166 lines
5.7 KiB
C++
166 lines
5.7 KiB
C++
/* Copyright (C) 2011 Wildfire Games.
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* This file is part of 0 A.D.
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*
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* 0 A.D. is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* 0 A.D. is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef INCLUDED_ICMPPATHFINDER
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#define INCLUDED_ICMPPATHFINDER
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#include "simulation2/system/Interface.h"
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#include "simulation2/helpers/Position.h"
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#include "maths/FixedVector2D.h"
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#include <map>
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#include <vector>
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class IObstructionTestFilter;
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template<typename T> class Grid;
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/**
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* Pathfinder algorithms.
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*
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* There are two different modes: a tile-based pathfinder that works over long distances and
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* accounts for terrain costs but ignore units, and a 'short' vertex-based pathfinder that
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* provides precise paths and avoids other units.
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*
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* Both use the same concept of a Goal: either a point, circle or square.
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* (If the starting point is inside the goal shape then the path will move outwards
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* to reach the shape's outline.)
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*
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* The output is a list of waypoints.
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*/
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class ICmpPathfinder : public IComponent
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{
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public:
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typedef u16 pass_class_t;
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typedef u8 cost_class_t;
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struct Goal
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{
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enum Type {
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POINT,
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CIRCLE,
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SQUARE
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} type;
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entity_pos_t x, z; // position of center
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CFixedVector2D u, v; // if SQUARE, then orthogonal unit axes
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entity_pos_t hw, hh; // if SQUARE, then half width & height; if CIRCLE, then hw is radius
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};
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struct Waypoint
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{
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entity_pos_t x, z;
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};
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/**
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* Returned path.
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* Waypoints are in *reverse* order (the earliest is at the back of the list)
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*/
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struct Path
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{
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std::vector<Waypoint> m_Waypoints;
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};
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/**
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* Get the list of all known passability classes.
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*/
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virtual std::map<std::string, pass_class_t> GetPassabilityClasses() = 0;
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/**
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* Get the tag for a given passability class name.
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* Logs an error and returns something acceptable if the name is unrecognised.
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*/
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virtual pass_class_t GetPassabilityClass(const std::string& name) = 0;
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/**
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* Get the tag for a given movement cost class name.
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* Logs an error and returns something acceptable if the name is unrecognised.
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*/
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virtual cost_class_t GetCostClass(const std::string& name) = 0;
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virtual const Grid<u16>& GetPassabilityGrid() = 0;
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/**
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* Compute a tile-based path from the given point to the goal, and return the set of waypoints.
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* The waypoints correspond to the centers of horizontally/vertically adjacent tiles
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* along the path.
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*/
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virtual void ComputePath(entity_pos_t x0, entity_pos_t z0, const Goal& goal, pass_class_t passClass, cost_class_t costClass, Path& ret) = 0;
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/**
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* Asynchronous version of ComputePath.
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* The result will be sent as CMessagePathResult to 'notify'.
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* Returns a unique non-zero number, which will match the 'ticket' in the result,
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* so callers can recognise each individual request they make.
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*/
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virtual u32 ComputePathAsync(entity_pos_t x0, entity_pos_t z0, const Goal& goal, pass_class_t passClass, cost_class_t costClass, entity_id_t notify) = 0;
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/**
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* If the debug overlay is enabled, render the path that will computed by ComputePath.
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*/
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virtual void SetDebugPath(entity_pos_t x0, entity_pos_t z0, const Goal& goal, pass_class_t passClass, cost_class_t costClass) = 0;
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/**
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* Compute a precise path from the given point to the goal, and return the set of waypoints.
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* The path is based on the full set of obstructions that pass the filter, such that
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* a unit of radius 'r' will be able to follow the path with no collisions.
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* The path is restricted to a box of radius 'range' from the starting point.
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*/
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virtual void ComputeShortPath(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t r, entity_pos_t range, const Goal& goal, pass_class_t passClass, Path& ret) = 0;
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/**
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* Asynchronous version of ComputeShortPath (using ControlGroupObstructionFilter).
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* The result will be sent as CMessagePathResult to 'notify'.
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* Returns a unique non-zero number, which will match the 'ticket' in the result,
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* so callers can recognise each individual request they make.
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*/
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virtual u32 ComputeShortPathAsync(entity_pos_t x0, entity_pos_t z0, entity_pos_t r, entity_pos_t range, const Goal& goal, pass_class_t passClass, bool avoidMovingUnits, entity_id_t group, entity_id_t notify) = 0;
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/**
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* Find the speed factor (typically around 1.0) for a unit of the given cost class
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* at the given position.
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*/
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virtual fixed GetMovementSpeed(entity_pos_t x0, entity_pos_t z0, cost_class_t costClass) = 0;
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/**
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* Returns the coordinates of the point on the goal that is closest to pos in a straight line.
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*/
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virtual CFixedVector2D GetNearestPointOnGoal(CFixedVector2D pos, const Goal& goal) = 0;
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/**
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* Check whether the given movement line is valid and doesn't hit any obstructions
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* or impassable terrain.
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* Returns true if the movement is okay.
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*/
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virtual bool CheckMovement(const IObstructionTestFilter& filter, entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, entity_pos_t r, pass_class_t passClass) = 0;
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/**
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* Toggle the storage and rendering of debug info.
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*/
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virtual void SetDebugOverlay(bool enabled) = 0;
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/**
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* Finish computing asynchronous path requests and send the CMessagePathResult messages.
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*/
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virtual void FinishAsyncRequests() = 0;
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DECLARE_INTERFACE_TYPE(Pathfinder)
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};
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#endif // INCLUDED_ICMPPATHFINDER
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