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/* This file is part of the Spring engine (GPL v2 or later), see LICENSE.html */
#include "IPathFinder.h"
#include "PathFinderDef.h"
#include "PathLog.h"
#include "Sim/MoveTypes/MoveDefHandler.h"
#include "Sim/Objects/SolidObject.h"
#include "System/Log/ILog.h"
// these give the changes in (x, z) coors
// when moving one step in given direction
//
// NOTE: the choices of +1 for LEFT and UP are *not* arbitrary
// (they are related to GetBlockVertexOffset) and also need to
// be consistent with the PATHOPT_* flags (for PathDir2PathOpt)
int2 IPathFinder::PE_DIRECTION_VECTORS[PATH_DIRECTIONS] = {
int2(+1, 0), // PATHDIR_LEFT
int2(+1, +1), // PATHDIR_LEFT_UP
int2( 0, +1), // PATHDIR_UP
int2(-1, +1), // PATHDIR_RIGHT_UP
int2(-1, 0), // PATHDIR_RIGHT
int2(-1, -1), // PATHDIR_RIGHT_DOWN
int2( 0, -1), // PATHDIR_DOWN
int2(+1, -1), // PATHDIR_LEFT_DOWN
};
//FIXME why not use PATHDIR_* consts and merge code with top one
int2 IPathFinder::PF_DIRECTION_VECTORS_2D[PATH_DIRECTIONS << 1] = {
int2(0, 0),
int2(+1 * PATH_NODE_SPACING, 0 * PATH_NODE_SPACING), // PATHOPT_LEFT
int2(-1 * PATH_NODE_SPACING, 0 * PATH_NODE_SPACING), // PATHOPT_RIGHT
int2(0, 0), // PATHOPT_LEFT | PATHOPT_RIGHT
int2( 0 * PATH_NODE_SPACING, +1 * PATH_NODE_SPACING), // PATHOPT_UP
int2(+1 * PATH_NODE_SPACING, +1 * PATH_NODE_SPACING), // PATHOPT_LEFT | PATHOPT_UP
int2(-1 * PATH_NODE_SPACING, +1 * PATH_NODE_SPACING), // PATHOPT_RIGHT | PATHOPT_UP
int2(0, 0), // PATHOPT_LEFT | PATHOPT_RIGHT | PATHOPT_UP
int2( 0 * PATH_NODE_SPACING, -1 * PATH_NODE_SPACING), // PATHOPT_DOWN
int2(+1 * PATH_NODE_SPACING, -1 * PATH_NODE_SPACING), // PATHOPT_LEFT | PATHOPT_DOWN
int2(-1 * PATH_NODE_SPACING, -1 * PATH_NODE_SPACING), // PATHOPT_RIGHT | PATHOPT_DOWN
int2(0, 0),
int2(0, 0),
int2(0, 0),
int2(0, 0),
int2(0, 0),
};
IPathFinder::IPathFinder(unsigned int _BLOCK_SIZE)
: BLOCK_SIZE(_BLOCK_SIZE)
, BLOCK_PIXEL_SIZE(BLOCK_SIZE * SQUARE_SIZE)
, isEstimator(BLOCK_SIZE != 1)
, mStartBlockIdx(0)
, mGoalBlockIdx(0)
, mGoalHeuristic(0.0f)
, maxBlocksToBeSearched(0)
, testedBlocks(0)
, nbrOfBlocks(gs->mapx / BLOCK_SIZE, gs->mapy / BLOCK_SIZE)
, blockStates(nbrOfBlocks, int2(gs->mapx, gs->mapy))
{
}
IPathFinder::~IPathFinder()
{
//ResetSearch();
}
void IPathFinder::ResetSearch()
{
openBlocks.Clear();
while (!dirtyBlocks.empty()) {
blockStates.ClearSquare(dirtyBlocks.back());
dirtyBlocks.pop_back();
}
testedBlocks = 0;
}
IPath::SearchResult IPathFinder::GetPath(
const MoveDef& moveDef,
const CPathFinderDef& pfDef,
const CSolidObject* owner,
float3 startPos,
IPath::Path& path,
const unsigned int maxNodes
) {
startPos.ClampInBounds();
// Clear the path
path.path.clear();
path.squares.clear();
path.pathCost = PATHCOST_INFINITY;
// initial calculations
if (isEstimator) {
maxBlocksToBeSearched = std::min(MAX_SEARCHED_NODES_PE - 8U, maxNodes);
} else {
maxBlocksToBeSearched = std::min(MAX_SEARCHED_NODES_PF - 8U, maxNodes);
}
mStartBlock.x = startPos.x / BLOCK_PIXEL_SIZE;
mStartBlock.y = startPos.z / BLOCK_PIXEL_SIZE;
mStartBlockIdx = BlockPosToIdx(mStartBlock);
assert((unsigned)mStartBlock.x < nbrOfBlocks.x && (unsigned)mStartBlock.y < nbrOfBlocks.y);
// Check cache (when there is one)
int2 goalBlock;
goalBlock.x = pfDef.goalSquareX / BLOCK_SIZE;
goalBlock.y = pfDef.goalSquareZ / BLOCK_SIZE;
const CPathCache::CacheItem* ci = GetCache(mStartBlock, goalBlock, pfDef.sqGoalRadius, moveDef.pathType, pfDef.synced);
if (ci != nullptr) {
path = ci->path;
return ci->result;
}
// Start up a new search
IPath::SearchResult result = InitSearch(moveDef, pfDef, owner);
// If search was successful, generate new path
if (result == IPath::Ok || result == IPath::GoalOutOfRange) {
FinishSearch(moveDef, pfDef, path);
// Save to cache
if (result == IPath::Ok) {
// add succesful paths to the cache
AddCache(&path, result, mStartBlock, goalBlock, pfDef.sqGoalRadius, moveDef.pathType, pfDef.synced);
}
if (LOG_IS_ENABLED(L_DEBUG)) {
LOG_L(L_DEBUG, "%s: Search completed.", (isEstimator) ? "PE" : "PF");
LOG_L(L_DEBUG, "Tested blocks: %u", testedBlocks);
LOG_L(L_DEBUG, "Open blocks: %u", openBlockBuffer.GetSize());
LOG_L(L_DEBUG, "Path length: " _STPF_, path.path.size());
LOG_L(L_DEBUG, "Path cost: %f", path.pathCost);
}
} else {
if (LOG_IS_ENABLED(L_DEBUG)) {
LOG_L(L_DEBUG, "%s: Search failed!", (isEstimator) ? "PE" : "PF");
LOG_L(L_DEBUG, "Tested blocks: %u", testedBlocks);
LOG_L(L_DEBUG, "Open blocks: %u", openBlockBuffer.GetSize());
}
}
return result;
}
// set up the starting point of the search
IPath::SearchResult IPathFinder::InitSearch(const MoveDef& moveDef, const CPathFinderDef& pfDef, const CSolidObject* owner)
{
int2 square = mStartBlock;
if (isEstimator) {
square = blockStates.peNodeOffsets[moveDef.pathType][mStartBlockIdx];
}
const bool isStartGoal = pfDef.IsGoal(square.x, square.y);
// although our starting square may be inside the goal radius, the starting coordinate may be outside.
// in this case we do not want to return CantGetCloser, but instead a path to our starting square.
if (isStartGoal && pfDef.startInGoalRadius)
return IPath::CantGetCloser;
// no, clean the system from last search
ResetSearch();
// mark and store the start-block
blockStates.nodeMask[mStartBlockIdx] &= PATHOPT_OBSOLETE; // clear all except PATHOPT_OBSOLETE
blockStates.nodeMask[mStartBlockIdx] |= PATHOPT_OPEN;
blockStates.fCost[mStartBlockIdx] = 0.0f;
blockStates.gCost[mStartBlockIdx] = 0.0f;
blockStates.SetMaxCost(NODE_COST_F, 0.0f);
blockStates.SetMaxCost(NODE_COST_G, 0.0f);
dirtyBlocks.push_back(mStartBlockIdx);
// start a new search and
// add the starting block to the open-blocks-queue
openBlockBuffer.SetSize(0);
PathNode* ob = openBlockBuffer.GetNode(openBlockBuffer.GetSize());
ob->fCost = 0.0f;
ob->gCost = 0.0f;
ob->nodePos = mStartBlock;
ob->nodeNum = mStartBlockIdx;
openBlocks.push(ob);
// mark starting point as best found position
mGoalBlockIdx = mStartBlockIdx;
mGoalHeuristic = pfDef.Heuristic(square.x, square.y);
// perform the search
IPath::SearchResult result = DoSearch(moveDef, pfDef, owner);
// if no improvements are found, then return CantGetCloser instead
if ((mGoalBlockIdx == mStartBlockIdx) && (!isStartGoal || pfDef.startInGoalRadius)) {
return IPath::CantGetCloser;
}
return result;
}
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