1009 lines
33 KiB
C++
1009 lines
33 KiB
C++
/* Copyright (C) 2012 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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#include "precompiled.h"
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#include "simulation2/system/Component.h"
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#include "ICmpObstructionManager.h"
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#include "simulation2/MessageTypes.h"
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#include "simulation2/helpers/Geometry.h"
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#include "simulation2/helpers/Render.h"
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#include "simulation2/helpers/Spatial.h"
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#include "simulation2/serialization/SerializeTemplates.h"
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#include "graphics/Overlay.h"
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#include "graphics/Terrain.h"
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#include "maths/MathUtil.h"
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#include "ps/Overlay.h"
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#include "ps/Profile.h"
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#include "renderer/Scene.h"
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#include "ps/CLogger.h"
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// Externally, tags are opaque non-zero positive integers.
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// Internally, they are tagged (by shape) indexes into shape lists.
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// idx must be non-zero.
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#define TAG_IS_VALID(tag) ((tag).valid())
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#define TAG_IS_UNIT(tag) (((tag).n & 1) == 0)
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#define TAG_IS_STATIC(tag) (((tag).n & 1) == 1)
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#define UNIT_INDEX_TO_TAG(idx) tag_t(((idx) << 1) | 0)
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#define STATIC_INDEX_TO_TAG(idx) tag_t(((idx) << 1) | 1)
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#define TAG_TO_INDEX(tag) ((tag).n >> 1)
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/**
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* Internal representation of axis-aligned sometimes-square sometimes-circle shapes for moving units
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*/
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struct UnitShape
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{
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entity_id_t entity;
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entity_pos_t x, z;
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entity_pos_t r; // radius of circle, or half width of square
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ICmpObstructionManager::flags_t flags;
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entity_id_t group; // control group (typically the owner entity, or a formation controller entity) (units ignore collisions with others in the same group)
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};
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/**
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* Internal representation of arbitrary-rotation static square shapes for buildings
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*/
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struct StaticShape
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{
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entity_id_t entity;
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entity_pos_t x, z; // world-space coordinates
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CFixedVector2D u, v; // orthogonal unit vectors - axes of local coordinate space
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entity_pos_t hw, hh; // half width/height in local coordinate space
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ICmpObstructionManager::flags_t flags;
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entity_id_t group;
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entity_id_t group2;
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};
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/**
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* Serialization helper template for UnitShape
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*/
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struct SerializeUnitShape
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{
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template<typename S>
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void operator()(S& serialize, const char* UNUSED(name), UnitShape& value)
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{
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serialize.NumberU32_Unbounded("entity", value.entity);
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serialize.NumberFixed_Unbounded("x", value.x);
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serialize.NumberFixed_Unbounded("z", value.z);
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serialize.NumberFixed_Unbounded("r", value.r);
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serialize.NumberU8_Unbounded("flags", value.flags);
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serialize.NumberU32_Unbounded("group", value.group);
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}
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};
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/**
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* Serialization helper template for StaticShape
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*/
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struct SerializeStaticShape
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{
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template<typename S>
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void operator()(S& serialize, const char* UNUSED(name), StaticShape& value)
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{
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serialize.NumberU32_Unbounded("entity", value.entity);
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serialize.NumberFixed_Unbounded("x", value.x);
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serialize.NumberFixed_Unbounded("z", value.z);
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serialize.NumberFixed_Unbounded("u.x", value.u.X);
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serialize.NumberFixed_Unbounded("u.y", value.u.Y);
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serialize.NumberFixed_Unbounded("v.x", value.v.X);
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serialize.NumberFixed_Unbounded("v.y", value.v.Y);
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serialize.NumberFixed_Unbounded("hw", value.hw);
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serialize.NumberFixed_Unbounded("hh", value.hh);
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serialize.NumberU8_Unbounded("flags", value.flags);
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serialize.NumberU32_Unbounded("group", value.group);
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serialize.NumberU32_Unbounded("group2", value.group2);
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}
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};
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class CCmpObstructionManager : public ICmpObstructionManager
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{
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public:
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static void ClassInit(CComponentManager& componentManager)
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{
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componentManager.SubscribeToMessageType(MT_RenderSubmit); // for debug overlays
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}
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DEFAULT_COMPONENT_ALLOCATOR(ObstructionManager)
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bool m_DebugOverlayEnabled;
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bool m_DebugOverlayDirty;
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std::vector<SOverlayLine> m_DebugOverlayLines;
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SpatialSubdivision m_UnitSubdivision;
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SpatialSubdivision m_StaticSubdivision;
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// TODO: using std::map is a bit inefficient; is there a better way to store these?
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std::map<u32, UnitShape> m_UnitShapes;
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std::map<u32, StaticShape> m_StaticShapes;
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u32 m_UnitShapeNext; // next allocated id
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u32 m_StaticShapeNext;
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bool m_PassabilityCircular;
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entity_pos_t m_WorldX0;
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entity_pos_t m_WorldZ0;
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entity_pos_t m_WorldX1;
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entity_pos_t m_WorldZ1;
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static std::string GetSchema()
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{
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return "<a:component type='system'/><empty/>";
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}
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virtual void Init(const CParamNode& UNUSED(paramNode))
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{
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m_DebugOverlayEnabled = false;
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m_DebugOverlayDirty = true;
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m_UnitShapeNext = 1;
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m_StaticShapeNext = 1;
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m_DirtyID = 1; // init to 1 so default-initialised grids are considered dirty
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m_PassabilityCircular = false;
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m_WorldX0 = m_WorldZ0 = m_WorldX1 = m_WorldZ1 = entity_pos_t::Zero();
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// Initialise with bogus values (these will get replaced when
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// SetBounds is called)
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ResetSubdivisions(entity_pos_t::FromInt(1024), entity_pos_t::FromInt(1024));
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}
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virtual void Deinit()
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{
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}
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template<typename S>
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void SerializeCommon(S& serialize)
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{
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SerializeSpatialSubdivision()(serialize, "unit subdiv", m_UnitSubdivision);
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SerializeSpatialSubdivision()(serialize, "static subdiv", m_StaticSubdivision);
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SerializeMap<SerializeU32_Unbounded, SerializeUnitShape>()(serialize, "unit shapes", m_UnitShapes);
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SerializeMap<SerializeU32_Unbounded, SerializeStaticShape>()(serialize, "static shapes", m_StaticShapes);
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serialize.NumberU32_Unbounded("unit shape next", m_UnitShapeNext);
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serialize.NumberU32_Unbounded("static shape next", m_StaticShapeNext);
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serialize.Bool("circular", m_PassabilityCircular);
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serialize.NumberFixed_Unbounded("world x0", m_WorldX0);
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serialize.NumberFixed_Unbounded("world z0", m_WorldZ0);
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serialize.NumberFixed_Unbounded("world x1", m_WorldX1);
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serialize.NumberFixed_Unbounded("world z1", m_WorldZ1);
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}
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virtual void Serialize(ISerializer& serialize)
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{
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// TODO: this could perhaps be optimised by not storing all the obstructions,
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// and instead regenerating them from the other entities on Deserialize
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SerializeCommon(serialize);
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}
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virtual void Deserialize(const CParamNode& paramNode, IDeserializer& deserialize)
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{
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Init(paramNode);
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SerializeCommon(deserialize);
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}
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virtual void HandleMessage(const CMessage& msg, bool UNUSED(global))
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{
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switch (msg.GetType())
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{
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case MT_RenderSubmit:
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{
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const CMessageRenderSubmit& msgData = static_cast<const CMessageRenderSubmit&> (msg);
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RenderSubmit(msgData.collector);
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break;
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}
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}
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}
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virtual void SetBounds(entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1)
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{
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m_WorldX0 = x0;
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m_WorldZ0 = z0;
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m_WorldX1 = x1;
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m_WorldZ1 = z1;
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MakeDirtyAll();
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// Subdivision system bounds:
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ENSURE(x0.IsZero() && z0.IsZero()); // don't bother implementing non-zero offsets yet
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ResetSubdivisions(x1, z1);
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}
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void ResetSubdivisions(entity_pos_t x1, entity_pos_t z1)
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{
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// Use 8x8 tile subdivisions
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// (TODO: find the optimal number instead of blindly guessing)
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m_UnitSubdivision.Reset(x1, z1, entity_pos_t::FromInt(8*TERRAIN_TILE_SIZE));
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m_StaticSubdivision.Reset(x1, z1, entity_pos_t::FromInt(8*TERRAIN_TILE_SIZE));
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for (std::map<u32, UnitShape>::iterator it = m_UnitShapes.begin(); it != m_UnitShapes.end(); ++it)
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{
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CFixedVector2D center(it->second.x, it->second.z);
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CFixedVector2D halfSize(it->second.r, it->second.r);
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m_UnitSubdivision.Add(it->first, center - halfSize, center + halfSize);
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}
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for (std::map<u32, StaticShape>::iterator it = m_StaticShapes.begin(); it != m_StaticShapes.end(); ++it)
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{
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CFixedVector2D center(it->second.x, it->second.z);
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CFixedVector2D bbHalfSize = Geometry::GetHalfBoundingBox(it->second.u, it->second.v, CFixedVector2D(it->second.hw, it->second.hh));
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m_StaticSubdivision.Add(it->first, center - bbHalfSize, center + bbHalfSize);
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}
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}
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virtual tag_t AddUnitShape(entity_id_t ent, entity_pos_t x, entity_pos_t z, entity_pos_t r, flags_t flags, entity_id_t group)
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{
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UnitShape shape = { ent, x, z, r, flags, group };
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u32 id = m_UnitShapeNext++;
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m_UnitShapes[id] = shape;
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MakeDirtyUnit(flags);
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m_UnitSubdivision.Add(id, CFixedVector2D(x - r, z - r), CFixedVector2D(x + r, z + r));
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return UNIT_INDEX_TO_TAG(id);
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}
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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 */)
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{
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fixed s, c;
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sincos_approx(a, s, c);
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CFixedVector2D u(c, -s);
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CFixedVector2D v(s, c);
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StaticShape shape = { ent, x, z, u, v, w/2, h/2, flags, group, group2 };
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u32 id = m_StaticShapeNext++;
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m_StaticShapes[id] = shape;
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MakeDirtyStatic(flags);
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CFixedVector2D center(x, z);
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CFixedVector2D bbHalfSize = Geometry::GetHalfBoundingBox(u, v, CFixedVector2D(w/2, h/2));
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m_StaticSubdivision.Add(id, center - bbHalfSize, center + bbHalfSize);
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return STATIC_INDEX_TO_TAG(id);
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}
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virtual ObstructionSquare GetUnitShapeObstruction(entity_pos_t x, entity_pos_t z, entity_pos_t r)
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{
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CFixedVector2D u(entity_pos_t::FromInt(1), entity_pos_t::Zero());
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CFixedVector2D v(entity_pos_t::Zero(), entity_pos_t::FromInt(1));
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ObstructionSquare o = { x, z, u, v, r, r };
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return o;
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}
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virtual ObstructionSquare GetStaticShapeObstruction(entity_pos_t x, entity_pos_t z, entity_angle_t a, entity_pos_t w, entity_pos_t h)
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{
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fixed s, c;
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sincos_approx(a, s, c);
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CFixedVector2D u(c, -s);
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CFixedVector2D v(s, c);
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ObstructionSquare o = { x, z, u, v, w/2, h/2 };
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return o;
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}
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virtual void MoveShape(tag_t tag, entity_pos_t x, entity_pos_t z, entity_angle_t a)
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{
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ENSURE(TAG_IS_VALID(tag));
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if (TAG_IS_UNIT(tag))
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{
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UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
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m_UnitSubdivision.Move(TAG_TO_INDEX(tag),
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CFixedVector2D(shape.x - shape.r, shape.z - shape.r),
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CFixedVector2D(shape.x + shape.r, shape.z + shape.r),
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CFixedVector2D(x - shape.r, z - shape.r),
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CFixedVector2D(x + shape.r, z + shape.r));
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shape.x = x;
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shape.z = z;
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MakeDirtyUnit(shape.flags);
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}
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else
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{
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fixed s, c;
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sincos_approx(a, s, c);
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CFixedVector2D u(c, -s);
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CFixedVector2D v(s, c);
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StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
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CFixedVector2D fromBbHalfSize = Geometry::GetHalfBoundingBox(shape.u, shape.v, CFixedVector2D(shape.hw, shape.hh));
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CFixedVector2D toBbHalfSize = Geometry::GetHalfBoundingBox(u, v, CFixedVector2D(shape.hw, shape.hh));
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m_StaticSubdivision.Move(TAG_TO_INDEX(tag),
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CFixedVector2D(shape.x, shape.z) - fromBbHalfSize,
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CFixedVector2D(shape.x, shape.z) + fromBbHalfSize,
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CFixedVector2D(x, z) - toBbHalfSize,
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CFixedVector2D(x, z) + toBbHalfSize);
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shape.x = x;
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shape.z = z;
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shape.u = u;
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shape.v = v;
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MakeDirtyStatic(shape.flags);
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}
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}
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virtual void SetUnitMovingFlag(tag_t tag, bool moving)
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{
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ENSURE(TAG_IS_VALID(tag) && TAG_IS_UNIT(tag));
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if (TAG_IS_UNIT(tag))
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{
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UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
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if (moving)
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shape.flags |= FLAG_MOVING;
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else
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shape.flags &= (flags_t)~FLAG_MOVING;
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MakeDirtyDebug();
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}
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}
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virtual void SetUnitControlGroup(tag_t tag, entity_id_t group)
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{
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ENSURE(TAG_IS_VALID(tag) && TAG_IS_UNIT(tag));
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if (TAG_IS_UNIT(tag))
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{
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UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
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shape.group = group;
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}
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}
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virtual void SetStaticControlGroup(tag_t tag, entity_id_t group, entity_id_t group2)
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{
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ENSURE(TAG_IS_VALID(tag) && TAG_IS_STATIC(tag));
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if (TAG_IS_STATIC(tag))
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{
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StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
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shape.group = group;
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shape.group2 = group2;
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}
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}
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virtual void RemoveShape(tag_t tag)
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{
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ENSURE(TAG_IS_VALID(tag));
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if (TAG_IS_UNIT(tag))
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{
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UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
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m_UnitSubdivision.Remove(TAG_TO_INDEX(tag),
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CFixedVector2D(shape.x - shape.r, shape.z - shape.r),
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CFixedVector2D(shape.x + shape.r, shape.z + shape.r));
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MakeDirtyUnit(shape.flags);
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m_UnitShapes.erase(TAG_TO_INDEX(tag));
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}
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else
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{
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StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
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CFixedVector2D center(shape.x, shape.z);
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CFixedVector2D bbHalfSize = Geometry::GetHalfBoundingBox(shape.u, shape.v, CFixedVector2D(shape.hw, shape.hh));
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m_StaticSubdivision.Remove(TAG_TO_INDEX(tag), center - bbHalfSize, center + bbHalfSize);
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MakeDirtyStatic(shape.flags);
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m_StaticShapes.erase(TAG_TO_INDEX(tag));
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}
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}
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virtual ObstructionSquare GetObstruction(tag_t tag)
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{
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ENSURE(TAG_IS_VALID(tag));
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if (TAG_IS_UNIT(tag))
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{
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UnitShape& shape = m_UnitShapes[TAG_TO_INDEX(tag)];
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CFixedVector2D u(entity_pos_t::FromInt(1), entity_pos_t::Zero());
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CFixedVector2D v(entity_pos_t::Zero(), entity_pos_t::FromInt(1));
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ObstructionSquare o = { shape.x, shape.z, u, v, shape.r, shape.r };
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return o;
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}
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else
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{
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StaticShape& shape = m_StaticShapes[TAG_TO_INDEX(tag)];
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ObstructionSquare o = { shape.x, shape.z, shape.u, shape.v, shape.hw, shape.hh };
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return o;
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}
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}
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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);
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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);
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virtual bool TestUnitShape(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t r, std::vector<entity_id_t>* out);
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virtual bool Rasterise(Grid<u8>& grid);
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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);
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virtual bool FindMostImportantObstruction(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t r, ObstructionSquare& square);
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virtual void SetPassabilityCircular(bool enabled)
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{
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m_PassabilityCircular = enabled;
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MakeDirtyAll();
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}
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virtual void SetDebugOverlay(bool enabled)
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{
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m_DebugOverlayEnabled = enabled;
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m_DebugOverlayDirty = true;
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if (!enabled)
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m_DebugOverlayLines.clear();
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}
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void RenderSubmit(SceneCollector& collector);
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private:
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// To support lazy updates of grid rasterisations of obstruction data,
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// we maintain a DirtyID here and increment it whenever obstructions change;
|
|
// if a grid has a lower DirtyID then it needs to be updated.
|
|
|
|
size_t m_DirtyID;
|
|
|
|
/**
|
|
* Mark all previous Rasterise()d grids as dirty, and the debug display.
|
|
* Call this when the world bounds have changed.
|
|
*/
|
|
void MakeDirtyAll()
|
|
{
|
|
++m_DirtyID;
|
|
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;
|
|
}
|
|
|
|
/**
|
|
* Mark all previous Rasterise()d grids as dirty, if they depend on this shape.
|
|
* Call this when a static shape has changed.
|
|
*/
|
|
void MakeDirtyStatic(flags_t flags)
|
|
{
|
|
if (flags & (FLAG_BLOCK_PATHFINDING|FLAG_BLOCK_FOUNDATION))
|
|
++m_DirtyID;
|
|
|
|
m_DebugOverlayDirty = true;
|
|
}
|
|
|
|
/**
|
|
* Mark all previous Rasterise()d grids as dirty, if they depend on this shape.
|
|
* Call this when a unit shape has changed.
|
|
*/
|
|
void MakeDirtyUnit(flags_t flags)
|
|
{
|
|
if (flags & (FLAG_BLOCK_PATHFINDING|FLAG_BLOCK_FOUNDATION))
|
|
++m_DirtyID;
|
|
|
|
m_DebugOverlayDirty = true;
|
|
}
|
|
|
|
/**
|
|
* Test whether a Rasterise()d grid is dirty and needs updating
|
|
*/
|
|
template<typename T>
|
|
bool IsDirty(const Grid<T>& grid)
|
|
{
|
|
return grid.m_DirtyID < m_DirtyID;
|
|
}
|
|
|
|
/**
|
|
* Return whether the given point is within the world bounds by at least r
|
|
*/
|
|
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
|
|
*/
|
|
bool IsInWorld(CFixedVector2D p)
|
|
{
|
|
return (m_WorldX0 <= p.X && p.X <= m_WorldX1 && m_WorldZ0 <= p.Y && p.Y <= m_WorldZ1);
|
|
}
|
|
};
|
|
|
|
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)
|
|
{
|
|
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);
|
|
|
|
SpatialQueryArray unitShapes;
|
|
m_UnitSubdivision.GetInRange(unitShapes, posMin, posMax);
|
|
for (int 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.r + r, it->second.r + r);
|
|
if (Geometry::TestRayAASquare(CFixedVector2D(x0, z0) - center, CFixedVector2D(x1, z1) - center, halfSize))
|
|
return true;
|
|
}
|
|
|
|
SpatialQueryArray staticShapes;
|
|
m_StaticSubdivision.GetInRange(staticShapes, posMin, posMax);
|
|
for (int 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.r, halfSize.Y + it->second.r)))
|
|
{
|
|
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 r,
|
|
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, r))
|
|
{
|
|
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 r1 = it->second.r;
|
|
|
|
if (!(it->second.x + r1 < x - r || it->second.x - r1 > x + r || it->second.z + r1 < z - r || it->second.z - r1 > z + r))
|
|
{
|
|
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 + r, it->second.hh + r)))
|
|
{
|
|
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
|
|
}
|
|
|
|
/**
|
|
* Compute the tile indexes on the grid nearest to a given point
|
|
*/
|
|
static void NearestTile(entity_pos_t x, entity_pos_t z, u16& i, u16& j, u16 w, u16 h)
|
|
{
|
|
i = (u16)clamp((x / (int)TERRAIN_TILE_SIZE).ToInt_RoundToZero(), 0, w-1);
|
|
j = (u16)clamp((z / (int)TERRAIN_TILE_SIZE).ToInt_RoundToZero(), 0, h-1);
|
|
}
|
|
|
|
/**
|
|
* Returns the position of the center of the given tile
|
|
*/
|
|
static void TileCenter(u16 i, u16 j, entity_pos_t& x, entity_pos_t& z)
|
|
{
|
|
x = entity_pos_t::FromInt(i*(int)TERRAIN_TILE_SIZE + (int)TERRAIN_TILE_SIZE/2);
|
|
z = entity_pos_t::FromInt(j*(int)TERRAIN_TILE_SIZE + (int)TERRAIN_TILE_SIZE/2);
|
|
}
|
|
|
|
bool CCmpObstructionManager::Rasterise(Grid<u8>& grid)
|
|
{
|
|
if (!IsDirty(grid))
|
|
return false;
|
|
|
|
PROFILE("Rasterise");
|
|
|
|
grid.m_DirtyID = m_DirtyID;
|
|
|
|
// TODO: this is all hopelessly inefficient
|
|
// What we should perhaps do is have some kind of quadtree storing Shapes so it's
|
|
// quick to invalidate and update small numbers of tiles
|
|
|
|
grid.reset();
|
|
|
|
// For tile-based pathfinding:
|
|
// Since we only count tiles whose centers are inside the square,
|
|
// we maybe want to expand the square a bit so we're less likely to think there's
|
|
// free space between buildings when there isn't. But this is just a random guess
|
|
// and needs to be tweaked until everything works nicely.
|
|
//entity_pos_t expandPathfinding = entity_pos_t::FromInt(TERRAIN_TILE_SIZE / 2);
|
|
// Actually that's bad because units get stuck when the A* pathfinder thinks they're
|
|
// blocked on all sides, so it's better to underestimate
|
|
entity_pos_t expandPathfinding = entity_pos_t::FromInt(0);
|
|
|
|
// For AI building foundation planning, we want to definitely block all
|
|
// potentially-obstructed tiles (so we don't blindly build on top of an obstruction),
|
|
// so we need to expand by at least 1/sqrt(2) of a tile
|
|
entity_pos_t expandFoundation = (entity_pos_t::FromInt(TERRAIN_TILE_SIZE) * 3) / 4;
|
|
|
|
for (std::map<u32, StaticShape>::iterator it = m_StaticShapes.begin(); it != m_StaticShapes.end(); ++it)
|
|
{
|
|
CFixedVector2D center(it->second.x, it->second.z);
|
|
|
|
if (it->second.flags & FLAG_BLOCK_PATHFINDING)
|
|
{
|
|
CFixedVector2D halfSize(it->second.hw + expandPathfinding, it->second.hh + expandPathfinding);
|
|
CFixedVector2D halfBound = Geometry::GetHalfBoundingBox(it->second.u, it->second.v, halfSize);
|
|
|
|
u16 i0, j0, i1, j1;
|
|
NearestTile(center.X - halfBound.X, center.Y - halfBound.Y, i0, j0, grid.m_W, grid.m_H);
|
|
NearestTile(center.X + halfBound.X, center.Y + halfBound.Y, i1, j1, grid.m_W, grid.m_H);
|
|
for (u16 j = j0; j <= j1; ++j)
|
|
{
|
|
for (u16 i = i0; i <= i1; ++i)
|
|
{
|
|
entity_pos_t x, z;
|
|
TileCenter(i, j, x, z);
|
|
if (Geometry::PointIsInSquare(CFixedVector2D(x, z) - center, it->second.u, it->second.v, halfSize))
|
|
grid.set(i, j, grid.get(i, j) | TILE_OBSTRUCTED_PATHFINDING);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (it->second.flags & FLAG_BLOCK_FOUNDATION)
|
|
{
|
|
CFixedVector2D halfSize(it->second.hw + expandFoundation, it->second.hh + expandFoundation);
|
|
CFixedVector2D halfBound = Geometry::GetHalfBoundingBox(it->second.u, it->second.v, halfSize);
|
|
|
|
u16 i0, j0, i1, j1;
|
|
NearestTile(center.X - halfBound.X, center.Y - halfBound.Y, i0, j0, grid.m_W, grid.m_H);
|
|
NearestTile(center.X + halfBound.X, center.Y + halfBound.Y, i1, j1, grid.m_W, grid.m_H);
|
|
for (u16 j = j0; j <= j1; ++j)
|
|
{
|
|
for (u16 i = i0; i <= i1; ++i)
|
|
{
|
|
entity_pos_t x, z;
|
|
TileCenter(i, j, x, z);
|
|
if (Geometry::PointIsInSquare(CFixedVector2D(x, z) - center, it->second.u, it->second.v, halfSize))
|
|
grid.set(i, j, grid.get(i, j) | TILE_OBSTRUCTED_FOUNDATION);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (std::map<u32, UnitShape>::iterator it = m_UnitShapes.begin(); it != m_UnitShapes.end(); ++it)
|
|
{
|
|
CFixedVector2D center(it->second.x, it->second.z);
|
|
|
|
if (it->second.flags & FLAG_BLOCK_PATHFINDING)
|
|
{
|
|
entity_pos_t r = it->second.r + expandPathfinding;
|
|
|
|
u16 i0, j0, i1, j1;
|
|
NearestTile(center.X - r, center.Y - r, i0, j0, grid.m_W, grid.m_H);
|
|
NearestTile(center.X + r, center.Y + r, i1, j1, grid.m_W, grid.m_H);
|
|
for (u16 j = j0; j <= j1; ++j)
|
|
for (u16 i = i0; i <= i1; ++i)
|
|
grid.set(i, j, grid.get(i, j) | TILE_OBSTRUCTED_PATHFINDING);
|
|
}
|
|
|
|
if (it->second.flags & FLAG_BLOCK_FOUNDATION)
|
|
{
|
|
entity_pos_t r = it->second.r + expandFoundation;
|
|
|
|
u16 i0, j0, i1, j1;
|
|
NearestTile(center.X - r, center.Y - r, i0, j0, grid.m_W, grid.m_H);
|
|
NearestTile(center.X + r, center.Y + r, i1, j1, grid.m_W, grid.m_H);
|
|
for (u16 j = j0; j <= j1; ++j)
|
|
for (u16 i = i0; i <= i1; ++i)
|
|
grid.set(i, j, grid.get(i, j) | TILE_OBSTRUCTED_FOUNDATION);
|
|
}
|
|
}
|
|
|
|
// Any tiles outside or very near the edge of the map are impassable
|
|
|
|
// WARNING: CCmpRangeManager::LosIsOffWorld needs to be kept in sync with this
|
|
const u16 edgeSize = 3; // number of tiles around the edge that will be off-world
|
|
|
|
u8 edgeFlags = TILE_OBSTRUCTED_PATHFINDING | TILE_OBSTRUCTED_FOUNDATION | TILE_OUTOFBOUNDS;
|
|
|
|
if (m_PassabilityCircular)
|
|
{
|
|
for (u16 j = 0; j < grid.m_H; ++j)
|
|
{
|
|
for (u16 i = 0; i < grid.m_W; ++i)
|
|
{
|
|
// Based on CCmpRangeManager::LosIsOffWorld
|
|
// but tweaked since it's tile-based instead.
|
|
// (We double all the values so we can handle half-tile coordinates.)
|
|
// This needs to be slightly tighter than the LOS circle,
|
|
// else units might get themselves lost in the SoD around the edge.
|
|
|
|
ssize_t dist2 = (i*2 + 1 - grid.m_W)*(i*2 + 1 - grid.m_W)
|
|
+ (j*2 + 1 - grid.m_H)*(j*2 + 1 - grid.m_H);
|
|
|
|
if (dist2 >= (grid.m_W - 2*edgeSize) * (grid.m_H - 2*edgeSize))
|
|
grid.set(i, j, edgeFlags);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
u16 i0, j0, i1, j1;
|
|
NearestTile(m_WorldX0, m_WorldZ0, i0, j0, grid.m_W, grid.m_H);
|
|
NearestTile(m_WorldX1, m_WorldZ1, i1, j1, grid.m_W, grid.m_H);
|
|
|
|
for (u16 j = 0; j < grid.m_H; ++j)
|
|
for (u16 i = 0; i < i0+edgeSize; ++i)
|
|
grid.set(i, j, edgeFlags);
|
|
for (u16 j = 0; j < grid.m_H; ++j)
|
|
for (u16 i = (u16)(i1-edgeSize+1); i < grid.m_W; ++i)
|
|
grid.set(i, j, edgeFlags);
|
|
for (u16 j = 0; j < j0+edgeSize; ++j)
|
|
for (u16 i = (u16)(i0+edgeSize); i < i1-edgeSize+1; ++i)
|
|
grid.set(i, j, edgeFlags);
|
|
for (u16 j = (u16)(j1-edgeSize+1); j < grid.m_H; ++j)
|
|
for (u16 i = (u16)(i0+edgeSize); i < i1-edgeSize+1; ++i)
|
|
grid.set(i, j, edgeFlags);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
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)
|
|
{
|
|
PROFILE("GetObstructionsInRange");
|
|
|
|
ENSURE(x0 <= x1 && z0 <= z1);
|
|
|
|
SpatialQueryArray unitShapes;
|
|
m_UnitSubdivision.GetInRange(unitShapes, CFixedVector2D(x0, z0), CFixedVector2D(x1, z1));
|
|
for (int 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;
|
|
|
|
entity_pos_t r = it->second.r;
|
|
|
|
// Skip this object if it's 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;
|
|
|
|
CFixedVector2D u(entity_pos_t::FromInt(1), entity_pos_t::Zero());
|
|
CFixedVector2D v(entity_pos_t::Zero(), entity_pos_t::FromInt(1));
|
|
ObstructionSquare s = { it->second.x, it->second.z, u, v, r, r };
|
|
squares.push_back(s);
|
|
}
|
|
|
|
SpatialQueryArray staticShapes;
|
|
m_StaticSubdivision.GetInRange(staticShapes, CFixedVector2D(x0, z0), CFixedVector2D(x1, z1));
|
|
for (int 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;
|
|
|
|
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?
|
|
|
|
ObstructionSquare s = { it->second.x, it->second.z, it->second.u, it->second.v, it->second.hw, it->second.hh };
|
|
squares.push_back(s);
|
|
}
|
|
}
|
|
|
|
bool CCmpObstructionManager::FindMostImportantObstruction(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t r, ObstructionSquare& square)
|
|
{
|
|
std::vector<ObstructionSquare> squares;
|
|
|
|
CFixedVector2D center(x, z);
|
|
|
|
// First look for obstructions that are covering the exact target point
|
|
GetObstructionsInRange(filter, x, z, x, z, squares);
|
|
// Building squares are more important but returned last, so check backwards
|
|
for (std::vector<ObstructionSquare>::reverse_iterator it = squares.rbegin(); it != squares.rend(); ++it)
|
|
{
|
|
CFixedVector2D halfSize(it->hw, it->hh);
|
|
if (Geometry::PointIsInSquare(CFixedVector2D(it->x, it->z) - center, it->u, it->v, halfSize))
|
|
{
|
|
square = *it;
|
|
return true;
|
|
}
|
|
}
|
|
|
|
// Then look for obstructions that cover the target point when expanded by r
|
|
// (i.e. if the target is not inside an object but closer than we can get to it)
|
|
|
|
GetObstructionsInRange(filter, x-r, z-r, x+r, z+r, squares);
|
|
// Building squares are more important but returned last, so check backwards
|
|
for (std::vector<ObstructionSquare>::reverse_iterator it = squares.rbegin(); it != squares.rend(); ++it)
|
|
{
|
|
CFixedVector2D halfSize(it->hw + r, it->hh + r);
|
|
if (Geometry::PointIsInSquare(CFixedVector2D(it->x, it->z) - center, it->u, it->v, halfSize))
|
|
{
|
|
square = *it;
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
void CCmpObstructionManager::RenderSubmit(SceneCollector& collector)
|
|
{
|
|
if (!m_DebugOverlayEnabled)
|
|
return;
|
|
|
|
CColor defaultColour(0, 0, 1, 1);
|
|
CColor movingColour(1, 0, 1, 1);
|
|
CColor boundsColour(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 = boundsColour;
|
|
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) ? movingColour : defaultColour);
|
|
SimRender::ConstructSquareOnGround(GetSimContext(), it->second.x.ToFloat(), it->second.z.ToFloat(), it->second.r.ToFloat()*2, it->second.r.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 = defaultColour;
|
|
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]);
|
|
}
|