Pathfinder - approximated paths when original destination unreachable
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4ffc6621a9
commit
29e31c5be9
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@ -36,7 +36,6 @@ void cAggressiveMonster::InStateChasing(std::chrono::milliseconds a_Dt)
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return;
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return;
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}
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}
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}
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}
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MoveToPosition(m_Target->GetPosition());
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MoveToPosition(m_Target->GetPosition());
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}
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}
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}
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}
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@ -89,7 +89,7 @@ cMonster::cMonster(const AString & a_ConfigName, eMonsterType a_MobType, const A
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, m_SoundDeath(a_SoundDeath)
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, m_SoundDeath(a_SoundDeath)
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, m_AttackRate(3)
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, m_AttackRate(3)
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, m_AttackDamage(1)
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, m_AttackDamage(1)
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, m_AttackRange(2)
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, m_AttackRange(1)
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, m_AttackInterval(0)
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, m_AttackInterval(0)
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, m_SightDistance(25)
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, m_SightDistance(25)
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, m_DropChanceWeapon(0.085f)
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, m_DropChanceWeapon(0.085f)
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@ -147,10 +147,15 @@ bool cMonster::TickPathFinding(cChunk & a_Chunk)
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(Recalculate lots when close, calculate rarely when far) */
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(Recalculate lots when close, calculate rarely when far) */
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if (
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if (
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((GetPosition() - m_PathFinderDestination).Length() < 0.25) ||
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((GetPosition() - m_PathFinderDestination).Length() < 0.25) ||
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((m_TicksSinceLastPathReset > 10) && (m_TicksSinceLastPathReset > (0.15 * (m_FinalDestination - GetPosition()).SqrLength())))
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((m_TicksSinceLastPathReset > 10) && (m_TicksSinceLastPathReset > (0.4 * (m_FinalDestination - GetPosition()).SqrLength())))
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)
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)
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{
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{
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ResetPathFinding();
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/* Re-calculating is expensive when there's no path to target, and it results in mobs freezing very often as a result of always recalculating.
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This is a workaround till we get better path recalculation. */
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if (!m_NoPathToTarget)
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{
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ResetPathFinding();
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}
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}
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}
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}
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}
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@ -161,12 +166,21 @@ bool cMonster::TickPathFinding(cChunk & a_Chunk)
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StopMovingToPosition(); // Invalid chunks, probably world is loading or something, cancel movement.
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StopMovingToPosition(); // Invalid chunks, probably world is loading or something, cancel movement.
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return false;
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return false;
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}
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}
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m_NoPathToTarget = false;
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m_NoMoreWayPoints = false;
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m_PathFinderDestination = m_FinalDestination;
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m_PathFinderDestination = m_FinalDestination;
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m_Path = new cPath(a_Chunk, GetPosition().Floor(), m_PathFinderDestination.Floor(), 20);
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m_Path = new cPath(a_Chunk, GetPosition().Floor(), m_PathFinderDestination.Floor(), 20);
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}
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}
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switch (m_Path->Step(a_Chunk))
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switch (m_Path->Step(a_Chunk))
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{
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{
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case ePathFinderStatus::NEARBY_FOUND:
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{
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m_NoPathToTarget = true;
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m_Path->AcceptNearbyPath();
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break;
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}
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case ePathFinderStatus::PATH_NOT_FOUND:
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case ePathFinderStatus::PATH_NOT_FOUND:
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{
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{
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StopMovingToPosition(); // Give up pathfinding to that destination.
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StopMovingToPosition(); // Give up pathfinding to that destination.
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@ -179,15 +193,22 @@ bool cMonster::TickPathFinding(cChunk & a_Chunk)
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}
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}
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case ePathFinderStatus::PATH_FOUND:
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case ePathFinderStatus::PATH_FOUND:
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{
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{
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if (--m_GiveUpCounter == 0)
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if (m_NoMoreWayPoints || (--m_GiveUpCounter == 0))
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{
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{
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ResetPathFinding(); // Try to calculate a path again.
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ResetPathFinding(); // Try to calculate a path again.
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return false;
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return false;
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}
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}
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else if (!m_Path->IsLastPoint() && (m_Path->IsFirstPoint() || ReachedNextWaypoint())) // Have we arrived at the next cell, as denoted by m_NextWayPointPosition?
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else if (!m_Path->IsLastPoint()) // Have we arrived at the next cell, as denoted by m_NextWayPointPosition?
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{
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{
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m_NextWayPointPosition = Vector3d(0.5, 0, 0.5) + m_Path->GetNextPoint();
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if ((m_Path->IsFirstPoint() || ReachedNextWaypoint()))
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m_GiveUpCounter = 40; // Give up after 40 ticks (2 seconds) if failed to reach m_NextWayPointPosition.
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{
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m_NextWayPointPosition = Vector3d(0.5, 0, 0.5) + m_Path->GetNextPoint();
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m_GiveUpCounter = 40; // Give up after 40 ticks (2 seconds) if failed to reach m_NextWayPointPosition.
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}
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}
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else
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{
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m_NoMoreWayPoints = true;
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}
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}
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return true;
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return true;
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}
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}
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@ -269,21 +290,59 @@ bool cMonster::EnsureProperDestination(cChunk & a_Chunk)
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{
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{
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return false;
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return false;
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}
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}
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int RelX = FloorC(m_FinalDestination.x) - Chunk->GetPosX() * cChunkDef::Width;
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int RelX = FloorC(m_FinalDestination.x) - Chunk->GetPosX() * cChunkDef::Width;
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int RelZ = FloorC(m_FinalDestination.z) - Chunk->GetPosZ() * cChunkDef::Width;
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int RelZ = FloorC(m_FinalDestination.z) - Chunk->GetPosZ() * cChunkDef::Width;
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// If destination in the air, go down to the lowest air block.
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// If destination in the air, first try to go 1 block north, or east, or west.
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while (m_FinalDestination.y > 0)
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// This fixes the player leaning issue.
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// If that failed, we instead go down to the lowest air block.
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Chunk->GetBlockTypeMeta(RelX, FloorC(m_FinalDestination.y) - 1, RelZ, BlockType, BlockMeta);
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if (!cBlockInfo::IsSolid(BlockType))
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{
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{
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Chunk->GetBlockTypeMeta(RelX, FloorC(m_FinalDestination.y) - 1, RelZ, BlockType, BlockMeta);
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bool InTheAir = true;
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if (cBlockInfo::IsSolid(BlockType))
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int x, z;
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for (z = -1; z <= 1; ++z)
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{
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{
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break;
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for (x = -1; x <= 1; ++x)
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{
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if ((x==0) && (z==0))
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{
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continue;
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}
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Chunk = a_Chunk.GetNeighborChunk(FloorC(m_FinalDestination.x+x), FloorC(m_FinalDestination.z+z));
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if ((Chunk == nullptr) || !Chunk->IsValid())
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{
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return false;
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}
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RelX = FloorC(m_FinalDestination.x+x) - Chunk->GetPosX() * cChunkDef::Width;
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RelZ = FloorC(m_FinalDestination.z+z) - Chunk->GetPosZ() * cChunkDef::Width;
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Chunk->GetBlockTypeMeta(RelX, FloorC(m_FinalDestination.y) - 1, RelZ, BlockType, BlockMeta);
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if (cBlockInfo::IsSolid(BlockType))
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{
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m_FinalDestination.x += x;
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m_FinalDestination.z += z;
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InTheAir = false;
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goto breakBothLoops;
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}
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}
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}
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}
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m_FinalDestination.y -= 1;
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breakBothLoops:
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}
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// Go down to the lowest air block.
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if (InTheAir)
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{
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while (m_FinalDestination.y > 0)
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{
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Chunk->GetBlockTypeMeta(RelX, FloorC(m_FinalDestination.y) - 1, RelZ, BlockType, BlockMeta);
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if (cBlockInfo::IsSolid(BlockType))
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{
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break;
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}
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m_FinalDestination.y -= 1;
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}
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}
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}
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// If destination in water, go up to the highest water block.
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// If destination in water, go up to the highest water block.
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// If destination in solid, go up to first air block.
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// If destination in solid, go up to first air block.
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@ -447,21 +506,29 @@ void cMonster::SetPitchAndYawFromDestination()
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}
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}
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}
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}
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Vector3d BodyDistance = m_NextWayPointPosition - GetPosition();
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double BodyRotation, BodyPitch;
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BodyDistance.Normalize();
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VectorToEuler(BodyDistance.x, BodyDistance.y, BodyDistance.z, BodyRotation, BodyPitch);
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SetYaw(BodyRotation);
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Vector3d Distance = FinalDestination - GetPosition();
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Vector3d Distance = FinalDestination - GetPosition();
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{
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{
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double Rotation, Pitch;
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double HeadRotation, HeadPitch;
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Distance.Normalize();
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Distance.Normalize();
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VectorToEuler(Distance.x, Distance.y, Distance.z, Rotation, Pitch);
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VectorToEuler(Distance.x, Distance.y, Distance.z, HeadRotation, HeadPitch);
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SetHeadYaw(Rotation);
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if (abs(BodyRotation - HeadRotation) < 120)
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SetPitch(-Pitch);
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{
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}
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SetHeadYaw(HeadRotation);
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SetPitch(-HeadPitch);
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{
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}
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Vector3d BodyDistance = m_NextWayPointPosition - GetPosition();
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else // We're not an owl. If it's more than 120, don't look behind and instead look at where you're walking.
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double Rotation, Pitch;
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{
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BodyDistance.Normalize();
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SetHeadYaw(BodyRotation);
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VectorToEuler(BodyDistance.x, BodyDistance.y, BodyDistance.z, Rotation, Pitch);
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SetPitch(-BodyPitch);
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SetYaw(Rotation);
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}
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}
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}
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}
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}
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@ -180,6 +180,13 @@ protected:
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/** Coordinates for the ultimate, final destination last given to the pathfinder. */
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/** Coordinates for the ultimate, final destination last given to the pathfinder. */
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Vector3d m_PathFinderDestination;
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Vector3d m_PathFinderDestination;
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/** True if there's no path to target and we're walking to an approximated location. */
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bool m_NoPathToTarget;
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/** Whether The mob has finished their path, note that this does not imply reaching the destination,
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the destination may sometimes differ from the current path. */
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bool m_NoMoreWayPoints;
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/** Finds the lowest non-air block position (not the highest, as cWorld::GetHeight does)
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/** Finds the lowest non-air block position (not the highest, as cWorld::GetHeight does)
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If current Y is nonsolid, goes down to try to find a solid block, then returns that + 1
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If current Y is nonsolid, goes down to try to find a solid block, then returns that + 1
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If current Y is solid, goes up to find first nonsolid block, and returns that.
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If current Y is solid, goes up to find first nonsolid block, and returns that.
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@ -8,7 +8,7 @@
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#define DISTANCE_MANHATTAN 0 // 1: More speed, a bit less accuracy 0: Max accuracy, less speed.
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#define DISTANCE_MANHATTAN 0 // 1: More speed, a bit less accuracy 0: Max accuracy, less speed.
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#define HEURISTICS_ONLY 0 // 1: Much more speed, much less accurate.
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#define HEURISTICS_ONLY 0 // 1: Much more speed, much less accurate.
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#define CALCULATIONS_PER_STEP 5 // Higher means more CPU load but faster path calculations.
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#define CALCULATIONS_PER_STEP 10 // Higher means more CPU load but faster path calculations.
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// The only version which guarantees the shortest path is 0, 0.
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// The only version which guarantees the shortest path is 0, 0.
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enum class eCellStatus {OPENLIST, CLOSEDLIST, NOLIST};
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enum class eCellStatus {OPENLIST, CLOSEDLIST, NOLIST};
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@ -44,7 +44,8 @@ cPath::cPath(
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m_Destination(a_EndingPoint.Floor()),
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m_Destination(a_EndingPoint.Floor()),
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m_Source(a_StartingPoint.Floor()),
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m_Source(a_StartingPoint.Floor()),
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m_CurrentPoint(0), // GetNextPoint increments this to 1, but that's fine, since the first cell is always a_StartingPoint
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m_CurrentPoint(0), // GetNextPoint increments this to 1, but that's fine, since the first cell is always a_StartingPoint
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m_Chunk(&a_Chunk)
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m_Chunk(&a_Chunk),
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m_BadChunkFound(false)
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{
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{
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// TODO: if src not walkable OR dest not walkable, then abort.
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// TODO: if src not walkable OR dest not walkable, then abort.
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// Borrow a new "isWalkable" from ProcessIfWalkable, make ProcessIfWalkable also call isWalkable
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// Borrow a new "isWalkable" from ProcessIfWalkable, make ProcessIfWalkable also call isWalkable
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@ -55,6 +56,7 @@ cPath::cPath(
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return;
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return;
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}
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}
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m_NearestPointToTarget = GetCell(m_Source);
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m_Status = ePathFinderStatus::CALCULATING;
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m_Status = ePathFinderStatus::CALCULATING;
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m_StepsLeft = a_MaxSteps;
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m_StepsLeft = a_MaxSteps;
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@ -81,15 +83,20 @@ cPath::~cPath()
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ePathFinderStatus cPath::Step(cChunk & a_Chunk)
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ePathFinderStatus cPath::Step(cChunk & a_Chunk)
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{
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{
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m_Chunk = &a_Chunk;
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m_Chunk = &a_Chunk;
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if (m_Status != ePathFinderStatus::CALCULATING)
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if (m_Status != ePathFinderStatus::CALCULATING)
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{
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{
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return m_Status;
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return m_Status;
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}
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}
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if (m_StepsLeft == 0)
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if (m_BadChunkFound)
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{
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{
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FinishCalculation(ePathFinderStatus::PATH_NOT_FOUND);
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FinishCalculation(ePathFinderStatus::PATH_NOT_FOUND);
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return m_Status;
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}
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if (m_StepsLeft == 0)
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{
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AttemptToFindAlternative();
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}
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}
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else
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else
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{
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{
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@ -102,9 +109,9 @@ ePathFinderStatus cPath::Step(cChunk & a_Chunk)
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break; // if we're here, m_Status must have changed either to PATH_FOUND or PATH_NOT_FOUND.
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break; // if we're here, m_Status must have changed either to PATH_FOUND or PATH_NOT_FOUND.
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}
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}
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}
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}
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}
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m_Chunk = nullptr;
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m_Chunk = nullptr;
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}
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return m_Status;
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return m_Status;
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}
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}
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@ -112,6 +119,17 @@ ePathFinderStatus cPath::Step(cChunk & a_Chunk)
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Vector3i cPath::AcceptNearbyPath()
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{
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ASSERT(m_Status == ePathFinderStatus::NEARBY_FOUND);
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m_Status = ePathFinderStatus::PATH_FOUND;
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return m_Destination;
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}
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bool cPath::IsSolid(const Vector3i & a_Location)
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bool cPath::IsSolid(const Vector3i & a_Location)
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{
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{
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ASSERT(m_Chunk != nullptr);
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ASSERT(m_Chunk != nullptr);
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@ -119,6 +137,7 @@ bool cPath::IsSolid(const Vector3i & a_Location)
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auto Chunk = m_Chunk->GetNeighborChunk(a_Location.x, a_Location.z);
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auto Chunk = m_Chunk->GetNeighborChunk(a_Location.x, a_Location.z);
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if ((Chunk == nullptr) || !Chunk->IsValid())
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if ((Chunk == nullptr) || !Chunk->IsValid())
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{
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{
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m_BadChunkFound = true;
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return true;
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return true;
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}
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}
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m_Chunk = Chunk;
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m_Chunk = Chunk;
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@ -149,34 +168,29 @@ bool cPath::Step_Internal()
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{
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{
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cPathCell * CurrentCell = OpenListPop();
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cPathCell * CurrentCell = OpenListPop();
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// Path not reachable, open list exauhsted.
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// Path not reachable.
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if (CurrentCell == nullptr)
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if (CurrentCell == nullptr)
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{
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{
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FinishCalculation(ePathFinderStatus::PATH_NOT_FOUND);
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AttemptToFindAlternative();
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ASSERT(m_Status == ePathFinderStatus::PATH_NOT_FOUND);
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return true;
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return true;
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}
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}
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// Path found.
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// Path found.
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if (
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if (CurrentCell->m_Location == m_Destination)
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(CurrentCell->m_Location == m_Destination + Vector3i(0, 0, 1)) ||
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(CurrentCell->m_Location == m_Destination + Vector3i(1, 0, 0)) ||
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(CurrentCell->m_Location == m_Destination + Vector3i(-1, 0, 0)) ||
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(CurrentCell->m_Location == m_Destination + Vector3i(0, 0, -1)) ||
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(CurrentCell->m_Location == m_Destination + Vector3i(0, -1, 0))
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)
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{
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{
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do
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BuildPath();
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{
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m_PathPoints.push_back(CurrentCell->m_Location); // Populate the cPath with points.
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CurrentCell = CurrentCell->m_Parent;
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} while (CurrentCell != nullptr);
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FinishCalculation(ePathFinderStatus::PATH_FOUND);
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FinishCalculation(ePathFinderStatus::PATH_FOUND);
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return true;
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return true;
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}
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}
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// Calculation not finished yet, process a currentCell by inspecting all neighbors.
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// Calculation not finished yet.
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||||||
|
// Check if we have a new NearestPoint.
|
||||||
|
if (CurrentCell->m_H < m_NearestPointToTarget->m_H)
|
||||||
|
{
|
||||||
|
m_NearestPointToTarget = CurrentCell;
|
||||||
|
}
|
||||||
|
|
||||||
|
// process a currentCell by inspecting all neighbors.
|
||||||
|
|
||||||
// Check North, South, East, West on all 3 different heights.
|
// Check North, South, East, West on all 3 different heights.
|
||||||
int i;
|
int i;
|
||||||
|
@ -213,6 +227,38 @@ bool cPath::Step_Internal()
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void cPath::AttemptToFindAlternative()
|
||||||
|
{
|
||||||
|
if (m_NearestPointToTarget == GetCell(m_Source))
|
||||||
|
{
|
||||||
|
FinishCalculation(ePathFinderStatus::PATH_NOT_FOUND);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
m_Destination = m_NearestPointToTarget->m_Location;
|
||||||
|
BuildPath();
|
||||||
|
FinishCalculation(ePathFinderStatus::NEARBY_FOUND);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void cPath::BuildPath()
|
||||||
|
{
|
||||||
|
cPathCell * CurrentCell = GetCell(m_Destination);
|
||||||
|
do
|
||||||
|
{
|
||||||
|
m_PathPoints.push_back(CurrentCell->m_Location); // Populate the cPath with points.
|
||||||
|
CurrentCell = CurrentCell->m_Parent;
|
||||||
|
} while (CurrentCell != nullptr);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void cPath::FinishCalculation()
|
void cPath::FinishCalculation()
|
||||||
{
|
{
|
||||||
m_Map.clear();
|
m_Map.clear();
|
||||||
|
@ -225,6 +271,10 @@ void cPath::FinishCalculation()
|
||||||
|
|
||||||
void cPath::FinishCalculation(ePathFinderStatus a_NewStatus)
|
void cPath::FinishCalculation(ePathFinderStatus a_NewStatus)
|
||||||
{
|
{
|
||||||
|
if (m_BadChunkFound)
|
||||||
|
{
|
||||||
|
a_NewStatus = ePathFinderStatus::PATH_NOT_FOUND;
|
||||||
|
}
|
||||||
m_Status = a_NewStatus;
|
m_Status = a_NewStatus;
|
||||||
FinishCalculation();
|
FinishCalculation();
|
||||||
}
|
}
|
||||||
|
@ -250,7 +300,7 @@ cPathCell * cPath::OpenListPop() // Popping from the open list also means addin
|
||||||
{
|
{
|
||||||
if (m_OpenList.size() == 0)
|
if (m_OpenList.size() == 0)
|
||||||
{
|
{
|
||||||
return nullptr; // We've exhausted the search space and nothing was found, this will trigger a PATH_NOT_FOUND status.
|
return nullptr; // We've exhausted the search space and nothing was found, this will trigger a PATH_NOT_FOUND or NEARBY_FOUND status.
|
||||||
}
|
}
|
||||||
|
|
||||||
cPathCell * Ret = m_OpenList.top();
|
cPathCell * Ret = m_OpenList.top();
|
||||||
|
|
|
@ -23,7 +23,7 @@ Put this in your .cpp:
|
||||||
class cChunk;
|
class cChunk;
|
||||||
|
|
||||||
/* Various little structs and classes */
|
/* Various little structs and classes */
|
||||||
enum class ePathFinderStatus {CALCULATING, PATH_FOUND, PATH_NOT_FOUND};
|
enum class ePathFinderStatus {CALCULATING, PATH_FOUND, PATH_NOT_FOUND, NEARBY_FOUND};
|
||||||
struct cPathCell; // Defined inside Path.cpp
|
struct cPathCell; // Defined inside Path.cpp
|
||||||
class compareHeuristics
|
class compareHeuristics
|
||||||
{
|
{
|
||||||
|
@ -62,9 +62,17 @@ public:
|
||||||
/** Destroys the path and frees its memory. */
|
/** Destroys the path and frees its memory. */
|
||||||
~cPath();
|
~cPath();
|
||||||
|
|
||||||
/** Performs part of the path calculation and returns true if the path computation has finished. */
|
/** Performs part of the path calculation and returns the appropriate status.
|
||||||
|
If NEARBY_FOUND is returned, it means that the destination is not reachable, but a nearby destination
|
||||||
|
is reachable. If the user likes the alternative destination, they can call AcceptNearbyPath to treat the path as found,
|
||||||
|
and to make consequent calls to step return PATH_FOUND*/
|
||||||
ePathFinderStatus Step(cChunk & a_Chunk);
|
ePathFinderStatus Step(cChunk & a_Chunk);
|
||||||
|
|
||||||
|
/** Called after the PathFinder's step returns NEARBY_FOUND.
|
||||||
|
Changes the PathFinder status from NEARBY_FOUND to PATH_FOUND, returns the nearby destination that
|
||||||
|
the PathFinder found a path to. */
|
||||||
|
Vector3i AcceptNearbyPath();
|
||||||
|
|
||||||
/* Point retrieval functions, inlined for performance. */
|
/* Point retrieval functions, inlined for performance. */
|
||||||
/** Returns the next point in the path. */
|
/** Returns the next point in the path. */
|
||||||
inline Vector3i GetNextPoint()
|
inline Vector3i GetNextPoint()
|
||||||
|
@ -93,7 +101,10 @@ public:
|
||||||
/** Returns the total number of points this path has. */
|
/** Returns the total number of points this path has. */
|
||||||
inline int GetPointCount()
|
inline int GetPointCount()
|
||||||
{
|
{
|
||||||
ASSERT(m_Status == ePathFinderStatus::PATH_FOUND);
|
if (m_Status != ePathFinderStatus::PATH_FOUND)
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
return m_PathPoints.size();
|
return m_PathPoints.size();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -119,6 +130,8 @@ private:
|
||||||
bool Step_Internal(); // The public version just calls this version * CALCULATIONS_PER_CALL times.
|
bool Step_Internal(); // The public version just calls this version * CALCULATIONS_PER_CALL times.
|
||||||
void FinishCalculation(); // Clears the memory used for calculating the path.
|
void FinishCalculation(); // Clears the memory used for calculating the path.
|
||||||
void FinishCalculation(ePathFinderStatus a_NewStatus); // Clears the memory used for calculating the path and changes the status.
|
void FinishCalculation(ePathFinderStatus a_NewStatus); // Clears the memory used for calculating the path and changes the status.
|
||||||
|
void AttemptToFindAlternative();
|
||||||
|
void BuildPath();
|
||||||
|
|
||||||
/* Openlist and closedlist management */
|
/* Openlist and closedlist management */
|
||||||
void OpenListAdd(cPathCell * a_Cell);
|
void OpenListAdd(cPathCell * a_Cell);
|
||||||
|
@ -135,6 +148,7 @@ private:
|
||||||
Vector3i m_Destination;
|
Vector3i m_Destination;
|
||||||
Vector3i m_Source;
|
Vector3i m_Source;
|
||||||
int m_StepsLeft;
|
int m_StepsLeft;
|
||||||
|
cPathCell * m_NearestPointToTarget;
|
||||||
|
|
||||||
/* Control fields */
|
/* Control fields */
|
||||||
ePathFinderStatus m_Status;
|
ePathFinderStatus m_Status;
|
||||||
|
@ -145,6 +159,7 @@ private:
|
||||||
|
|
||||||
/* Interfacing with the world */
|
/* Interfacing with the world */
|
||||||
cChunk * m_Chunk; // Only valid inside Step()!
|
cChunk * m_Chunk; // Only valid inside Step()!
|
||||||
|
bool m_BadChunkFound;
|
||||||
#ifdef COMPILING_PATHFIND_DEBUGGER
|
#ifdef COMPILING_PATHFIND_DEBUGGER
|
||||||
#include "../path_irrlicht.cpp"
|
#include "../path_irrlicht.cpp"
|
||||||
#endif
|
#endif
|
||||||
|
|
Loading…
Reference in New Issue
Block a user