bool HierarchicalPathfinder::MakeGoalReachable(u16 i0, u16 j0, PathGoal& goal, pass_class_t passClass)
{
RegionID source = Get(i0, j0, passClass);
// Find everywhere that's reachable
std::set<RegionID> reachableRegions;
FindReachableRegions(source, reachableRegions, passClass);
// Check whether any reachable region contains the goal
for (const RegionID& region : reachableRegions)
{
// Skip region if its chunk doesn't contain the goal area
entity_pos_t x0 = Pathfinding::NAVCELL_SIZE * (region.ci * CHUNK_SIZE);
entity_pos_t z0 = Pathfinding::NAVCELL_SIZE * (region.cj * CHUNK_SIZE);
entity_pos_t x1 = x0 + Pathfinding::NAVCELL_SIZE * CHUNK_SIZE;
entity_pos_t z1 = z0 + Pathfinding::NAVCELL_SIZE * CHUNK_SIZE;
if (!goal.RectContainsGoal(x0, z0, x1, z1))
continue;
// If the region contains the goal area, the goal is reachable
// and we don't need to move it
if (GetChunk(region.ci, region.cj, passClass).RegionContainsGoal(region.r, goal))
return false;
}
// The goal area wasn't reachable,
// so find the navcell that's nearest to the goal's center
u16 iGoal, jGoal;
Pathfinding::NearestNavcell(goal.x, goal.z, iGoal, jGoal, m_W, m_H);
FindNearestNavcellInRegions(reachableRegions, iGoal, jGoal, passClass);
// Construct a new point goal at the nearest reachable navcell
PathGoal newGoal;
newGoal.type = PathGoal::POINT;
Pathfinding::NavcellCenter(iGoal, jGoal, newGoal.x, newGoal.z);
goal = newGoal;
return true;
}
void HierarchicalPathfinder::FindNearestPassableNavcell(u16& i, u16& j, pass_class_t passClass)
{
std::set<RegionID> regions;
FindPassableRegions(regions, passClass);
FindNearestNavcellInRegions(regions, i, j, passClass);
}
void HierarchicalPathfinder::MakeGoalReachable(u16 i0, u16 j0, PathGoal& goal, pass_class_t passClass)
{
PROFILE2("MakeGoalReachable");
RegionID source = Get(i0, j0, passClass);
// Find everywhere that's reachable
std::set<RegionID> reachableRegions;
FindReachableRegions(source, reachableRegions, passClass);
// Check whether any reachable region contains the goal
// And get the navcell that's the closest to the point
u16 bestI = 0;
u16 bestJ = 0;
u32 dist2Best = std::numeric_limits<u32>::max();
for (const RegionID& region : reachableRegions)
{
// Skip region if its chunk doesn't contain the goal area
entity_pos_t x0 = Pathfinding::NAVCELL_SIZE * (region.ci * CHUNK_SIZE);
entity_pos_t z0 = Pathfinding::NAVCELL_SIZE * (region.cj * CHUNK_SIZE);
entity_pos_t x1 = x0 + Pathfinding::NAVCELL_SIZE * CHUNK_SIZE;
entity_pos_t z1 = z0 + Pathfinding::NAVCELL_SIZE * CHUNK_SIZE;
if (!goal.RectContainsGoal(x0, z0, x1, z1))
continue;
u16 i,j;
u32 dist2;
// If the region contains the goal area, the goal is reachable
// Remember the best point for optimization.
if (GetChunk(region.ci, region.cj, passClass).RegionNearestNavcellInGoal(region.r, i0, j0, goal, i, j, dist2))
{
// If it's a point, no need to move it, we're done
if (goal.type == PathGoal::POINT)
return;
if (dist2 < dist2Best)
{
bestI = i;
bestJ = j;
dist2Best = dist2;
}
}
}
// If the goal area wasn't reachable,
// find the navcell that's nearest to the goal's center
if (dist2Best == std::numeric_limits<u32>::max())
{
u16 iGoal, jGoal;
Pathfinding::NearestNavcell(goal.x, goal.z, iGoal, jGoal, m_W, m_H);
FindNearestNavcellInRegions(reachableRegions, iGoal, jGoal, passClass);
// Construct a new point goal at the nearest reachable navcell
PathGoal newGoal;
newGoal.type = PathGoal::POINT;
Pathfinding::NavcellCenter(iGoal, jGoal, newGoal.x, newGoal.z);
goal = newGoal;
return;
}
ENSURE(dist2Best != std::numeric_limits<u32>::max());
PathGoal newGoal;
newGoal.type = PathGoal::POINT;
Pathfinding::NavcellCenter(bestI, bestJ, newGoal.x, newGoal.z);
goal = newGoal;
}
void HierarchicalPathfinder::MakeGoalReachable(u16 i0, u16 j0, PathGoal& goal, pass_class_t passClass)
{
RegionID source = Get(i0, j0, passClass);
// Find everywhere that's reachable
std::set<RegionID> reachableRegions;
FindReachableRegions(source, reachableRegions, passClass);
// Check whether any reachable region contains the goal
std::set<RegionID> reachableContainingGoal;
for (const RegionID& region : reachableRegions)
{
// Skip region if its chunk doesn't contain the goal area
entity_pos_t x0 = Pathfinding::NAVCELL_SIZE * (region.ci * CHUNK_SIZE);
entity_pos_t z0 = Pathfinding::NAVCELL_SIZE * (region.cj * CHUNK_SIZE);
entity_pos_t x1 = x0 + Pathfinding::NAVCELL_SIZE * CHUNK_SIZE;
entity_pos_t z1 = z0 + Pathfinding::NAVCELL_SIZE * CHUNK_SIZE;
if (!goal.RectContainsGoal(x0, z0, x1, z1))
continue;
// If the region contains the goal area, the goal is reachable
if (GetChunk(region.ci, region.cj, passClass).RegionContainsGoal(region.r, goal))
{
// If it's a point, no need to move it, we're done
if (goal.type == PathGoal::POINT)
return;
// Else remember this region
reachableContainingGoal.insert(region);
}
}
// If the goal area wasn't reachable,
// find the navcell that's nearest to the goal's center
if (reachableContainingGoal.empty())
{
u16 iGoal, jGoal;
Pathfinding::NearestNavcell(goal.x, goal.z, iGoal, jGoal, m_W, m_H);
FindNearestNavcellInRegions(reachableRegions, iGoal, jGoal, passClass);
// Construct a new point goal at the nearest reachable navcell
PathGoal newGoal;
newGoal.type = PathGoal::POINT;
Pathfinding::NavcellCenter(iGoal, jGoal, newGoal.x, newGoal.z);
goal = newGoal;
return;
}
// Non-point goals:
// For each region, find the closest navcell to (i0,j0) which is also in the goal,
// and use the best of all regions
ENSURE(goal.type != PathGoal::POINT);
u16 bestI, bestJ;
u32 dist2Best = std::numeric_limits<u32>::max();
for (const RegionID& region : reachableContainingGoal)
{
u16 i, j;
u32 dist2;
GetChunk(region.ci, region.cj, passClass).RegionNearestNavcellInGoal(region.r, i0, j0, goal, i, j, dist2);
if (dist2 < dist2Best)
{
bestI = i;
bestJ = j;
dist2Best = dist2;
}
}
PathGoal newGoal;
newGoal.type = PathGoal::POINT;
Pathfinding::NavcellCenter(bestI, bestJ, newGoal.x, newGoal.z);
goal = newGoal;
}
