void PathInfo::BuildShortcut()
{
PATH_DEBUG("++ BuildShortcut :: making shortcut\n");
clear();
// make two point path, our curr pos is the start, and dest is the end
m_pathPoints.resize(2);
// set start and a default next position
m_pathPoints.set(0, getStartPosition());
m_pathPoints.set(1, getActualEndPosition());
setNextPosition(getActualEndPosition());
m_type = PATHFIND_SHORTCUT;
}
bool PathInfo::Update(const float destX, const float destY, const float destZ, bool useStraightPath)
{
PathNode newDest(destX, destY, destZ);
PathNode oldDest = getEndPosition();
setEndPosition(newDest);
float x, y, z;
m_sourceUnit->GetPosition(x, y, z);
PathNode newStart(x, y, z);
PathNode oldStart = getStartPosition();
setStartPosition(newStart);
m_useStraightPath = useStraightPath;
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::Update() for %u \n", m_sourceUnit->GetGUID());
// make sure navMesh works - we can run on map w/o mmap
if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->hasUnitState(UNIT_STAT_IGNORE_PATHFINDING))
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return true;
}
updateFilter();
// check if destination moved - if not we can optimize something here
// we are following old, precalculated path?
float dist = m_sourceUnit->GetObjectBoundingRadius();
if (inRange(oldDest, newDest, dist, dist) && m_pathPoints.size() > 2)
{
// our target is not moving - we just coming closer
// we are moving on precalculated path - enjoy the ride
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::Update:: precalculated path\n");
m_pathPoints.crop(1, 0);
setNextPosition(m_pathPoints[1]);
return false;
}
else
{
// target moved, so we need to update the poly path
BuildPolyPath(newStart, newDest);
return true;
}
}
void MosquitoNode::updateCurrent(sf::Time dt)
{
// ALW - Simulation Mode
if (mSimulationMode)
{
if (!mPause)
{
if (mDelaySet)
delaySpawn(dt);
if (mActive)
{
setNextPosition(dt);
mAnimation.update(dt);
}
}
}
}
void PathInfo::BuildShortcut()
{
//DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildShortcut :: making shortcut\n");
clear();
// make two point path, our curr pos is the start, and dest is the end
m_pathPoints.resize(2);
// set start and a default next position
m_pathPoints[0] = getStartPosition();
m_pathPoints[1] = getActualEndPosition();
NormalizePath();
setNextPosition(getActualEndPosition());
m_type = PATHFIND_SHORTCUT;
}
void PathInfo::BuildPointPath(float *startPoint, float *endPoint)
{
float pathPoints[MAX_POINT_PATH_LENGTH*VERTEX_SIZE];
uint32 pointCount = 0;
dtStatus dtResult = DT_FAILURE;
bool usedOffmesh = false;
if (m_useStraightPath)
{
dtResult = m_navMeshQuery->findStraightPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // lenth of current path
pathPoints, // [out] path corner points
NULL, // [out] flags
NULL, // [out] shortened path
(int*)&pointCount,
MAX_POINT_PATH_LENGTH); // maximum number of points/polygons to use
}
else
{
dtResult = findSmoothPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // length of current path
pathPoints, // [out] path corner points
(int*)&pointCount,
usedOffmesh,
MAX_POINT_PATH_LENGTH); // maximum number of points
}
if (pointCount < 2 || dtResult != DT_SUCCESS)
{
// only happens if pass bad data to findStraightPath or navmesh is broken
// single point paths can be generated here
// TODO : check the exact cases
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::BuildPointPath FAILED! path sized %d returned\n", pointCount);
BuildShortcut();
m_type = PATHFIND_NOPATH;
return;
}
// we need to flash our poly path to prevent it being used as subpath next cycle
// in case of off mesh connection was used
if(usedOffmesh)
m_polyLength = 0;
m_pathPoints.resize(pointCount);
for (uint32 i = 0; i < pointCount; ++i)
m_pathPoints.set(i, PathNode(pathPoints[i*VERTEX_SIZE+2], pathPoints[i*VERTEX_SIZE], pathPoints[i*VERTEX_SIZE+1]));
// first point is always our current location - we need the next one
setNextPosition(m_pathPoints[1]);
setActualEndPosition(m_pathPoints[pointCount-1]);
// force the given destination, if needed
if(m_forceDestination &&
(!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
{
setActualEndPosition(getEndPosition());
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
return;
}
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::BuildPointPath path type %d size %d poly-size %d\n", m_type, pointCount, m_polyLength);
}
void PathInfo::BuildPointPath(const float* startPoint, const float* endPoint)
{
float pathPoints[MAX_POINT_PATH_LENGTH * VERTEX_SIZE];
uint32 pointCount = 0;
dtStatus dtResult = DT_FAILURE;
if (m_useStraightPath)
{
dtResult = m_navMeshQuery->findStraightPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // lenth of current path
pathPoints, // [out] path corner points
NULL, // [out] flags
NULL, // [out] shortened path
(int*)&pointCount,
m_pointPathLimit); // maximum number of points/polygons to use
}
else
{
dtResult = findSmoothPath(
startPoint, // start position
endPoint, // end position
m_pathPolyRefs, // current path
m_polyLength, // length of current path
pathPoints, // [out] path corner points
(int*)&pointCount,
m_pointPathLimit); // maximum number of points
}
if (pointCount < 2 || dtStatusFailed(dtResult))
{
// only happens if pass bad data to findStraightPath or navmesh is broken
// single point paths can be generated here
// TODO : check the exact cases
sLog.outMMap("PathInfo::BuildPointPath FAILED! path sized %d returned\n", pointCount);
BuildShortcut();
m_type = PATHFIND_NOPATH;
return;
}
else if (pointCount == m_pointPathLimit)
{
sLog.outMMap("PathInfo::BuildPointPath pointCount %u == m_pointPathLimit\n", pointCount);
BuildShortcut();
m_type = PATHFIND_SHORT;
return;
}
m_pathPoints.resize(pointCount);
for (uint32 i = 0; i < pointCount; ++i)
m_pathPoints[i] = Vector3(pathPoints[i * VERTEX_SIZE + 2], pathPoints[i * VERTEX_SIZE], pathPoints[i * VERTEX_SIZE + 1]);
NormalizePath();
// first point is always our current location - we need the next one
setNextPosition(m_pathPoints[1]);
setActualEndPosition(m_pathPoints[pointCount - 1]);
// force the given destination, if needed
if (m_forceDestination &&
(!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
{
// we may want to keep partial subpath
if (dist3DSqr(getActualEndPosition(), getEndPosition()) <
0.3f * dist3DSqr(getStartPosition(), getEndPosition()))
{
setActualEndPosition(getEndPosition());
m_pathPoints[m_pathPoints.size() - 1] = getEndPosition();
}
else
{
setActualEndPosition(getEndPosition());
BuildShortcut();
}
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
}
//DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathInfo::BuildPointPath path type %d size %d poly-size %d\n", m_type, pointCount, m_polyLength);
}
void PathInfo::updateNextPosition()
{
float x, y, z;
getStartPosition(x, y, z);
float startPos[3] = {y, z, x};
getEndPosition(x, y, z);
float endPos[3] = {y, z, x};
float* pathPoints = new float[MAX_PATH_LENGTH*3];
int pointCount = m_navMesh->findStraightPath(
startPos, // start position
endPos, // end position
m_pathPolyRefs, // current path
m_length, // lenth of current path
pathPoints, // [out] path corner points
0, // [out] flags
0, // [out] shortened path PATHFIND TODO: see if this is usable (IE, doesn't leave gaps in path)
MAX_PATH_LENGTH); // maximum number of points/polygons to use
// TODO: imitate PATHFIND_ITER code from RecastDemo so that terrain following is smoother
if(pointCount == 0)
{
delete [] pathPoints;
// only happens if pass bad data to findStraightPath or navmesh is broken
sLog.outDebug("%u's UpdateNextPosition failed: 0 length path", m_sourceObject->GetGUID());
shortcut();
return;
}
int ix, iy, iz;
if(pointCount == 1)
{
ix = 2; iy = 0; iz = 1;
}
else
{
ix = 5; iy = 3; iz = 4;
}
setNextPosition(pathPoints[ix], pathPoints[iy], pathPoints[iz]);
// if startPosition == nextPosition, NPC will never advance to destination
if(isSamePoint(m_startPosition, m_nextPosition) && !isSamePoint(m_nextPosition, m_endPosition))
setNextPosition(pathPoints[ix + 3], pathPoints[iy + 3], pathPoints[iz + 3]);
delete [] m_pathPoints;
m_pathPoints = pathPoints;
m_type = PathType(m_type | PATHFIND_NORMAL);
// if end position from findStraightPath isn't the
// place we want to go, there is likely no path
endPos[0] = pathPoints[(pointCount-1)*3+2];
endPos[1] = pathPoints[(pointCount-1)*3];
endPos[2] = pathPoints[(pointCount-1)*3+1];
if(!dtVequal(endPos, m_endPosition))
m_type = PathType(m_type | PATHFIND_NOPATH);
}
void PathInfo::Update(const float destX, const float destY, const float destZ)
{
float x, y, z;
// update start and end
m_sourceObject->GetPosition(x, y, z);
setStartPosition(x, y, z);
setEndPosition(destX, destY, destZ);
// make sure navMesh works
if(!m_navMesh)
{
m_sourceObject->GetPosition(x, y, z);
m_navMesh = m_sourceObject->GetMap()->GetNavMesh();
if(!m_navMesh)
{
// can't pathfind if navmesh doesn't exist
shortcut();
return;
}
}
if(!m_pathPolyRefs)
{
// path was not built before, most likely because navmesh wasn't working
// start from scratch, then return
Build();
return;
}
// should be safe to update path now
bool startOffPath = false;
bool endOffPath = false;
// find start and end poly
// navMesh.findNearestPoly is expensive, so first we check just the current path
getStartPosition(x, y, z);
dtPolyRef startPoly = getPathPolyByPosition(x, y, z);
getEndPosition(x, y, z);
dtPolyRef endPoly = getPathPolyByPosition(x, y, z);
if(startPoly != 0 && endPoly != 0)
trim(startPoly, endPoly);
else
{
// start or end is off the path, need to find the polygon
float extents[3] = {2.f, 4.f, 2.f}; // bounds of poly search area
dtQueryFilter filter = dtQueryFilter(); // filter for poly search
if(!startPoly)
{
getStartPosition(x, y, z);
float startPos[3] = {y, z, x};
startOffPath = true;
startPoly = m_navMesh->findNearestPoly(startPos, extents, &filter, 0);
}
if(!endPoly)
{
getEndPosition(x, y, z);
float endPos[3] = {y, z, x};
endOffPath = true;
endPoly = m_navMesh->findNearestPoly(endPos, extents, &filter, 0);
}
if(startPoly == 0 || endPoly == 0)
{
// source or dest not near navmesh polygons:
// flying, falling, swimming, or navmesh has a hole
// ignore obstacles/terrain is better than giving up
// PATHFIND TODO: prevent walking/swimming mobs from flying into the air
shortcut();
return;
}
}
if(startPoly == endPoly)
{
// start and end are on same polygon
// just need to move in straight line
// PATHFIND TODO: prevent walking/swimming mobs from flying into the air
clear();
m_pathPolyRefs = new dtPolyRef[1];
m_pathPolyRefs[0] = startPoly;
m_length = 1;
getEndPosition(x, y, z);
setNextPosition(x, y, z);
m_type = PathType(m_type | PATHFIND_NORMAL);
return;
}
if(startOffPath)
{
bool adjacent = false;
int i;
for(i = 0; i < DT_VERTS_PER_POLYGON; ++i)
if(startPoly == m_navMesh->getPolyByRef(m_pathPolyRefs[0])->neis[i])
{
adjacent = true;
break;
}
if(adjacent)
{
// startPoly is adjacent to the path, we can add it to the start of the path
// 50th poly will fall off of path, shouldn't be an issue because most paths aren't that long
m_length = m_length < MAX_PATH_LENGTH ? m_length + 1 : m_length;
dtPolyRef* temp = new dtPolyRef[m_length];
temp[0] = startPoly;
for(i = 1; i < m_length; ++i)
temp[i] = m_pathPolyRefs[i - 1];
delete [] m_pathPolyRefs;
m_pathPolyRefs = temp;
}
else
{
// waste of time to optimize, just find brand new path
Build(startPoly, endPoly);
return;
}
}
if(endOffPath)
{
bool adjacent = false;
int i;
for(i = 0; i < DT_VERTS_PER_POLYGON; ++i)
if(startPoly == m_navMesh->getPolyByRef(m_pathPolyRefs[0])->neis[i])
{
adjacent = true;
break;
}
if(adjacent)
{
if(m_length < MAX_PATH_LENGTH)
{
// endPoly is adjacent to the path, and we have enough room to add it to the end
dtPolyRef* temp = new dtPolyRef[m_length + 1];
for(i = 0; i < m_length; ++i)
temp[i] = m_pathPolyRefs[i];
temp[i] = endPoly;
delete [] m_pathPolyRefs;
m_pathPolyRefs = temp;
}
//else
// ; // endPoly is adjacent to the path, we just don't have room to store it
}
else
{
// waste of time to optimize, just find brand new path
Build(startPoly, endPoly);
return;
}
}
updateNextPosition();
}
