Ykkrosh
cfae58928f
Add short-range vertex-based pathfinder. Integrate new pathfinder into unit motion code. Change obstruction system to get rid of circles, and differentiate structures from units. Make PositionChanged messages synchronous. Try to prevent some accidental float->int conversions. This was SVN commit r7484.
102 lines
3.1 KiB
C++
102 lines
3.1 KiB
C++
/* Copyright (C) 2010 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 <vector>
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class IObstructionTestFilter;
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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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struct Goal
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{
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enum {
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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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* 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, Path& ret) = 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) = 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, Path& ret) = 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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DECLARE_INTERFACE_TYPE(Pathfinder)
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};
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#endif // INCLUDED_ICMPPATHFINDER
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