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0ad/source/simulation2/components/CCmpObstructionManager.cpp

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/* Copyright (C) 2015 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* 0 A.D. is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
*/
#include "precompiled.h"
#include "simulation2/system/Component.h"
#include "ICmpObstructionManager.h"
#include "ICmpTerrain.h"
#include "simulation2/MessageTypes.h"
#include "simulation2/helpers/Geometry.h"
#include "simulation2/helpers/Rasterize.h"
#include "simulation2/helpers/Render.h"
#include "simulation2/helpers/Spatial.h"
#include "simulation2/serialization/SerializeTemplates.h"
#include "graphics/Overlay.h"
#include "graphics/Terrain.h"
#include "maths/MathUtil.h"
#include "ps/Profile.h"
#include "renderer/Scene.h"
#include "ps/CLogger.h"
// Externally, tags are opaque non-zero positive integers.
// Internally, they are tagged (by shape) indexes into shape lists.
// idx must be non-zero.
#define TAG_IS_VALID(tag) ((tag).valid())
#define TAG_IS_UNIT(tag) (((tag).n & 1) == 0)
#define TAG_IS_STATIC(tag) (((tag).n & 1) == 1)
#define UNIT_INDEX_TO_TAG(idx) tag_t(((idx) << 1) | 0)
#define STATIC_INDEX_TO_TAG(idx) tag_t(((idx) << 1) | 1)
#define TAG_TO_INDEX(tag) ((tag).n >> 1)
/**
* Internal representation of axis-aligned circular shapes for moving units
*/
struct UnitShape
{
entity_id_t entity;
entity_pos_t x, z;
entity_pos_t clearance;
ICmpObstructionManager::flags_t flags;
entity_id_t group; // control group (typically the owner entity, or a formation controller entity) (units ignore collisions with others in the same group)
};
/**
* Internal representation of arbitrary-rotation static square shapes for buildings
*/
struct StaticShape
{
entity_id_t entity;
entity_pos_t x, z; // world-space coordinates
CFixedVector2D u, v; // orthogonal unit vectors - axes of local coordinate space
entity_pos_t hw, hh; // half width/height in local coordinate space
ICmpObstructionManager::flags_t flags;
entity_id_t group;
entity_id_t group2;
};
/**
* Serialization helper template for UnitShape
*/
struct SerializeUnitShape
{
template<typename S>
void operator()(S& serialize, const char* UNUSED(name), UnitShape& value)
{
serialize.NumberU32_Unbounded("entity", value.entity);
serialize.NumberFixed_Unbounded("x", value.x);
serialize.NumberFixed_Unbounded("z", value.z);
serialize.NumberFixed_Unbounded("clearance", value.clearance);
serialize.NumberU8_Unbounded("flags", value.flags);
serialize.NumberU32_Unbounded("group", value.group);
}
};
/**
* Serialization helper template for StaticShape
*/
struct SerializeStaticShape
{
template<typename S>
void operator()(S& serialize, const char* UNUSED(name), StaticShape& value)
{
serialize.NumberU32_Unbounded("entity", value.entity);
serialize.NumberFixed_Unbounded("x", value.x);
serialize.NumberFixed_Unbounded("z", value.z);
serialize.NumberFixed_Unbounded("u.x", value.u.X);
serialize.NumberFixed_Unbounded("u.y", value.u.Y);
serialize.NumberFixed_Unbounded("v.x", value.v.X);
serialize.NumberFixed_Unbounded("v.y", value.v.Y);
serialize.NumberFixed_Unbounded("hw", value.hw);
serialize.NumberFixed_Unbounded("hh", value.hh);
serialize.NumberU8_Unbounded("flags", value.flags);
serialize.NumberU32_Unbounded("group", value.group);
serialize.NumberU32_Unbounded("group2", value.group2);
}
};
class CCmpObstructionManager : public ICmpObstructionManager
{
public:
static void ClassInit(CComponentManager& componentManager)
{
componentManager.SubscribeToMessageType(MT_RenderSubmit); // for debug overlays
}
DEFAULT_COMPONENT_ALLOCATOR(ObstructionManager)
bool m_DebugOverlayEnabled;
bool m_DebugOverlayDirty;
std::vector<SOverlayLine> m_DebugOverlayLines;
SpatialSubdivision m_UnitSubdivision;
SpatialSubdivision m_StaticSubdivision;
// TODO: using std::map is a bit inefficient; is there a better way to store these?
std::map<u32, UnitShape> m_UnitShapes;
std::map<u32, StaticShape> m_StaticShapes;
u32 m_UnitShapeNext; // next allocated id
u32 m_StaticShapeNext;
entity_pos_t m_MaxClearance;
bool m_PassabilityCircular;
entity_pos_t m_WorldX0;
entity_pos_t m_WorldZ0;
entity_pos_t m_WorldX1;
entity_pos_t m_WorldZ1;
u16 m_TerrainTiles;
static std::string GetSchema()
{
return "<a:component type='system'/><empty/>";
}
virtual void Init(const CParamNode& UNUSED(paramNode))
{
m_DebugOverlayEnabled = false;
m_DebugOverlayDirty = true;
m_UnitShapeNext = 1;
m_StaticShapeNext = 1;
m_UpdateInformations.dirty = true;
m_UpdateInformations.globallyDirty = true;
m_UpdateInformations.globalRecompute = true;
m_PassabilityCircular = false;
m_WorldX0 = m_WorldZ0 = m_WorldX1 = m_WorldZ1 = entity_pos_t::Zero();
m_TerrainTiles = 0;
// Initialise with bogus values (these will get replaced when
// SetBounds is called)
ResetSubdivisions(entity_pos_t::FromInt(1024), entity_pos_t::FromInt(1024));
}
virtual void Deinit()
{
}
template<typename S>
void SerializeCommon(S& serialize)
{
SerializeSpatialSubdivision()(serialize, "unit subdiv", m_UnitSubdivision);
SerializeSpatialSubdivision()(serialize, "static subdiv", m_StaticSubdivision);
serialize.NumberFixed_Unbounded("max clearance", m_MaxClearance);
SerializeMap<SerializeU32_Unbounded, SerializeUnitShape>()(serialize, "unit shapes", m_UnitShapes);
SerializeMap<SerializeU32_Unbounded, SerializeStaticShape>()(serialize, "static shapes", m_StaticShapes);
serialize.NumberU32_Unbounded("unit shape next", m_UnitShapeNext);
serialize.NumberU32_Unbounded("static shape next", m_StaticShapeNext);
serialize.Bool("circular", m_PassabilityCircular);
serialize.NumberFixed_Unbounded("world x0", m_WorldX0);
serialize.NumberFixed_Unbounded("world z0", m_WorldZ0);
serialize.NumberFixed_Unbounded("world x1", m_WorldX1);
serialize.NumberFixed_Unbounded("world z1", m_WorldZ1);
serialize.NumberU16_Unbounded("terrain tiles", m_TerrainTiles);
}
virtual void Serialize(ISerializer& serialize)
{
// TODO: this could perhaps be optimised by not storing all the obstructions,
// and instead regenerating them from the other entities on Deserialize
SerializeCommon(serialize);
}
virtual void Deserialize(const CParamNode& paramNode, IDeserializer& deserialize)
{
Init(paramNode);
SerializeCommon(deserialize);
m_UpdateInformations.dirtinessGrid = Grid<u8>(m_TerrainTiles*Pathfinding::NAVCELLS_PER_TILE, m_TerrainTiles*Pathfinding::NAVCELLS_PER_TILE);
}
virtual void HandleMessage(const CMessage& msg, bool UNUSED(global))
{
switch (msg.GetType())
{
case MT_RenderSubmit:
{
const CMessageRenderSubmit& msgData = static_cast<const CMessageRenderSubmit&> (msg);
RenderSubmit(msgData.collector);
break;
}
}
}
// NB: on deserialization, this function is not called after the component is reset.
// So anything that happens here should be safely serialized.
virtual void SetBounds(entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1)
{
m_WorldX0 = x0;
m_WorldZ0 = z0;
m_WorldX1 = x1;
m_WorldZ1 = z1;
MakeDirtyAll();
// Subdivision system bounds:
ENSURE(x0.IsZero() && z0.IsZero()); // don't bother implementing non-zero offsets yet
ResetSubdivisions(x1, z1);
CmpPtr<ICmpTerrain> cmpTerrain(GetSystemEntity());
if (!cmpTerrain)
return;
m_TerrainTiles = cmpTerrain->GetTilesPerSide();
m_UpdateInformations.dirtinessGrid = Grid<u8>(m_TerrainTiles*Pathfinding::NAVCELLS_PER_TILE, m_TerrainTiles*Pathfinding::NAVCELLS_PER_TILE);
CmpPtr<ICmpPathfinder> cmpPathfinder(GetSystemEntity());
if (cmpPathfinder)
m_MaxClearance = cmpPathfinder->GetMaximumClearance();
}
void ResetSubdivisions(entity_pos_t x1, entity_pos_t z1)
{
// Use 8x8 tile subdivisions
// (TODO: find the optimal number instead of blindly guessing)
m_UnitSubdivision.Reset(x1, z1, entity_pos_t::FromInt(8*TERRAIN_TILE_SIZE));
m_StaticSubdivision.Reset(x1, z1, entity_pos_t::FromInt(8*TERRAIN_TILE_SIZE));
for (std::map<u32, UnitShape>::iterator it = m_UnitShapes.begin(); it != m_UnitShapes.end(); ++it)
{
CFixedVector2D center(it->second.x, it->second.z);
CFixedVector2D halfSize(it->second.clearance, it->second.clearance);
m_UnitSubdivision.Add(it->first, center - halfSize, center + halfSize);
}
for (std::map<u32, StaticShape>::iterator it = m_StaticShapes.begin(); it != m_StaticShapes.end(); ++it)
{
CFixedVector2D center(it->second.x, it->second.z);
CFixedVector2D bbHalfSize = Geometry::GetHalfBoundingBox(it->second.u, it->second.v, CFixedVector2D(it->second.hw, it->second.hh));
m_StaticSubdivision.Add(it->first, center - bbHalfSize, center + bbHalfSize);
}
}
virtual tag_t AddUnitShape(entity_id_t ent, entity_pos_t x, entity_pos_t z, entity_pos_t clearance, flags_t flags, entity_id_t group)
{
UnitShape shape = { ent, x, z, clearance, flags, group };
u32 id = m_UnitShapeNext++;
m_UnitShapes[id] = shape;
m_UnitSubdivision.Add(id, CFixedVector2D(x - clearance, z - clearance), CFixedVector2D(x + clearance, z + clearance));
MakeDirtyUnit(flags, id, shape);
return UNIT_INDEX_TO_TAG(id);
}
virtual tag_t AddStaticShape(entity_id_t ent, entity_pos_t x, entity_pos_t z, entity_angle_t a, entity_pos_t w, entity_pos_t h, flags_t flags, entity_id_t group, entity_id_t group2 /* = INVALID_ENTITY */)
{
fixed s, c;
sincos_approx(a, s, c);
CFixedVector2D u(c, -s);
CFixedVector2D v(s, c);
StaticShape shape = { ent, x, z, u, v, w/2, h/2, flags, group, group2 };
u32 id = m_StaticShapeNext++;
m_StaticShapes[id] = shape;
CFixedVector2D center(x, z);
CFixedVector2D bbHalfSize = Geometry::GetHalfBoundingBox(u, v, CFixedVector2D(w/2, h/2));
m_StaticSubdivision.Add(id, center - bbHalfSize, center + bbHalfSize);
MakeDirtyStatic(flags, id, shape);
return STATIC_INDEX_TO_TAG(id);
}
virtual ObstructionSquare GetUnitShapeObstruction(entity_pos_t x, entity_pos_t z, entity_pos_t clearance)
{
CFixedVector2D u(entity_pos_t::FromInt(1), entity_pos_t::Zero());
CFixedVector2D v(entity_pos_t::Zero(), entity_pos_t::FromInt(1));
ObstructionSquare o = { x, z, u, v, clearance, clearance };
return o;
}
virtual ObstructionSquare GetStaticShapeObstruction(entity_pos_t x, entity_pos_t z, entity_angle_t a, entity_pos_t w, entity_pos_t h)
{
fixed s, c;
sincos_approx(a, s, c);
CFixedVector2D u(c, -s);
CFixedVector2D v(s, c);
ObstructionSquare o = { x, z, u, v, w/2, h/2 };
return o;
}
virtual void MoveShape(tag_t tag, entity_pos_t x, entity_pos_t z, entity_angle_t a)
{
ENSURE(TAG_IS_VALID(tag));
if (TAG_IS_UNIT(tag))
{
UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
MakeDirtyUnit(shape.flags, TAG_TO_INDEX(tag), shape); // dirty the old shape region
m_UnitSubdivision.Move(TAG_TO_INDEX(tag),
CFixedVector2D(shape.x - shape.clearance, shape.z - shape.clearance),
CFixedVector2D(shape.x + shape.clearance, shape.z + shape.clearance),
CFixedVector2D(x - shape.clearance, z - shape.clearance),
CFixedVector2D(x + shape.clearance, z + shape.clearance));
shape.x = x;
shape.z = z;
MakeDirtyUnit(shape.flags, TAG_TO_INDEX(tag), shape); // dirty the new shape region
}
else
{
fixed s, c;
sincos_approx(a, s, c);
CFixedVector2D u(c, -s);
CFixedVector2D v(s, c);
StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
MakeDirtyStatic(shape.flags, TAG_TO_INDEX(tag), shape); // dirty the old shape region
CFixedVector2D fromBbHalfSize = Geometry::GetHalfBoundingBox(shape.u, shape.v, CFixedVector2D(shape.hw, shape.hh));
CFixedVector2D toBbHalfSize = Geometry::GetHalfBoundingBox(u, v, CFixedVector2D(shape.hw, shape.hh));
m_StaticSubdivision.Move(TAG_TO_INDEX(tag),
CFixedVector2D(shape.x, shape.z) - fromBbHalfSize,
CFixedVector2D(shape.x, shape.z) + fromBbHalfSize,
CFixedVector2D(x, z) - toBbHalfSize,
CFixedVector2D(x, z) + toBbHalfSize);
shape.x = x;
shape.z = z;
shape.u = u;
shape.v = v;
MakeDirtyStatic(shape.flags, TAG_TO_INDEX(tag), shape); // dirty the new shape region
}
}
virtual void SetUnitMovingFlag(tag_t tag, bool moving)
{
ENSURE(TAG_IS_VALID(tag) && TAG_IS_UNIT(tag));
if (TAG_IS_UNIT(tag))
{
UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
if (moving)
shape.flags |= FLAG_MOVING;
else
shape.flags &= (flags_t)~FLAG_MOVING;
MakeDirtyDebug();
}
}
virtual void SetUnitControlGroup(tag_t tag, entity_id_t group)
{
ENSURE(TAG_IS_VALID(tag) && TAG_IS_UNIT(tag));
if (TAG_IS_UNIT(tag))
{
UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
shape.group = group;
}
}
virtual void SetStaticControlGroup(tag_t tag, entity_id_t group, entity_id_t group2)
{
ENSURE(TAG_IS_VALID(tag) && TAG_IS_STATIC(tag));
if (TAG_IS_STATIC(tag))
{
StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
shape.group = group;
shape.group2 = group2;
}
}
virtual void RemoveShape(tag_t tag)
{
ENSURE(TAG_IS_VALID(tag));
if (TAG_IS_UNIT(tag))
{
UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
m_UnitSubdivision.Remove(TAG_TO_INDEX(tag),
CFixedVector2D(shape.x - shape.clearance, shape.z - shape.clearance),
CFixedVector2D(shape.x + shape.clearance, shape.z + shape.clearance));
MakeDirtyUnit(shape.flags, TAG_TO_INDEX(tag), shape);
m_UnitShapes.erase(TAG_TO_INDEX(tag));
}
else
{
StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
CFixedVector2D center(shape.x, shape.z);
CFixedVector2D bbHalfSize = Geometry::GetHalfBoundingBox(shape.u, shape.v, CFixedVector2D(shape.hw, shape.hh));
m_StaticSubdivision.Remove(TAG_TO_INDEX(tag), center - bbHalfSize, center + bbHalfSize);
MakeDirtyStatic(shape.flags, TAG_TO_INDEX(tag), shape);
m_StaticShapes.erase(TAG_TO_INDEX(tag));
}
}
virtual ObstructionSquare GetObstruction(tag_t tag)
{
ENSURE(TAG_IS_VALID(tag));
if (TAG_IS_UNIT(tag))
{
UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
CFixedVector2D u(entity_pos_t::FromInt(1), entity_pos_t::Zero());
CFixedVector2D v(entity_pos_t::Zero(), entity_pos_t::FromInt(1));
ObstructionSquare o = { shape.x, shape.z, u, v, shape.clearance, shape.clearance };
return o;
}
else
{
StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
ObstructionSquare o = { shape.x, shape.z, shape.u, shape.v, shape.hw, shape.hh };
return o;
}
}
virtual bool TestLine(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, entity_pos_t r, bool relaxClearanceForUnits = false);
virtual bool TestStaticShape(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t a, entity_pos_t w, entity_pos_t h, std::vector<entity_id_t>* out);
virtual bool TestUnitShape(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t r, std::vector<entity_id_t>* out);
virtual void Rasterize(Grid<NavcellData>& grid, const std::vector<PathfinderPassability>& passClasses, bool fullUpdate);
virtual void GetObstructionsInRange(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, std::vector<ObstructionSquare>& squares);
virtual void GetUnitObstructionsInRange(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, std::vector<ObstructionSquare>& squares);
virtual void GetStaticObstructionsInRange(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, std::vector<ObstructionSquare>& squares);
virtual void GetUnitsOnObstruction(const ObstructionSquare& square, std::vector<entity_id_t>& out, const IObstructionTestFilter& filter, bool strict = false);
virtual void SetPassabilityCircular(bool enabled)
{
m_PassabilityCircular = enabled;
MakeDirtyAll();
CMessageObstructionMapShapeChanged msg;
GetSimContext().GetComponentManager().BroadcastMessage(msg);
}
virtual bool GetPassabilityCircular() const
{
return m_PassabilityCircular;
}
virtual void SetDebugOverlay(bool enabled)
{
m_DebugOverlayEnabled = enabled;
m_DebugOverlayDirty = true;
if (!enabled)
m_DebugOverlayLines.clear();
}
void RenderSubmit(SceneCollector& collector);
virtual void UpdateInformations(GridUpdateInformation& informations)
{
// If the pathfinder wants to perform a full update, don't change that.
if (m_UpdateInformations.dirty && !informations.globalRecompute)
informations = m_UpdateInformations;
m_UpdateInformations.Clean();
}
private:
// Dynamic updates for the long-range pathfinder
GridUpdateInformation m_UpdateInformations;
// These vectors might contain shapes that were deleted
std::vector<u32> m_DirtyStaticShapes;
std::vector<u32> m_DirtyUnitShapes;
/**
* Mark all previous Rasterize()d grids as dirty, and the debug display.
* Call this when the world bounds have changed.
*/
void MakeDirtyAll()
{
m_UpdateInformations.dirty = true;
m_UpdateInformations.globallyDirty = true;
m_UpdateInformations.globalRecompute = true;
m_UpdateInformations.dirtinessGrid.reset();
m_DebugOverlayDirty = true;
}
/**
* Mark the debug display as dirty.
* Call this when nothing has changed except a unit's 'moving' flag.
*/
void MakeDirtyDebug()
{
m_DebugOverlayDirty = true;
}
inline void MarkDirtinessGrid(const entity_pos_t& x, const entity_pos_t& z, const entity_pos_t& r)
{
MarkDirtinessGrid(x, z, CFixedVector2D(r, r));
}
inline void MarkDirtinessGrid(const entity_pos_t& x, const entity_pos_t& z, const CFixedVector2D& hbox)
{
ENSURE(m_UpdateInformations.dirtinessGrid.m_W == m_TerrainTiles*Pathfinding::NAVCELLS_PER_TILE &&
m_UpdateInformations.dirtinessGrid.m_H == m_TerrainTiles*Pathfinding::NAVCELLS_PER_TILE);
if (m_TerrainTiles == 0)
return;
u16 j0, j1, i0, i1;
Pathfinding::NearestNavcell(x - hbox.X, z - hbox.Y, i0, j0, m_UpdateInformations.dirtinessGrid.m_W, m_UpdateInformations.dirtinessGrid.m_H);
Pathfinding::NearestNavcell(x + hbox.X, z + hbox.Y, i1, j1, m_UpdateInformations.dirtinessGrid.m_W, m_UpdateInformations.dirtinessGrid.m_H);
for (int j = j0; j < j1; ++j)
for (int i = i0; i < i1; ++i)
m_UpdateInformations.dirtinessGrid.set(i, j, 1);
}
/**
* Mark all previous Rasterize()d grids as dirty, if they depend on this shape.
* Call this when a static shape has changed.
*/
void MakeDirtyStatic(flags_t flags, u32 index, const StaticShape& shape)
{
m_DebugOverlayDirty = true;
if (flags & (FLAG_BLOCK_PATHFINDING | FLAG_BLOCK_FOUNDATION))
{
m_UpdateInformations.dirty = true;
if (std::find(m_DirtyStaticShapes.begin(), m_DirtyStaticShapes.end(), index) == m_DirtyStaticShapes.end())
m_DirtyStaticShapes.push_back(index);
// All shapes overlapping the updated part of the grid should be dirtied too.
// We are going to invalidate the region of the grid corresponding to the modified shape plus its clearance,
// and we need to get the shapes whose clearance can overlap this area. So we need to extend the search area
// by two times the maximum clearance.
CFixedVector2D center(shape.x, shape.z);
CFixedVector2D hbox = Geometry::GetHalfBoundingBox(shape.u, shape.v, CFixedVector2D(shape.hw, shape.hh));
CFixedVector2D expand(m_MaxClearance, m_MaxClearance);
std::vector<u32> staticsNear;
m_StaticSubdivision.GetInRange(staticsNear, center - hbox - expand*2, center + hbox + expand*2);
for (u32& staticId : staticsNear)
if (std::find(m_DirtyStaticShapes.begin(), m_DirtyStaticShapes.end(), staticId) == m_DirtyStaticShapes.end())
m_DirtyStaticShapes.push_back(staticId);
std::vector<u32> unitsNear;
m_UnitSubdivision.GetInRange(unitsNear, center - hbox - expand*2, center + hbox + expand*2);
for (u32& unitId : unitsNear)
if (std::find(m_DirtyUnitShapes.begin(), m_DirtyUnitShapes.end(), unitId) == m_DirtyUnitShapes.end())
m_DirtyUnitShapes.push_back(unitId);
MarkDirtinessGrid(shape.x, shape.z, hbox + expand);
}
}
/**
* Mark all previous Rasterize()d grids as dirty, if they depend on this shape.
* Call this when a unit shape has changed.
*/
void MakeDirtyUnit(flags_t flags, u32 index, const UnitShape& shape)
{
m_DebugOverlayDirty = true;
if (flags & (FLAG_BLOCK_PATHFINDING | FLAG_BLOCK_FOUNDATION))
{
m_UpdateInformations.dirty = true;
if (std::find(m_DirtyUnitShapes.begin(), m_DirtyUnitShapes.end(), index) == m_DirtyUnitShapes.end())
m_DirtyUnitShapes.push_back(index);
// All shapes overlapping the updated part of the grid should be dirtied too.
// We are going to invalidate the region of the grid corresponding to the modified shape plus its clearance,
// and we need to get the shapes whose clearance can overlap this area. So we need to extend the search area
// by two times the maximum clearance.
CFixedVector2D center(shape.x, shape.z);
std::vector<u32> staticsNear;
m_StaticSubdivision.GetNear(staticsNear, center, shape.clearance + m_MaxClearance*2);
for (u32& staticId : staticsNear)
if (std::find(m_DirtyStaticShapes.begin(), m_DirtyStaticShapes.end(), staticId) == m_DirtyStaticShapes.end())
m_DirtyStaticShapes.push_back(staticId);
std::vector<u32> unitsNear;
m_UnitSubdivision.GetNear(unitsNear, center, shape.clearance + m_MaxClearance*2);
for (u32& unitId : unitsNear)
if (std::find(m_DirtyUnitShapes.begin(), m_DirtyUnitShapes.end(), unitId) == m_DirtyUnitShapes.end())
m_DirtyUnitShapes.push_back(unitId);
MarkDirtinessGrid(shape.x, shape.z, shape.clearance + m_MaxClearance);
}
}
/**
* Return whether the given point is within the world bounds by at least r
*/
inline bool IsInWorld(entity_pos_t x, entity_pos_t z, entity_pos_t r)
{
return (m_WorldX0+r <= x && x <= m_WorldX1-r && m_WorldZ0+r <= z && z <= m_WorldZ1-r);
}
/**
* Return whether the given point is within the world bounds
*/
inline bool IsInWorld(const CFixedVector2D& p)
{
return (m_WorldX0 <= p.X && p.X <= m_WorldX1 && m_WorldZ0 <= p.Y && p.Y <= m_WorldZ1);
}
void RasterizeHelper(Grid<NavcellData>& grid, ICmpObstructionManager::flags_t requireMask, bool fullUpdate, pass_class_t appliedMask, entity_pos_t clearance = fixed::Zero());
};
REGISTER_COMPONENT_TYPE(ObstructionManager)
bool CCmpObstructionManager::TestLine(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, entity_pos_t r, bool relaxClearanceForUnits)
{
PROFILE("TestLine");
// Check that both end points are within the world (which means the whole line must be)
if (!IsInWorld(x0, z0, r) || !IsInWorld(x1, z1, r))
return true;
CFixedVector2D posMin (std::min(x0, x1) - r, std::min(z0, z1) - r);
CFixedVector2D posMax (std::max(x0, x1) + r, std::max(z0, z1) + r);
// actual radius used for unit-unit collisions. If relaxClearanceForUnits, will be smaller to allow more overlap.
entity_pos_t unitUnitRadius = r;
if (relaxClearanceForUnits)
unitUnitRadius -= entity_pos_t::FromInt(1)/2;
std::vector<entity_id_t> unitShapes;
m_UnitSubdivision.GetInRange(unitShapes, posMin, posMax);
for (size_t i = 0; i < unitShapes.size(); ++i)
{
std::map<u32, UnitShape>::iterator it = m_UnitShapes.find(unitShapes[i]);
ENSURE(it != m_UnitShapes.end());
if (!filter.TestShape(UNIT_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, INVALID_ENTITY))
continue;
CFixedVector2D center(it->second.x, it->second.z);
CFixedVector2D halfSize(it->second.clearance + unitUnitRadius, it->second.clearance + unitUnitRadius);
if (Geometry::TestRayAASquare(CFixedVector2D(x0, z0) - center, CFixedVector2D(x1, z1) - center, halfSize))
return true;
}
std::vector<entity_id_t> staticShapes;
m_StaticSubdivision.GetInRange(staticShapes, posMin, posMax);
for (size_t i = 0; i < staticShapes.size(); ++i)
{
std::map<u32, StaticShape>::iterator it = m_StaticShapes.find(staticShapes[i]);
ENSURE(it != m_StaticShapes.end());
if (!filter.TestShape(STATIC_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, it->second.group2))
continue;
CFixedVector2D center(it->second.x, it->second.z);
CFixedVector2D halfSize(it->second.hw + r, it->second.hh + r);
if (Geometry::TestRaySquare(CFixedVector2D(x0, z0) - center, CFixedVector2D(x1, z1) - center, it->second.u, it->second.v, halfSize))
return true;
}
return false;
}
bool CCmpObstructionManager::TestStaticShape(const IObstructionTestFilter& filter,
entity_pos_t x, entity_pos_t z, entity_pos_t a, entity_pos_t w, entity_pos_t h,
std::vector<entity_id_t>* out)
{
PROFILE("TestStaticShape");
// TODO: should use the subdivision stuff here, if performance is non-negligible
if (out)
out->clear();
fixed s, c;
sincos_approx(a, s, c);
CFixedVector2D u(c, -s);
CFixedVector2D v(s, c);
CFixedVector2D center(x, z);
CFixedVector2D halfSize(w/2, h/2);
// Check that all corners are within the world (which means the whole shape must be)
if (!IsInWorld(center + u.Multiply(halfSize.X) + v.Multiply(halfSize.Y)) ||
!IsInWorld(center + u.Multiply(halfSize.X) - v.Multiply(halfSize.Y)) ||
!IsInWorld(center - u.Multiply(halfSize.X) + v.Multiply(halfSize.Y)) ||
!IsInWorld(center - u.Multiply(halfSize.X) - v.Multiply(halfSize.Y)))
{
if (out)
out->push_back(INVALID_ENTITY); // no entity ID, so just push an arbitrary marker
else
return true;
}
for (std::map<u32, UnitShape>::iterator it = m_UnitShapes.begin(); it != m_UnitShapes.end(); ++it)
{
if (!filter.TestShape(UNIT_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, INVALID_ENTITY))
continue;
CFixedVector2D center1(it->second.x, it->second.z);
if (Geometry::PointIsInSquare(center1 - center, u, v, CFixedVector2D(halfSize.X + it->second.clearance, halfSize.Y + it->second.clearance)))
{
if (out)
out->push_back(it->second.entity);
else
return true;
}
}
for (std::map<u32, StaticShape>::iterator it = m_StaticShapes.begin(); it != m_StaticShapes.end(); ++it)
{
if (!filter.TestShape(STATIC_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, it->second.group2))
continue;
CFixedVector2D center1(it->second.x, it->second.z);
CFixedVector2D halfSize1(it->second.hw, it->second.hh);
if (Geometry::TestSquareSquare(center, u, v, halfSize, center1, it->second.u, it->second.v, halfSize1))
{
if (out)
out->push_back(it->second.entity);
else
return true;
}
}
if (out)
return !out->empty(); // collided if the list isn't empty
else
return false; // didn't collide, if we got this far
}
bool CCmpObstructionManager::TestUnitShape(const IObstructionTestFilter& filter,
entity_pos_t x, entity_pos_t z, entity_pos_t clearance,
std::vector<entity_id_t>* out)
{
PROFILE("TestUnitShape");
// TODO: should use the subdivision stuff here, if performance is non-negligible
// Check that the shape is within the world
if (!IsInWorld(x, z, clearance))
{
if (out)
out->push_back(INVALID_ENTITY); // no entity ID, so just push an arbitrary marker
else
return true;
}
CFixedVector2D center(x, z);
for (std::map<u32, UnitShape>::iterator it = m_UnitShapes.begin(); it != m_UnitShapes.end(); ++it)
{
if (!filter.TestShape(UNIT_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, INVALID_ENTITY))
continue;
entity_pos_t c1 = it->second.clearance;
if (!(
it->second.x + c1 < x - clearance ||
it->second.x - c1 > x + clearance ||
it->second.z + c1 < z - clearance ||
it->second.z - c1 > z + clearance))
{
if (out)
out->push_back(it->second.entity);
else
return true;
}
}
for (std::map<u32, StaticShape>::iterator it = m_StaticShapes.begin(); it != m_StaticShapes.end(); ++it)
{
if (!filter.TestShape(STATIC_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, it->second.group2))
continue;
CFixedVector2D center1(it->second.x, it->second.z);
if (Geometry::PointIsInSquare(center1 - center, it->second.u, it->second.v, CFixedVector2D(it->second.hw + clearance, it->second.hh + clearance)))
{
if (out)
out->push_back(it->second.entity);
else
return true;
}
}
if (out)
return !out->empty(); // collided if the list isn't empty
else
return false; // didn't collide, if we got this far
}
void CCmpObstructionManager::Rasterize(Grid<NavcellData>& grid, const std::vector<PathfinderPassability>& passClasses, bool fullUpdate)
{
PROFILE3("Rasterize");
// Cells are only marked as blocked if the whole cell is strictly inside the shape.
// (That ensures the shape's geometric border is always reachable.)
// Pass classes will get shapes rasterized on them depending on their Obstruction value.
// Classes with another value than "pathfinding" should not use Clearance.
std::map<entity_pos_t, u16> pathfindingMasks;
u16 foundationMask = 0;
for (const PathfinderPassability& passability : passClasses)
{
switch (passability.m_Obstructions)
{
case PathfinderPassability::PATHFINDING:
{
auto it = pathfindingMasks.find(passability.m_Clearance);
if (it == pathfindingMasks.end())
pathfindingMasks[passability.m_Clearance] = passability.m_Mask;
else
it->second |= passability.m_Mask;
break;
}
case PathfinderPassability::FOUNDATION:
foundationMask |= passability.m_Mask;
break;
default:
continue;
}
}
// FLAG_BLOCK_PATHFINDING and FLAG_BLOCK_FOUNDATION are the only flags taken into account by MakeDirty* functions,
// so they should be the only ones rasterized using with the help of m_Dirty*Shapes vectors.
for (auto& maskPair : pathfindingMasks)
RasterizeHelper(grid, FLAG_BLOCK_PATHFINDING, fullUpdate, maskPair.second, maskPair.first);
RasterizeHelper(grid, FLAG_BLOCK_FOUNDATION, fullUpdate, foundationMask);
m_DirtyStaticShapes.clear();
m_DirtyUnitShapes.clear();
}
void CCmpObstructionManager::RasterizeHelper(Grid<NavcellData>& grid, ICmpObstructionManager::flags_t requireMask, bool fullUpdate, pass_class_t appliedMask, entity_pos_t clearance)
{
for (auto& pair : m_StaticShapes)
{
const StaticShape& shape = pair.second;
if (!(shape.flags & requireMask))
continue;
if (!fullUpdate && std::find(m_DirtyStaticShapes.begin(), m_DirtyStaticShapes.end(), pair.first) == m_DirtyStaticShapes.end())
continue;
// TODO: it might be nice to rasterize with rounded corners for large 'expand' values.
ObstructionSquare square = { shape.x, shape.z, shape.u, shape.v, shape.hw, shape.hh };
SimRasterize::Spans spans;
SimRasterize::RasterizeRectWithClearance(spans, square, clearance, Pathfinding::NAVCELL_SIZE);
for (SimRasterize::Span& span : spans)
{
i16 j = Clamp(span.j, (i16)0, (i16)(grid.m_H-1));
i16 i0 = std::max(span.i0, (i16)0);
i16 i1 = std::min(span.i1, (i16)grid.m_W);
for (i16 i = i0; i < i1; ++i)
grid.set(i, j, grid.get(i, j) | appliedMask);
}
}
for (auto& pair : m_UnitShapes)
{
if (!(pair.second.flags & requireMask))
continue;
if (!fullUpdate && std::find(m_DirtyUnitShapes.begin(), m_DirtyUnitShapes.end(), pair.first) == m_DirtyUnitShapes.end())
continue;
CFixedVector2D center(pair.second.x, pair.second.z);
entity_pos_t r = pair.second.clearance + clearance;
u16 i0, j0, i1, j1;
Pathfinding::NearestNavcell(center.X - r, center.Y - r, i0, j0, grid.m_W, grid.m_H);
Pathfinding::NearestNavcell(center.X + r, center.Y + r, i1, j1, grid.m_W, grid.m_H);
for (u16 j = j0+1; j < j1; ++j)
for (u16 i = i0+1; i < i1; ++i)
grid.set(i, j, grid.get(i, j) | appliedMask);
}
}
void CCmpObstructionManager::GetObstructionsInRange(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, std::vector<ObstructionSquare>& squares)
{
GetUnitObstructionsInRange(filter, x0, z0, x1, z1, squares);
GetStaticObstructionsInRange(filter, x0, z0, x1, z1, squares);
}
void CCmpObstructionManager::GetUnitObstructionsInRange(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, std::vector<ObstructionSquare>& squares)
{
PROFILE("GetObstructionsInRange");
ENSURE(x0 <= x1 && z0 <= z1);
std::vector<entity_id_t> unitShapes;
m_UnitSubdivision.GetInRange(unitShapes, CFixedVector2D(x0, z0), CFixedVector2D(x1, z1));
for (entity_id_t& unitShape : unitShapes)
{
auto it = m_UnitShapes.find(unitShape);
ENSURE(it != m_UnitShapes.end());
if (!filter.TestShape(UNIT_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, INVALID_ENTITY))
continue;
entity_pos_t c = it->second.clearance;
// Skip this object if it's completely outside the requested range
if (it->second.x + c < x0 || it->second.x - c > x1 || it->second.z + c < z0 || it->second.z - c > z1)
continue;
CFixedVector2D u(entity_pos_t::FromInt(1), entity_pos_t::Zero());
CFixedVector2D v(entity_pos_t::Zero(), entity_pos_t::FromInt(1));
squares.emplace_back(ObstructionSquare{ it->second.x, it->second.z, u, v, c, c });
}
}
void CCmpObstructionManager::GetStaticObstructionsInRange(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, std::vector<ObstructionSquare>& squares)
{
PROFILE("GetObstructionsInRange");
ENSURE(x0 <= x1 && z0 <= z1);
std::vector<entity_id_t> staticShapes;
m_StaticSubdivision.GetInRange(staticShapes, CFixedVector2D(x0, z0), CFixedVector2D(x1, z1));
for (entity_id_t& staticShape : staticShapes)
{
auto it = m_StaticShapes.find(staticShape);
ENSURE(it != m_StaticShapes.end());
if (!filter.TestShape(STATIC_INDEX_TO_TAG(it->first), it->second.flags, it->second.group, it->second.group2))
continue;
entity_pos_t r = it->second.hw + it->second.hh; // overestimate the max dist of an edge from the center
// Skip this object if its overestimated bounding box is completely outside the requested range
if (it->second.x + r < x0 || it->second.x - r > x1 || it->second.z + r < z0 || it->second.z - r > z1)
continue;
// TODO: maybe we should use Geometry::GetHalfBoundingBox to be more precise?
squares.emplace_back(ObstructionSquare{ it->second.x, it->second.z, it->second.u, it->second.v, it->second.hw, it->second.hh });
}
}
void CCmpObstructionManager::GetUnitsOnObstruction(const ObstructionSquare& square, std::vector<entity_id_t>& out, const IObstructionTestFilter& filter, bool strict)
{
PROFILE3("GetUnitsOnObstruction");
// In order to avoid getting units on impassable cells, we want to find all
// units s.t. the RasterizeRectWithClearance of the building's shape with the
// unit's clearance covers the navcell the unit is on.
std::vector<entity_id_t> unitShapes;
CFixedVector2D center(square.x, square.z);
CFixedVector2D expandedBox =
Geometry::GetHalfBoundingBox(square.u, square.v, CFixedVector2D(square.hw, square.hh)) +
CFixedVector2D(m_MaxClearance, m_MaxClearance);
m_UnitSubdivision.GetInRange(unitShapes, center - expandedBox, center + expandedBox);
std::map<entity_pos_t, SimRasterize::Spans> rasterizedRects;
for (const u32& unitShape : unitShapes)
{
auto it = m_UnitShapes.find(unitShape);
ENSURE(it != m_UnitShapes.end());
UnitShape& shape = it->second;
if (!filter.TestShape(UNIT_INDEX_TO_TAG(unitShape), shape.flags, shape.group, INVALID_ENTITY))
continue;
if (rasterizedRects.find(shape.clearance) == rasterizedRects.end())
{
// The rasterization is an approximation of the real shapes.
// Depending on your use, you may want to be more or less strict on the rasterization,
// ie this may either return some units that aren't actually on the shape (if strict is set)
// or this may not return some units that are on the shape (if strict is not set).
// Foundations need to be non-strict, as otherwise it sometimes detects the builder units
// as being on the shape, so it orders them away.
SimRasterize::Spans& newSpans = rasterizedRects[shape.clearance];
if (strict)
SimRasterize::RasterizeRectWithClearance(newSpans, square, shape.clearance, Pathfinding::NAVCELL_SIZE);
else
SimRasterize::RasterizeRectWithClearance(newSpans, square, shape.clearance-Pathfinding::CLEARANCE_EXTENSION_RADIUS, Pathfinding::NAVCELL_SIZE);
}
SimRasterize::Spans& spans = rasterizedRects[shape.clearance];
// Check whether the unit's center is on a navcell that's in
// any of the spans
u16 i = (shape.x / Pathfinding::NAVCELL_SIZE).ToInt_RoundToNegInfinity();
u16 j = (shape.z / Pathfinding::NAVCELL_SIZE).ToInt_RoundToNegInfinity();
for (const SimRasterize::Span& span : spans)
{
if (j == span.j && span.i0 <= i && i < span.i1)
{
out.push_back(shape.entity);
break;
}
}
}
}
void CCmpObstructionManager::RenderSubmit(SceneCollector& collector)
{
if (!m_DebugOverlayEnabled)
return;
CColor defaultColor(0, 0, 1, 1);
CColor movingColor(1, 0, 1, 1);
CColor boundsColor(1, 1, 0, 1);
// If the shapes have changed, then regenerate all the overlays
if (m_DebugOverlayDirty)
{
m_DebugOverlayLines.clear();
m_DebugOverlayLines.push_back(SOverlayLine());
m_DebugOverlayLines.back().m_Color = boundsColor;
SimRender::ConstructSquareOnGround(GetSimContext(),
(m_WorldX0+m_WorldX1).ToFloat()/2.f, (m_WorldZ0+m_WorldZ1).ToFloat()/2.f,
(m_WorldX1-m_WorldX0).ToFloat(), (m_WorldZ1-m_WorldZ0).ToFloat(),
0, m_DebugOverlayLines.back(), true);
for (std::map<u32, UnitShape>::iterator it = m_UnitShapes.begin(); it != m_UnitShapes.end(); ++it)
{
m_DebugOverlayLines.push_back(SOverlayLine());
m_DebugOverlayLines.back().m_Color = ((it->second.flags & FLAG_MOVING) ? movingColor : defaultColor);
SimRender::ConstructSquareOnGround(GetSimContext(), it->second.x.ToFloat(), it->second.z.ToFloat(), it->second.clearance.ToFloat()*2, it->second.clearance.ToFloat()*2, 0, m_DebugOverlayLines.back(), true);
}
for (std::map<u32, StaticShape>::iterator it = m_StaticShapes.begin(); it != m_StaticShapes.end(); ++it)
{
m_DebugOverlayLines.push_back(SOverlayLine());
m_DebugOverlayLines.back().m_Color = defaultColor;
float a = atan2f(it->second.v.X.ToFloat(), it->second.v.Y.ToFloat());
SimRender::ConstructSquareOnGround(GetSimContext(), it->second.x.ToFloat(), it->second.z.ToFloat(), it->second.hw.ToFloat()*2, it->second.hh.ToFloat()*2, a, m_DebugOverlayLines.back(), true);
}
m_DebugOverlayDirty = false;
}
for (size_t i = 0; i < m_DebugOverlayLines.size(); ++i)
collector.Submit(&m_DebugOverlayLines[i]);
}
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