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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& goalCenter, float goalRadius, float sqGoalDistance);
virtual ~CPathFinderDef() {}
virtual bool WithinConstraints(unsigned int xSquare, unsigned int zSquare) const { return true; }
virtual void DisableConstraint(bool b) { constraintDisabled = b; }
bool IsGoal(unsigned int xSquare, unsigned int zSquare) const;
float Heuristic(unsigned int xSquare, unsigned int zSquare) const;
bool IsGoalBlocked(const MoveDef& moveDef, const CMoveMath::BlockType& blockMask, const CSolidObject* owner) const;
int2 GoalSquareOffset(unsigned int blockSize) const;
public:
// world-space goal position
float3 goal;
float sqGoalRadius;
// if true, do not need to generate any waypoints
bool startInGoalRadius;
bool constraintDisabled;
bool testMobile;
bool needPath;
bool exactPath;
bool dirIndependent;
bool synced;
unsigned int goalSquareX;
unsigned int goalSquareZ;
};
class CCircularSearchConstraint: public CPathFinderDef {
public:
CCircularSearchConstraint(
const float3& start,
const float3& goal,
float goalRadius,
float searchSize,
unsigned int extraSize
);
// 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(unsigned int xSquare, unsigned int zSquare) const {
const int dx = halfWayX - xSquare;
const int dz = halfWayZ - zSquare;
return (constraintDisabled || ((dx * dx + dz * dz) <= searchRadiusSq));
}
private:
unsigned int halfWayX;
unsigned int halfWayZ;
unsigned int searchRadiusSq;
};
class CRectangularSearchConstraint: public CPathFinderDef {
public:
// note: startPos and goalPos are in world-space
CRectangularSearchConstraint(
const float3 startPos,
const float3 goalPos,
unsigned int blockSize
);
bool WithinConstraints(unsigned int xSquare, unsigned int zSquare) const {
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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