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/*
** A clone of a famous game.
*/
/**@name pathfinder.c - The path finder routines. */
/*
** I use breadth-first.
**
** (c) Copyright 1998 by Lutz Sammer
**
** $Id: pathfinder.c,v 1.22 1999/12/05 18:37:11 root Exp $
*/
//@{
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "clone.h"
#include "video.h"
#include "tileset.h"
#include "map.h"
#include "sound_id.h"
#include "unitsound.h"
#include "unittype.h"
#include "player.h"
#include "unit.h"
#include "pathfinder.h"
#define MAX_PATH 9 /// Maximal path part returned.
//
// The matrix is used to generated the paths.
//
// 0: Nothing
// 1-8: Field on the path 1->2->3->4->5...
// 88: Marks the possible goal fields.
// 98: Marks map border, for faster limits checks.
//
global unsigned char Matrix[(MaxMapWidth+1)*(MaxMapHeight+1)]; /// Path matrix
IfDebug(
global unsigned PfCounterFail;
global unsigned PfCounterOk;
global unsigned PfCounterDepth;
global unsigned PfCounterNotReachable;
);
/*----------------------------------------------------------------------------
-- PATH-FINDER LOW-LEVEL
----------------------------------------------------------------------------*/
/**
** Create empty movement matrix.
**
** 98 98 98 98 98
** 98 98
** 98 98
** 98 98 98 98 98
*/
global unsigned char* CreateMatrix(void)
{
unsigned char* matrix;
unsigned i;
unsigned w;
unsigned h;
unsigned e;
matrix=Matrix;
w=TheMap.Width+2;
h=TheMap.Height+2;
memset(matrix,98,w);
memset(matrix+w,0,(w*h)-w*2); // initialize matrix
e=w*TheMap.Height;
for( i=w; i<=e; ) { // mark left and right border
matrix[i]=98;
i+=w;
matrix[i-1]=98;
}
memset(matrix+i,98,w);
return matrix;
}
/**
** Mark place in matrix.
**
** @param x X position
** @param y Y position
** @param w Width
** @param h Height
** @param matrix Matrix
*/
local void MarkPlaceInMatrix(int x,int y,int w,int h,unsigned char* matrix)
{
int xi;
int xe;
int mw;
if( x<0 ) { // reduce to map limits
w=x;
x=0;
}
if( x+w>TheMap.Width ) {
w=TheMap.Width-x;
}
if( y<0 ) {
w=y;
y=0;
}
if( y+h>TheMap.Height ) {
h=TheMap.Height-y;
}
DebugCheck( h==0 || w==0 );
mw=TheMap.Width+2;
xe=x+w;
while( h-- ) { // mark the rectangle
for( xi=x; xi<xe; ++xi ) {
matrix[mw+1+xi+y*mw]=88;
}
++y;
}
}
/**
** Make goal in matrix.
** 'range' is how near we must reach.
**
** rrrr
** rggr
** rggr
** rrrr
*/
local void MarkGoalInMatrix(Unit* unit,int range,unsigned char* matrix)
{
int x;
int y;
int w;
int h;
UnitType* type;
x=unit->X-range;
y=unit->Y-range;
type=unit->Type;
w=type->TileWidth+range*2;
h=type->TileHeight+range*2;
MarkPlaceInMatrix(x,y,w,h,matrix);
}
/**
** Trace path in the matrix back to origin.
**
** FIXME: didn't need to check the goal field again!
** FIXME: only the last 8 points are returned!
*/
local void PathTraceBack(const unsigned char* matrix,int x,int y,int n
,int* path)
{
int w;
int w2;
const unsigned char* m;
DebugLevel3(__FUNCTION__": %d\n",n);
w=TheMap.Width+2;
w2=w+w;
path[n*2+0]=x;
path[n*2+1]=y;
m=matrix+1+w+y*w;
for( ;; ) {
DebugLevel3("%d,%d(%d)\n",x,y,n);
n=((n-1)&0x7)+1;
x++; // +1, 0
if( m[x]!=n ) { // test all neighbors
x-=2; // -1, 0
if( m[x]!=n ) {
x++;
y++; // 0,+1
m+=w;
if( m[x]!=n ) {
y-=2; // 0,-1
m-=w2;
if( m[x]!=n ) {
x++; // +1,-1
if( m[x]!=n ) {
x-=2; // -1,-1
if( m[x]!=n ) {
y+=2; // -1,+1
m+=w2;
if( m[x]!=n ) {
x+=2; // +1,+1
if( m[x]!=n ) {
DebugLevel3("Start reached\n");
return;
}
}
}
}
}
}
}
}
// found: continue
--n;
path[n*2+0]=x;
path[n*2+1]=y;
}
}
/*
** Mark path to goal.
*/
local int MarkPathInMatrix(Unit* unit,unsigned char* matrix)
{
static int xoffset[]={ 0,-1,+1, 0, -1,+1,-1,+1 };
static int yoffset[]={ -1, 0, 0,+1, -1,-1,+1,+1 };
struct {
int X;
int Y;
} points[TheMap.Width*TheMap.Height];
int x;
int y;
int mask;
int wp;
int rp;
int ep;
int n;
int j;
int w;
w=TheMap.Width+2;
mask=UnitMovementMask(unit);
#ifdef MOVE_MAP
mask&=~(MapMoveLandUnit|MapMoveAirUnit|MapMoveSeaUnit);
#else
mask&=~(MapFieldLandUnit|MapFieldAirUnit|MapFieldSeaUnit);
#endif
points[0].X=x=unit->X;
points[0].Y=y=unit->Y;
matrix[w+1+x+y*w]=1; // mark start point
n=rp=0;
ep=1;
wp=1; // start with one point
//
// Pop a point from stack, push all neightbors which could be entered.
//
for( ;; ) {
++n;
while( rp!=ep ) {
for( j=0; j<8; ++j ) { // mark all neighbors
x=points[rp].X+xoffset[j];
y=points[rp].Y+yoffset[j];
if( matrix[w+1+x+y*w] ) { // already reached
//
// Check if goal reached.
//
if( matrix[w+1+x+y*w]==88 ) {
DebugLevel3("Goal reached ");
return 1;
}
continue;
}
if( CanMoveToMask(x,y,mask) ) { // reachable
DebugLevel3("OK: %d,%d\n",x,y);
matrix[w+1+x+y*w]=n+1;
points[wp].X=x;
points[wp].Y=y;
wp++;
if( wp>=sizeof(points) ) { // round about
wp=0;
}
} else { // unreachable
DebugLevel3("NO: %d,%d\n",x,y);
matrix[w+1+x+y*w]=99;
}
}
rp++;
if( rp>=sizeof(points) ) { // round about
rp=0;
}
}
DebugLevel3("%d,%d\n",rp,wp);
//
// Continue with next frame.
//
if( rp==wp ) { // unreachable, no points available
break;
}
ep=wp;
n&=7;
}
return -1;
}
/*----------------------------------------------------------------------------
-- PATH-FINDER USE
----------------------------------------------------------------------------*/
/*
** Can the unit 'src' reach the place x,y.
*/
global int PlaceReachable(Unit* src,int x,int y)
{
unsigned char* matrix;
DebugLevel3(__FUNCTION__": %p -> %d,%d\n",src,x,y);
//
// Setup movement.
//
matrix=CreateMatrix();
MarkPlaceInMatrix(x,y,1,1,matrix);
if( MarkPathInMatrix(src,matrix) < 0 ) {
DebugLevel3("Can't move to destination\n");
return 0;
}
return 1;
}
/*
** Can the unit 'src' reach the unit 'dst'.
*/
global int UnitReachable(Unit* src,Unit* dst)
{
unsigned char* matrix;
DebugLevel3(__FUNCTION__": %Zd(%d,%d,%s)->%Zd(%d,%d,%s) "
,src-UnitsPool,src->X,src->Y,src->Type->Ident
,dst-UnitsPool,dst->X,dst->Y,dst->Type->Ident);
//
// Setup movement.
//
matrix=CreateMatrix();
MarkGoalInMatrix(dst,1,matrix);
if( MarkPathInMatrix(src,matrix)<0 ) {
DebugLevel3("NO WAY\n");
return 0;
}
DebugLevel3("OK\n");
return 1;
}
/*----------------------------------------------------------------------------
-- REAL PATH-FINDER
----------------------------------------------------------------------------*/
/**
** Fast search new path.
**
** @param unit Path for this unit.
**
** @param xdp OUT: Pointer for x direction.
** @param xdp OUT: Pointer for y direction.
** @return True, if could move to goal. False otherwise.
*/
local int FastNewPath(const Unit* unit,int *xdp,int* ydp)
{
int x;
int y;
int xd;
int yd;
const UnitType* type;
int mask;
int steps;
const Unit* goal;
int r;
//
// 1) Fast check if the way is blocked in sight.
//
type=unit->Type;
mask=TypeMovementMask(type);
steps=unit->Stats->SightRange; // only in sight range!
x=unit->X;
y=unit->Y;
goal=unit->Command.Data.Move.Goal;
if( goal ) {
type=goal->Type;
xd=goal->X;
yd=goal->Y;
} else {
xd=unit->Command.Data.Move.DX;
yd=unit->Command.Data.Move.DY;
}
xd-=x;
if( xd<0 ) xd=-1; else if( xd>0 ) xd=1;
*xdp=xd;
yd-=y;
if( yd<0 ) yd=-1; else if( yd>0 ) yd=1;
*ydp=yd;
DebugLevel3(__FUNCTION__": %d,%d\n",xd,yd);
r=unit->Command.Data.Move.Range;
while( steps-- ) {
x+=xd;
y+=yd;
DebugLevel3(__FUNCTION__": Check %d,%d=%x\n",x,y,mask);
//
// Now check if we can move to this field
//
if( !CheckedCanMoveToMask(x,y,mask) ) { // blocked
DebugLevel3(__FUNCTION__": The way is blocked in sight range\n");
return 0;
}
//
// Check if goal is reached
// FIXME: This could be improved
//
if( goal ) {
DebugLevel3(__FUNCTION__": Unit %d, %d Goal %d,%d - %d,%d\n"
,x,y
,goal->X-r,goal->Y-r
,goal->X+type->TileWidth+r
,goal->Y+type->TileHeight+r);
if( x>=goal->X-r && x<goal->X+type->TileWidth+r
&& y>=goal->Y-r && y<goal->Y+type->TileHeight+r ) {
DebugLevel3(_FUNCTION__": Goal in sight\n");
return 1;
}
xd=goal->X;
yd=goal->Y;
} else {
if( x>=unit->Command.Data.Move.DX
&& x<=unit->Command.Data.Move.DX+r
&& y>=unit->Command.Data.Move.DY
&& y<=unit->Command.Data.Move.DY+r ) {
DebugLevel3(__FUNCTION__": Field in sight\n");
return 1;
}
xd=unit->Command.Data.Move.DX;
yd=unit->Command.Data.Move.DY;
}
//
// Try next field.
// From now on ignore any units.
//
mask&=~(MapMoveLandUnit|MapMoveAirUnit|MapMoveSeaUnit);
xd-=x;
if( xd<0 ) xd=-1; else if( xd>0 ) xd=1;
yd-=y;
if( yd<0 ) yd=-1; else if( yd>0 ) yd=1;
}
DebugLevel3(__FUNCTION__": Nothing in sight range\n");
return 1;
}
/**
** Complex search new path.
**
** @param unit Path for this unit.
**
** @param xdp OUT: Pointer for x direction.
** @param xdp OUT: Pointer for y direction.
**
** @return 1=Reachable 0=Reached -1=Unreachable
*/
local int ComplexNewPath(Unit* unit,int *xdp,int* ydp)
{
static int xoffset[]={ 0,-1,+1, 0, -1,+1,-1,+1 };
static int yoffset[]={ -1, 0, 0,+1, -1,-1,+1,+1 };
unsigned char* matrix;
unsigned char points[TheMap.Width*TheMap.Height];
int path[MAX_PATH*2];
Unit* goal;
int bestx;
int besty;
int bestd;
int bestn;
int x;
int y;
int xd;
int yd;
int mask;
int wp;
int rp;
int ep;
int n;
int i;
int j;
int w;
int r;
int f;
int depth;
DebugLevel3(__FUNCTION__": %s(%Zd) to %Zd=%d,%d~%d\n"
,unit ? unit->Type->Ident : ""
,unit-UnitsPool
,unit->Command.Data.Move.Goal
? unit->Command.Data.Move.Goal-UnitsPool : 0
,unit->Command.Data.Move.DX
,unit->Command.Data.Move.DY
,unit->Command.Data.Move.Range);
matrix=CreateMatrix();
w=TheMap.Width+2;
mask=UnitMovementMask(unit);
#if 0
// If reachable it is better to start at goal
// We needn't trace back the route
points[0]=unit->Command.Data.Move.DX; // start at goal
points[1]=unit->Command.Data.Move.DY;
#endif
points[0]=x=unit->X;
points[1]=y=unit->Y;
matrix[w+1+x+y*w]=n=1; // mark start point
depth=1;
rp=0;
ep=2;
wp=2; // start with one point
bestx=x;
besty=y;
xd=abs(unit->Command.Data.Move.DX-x);
yd=abs(unit->Command.Data.Move.DY-y);
bestd=xd>yd ? xd : yd;
bestn=1; // needed if goal not reachable
//
// Mark goal (FIXME: can't enter field?)
//
r=unit->Command.Data.Move.Range;
if( unit->Command.Data.Move.Goal ) {
goal=unit->Command.Data.Move.Goal;
x=goal->X;
y=goal->Y;
j=goal->Type->Type;
// FIXME: need only mark rectangle
// FIXME: don't mark outside the matrix!
i=1;
for( yd=UnitTypes[j].TileHeight+r; yd-->-r; ) {
for( xd=UnitTypes[j].TileWidth+r; xd-->-r; ) {
if( CheckedCanMoveToMask(x+xd,y+yd,mask) ) { // reachable
matrix[w+1+x+xd+(y+yd)*w]=88;
i=0;
}
}
if( i ) {
DebugLevel3("Goal never reachable (%s,%d,%d+%d)\n"
,goal->Type->Ident,x,y,r);
PfCounterNotReachable++;
}
}
} else {
x=unit->Command.Data.Move.DX;
y=unit->Command.Data.Move.DY;
i=1;
// FIXME: need only mark rectangle
// FIXME: don't mark outside the matrix!
for( yd=r+1; yd-->0; ) {
for( xd=r+1; xd-->0; ) {
DebugLevel3("%d,%d\n",x+xd,y+yd);
if( CheckedCanMoveToMask(x+xd,y+yd,mask) ) { // reachable
matrix[w+1+x+xd+(y+yd)*w]=88;
i=0;
}
}
}
if( i ) {
DebugLevel3("Goal never reachable (%d,%d+%d)\n",x,y,r);
PfCounterNotReachable++;
}
}
f=1;
for( ;; ) {
while( rp!=ep ) {
for( j=0; j<8; ++j ) { // mark all neighbors
x=points[rp]+xoffset[j];
y=points[rp+1]+yoffset[j];
if( matrix[w+1+x+y*w] ) { // already reached
//
// Check if goal reached.
//
if( matrix[w+1+x+y*w]==88 ) {
DebugLevel3("Goal reached %d ",n);
PathTraceBack(matrix,x,y,n,path);
xd=path[2]-unit->X;
yd=path[3]-unit->Y;
DebugLevel3("%d,%d: %d,%d\n",unit->X,unit->Y,xd,yd);
DebugCheck( xd>1 || xd<-1 );
DebugCheck( yd>1 || yd<-1 );
*xdp=xd;
*ydp=yd;
IfDebug( PfCounterOk++;
//PfCounterDepth+=n;
//PfCounterDepth/=2;
);
return 1;
}
continue;
}
#if 0
if( x<0 || y<0 || x>=128 || y>=128 ) {
DebugLevel1("MATRIX-ERROR: %d\n",matrix[w+1+x+y*w]);
DebugLevel1("MATRIX-ERROR: %d\n",matrix[w+1+x+(y+1)*w]);
}
#endif
//
// Look if destination field is blocked.
// Fields blocked by moving units, are considered free.
//
#ifdef MOVE_MAP
i=TheMap.MovementMap[x+y*TheMap.Width]&mask;
#else
i=TheMap.Fields[x+y*TheMap.Width].Flags&mask;
#endif
if( i ) { // unreachable
// Blocked by non-moving in not first round
DebugLevel3("%x - %x\n",mask,i);
#ifdef MOVE_MAP
if( f || (i&~(MapMoveLandUnit
|MapMoveAirUnit|MapMoveSeaUnit)) )
#else
if( f || (i&~(MapFieldLandUnit
|MapFieldAirUnit|MapFieldSeaUnit)) )
#endif
{
DebugLevel3("NO: %d,%d\n",x,y);
matrix[w+1+x+y*w]=99;
continue;
}
goal=UnitCacheOnXY(x,y,unit->Type->UnitType);
if( !goal ) {
DebugLevel0(__FUNCTION__
": %p No goal for %d,%d on %d,%d?\n",
unit,unit->X,unit->Y,x,y);
// Clear movement flag from MovementMap
// for this type of unit
//TheMap.MovementMap[x+y*TheMap.Width]&=
// ~UnitMovement(unit);
matrix[w+1+x+y*w]=99;
continue;
}
#if 0
// FIXME: Have more move actions
if( goal->Command.Action!=UnitActionMove ) {
matrix[w+1+x+y*w]=99;
continue;
}
#endif
if( !goal->Moving ) {
matrix[w+1+x+y*w]=99;
continue;
}
}
DebugLevel3("OK: %d,%d\n",x,y);
matrix[w+1+x+y*w]=n+1;
points[wp]=x;
points[wp+1]=y;
wp+=2;
if( wp>=sizeof(points) ) { // round about
wp=0;
}
xd=abs(unit->Command.Data.Move.DX-x);
yd=abs(unit->Command.Data.Move.DY-y);
DebugLevel3("Best: %d,%d-%d - %d,%d\n"
,bestx,besty,bestd
,xd,yd);
if( xd>yd && xd<bestd ) {
bestd=xd;
bestx=x;
besty=y;
bestn=n;
}
if( yd>xd && yd<bestd ) {
bestd=yd;
bestx=x;
besty=y;
bestn=n;
}
}
rp+=2;
if( rp>=sizeof(points) ) { // round about
rp=0;
}
}
DebugLevel3("%d,%d\n",rp,wp);
//
// Continue with next frame.
//
if( rp==wp ) { // unreachable, no points available
break;
}
ep=wp;
f=0;
#if 0
// FIXME: if we ignore distant units we run left-right
// Ignore any units more than 5 fields from start.
if( n>6 ) {
mask&=~(MapMoveLandUnit|MapMoveAirUnit|MapMoveSeaUnit);
}
#endif
n=(n+1)&7;
++depth;
}
DebugLevel3("Unreachable Best %d=%d,%d\n",bestn,bestx,besty);
PathTraceBack(matrix,bestx,besty,bestn,path);
xd=path[2]-unit->X;
yd=path[3]-unit->Y;
DebugCheck( xd>1 || xd<-1 );
DebugCheck( yd>1 || yd<-1 );
DebugLevel3("Move: %d,%d\n",*xdp,*ydp);
*xdp=xd;
*ydp=yd;
IfDebug(
PfCounterFail++;
PfCounterDepth+=depth;
PfCounterDepth/=2;
);
return -1;
}
/**
** Find new path.
**
** @param unit Path for this unit.
** @param xdp Pointer for x direction return.
** @param xdp Pointer for y direction return.
** @return 1 for reached -1 unreachable, 0 on the way.
*/
global int NewPath(Unit* unit,int* xdp,int* ydp)
{
int x;
int y;
Unit* goal;
int r;
UnitType* type;
//
// Check if goal reached.
//
x=unit->X;
y=unit->Y;
r=unit->Command.Data.Move.Range;
goal=unit->Command.Data.Move.Goal;
DebugLevel3(__FUNCTION__": Goal %p\n",unit->Command.Data.Move.Goal);
if( goal ) { // goal unit
type=goal->Type;
DebugLevel3(__FUNCTION__": Unit %d,%d Goal %d,%d - %d,%d\n"
,x,y
,goal->X-r,goal->Y-r
,goal->X+type->TileWidth+r
,goal->Y+type->TileHeight+r);
if( x>=goal->X-r && x<goal->X+type->TileWidth+r
&& y>=goal->Y-r && y<goal->Y+type->TileHeight+r ) {
DebugLevel3(__FUNCTION__": Goal reached\n");
*xdp=*ydp=0;
return 1;
}
} else { // goal map field
if( x>=unit->Command.Data.Move.DX
&& x<=unit->Command.Data.Move.DX+r
&& y>=unit->Command.Data.Move.DY
&& y<=unit->Command.Data.Move.DY+r ) {
DebugLevel3(__FUNCTION__": Field reached\n");
*xdp=*ydp=0;
return 1;
}
// This reduces the processor use,
// If target isn't reachable and were beside it
if( r==0 && x>=unit->Command.Data.Move.DX-1
&& x<=unit->Command.Data.Move.DX+1
&& y>=unit->Command.Data.Move.DY-1
&& y<=unit->Command.Data.Move.DY+1 ) {
if( !CheckedCanMoveToMask(unit->Command.Data.Move.DX
,unit->Command.Data.Move.DY
,UnitMovementMask(unit)) ) { // blocked
DebugLevel3(__FUNCTION__": Field unreached\n");
*xdp=*ydp=0;
return -1;
}
}
}
//
// If possible, try fast.
//
if( unit->Command.Data.Move.Fast ) {
if( FastNewPath(unit,xdp,ydp) ) {
DebugCheck( *xdp==0 && *ydp==0 );
return 0;
}
unit->Command.Data.Move.Fast=0;
DebugLevel3(__FUNCTION__": Fallback to slow method\n");
}
//
// Fall back to slow complex method.
//
r=ComplexNewPath(unit,xdp,ydp);
// FIXME: must be done by complex!
if( *xdp==0 && *ydp==0 ) {
return -1;
}
return 0;
}
//@}
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