos_t y = cmpPosition->GetHeightOffset() + m_TurretPosition.Y;
if (!m_InWorld || GetHeightOffset() != y)
SetHeightOffset(y);
m_InWorld = true;
}
}
virtual entity_pos_t GetSize()
{
if (m_Type == UNIT)
return m_Size0;
else
return CFixedVector2D(m_Size0 / 2, m_Size1 / 2).Length();
}
ICmpObstruction::EFoundationCheck CCmpPathfinder::CheckBuildingPlacement(const IObstructionTestFilter& filter,
entity_pos_t x, entity_pos_t z, entity_pos_t a, entity_pos_t w,
entity_pos_t h, entity_id_t id, pass_class_t passClass, bool onlyCenterPoint)
{
// Check unit obstruction
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY);
if (!cmpObstructionManager)
return ICmpObstruction::FOUNDATION_CHECK_FAIL_ERROR;
if (cmpObstructionManager->TestStaticShape(filter, x, z, a, w, h, NULL))
return ICmpObstruction::FOUNDATION_CHECK_FAIL_OBSTRUCTS_FOUNDATION;
// Test against terrain:
UpdateGrid();
ICmpObstructionManager::ObstructionSquare square;
CmpPtr<ICmpObstruction> cmpObstruction(GetSimContext(), id);
if (!cmpObstruction || !cmpObstruction->GetObstructionSquare(square))
return ICmpObstruction::FOUNDATION_CHECK_FAIL_NO_OBSTRUCTION;
if (onlyCenterPoint)
{
u16 i, j;
NearestTile(x, z, i, j);
if (IS_TERRAIN_PASSABLE(m_Grid->get(i,j), passClass))
return ICmpObstruction::FOUNDATION_CHECK_SUCCESS;
return ICmpObstruction::FOUNDATION_CHECK_FAIL_TERRAIN_CLASS;
}
// Expand bounds by 1/sqrt(2) tile (multiply by TERRAIN_TILE_SIZE since we want world coordinates)
entity_pos_t expand = entity_pos_t::FromInt(2).Sqrt().Multiply(entity_pos_t::FromInt(TERRAIN_TILE_SIZE / 2));
CFixedVector2D halfSize(square.hw + expand, square.hh + expand);
CFixedVector2D halfBound = Geometry::GetHalfBoundingBox(square.u, square.v, halfSize);
u16 i0, j0, i1, j1;
NearestTile(square.x - halfBound.X, square.z - halfBound.Y, i0, j0);
NearestTile(square.x + halfBound.X, square.z + halfBound.Y, i1, j1);
for (u16 j = j0; j <= j1; ++j)
{
for (u16 i = i0; i <= i1; ++i)
{
entity_pos_t x, z;
TileCenter(i, j, x, z);
if (Geometry::PointIsInSquare(CFixedVector2D(x - square.x, z - square.z), square.u, square.v, halfSize)
&& !IS_TERRAIN_PASSABLE(m_Grid->get(i,j), passClass))
{
return ICmpObstruction::FOUNDATION_CHECK_FAIL_TERRAIN_CLASS;
}
}
}
return ICmpObstruction::FOUNDATION_CHECK_SUCCESS;
}
virtual fixed GetDistanceTravelled()
{
if (!m_InWorld)
{
LOGERROR(L"CCmpPosition::GetDistanceTravelled called on entity when IsInWorld is false");
return fixed::Zero();
}
return CFixedVector2D(m_X - m_LastX, m_Z - m_LastZ).Length();
}
static bool AtGoal(u16 i, u16 j, const ICmpPathfinder::Goal& goal)
{
// Allow tiles slightly more than sqrt(2) from the actual goal,
// i.e. adjacent diagonally to the target tile
fixed tolerance = entity_pos_t::FromInt(CELL_SIZE*3/2);
entity_pos_t x, z;
CCmpPathfinder::TileCenter(i, j, x, z);
fixed dist = CCmpPathfinder::DistanceToGoal(CFixedVector2D(x, z), goal);
return (dist < tolerance);
}
fixed CCmpPathfinder::DistanceToGoal(CFixedVector2D pos, const CCmpPathfinder::Goal& goal)
{
switch (goal.type)
{
case CCmpPathfinder::Goal::POINT:
return (pos - CFixedVector2D(goal.x, goal.z)).Length();
case CCmpPathfinder::Goal::CIRCLE:
return ((pos - CFixedVector2D(goal.x, goal.z)).Length() - goal.hw).Absolute();
case CCmpPathfinder::Goal::SQUARE:
{
CFixedVector2D halfSize(goal.hw, goal.hh);
CFixedVector2D d(pos.X - goal.x, pos.Y - goal.z);
return Geometry::DistanceToSquare(d, goal.u, goal.v, halfSize);
}
default:
debug_warn(L"invalid type");
return fixed::Zero();
}
}
virtual void Init(const CParamNode& paramNode)
{
// The minimum obstruction size is the navcell size * sqrt(2)
// This is enforced in the schema as a minimum of 1.5
fixed minObstruction = (Pathfinding::NAVCELL_SIZE.Square() * 2).Sqrt();
m_TemplateFlags = 0;
if (paramNode.GetChild("BlockMovement").ToBool())
m_TemplateFlags |= ICmpObstructionManager::FLAG_BLOCK_MOVEMENT;
if (paramNode.GetChild("BlockPathfinding").ToBool())
m_TemplateFlags |= ICmpObstructionManager::FLAG_BLOCK_PATHFINDING;
if (paramNode.GetChild("BlockFoundation").ToBool())
m_TemplateFlags |= ICmpObstructionManager::FLAG_BLOCK_FOUNDATION;
if (paramNode.GetChild("BlockConstruction").ToBool())
m_TemplateFlags |= ICmpObstructionManager::FLAG_BLOCK_CONSTRUCTION;
m_Flags = m_TemplateFlags;
if (paramNode.GetChild("DisableBlockMovement").ToBool())
m_Flags &= (flags_t)(~ICmpObstructionManager::FLAG_BLOCK_MOVEMENT);
if (paramNode.GetChild("DisableBlockPathfinding").ToBool())
m_Flags &= (flags_t)(~ICmpObstructionManager::FLAG_BLOCK_PATHFINDING);
if (paramNode.GetChild("Unit").IsOk())
{
m_Type = UNIT;
m_Size0 = m_Size1 = paramNode.GetChild("Unit").GetChild("@radius").ToFixed();
}
else if (paramNode.GetChild("Static").IsOk())
{
m_Type = STATIC;
m_Size0 = paramNode.GetChild("Static").GetChild("@width").ToFixed();
m_Size1 = paramNode.GetChild("Static").GetChild("@depth").ToFixed();
ENSURE(m_Size0 > minObstruction);
ENSURE(m_Size1 > minObstruction);
}
else
{
m_Type = CLUSTER;
CFixedVector2D max = CFixedVector2D(fixed::FromInt(0), fixed::FromInt(0));
CFixedVector2D min = CFixedVector2D(fixed::FromInt(0), fixed::FromInt(0));
const CParamNode::ChildrenMap& clusterMap = paramNode.GetChild("Obstructions").GetChildren();
for(CParamNode::ChildrenMap::const_iterator it = clusterMap.begin(); it != clusterMap.end(); ++it)
{
Shape b;
b.size0 = it->second.GetChild("@width").ToFixed();
b.size1 = it->second.GetChild("@depth").ToFixed();
ENSURE(b.size0 > minObstruction);
ENSURE(b.size1 > minObstruction);
b.dx = it->second.GetChild("@x").ToFixed();
b.dz = it->second.GetChild("@z").ToFixed();
b.da = entity_angle_t::FromInt(0);
b.flags = m_Flags;
m_Shapes.push_back(b);
max.X = MAX(max.X, b.dx + b.size0/2);
max.Y = MAX(max.Y, b.dz + b.size1/2);
min.X = MIN(min.X, b.dx - b.size0/2);
min.Y = MIN(min.Y, b.dz - b.size1/2);
}
m_Size0 = fixed::FromInt(2).Multiply(MAX(max.X, -min.X));
m_Size1 = fixed::FromInt(2).Multiply(MAX(max.Y, -min.Y));
}
m_Active = paramNode.GetChild("Active").ToBool();
m_ControlPersist = paramNode.GetChild("ControlPersist").IsOk();
m_Tag = tag_t();
if (m_Type == CLUSTER)
m_ClusterTags.clear();
m_Moving = false;
m_ControlGroup = GetEntityId();
m_ControlGroup2 = INVALID_ENTITY;
}
void CCmpPathfinder::ComputeShortPath(const IObstructionTestFilter& filter,
entity_pos_t x0, entity_pos_t z0, entity_pos_t r,
entity_pos_t range, const Goal& goal, pass_class_t passClass, Path& path)
{
UpdateGrid(); // TODO: only need to bother updating if the terrain changed
PROFILE("ComputeShortPath");
// ScopeTimer UID__(L"ComputeShortPath");
m_DebugOverlayShortPathLines.clear();
if (m_DebugOverlay)
{
// Render the goal shape
m_DebugOverlayShortPathLines.push_back(SOverlayLine());
m_DebugOverlayShortPathLines.back().m_Color = CColor(1, 0, 0, 1);
switch (goal.type)
{
case CCmpPathfinder::Goal::POINT:
{
SimRender::ConstructCircleOnGround(GetSimContext(), goal.x.ToFloat(), goal.z.ToFloat(), 0.2f, m_DebugOverlayShortPathLines.back(), true);
break;
}
case CCmpPathfinder::Goal::CIRCLE:
{
SimRender::ConstructCircleOnGround(GetSimContext(), goal.x.ToFloat(), goal.z.ToFloat(), goal.hw.ToFloat(), m_DebugOverlayShortPathLines.back(), true);
break;
}
case CCmpPathfinder::Goal::SQUARE:
{
float a = atan2f(goal.v.X.ToFloat(), goal.v.Y.ToFloat());
SimRender::ConstructSquareOnGround(GetSimContext(), goal.x.ToFloat(), goal.z.ToFloat(), goal.hw.ToFloat()*2, goal.hh.ToFloat()*2, a, m_DebugOverlayShortPathLines.back(), true);
break;
}
}
}
// List of collision edges - paths must never cross these.
// (Edges are one-sided so intersections are fine in one direction, but not the other direction.)
std::vector<Edge> edges;
std::vector<Edge> edgesAA; // axis-aligned squares
// Create impassable edges at the max-range boundary, so we can't escape the region
// where we're meant to be searching
fixed rangeXMin = x0 - range;
fixed rangeXMax = x0 + range;
fixed rangeZMin = z0 - range;
fixed rangeZMax = z0 + range;
{
// (The edges are the opposite direction to usual, so it's an inside-out square)
Edge e0 = { CFixedVector2D(rangeXMin, rangeZMin), CFixedVector2D(rangeXMin, rangeZMax) };
Edge e1 = { CFixedVector2D(rangeXMin, rangeZMax), CFixedVector2D(rangeXMax, rangeZMax) };
Edge e2 = { CFixedVector2D(rangeXMax, rangeZMax), CFixedVector2D(rangeXMax, rangeZMin) };
Edge e3 = { CFixedVector2D(rangeXMax, rangeZMin), CFixedVector2D(rangeXMin, rangeZMin) };
edges.push_back(e0);
edges.push_back(e1);
edges.push_back(e2);
edges.push_back(e3);
}
// List of obstruction vertexes (plus start/end points); we'll try to find paths through
// the graph defined by these vertexes
std::vector<Vertex> vertexes;
// Add the start point to the graph
CFixedVector2D posStart(x0, z0);
fixed hStart = (posStart - NearestPointOnGoal(posStart, goal)).Length();
Vertex start = { posStart, fixed::Zero(), hStart, 0, Vertex::OPEN, QUADRANT_NONE, QUADRANT_ALL };
vertexes.push_back(start);
const size_t START_VERTEX_ID = 0;
// Add the goal vertex to the graph.
// Since the goal isn't always a point, this a special magic virtual vertex which moves around - whenever
// we look at it from another vertex, it is moved to be the closest point on the goal shape to that vertex.
Vertex end = { CFixedVector2D(goal.x, goal.z), fixed::Zero(), fixed::Zero(), 0, Vertex::UNEXPLORED, QUADRANT_NONE, QUADRANT_ALL };
vertexes.push_back(end);
const size_t GOAL_VERTEX_ID = 1;
// Add terrain obstructions
{
u16 i0, j0, i1, j1;
NearestTile(rangeXMin, rangeZMin, i0, j0);
NearestTile(rangeXMax, rangeZMax, i1, j1);
AddTerrainEdges(edgesAA, vertexes, i0, j0, i1, j1, r, passClass, *m_Grid);
}
// Find all the obstruction squares that might affect us
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY);
std::vector<ICmpObstructionManager::ObstructionSquare> squares;
cmpObstructionManager->GetObstructionsInRange(filter, rangeXMin - r, rangeZMin - r, rangeXMax + r, rangeZMax + r, squares);
// Resize arrays to reduce reallocations
vertexes.reserve(vertexes.size() + squares.size()*4);
edgesAA.reserve(edgesAA.size() + squares.size()); // (assume most squares are AA)
// Convert each obstruction square into collision edges and search graph vertexes
for (size_t i = 0; i < squares.size(); ++i)
{
CFixedVector2D center(squares[i].x, squares[i].z);
CFixedVector2D u = squares[i].u;
CFixedVector2D v = squares[i].v;
// Expand the vertexes by the moving unit's collision radius, to find the
// closest we can get to it
CFixedVector2D hd0(squares[i].hw + r + EDGE_EXPAND_DELTA, squares[i].hh + r + EDGE_EXPAND_DELTA);
CFixedVector2D hd1(squares[i].hw + r + EDGE_EXPAND_DELTA, -(squares[i].hh + r + EDGE_EXPAND_DELTA));
// Check whether this is an axis-aligned square
bool aa = (u.X == fixed::FromInt(1) && u.Y == fixed::Zero() && v.X == fixed::Zero() && v.Y == fixed::FromInt(1));
Vertex vert;
vert.status = Vertex::UNEXPLORED;
vert.quadInward = QUADRANT_NONE;
vert.quadOutward = QUADRANT_ALL;
vert.p.X = center.X - hd0.Dot(u); vert.p.Y = center.Y + hd0.Dot(v); if (aa) vert.quadInward = QUADRANT_BR; vertexes.push_back(vert);
vert.p.X = center.X - hd1.Dot(u); vert.p.Y = center.Y + hd1.Dot(v); if (aa) vert.quadInward = QUADRANT_TR; vertexes.push_back(vert);
vert.p.X = center.X + hd0.Dot(u); vert.p.Y = center.Y - hd0.Dot(v); if (aa) vert.quadInward = QUADRANT_TL; vertexes.push_back(vert);
vert.p.X = center.X + hd1.Dot(u); vert.p.Y = center.Y - hd1.Dot(v); if (aa) vert.quadInward = QUADRANT_BL; vertexes.push_back(vert);
// Add the edges:
CFixedVector2D h0(squares[i].hw + r, squares[i].hh + r);
CFixedVector2D h1(squares[i].hw + r, -(squares[i].hh + r));
CFixedVector2D ev0(center.X - h0.Dot(u), center.Y + h0.Dot(v));
CFixedVector2D ev1(center.X - h1.Dot(u), center.Y + h1.Dot(v));
CFixedVector2D ev2(center.X + h0.Dot(u), center.Y - h0.Dot(v));
CFixedVector2D ev3(center.X + h1.Dot(u), center.Y - h1.Dot(v));
if (aa)
{
Edge e = { ev1, ev3 };
edgesAA.push_back(e);
}
else
{
Edge e0 = { ev0, ev1 };
Edge e1 = { ev1, ev2 };
Edge e2 = { ev2, ev3 };
Edge e3 = { ev3, ev0 };
edges.push_back(e0);
edges.push_back(e1);
edges.push_back(e2);
edges.push_back(e3);
}
// TODO: should clip out vertexes and edges that are outside the range,
// to reduce the search space
}
ENSURE(vertexes.size() < 65536); // we store array indexes as u16
if (m_DebugOverlay)
{
// Render the obstruction edges
for (size_t i = 0; i < edges.size(); ++i)
{
m_DebugOverlayShortPathLines.push_back(SOverlayLine());
m_DebugOverlayShortPathLines.back().m_Color = CColor(0, 1, 1, 1);
std::vector<float> xz;
xz.push_back(edges[i].p0.X.ToFloat());
xz.push_back(edges[i].p0.Y.ToFloat());
xz.push_back(edges[i].p1.X.ToFloat());
xz.push_back(edges[i].p1.Y.ToFloat());
SimRender::ConstructLineOnGround(GetSimContext(), xz, m_DebugOverlayShortPathLines.back(), true);
}
for (size_t i = 0; i < edgesAA.size(); ++i)
{
m_DebugOverlayShortPathLines.push_back(SOverlayLine());
m_DebugOverlayShortPathLines.back().m_Color = CColor(0, 1, 1, 1);
std::vector<float> xz;
xz.push_back(edgesAA[i].p0.X.ToFloat());
xz.push_back(edgesAA[i].p0.Y.ToFloat());
xz.push_back(edgesAA[i].p0.X.ToFloat());
xz.push_back(edgesAA[i].p1.Y.ToFloat());
xz.push_back(edgesAA[i].p1.X.ToFloat());
xz.push_back(edgesAA[i].p1.Y.ToFloat());
xz.push_back(edgesAA[i].p1.X.ToFloat());
xz.push_back(edgesAA[i].p0.Y.ToFloat());
xz.push_back(edgesAA[i].p0.X.ToFloat());
xz.push_back(edgesAA[i].p0.Y.ToFloat());
SimRender::ConstructLineOnGround(GetSimContext(), xz, m_DebugOverlayShortPathLines.back(), true);
}
}
// Do an A* search over the vertex/visibility graph:
// Since we are just measuring Euclidean distance the heuristic is admissible,
// so we never have to re-examine a node once it's been moved to the closed set.
// To save time in common cases, we don't precompute a graph of valid edges between vertexes;
// we do it lazily instead. When the search algorithm reaches a vertex, we examine every other
// vertex and see if we can reach it without hitting any collision edges, and ignore the ones
// we can't reach. Since the algorithm can only reach a vertex once (and then it'll be marked
// as closed), we won't be doing any redundant visibility computations.
PROFILE_START("A*");
PriorityQueue open;
PriorityQueue::Item qiStart = { START_VERTEX_ID, start.h };
open.push(qiStart);
u16 idBest = START_VERTEX_ID;
fixed hBest = start.h;
while (!open.empty())
{
// Move best tile from open to closed
PriorityQueue::Item curr = open.pop();
vertexes[curr.id].status = Vertex::CLOSED;
// If we've reached the destination, stop
if (curr.id == GOAL_VERTEX_ID)
{
idBest = curr.id;
break;
}
// Sort the edges so ones nearer this vertex are checked first by CheckVisibility,
// since they're more likely to block the rays
std::sort(edgesAA.begin(), edgesAA.end(), EdgeSort(vertexes[curr.id].p));
std::vector<EdgeAA> edgesLeft;
std::vector<EdgeAA> edgesRight;
std::vector<EdgeAA> edgesBottom;
std::vector<EdgeAA> edgesTop;
SplitAAEdges(vertexes[curr.id].p, edgesAA, edgesLeft, edgesRight, edgesBottom, edgesTop);
// Check the lines to every other vertex
for (size_t n = 0; n < vertexes.size(); ++n)
{
if (vertexes[n].status == Vertex::CLOSED)
continue;
// If this is the magical goal vertex, move it to near the current vertex
CFixedVector2D npos;
if (n == GOAL_VERTEX_ID)
{
npos = NearestPointOnGoal(vertexes[curr.id].p, goal);
// To prevent integer overflows later on, we need to ensure all vertexes are
// 'close' to the source. The goal might be far away (not a good idea but
// sometimes it happens), so clamp it to the current search range
npos.X = clamp(npos.X, rangeXMin, rangeXMax);
npos.Y = clamp(npos.Y, rangeZMin, rangeZMax);
}
else
{
npos = vertexes[n].p;
}
// Work out which quadrant(s) we're approaching the new vertex from
u8 quad = 0;
if (vertexes[curr.id].p.X <= npos.X && vertexes[curr.id].p.Y <= npos.Y) quad |= QUADRANT_BL;
if (vertexes[curr.id].p.X >= npos.X && vertexes[curr.id].p.Y >= npos.Y) quad |= QUADRANT_TR;
if (vertexes[curr.id].p.X <= npos.X && vertexes[curr.id].p.Y >= npos.Y) quad |= QUADRANT_TL;
if (vertexes[curr.id].p.X >= npos.X && vertexes[curr.id].p.Y <= npos.Y) quad |= QUADRANT_BR;
// Check that the new vertex is in the right quadrant for the old vertex
if (!(vertexes[curr.id].quadOutward & quad))
{
// Hack: Always head towards the goal if possible, to avoid missing it if it's
// inside another unit
if (n != GOAL_VERTEX_ID)
{
continue;
}
}
bool visible =
CheckVisibilityLeft(vertexes[curr.id].p, npos, edgesLeft) &&
CheckVisibilityRight(vertexes[curr.id].p, npos, edgesRight) &&
CheckVisibilityBottom(vertexes[curr.id].p, npos, edgesBottom) &&
CheckVisibilityTop(vertexes[curr.id].p, npos, edgesTop) &&
CheckVisibility(vertexes[curr.id].p, npos, edges);
/*
// Render the edges that we examine
m_DebugOverlayShortPathLines.push_back(SOverlayLine());
m_DebugOverlayShortPathLines.back().m_Color = visible ? CColor(0, 1, 0, 0.5) : CColor(1, 0, 0, 0.5);
std::vector<float> xz;
xz.push_back(vertexes[curr.id].p.X.ToFloat());
xz.push_back(vertexes[curr.id].p.Y.ToFloat());
xz.push_back(npos.X.ToFloat());
xz.push_back(npos.Y.ToFloat());
SimRender::ConstructLineOnGround(GetSimContext(), xz, m_DebugOverlayShortPathLines.back(), false);
//*/
if (visible)
{
fixed g = vertexes[curr.id].g + (vertexes[curr.id].p - npos).Length();
// If this is a new tile, compute the heuristic distance
if (vertexes[n].status == Vertex::UNEXPLORED)
{
// Add it to the open list:
vertexes[n].status = Vertex::OPEN;
vertexes[n].g = g;
vertexes[n].h = DistanceToGoal(npos, goal);
vertexes[n].pred = curr.id;
// If this is an axis-aligned shape, the path must continue in the same quadrant
// direction (but not go into the inside of the shape).
// Hack: If we started *inside* a shape then perhaps headed to its corner (e.g. the unit
// was very near another unit), don't restrict further pathing.
if (vertexes[n].quadInward && !(curr.id == START_VERTEX_ID && g < fixed::FromInt(8)))
vertexes[n].quadOutward = ((~vertexes[n].quadInward) & quad) & 0xF;
if (n == GOAL_VERTEX_ID)
vertexes[n].p = npos; // remember the new best goal position
PriorityQueue::Item t = { (u16)n, g + vertexes[n].h };
open.push(t);
// Remember the heuristically best vertex we've seen so far, in case we never actually reach the target
if (vertexes[n].h < hBest)
{
idBest = (u16)n;
hBest = vertexes[n].h;
}
}
else // must be OPEN
{
// If we've already seen this tile, and the new path to this tile does not have a
// better cost, then stop now
if (g >= vertexes[n].g)
continue;
// Otherwise, we have a better path, so replace the old one with the new cost/parent
vertexes[n].g = g;
vertexes[n].pred = curr.id;
// If this is an axis-aligned shape, the path must continue in the same quadrant
// direction (but not go into the inside of the shape).
if (vertexes[n].quadInward)
vertexes[n].quadOutward = ((~vertexes[n].quadInward) & quad) & 0xF;
if (n == GOAL_VERTEX_ID)
vertexes[n].p = npos; // remember the new best goal position
open.promote((u16)n, g + vertexes[n].h);
}
}
}
}
// Reconstruct the path (in reverse)
for (u16 id = idBest; id != START_VERTEX_ID; id = vertexes[id].pred)
{
Waypoint w = { vertexes[id].p.X, vertexes[id].p.Y };
path.m_Waypoints.push_back(w);
}
PROFILE_END("A*");
}
static void AddTerrainEdges(std::vector<Edge>& edgesAA, std::vector<Vertex>& vertexes,
u16 i0, u16 j0, u16 i1, u16 j1, fixed r,
ICmpPathfinder::pass_class_t passClass, const Grid<TerrainTile>& terrain)
{
PROFILE("AddTerrainEdges");
std::vector<TileEdge> tileEdges;
// Find all edges between tiles of differently passability statuses
for (u16 j = j0; j <= j1; ++j)
{
for (u16 i = i0; i <= i1; ++i)
{
if (!IS_TERRAIN_PASSABLE(terrain.get(i, j), passClass))
{
bool any = false; // whether we're adding any edges of this tile
if (j > 0 && IS_TERRAIN_PASSABLE(terrain.get(i, j-1), passClass))
{
TileEdge e = { i, j, TileEdge::BOTTOM };
tileEdges.push_back(e);
any = true;
}
if (j < terrain.m_H-1 && IS_TERRAIN_PASSABLE(terrain.get(i, j+1), passClass))
{
TileEdge e = { i, j, TileEdge::TOP };
tileEdges.push_back(e);
any = true;
}
if (i > 0 && IS_TERRAIN_PASSABLE(terrain.get(i-1, j), passClass))
{
TileEdge e = { i, j, TileEdge::LEFT };
tileEdges.push_back(e);
any = true;
}
if (i < terrain.m_W-1 && IS_TERRAIN_PASSABLE(terrain.get(i+1, j), passClass))
{
TileEdge e = { i, j, TileEdge::RIGHT };
tileEdges.push_back(e);
any = true;
}
// If we want to add any edge, then add the whole square to the axis-aligned-edges list.
// (The inner edges are redundant but it's easier than trying to split the squares apart.)
if (any)
{
CFixedVector2D v0 = CFixedVector2D(fixed::FromInt(i * (int)CELL_SIZE) - r, fixed::FromInt(j * (int)CELL_SIZE) - r);
CFixedVector2D v1 = CFixedVector2D(fixed::FromInt((i+1) * (int)CELL_SIZE) + r, fixed::FromInt((j+1) * (int)CELL_SIZE) + r);
Edge e = { v0, v1 };
edgesAA.push_back(e);
}
}
}
}
// TODO: maybe we should precompute these terrain edges since they'll rarely change?
// TODO: for efficiency (minimising the A* search space), we should coalesce adjoining edges
// Add all the tile outer edges to the search vertex lists
for (size_t n = 0; n < tileEdges.size(); ++n)
{
u16 i = tileEdges[n].i;
u16 j = tileEdges[n].j;
CFixedVector2D v0, v1;
Vertex vert;
vert.status = Vertex::UNEXPLORED;
vert.quadOutward = QUADRANT_ALL;
switch (tileEdges[n].dir)
{
case TileEdge::BOTTOM:
{
v0 = CFixedVector2D(fixed::FromInt(i * (int)CELL_SIZE) - r, fixed::FromInt(j * (int)CELL_SIZE) - r);
v1 = CFixedVector2D(fixed::FromInt((i+1) * (int)CELL_SIZE) + r, fixed::FromInt(j * (int)CELL_SIZE) - r);
vert.p.X = v0.X - EDGE_EXPAND_DELTA; vert.p.Y = v0.Y - EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_TR; vertexes.push_back(vert);
vert.p.X = v1.X + EDGE_EXPAND_DELTA; vert.p.Y = v1.Y - EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_TL; vertexes.push_back(vert);
break;
}
case TileEdge::TOP:
{
v0 = CFixedVector2D(fixed::FromInt((i+1) * (int)CELL_SIZE) + r, fixed::FromInt((j+1) * (int)CELL_SIZE) + r);
v1 = CFixedVector2D(fixed::FromInt(i * (int)CELL_SIZE) - r, fixed::FromInt((j+1) * (int)CELL_SIZE) + r);
vert.p.X = v0.X + EDGE_EXPAND_DELTA; vert.p.Y = v0.Y + EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_BL; vertexes.push_back(vert);
vert.p.X = v1.X - EDGE_EXPAND_DELTA; vert.p.Y = v1.Y + EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_BR; vertexes.push_back(vert);
break;
}
case TileEdge::LEFT:
{
v0 = CFixedVector2D(fixed::FromInt(i * (int)CELL_SIZE) - r, fixed::FromInt((j+1) * (int)CELL_SIZE) + r);
v1 = CFixedVector2D(fixed::FromInt(i * (int)CELL_SIZE) - r, fixed::FromInt(j * (int)CELL_SIZE) - r);
vert.p.X = v0.X - EDGE_EXPAND_DELTA; vert.p.Y = v0.Y + EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_BR; vertexes.push_back(vert);
vert.p.X = v1.X - EDGE_EXPAND_DELTA; vert.p.Y = v1.Y - EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_TR; vertexes.push_back(vert);
break;
}
case TileEdge::RIGHT:
{
v0 = CFixedVector2D(fixed::FromInt((i+1) * (int)CELL_SIZE) + r, fixed::FromInt(j * (int)CELL_SIZE) - r);
v1 = CFixedVector2D(fixed::FromInt((i+1) * (int)CELL_SIZE) + r, fixed::FromInt((j+1) * (int)CELL_SIZE) + r);
vert.p.X = v0.X + EDGE_EXPAND_DELTA; vert.p.Y = v0.Y - EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_TL; vertexes.push_back(vert);
vert.p.X = v1.X + EDGE_EXPAND_DELTA; vert.p.Y = v1.Y + EDGE_EXPAND_DELTA; vert.quadInward = QUADRANT_BL; vertexes.push_back(vert);
break;
}
}
}
}
virtual CFixedVector3D PickSpawnPoint(entity_id_t spawned)
{
// Try to find a free space around the building's footprint.
// (Note that we use the footprint, not the obstruction shape - this might be a bit dodgy
// because the footprint might be inside the obstruction, but it hopefully gives us a nicer
// shape.)
const CFixedVector3D error(fixed::FromInt(-1), fixed::FromInt(-1), fixed::FromInt(-1));
CmpPtr<ICmpPosition> cmpPosition(GetSimContext(), GetEntityId());
if (!cmpPosition || !cmpPosition->IsInWorld())
return error;
CmpPtr<ICmpObstructionManager> cmpObstructionManager(GetSimContext(), SYSTEM_ENTITY);
if (!cmpObstructionManager)
return error;
entity_pos_t spawnedRadius;
ICmpObstructionManager::tag_t spawnedTag;
CmpPtr<ICmpObstruction> cmpSpawnedObstruction(GetSimContext(), spawned);
if (cmpSpawnedObstruction)
{
spawnedRadius = cmpSpawnedObstruction->GetUnitRadius();
spawnedTag = cmpSpawnedObstruction->GetObstruction();
}
// else use zero radius
// Get passability class from UnitMotion
CmpPtr<ICmpUnitMotion> cmpUnitMotion(GetSimContext(), spawned);
if (!cmpUnitMotion)
return error;
ICmpPathfinder::pass_class_t spawnedPass = cmpUnitMotion->GetPassabilityClass();
CmpPtr<ICmpPathfinder> cmpPathfinder(GetSimContext(), SYSTEM_ENTITY);
if (!cmpPathfinder)
return error;
CFixedVector2D initialPos = cmpPosition->GetPosition2D();
entity_angle_t initialAngle = cmpPosition->GetRotation().Y;
// Max spawning distance in tiles
const i32 maxSpawningDistance = 4;
if (m_Shape == CIRCLE)
{
// Expand outwards from foundation
for (i32 dist = 0; dist <= maxSpawningDistance; ++dist)
{
// The spawn point should be far enough from this footprint to fit the unit, plus a little gap
entity_pos_t clearance = spawnedRadius + entity_pos_t::FromInt(2 + (int)TERRAIN_TILE_SIZE*dist);
entity_pos_t radius = m_Size0 + clearance;
// Try equally-spaced points around the circle in alternating directions, starting from the front
const i32 numPoints = 31 + 2*dist;
for (i32 i = 0; i < (numPoints+1)/2; i = (i > 0 ? -i : 1-i)) // [0, +1, -1, +2, -2, ... (np-1)/2, -(np-1)/2]
{
entity_angle_t angle = initialAngle + (entity_angle_t::Pi()*2).Multiply(entity_angle_t::FromInt(i)/(int)numPoints);
fixed s, c;
sincos_approx(angle, s, c);
CFixedVector3D pos (initialPos.X + s.Multiply(radius), fixed::Zero(), initialPos.Y + c.Multiply(radius));
SkipTagObstructionFilter filter(spawnedTag); // ignore collisions with the spawned entity
if (cmpPathfinder->CheckUnitPlacement(filter, pos.X, pos.Z, spawnedRadius, spawnedPass) == ICmpObstruction::FOUNDATION_CHECK_SUCCESS)
return pos; // this position is okay, so return it
}
}
}
else
{
fixed s, c;
sincos_approx(initialAngle, s, c);
// Expand outwards from foundation
for (i32 dist = 0; dist <= maxSpawningDistance; ++dist)
{
// The spawn point should be far enough from this footprint to fit the unit, plus a little gap
entity_pos_t clearance = spawnedRadius + entity_pos_t::FromInt(2 + (int)TERRAIN_TILE_SIZE*dist);
for (i32 edge = 0; edge < 4; ++edge)
{
// Try equally-spaced points along the edge in alternating directions, starting from the middle
const i32 numPoints = 9 + 2*dist;
// Compute the direction and length of the current edge
CFixedVector2D dir;
fixed sx, sy;
switch (edge)
{
case 0:
dir = CFixedVector2D(c, -s);
sx = m_Size0;
sy = m_Size1;
break;
case 1:
dir = CFixedVector2D(-s, -c);
sx = m_Size1;
sy = m_Size0;
break;
case 2:
dir = CFixedVector2D(s, c);
sx = m_Size1;
sy = m_Size0;
break;
case 3:
dir = CFixedVector2D(-c, s);
sx = m_Size0;
sy = m_Size1;
break;
}
CFixedVector2D center = initialPos - dir.Perpendicular().Multiply(sy/2 + clearance);
dir = dir.Multiply((sx + clearance*2) / (int)(numPoints-1));
for (i32 i = 0; i < (numPoints+1)/2; i = (i > 0 ? -i : 1-i)) // [0, +1, -1, +2, -2, ... (np-1)/2, -(np-1)/2]
{
CFixedVector2D pos (center + dir*i);
SkipTagObstructionFilter filter(spawnedTag); // ignore collisions with the spawned entity
if (cmpPathfinder->CheckUnitPlacement(filter, pos.X, pos.Y, spawnedRadius, spawnedPass) == ICmpObstruction::FOUNDATION_CHECK_SUCCESS)
return CFixedVector3D(pos.X, fixed::Zero(), pos.Y); // this position is okay, so return it
}
}
}
}
return error;
}
