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/* This file is part of the Spring engine (GPL v2 or later), see LICENSE.html */
#ifndef PATH_FINDER_H
#define PATH_FINDER_H
#include <list>
#include <vector>
#include <deque>
#include "IPath.h"
#include "IPathFinder.h"
#include "PathConstants.h"
#include "PathDataTypes.h"
#include "Sim/Objects/SolidObject.h"
struct MoveDef;
class CPathFinderDef;
class CPathFinder: public IPathFinder {
public:
CPathFinder();
static void InitDirectionVectorsTable();
static void InitDirectionCostsTable();
static const int2* GetDirectionVectorsTable2D();
static const float3* GetDirectionVectorsTable3D();
protected: // IPathFinder impl
/// Performs the actual search.
IPath::SearchResult DoSearch(const MoveDef& moveDef, const CPathFinderDef& pfDef, const CSolidObject* owner);
/**
* Test the availability and value of a square,
* and possibly add it to the queue of open squares.
*/
bool TestBlock(
const MoveDef& moveDef,
const CPathFinderDef& pfDef,
const PathNode* parentSquare,
const CSolidObject* owner,
const unsigned int pathOptDir,
const unsigned int blockStatus,
float speedMod
);
/**
* Recreates the path found by pathfinder.
* Starting at goalSquare and tracking backwards.
*
* Perform adjustment of waypoints so not all turns are 90 or 45 degrees.
*/
IPath::SearchResult FinishSearch(const MoveDef&, const CPathFinderDef&, IPath::Path&) const;
const CPathCache::CacheItem* GetCache(
const int2 strtBlock,
const int2 goalBlock,
float goalRadius,
int pathType,
const bool synced
) const {
// only cache in Estimator! (cause of flow & heatmapping etc.)
return nullptr;
}
void AddCache(
const IPath::Path* path,
const IPath::SearchResult result,
const int2 strtBlock,
const int2 goalBlock,
float goalRadius,
int pathType,
const bool synced
) { }
private:
void TestNeighborSquares(
const MoveDef& moveDef,
const CPathFinderDef& pfDef,
const PathNode* parentSquare,
const CSolidObject* owner
);
/**
* Adjusts the found path to cut corners where possible.
*/
void AdjustFoundPath(
const MoveDef&,
IPath::Path&,
const float3 nextPoint,
std::deque<int2>& previous,
int2 square
) const;
inline void SmoothMidWaypoint(
const int2 testsqr,
const int2 prvsqr,
const MoveDef& moveDef,
IPath::Path& foundPath,
const float3 nextPoint
) const;
};
#endif // PATH_FINDER_H
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