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/* This file is part of the Spring engine (GPL v2 or later), see LICENSE.html */
#ifndef PATHFINDERDEF_HDR
#define PATHFINDERDEF_HDR
#include "Sim/MoveTypes/MoveMath/MoveMath.h"
#include "System/float3.h"
#include "System/type2.h"
#include "System/Rectangle.h"
struct MoveDef;
class CPathFinderDef {
public:
CPathFinderDef(const float3& startPos, const float3& goalPos, float goalRadius, float sqGoalDistance);
virtual ~CPathFinderDef() {}
virtual bool WithinConstraints(const int2 square) const { return (WithinConstraints(square.x, square.y)); }
virtual bool WithinConstraints(uint32_t xSquare, uint32_t zSquare) const = 0;
void DisableConstraint(bool b) { constraintDisabled = b; }
void AllowRawPathSearch(bool b) { allowRawPath = b; }
void AllowDefPathSearch(bool b) { allowDefPath = b; }
bool IsGoal(uint32_t squareX, uint32_t squareZ) const;
bool IsGoalBlocked(const MoveDef& moveDef, const CMoveMath::BlockType& blockMask, const CSolidObject* owner) const;
float Heuristic(uint32_t srcSquareX, uint32_t srcSquareZ, uint32_t tgtSquareX, uint32_t tgtSquareZ, uint32_t blockSize) const;
float Heuristic(uint32_t srcSquareX, uint32_t srcSquareZ, uint32_t blockSize) const {
return (Heuristic(srcSquareX, srcSquareZ, goalSquareX, goalSquareZ, blockSize));
}
int2 GoalSquareOffset(uint32_t blockSize) const;
public:
// world-space start and goal positions
float3 wsStartPos;
float3 wsGoalPos;
float sqGoalRadius;
float maxRawPathLen;
float minRawSpeedMod;
// if true, do not need to generate any waypoints
bool startInGoalRadius;
bool constraintDisabled;
bool skipSubSearches;
bool testMobile;
bool needPath;
bool exactPath;
bool allowRawPath;
bool allowDefPath;
bool dirIndependent;
bool synced;
// heightmap-coors
uint32_t startSquareX;
uint32_t startSquareZ;
uint32_t goalSquareX;
uint32_t goalSquareZ;
};
class CCircularSearchConstraint: public CPathFinderDef {
public:
CCircularSearchConstraint(
const float3& start = ZeroVector,
const float3& goal = ZeroVector,
float goalRadius = 0.0f,
float searchSize = 0.0f,
uint32_t extraSize = 0
);
// tests if a square is inside is the circular constrained area
// defined by the start and goal positions (note that this only
// saves CPU under certain conditions and destroys admissibility)
bool WithinConstraints(uint32_t xSquare, uint32_t zSquare) const override {
const int dx = halfWayX - xSquare;
const int dz = halfWayZ - zSquare;
return (constraintDisabled || ((dx * dx + dz * dz) <= searchRadiusSq));
}
private:
uint32_t halfWayX;
uint32_t halfWayZ;
uint32_t searchRadiusSq;
};
class CRectangularSearchConstraint: public CPathFinderDef {
public:
// note: startPos and goalPos are in world-space
CRectangularSearchConstraint(
const float3 startPos,
const float3 goalPos,
float sqRadius,
uint32_t blockSize
);
bool WithinConstraints(uint32_t xSquare, uint32_t zSquare) const override {
if (startBlockRect.Inside(int2(xSquare, zSquare))) return true;
if ( goalBlockRect.Inside(int2(xSquare, zSquare))) return true;
return (constraintDisabled);
}
private:
SRectangle startBlockRect;
SRectangle goalBlockRect;
};
#endif
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