void VehicleInstance::setDestinationV(Mission *m, int x, int y, int z, int ox,
int oy, int new_speed)
{
std::set < PathNode > open, closed;
std::map < PathNode, PathNode > parent;
m->adjXYZ(x, y, z);
z = tile_z_;
dest_path_.clear();
setSpeed(0);
if (map_ == -1 || health_ <= 0 || !(walkable(x, y, z)))
return;
if (!walkable(tile_x_, tile_y_, tile_z_)) {
float dBest = 100000, dCur;
int xBest,yBest;
// we got somewhere we shouldn't, we need to find somewhere that is walkable
for (int j = 0; j < 5; j++)
for (int i = 0; i < 5; i++)
if (walkable(tile_x_ + i, tile_y_ + j, tile_z_)) {
dCur = sqrt((float)(i*i + j*j));
if(dCur < dBest) {
xBest = tile_x_ + i;
yBest = tile_y_ + j;
dBest = dCur;
}
}
for (int j = 0; j < 5; j++)
for (int i = 0; i > -5; --i)
if (walkable(tile_x_ + i, tile_y_ + j, tile_z_)) {
dCur = sqrt((float)(i*i + j*j));
if(dCur < dBest) {
xBest = tile_x_ + i;
yBest = tile_y_ + j;
dBest = dCur;
}
}
for (int j = 0; j > -5; --j)
for (int i = 0; i > -5; --i)
if (walkable(tile_x_ + i, tile_y_ + j, tile_z_)) {
dCur = sqrt((float)(i*i + j*j));
if(dCur < dBest) {
xBest = tile_x_ + i;
yBest = tile_y_ + j;
}
}
for (int j = 0; j > -5; --j)
for (int i = 0; i < 5; i++)
if (walkable(tile_x_ + i, tile_y_ + j, tile_z_)) {
dCur = sqrt((float)(i*i + j*j));
if(dCur < dBest) {
xBest = tile_x_ + i;
yBest = tile_y_ + j;
dBest = dCur;
}
}
if(dBest == 100000)
return;
else {
tile_x_ = xBest;
tile_y_ = yBest;
}
}
PathNode closest;
float closest_dist = 100000;
open.insert(PathNode(tile_x_, tile_y_, tile_z_, off_x_, off_y_));
int watchDog = 1000;
while (!open.empty()) {
watchDog--;
float dist = 100000;
PathNode p;
std::set < PathNode >::iterator pit;
for (std::set < PathNode >::iterator it = open.begin();
it != open.end(); it++) {
float d =
sqrt((float) (x - it->tileX()) * (x - it->tileX()) +
(y - it->tileY()) * (y - it->tileY()));
if (d < dist) {
dist = d;
p = *it;
pit = it; // it cannot be const_iterator because of this assign
}
}
if (dist < closest_dist) {
closest = p;
closest_dist = dist;
}
//printf("found best dist %f in %i nodes\n", dist, open.size());
open.erase(pit);
closed.insert(p);
if ((p.tileX() == x && p.tileY() == y && p.tileZ() == z)
|| watchDog < 0) {
if (watchDog < 0) {
p = closest;
dest_path_.
push_front(PathNode
(p.tileX(), p.tileY(), p.tileZ(), ox, oy));
} else
dest_path_.push_front(PathNode(x, y, z, ox, oy));
while (parent.find(p) != parent.end()) {
p = parent[p];
if (p.tileX() == tile_x_ && p.tileY() == tile_y_
&& p.tileZ() == tile_z_)
break;
dest_path_.push_front(p);
}
break;
}
std::list < PathNode > neighbours;
uint32 goodDir = tileDir(p.tileX(), p.tileY(), p.tileZ());
if (p.tileX() > 0) {
if (dirWalkable(&p,p.tileX() - 1, p.tileY(), p.tileZ())
&& ((goodDir & 0xFF000000) == 0x06000000 || goodDir == 0xFFFFFFFF))
neighbours.
push_back(PathNode(p.tileX() - 1, p.tileY(), p.tileZ()));
}
if (p.tileX() < g_App.maps().map(map())->maxX()) {
if (dirWalkable(&p,p.tileX() + 1, p.tileY(), p.tileZ())
&& ((goodDir & 0x0000FF00) == 0x00000200 || goodDir == 0xFFFFFFFF))
neighbours.
push_back(PathNode(p.tileX() + 1, p.tileY(), p.tileZ()));
}
if (p.tileY() > 0)
if (dirWalkable(&p,p.tileX(), p.tileY() - 1, p.tileZ())
&& ((goodDir & 0x00FF0000) == 0x00040000 || goodDir == 0xFFFFFFFF))
neighbours.
push_back(PathNode(p.tileX(), p.tileY() - 1, p.tileZ()));
if (p.tileY() < g_App.maps().map(map())->maxY())
if (dirWalkable(&p,p.tileX(), p.tileY() + 1, p.tileZ())
&& ((goodDir & 0x000000FF) == 0x0 || goodDir == 0xFFFFFFFF))
neighbours.
push_back(PathNode(p.tileX(), p.tileY() + 1, p.tileZ()));
for (std::list < PathNode >::iterator it = neighbours.begin();
it != neighbours.end(); it++)
if (dirWalkable(&p,it->tileX(), it->tileY(), it->tileZ())
&& open.find(*it) == open.end()
&& closed.find(*it) == closed.end()) {
parent[*it] = p;
open.insert(*it);
}
}
if(!dest_path_.empty()) {
// Adjusting offsets for correct positioning
speed_ = new_speed;
for(std::list < PathNode >::iterator it = dest_path_.begin();
it != dest_path_.end(); it++) {
// TODO : requires testing for correct offsets per
// every direction, because in some part of game
// vehicle position on start of game can create incorrect
// visual representation
// maybe offsets depend on type or tileZ?
switch(tileDir(it->tileX(), it->tileY(), it->tileZ())) {
case 0xFFFFFF00:
case 0xFFFF0200:
it->setOffX(200);
it->setOffY(32);
break;
case 0xFF04FFFF:
it->setOffX(32);
it->setOffY(200);
break;
case 0xFFFF02FF:
case 0xFF0402FF:
it->setOffX(32);
it->setOffY(32);
break;
case 0x06FFFFFF:
case 0x0604FFFF:
it->setOffX(32);
it->setOffY(200);
break;
case 0x06FFFF00:
it->setOffX(200);
it->setOffY(200);
break;
default:
printf("hmm tileDir %X\n", (unsigned int)tileDir(it->tileX(), it->tileY(), it->tileZ()));
break;
}
}
}
}
