1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
|
/* Copyright (C) 2021 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* 0 A.D. is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef INCLUDED_VERTEXPATHFINDER
#define INCLUDED_VERTEXPATHFINDER
#include "graphics/Overlay.h"
#include "simulation2/helpers/Pathfinding.h"
#include "simulation2/system/CmpPtr.h"
#include <atomic>
#include <vector>
// A vertex around the corners of an obstruction
// (paths will be sequences of these vertexes)
struct Vertex
{
enum
{
UNEXPLORED,
OPEN,
CLOSED,
};
CFixedVector2D p;
fixed g, h;
u16 pred;
u8 status;
u8 quadInward : 4; // the quadrant which is inside the shape (or NONE)
u8 quadOutward : 4; // the quadrants of the next point on the path which this vertex must be in, given 'pred'
};
// Obstruction edges (paths will not cross any of these).
// Defines the two points of the edge.
struct Edge
{
CFixedVector2D p0, p1;
};
// Axis-aligned obstruction squares (paths will not cross any of these).
// Defines the opposing corners of an axis-aligned square
// (from which four individual edges can be trivially computed), requiring p0 <= p1
struct Square
{
CFixedVector2D p0, p1;
};
// Axis-aligned obstruction edges.
// p0 defines one end; c1 is either the X or Y coordinate of the other end,
// depending on the context in which this is used.
struct EdgeAA
{
CFixedVector2D p0;
fixed c1;
};
class ICmpObstructionManager;
class CSimContext;
class SceneCollector;
class VertexPathfinder
{
public:
VertexPathfinder(const u16& gridSize, Grid<NavcellData>* const & terrainOnlyGrid) : m_GridSize(gridSize), m_TerrainOnlyGrid(terrainOnlyGrid) {};
VertexPathfinder(const VertexPathfinder&) = delete;
VertexPathfinder(VertexPathfinder&& o) : m_GridSize(o.m_GridSize), m_TerrainOnlyGrid(o.m_TerrainOnlyGrid) {}
/**
* Compute a precise path from the given point to the goal, and return the set of waypoints.
* The path is based on the full set of obstructions that pass the filter, such that
* a unit of clearance 'clearance' will be able to follow the path with no collisions.
* The path is restricted to a box of radius 'range' from the starting point.
* Defined in CCmpPathfinder_Vertex.cpp
*/
WaypointPath ComputeShortPath(const ShortPathRequest& request, CmpPtr<ICmpObstructionManager> cmpObstructionManager) const;
private:
// References to the Pathfinder for convenience.
const u16& m_GridSize;
Grid<NavcellData>* const & m_TerrainOnlyGrid;
// These vectors are expensive to recreate on every call, so we cache them here.
// They are made mutable to allow using them in the otherwise const ComputeShortPath.
mutable std::vector<Edge> m_EdgesUnaligned;
mutable std::vector<EdgeAA> m_EdgesLeft;
mutable std::vector<EdgeAA> m_EdgesRight;
mutable std::vector<EdgeAA> m_EdgesBottom;
mutable std::vector<EdgeAA> m_EdgesTop;
// List of obstruction vertexes (plus start/end points); we'll try to find paths through
// the graph defined by these vertexes.
mutable std::vector<Vertex> m_Vertexes;
// 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.)
mutable std::vector<Edge> m_Edges;
mutable std::vector<Square> m_EdgeSquares; // Axis-aligned squares; equivalent to 4 edges.
};
/**
* There are several vertex pathfinders running asynchronously, so their debug output
* might conflict. To remain thread-safe, this single class will handle the debug data.
* NB: though threadsafe, the way things are setup means you can have a few
* more graphs and edges than you'd expect showing up in the rendered graph.
*/
class VertexPathfinderDebugOverlay
{
friend class VertexPathfinder;
public:
void SetDebugOverlay(bool enabled) { m_DebugOverlay = enabled; }
void RenderSubmit(SceneCollector& collector);
protected:
void DebugRenderGoal(const CSimContext& simContext, const PathGoal& goal);
void DebugRenderGraph(const CSimContext& simContext, const std::vector<Vertex>& vertexes, const std::vector<Edge>& edges, const std::vector<Square>& edgeSquares);
void DebugRenderEdges(const CSimContext& simContext, bool visible, CFixedVector2D curr, CFixedVector2D npos);
std::atomic<bool> m_DebugOverlay = false;
// The data is double buffered: the first is the 'work-in-progress' state, the second the last RenderSubmit state.
std::vector<SOverlayLine> m_DebugOverlayShortPathLines;
std::vector<SOverlayLine> m_DebugOverlayShortPathLinesSubmitted;
};
extern VertexPathfinderDebugOverlay g_VertexPathfinderDebugOverlay;
#endif // INCLUDED_VERTEXPATHFINDER
|
