vladislavbelov
c3ded34cf7
Reviewed By: Itms Comments By: Stan Differential Revision: https://code.wildfiregames.com/D2557 This was SVN commit r23361.
287 lines
9.4 KiB
C++
287 lines
9.4 KiB
C++
/* Copyright (C) 2020 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_CCMPPATHFINDER_COMMON
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#define INCLUDED_CCMPPATHFINDER_COMMON
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/**
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* @file
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* Declares CCmpPathfinder. Its implementation is mainly done in CCmpPathfinder.cpp,
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* but the short-range (vertex) pathfinding is done in CCmpPathfinder_Vertex.cpp.
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* This file provides common code needed for both files.
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*
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* The long-range pathfinding is done by a LongPathfinder object.
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*/
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#include "simulation2/system/Component.h"
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#include "ICmpPathfinder.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/CLogger.h"
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#include "renderer/TerrainOverlay.h"
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#include "simulation2/components/ICmpObstructionManager.h"
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class HierarchicalPathfinder;
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class LongPathfinder;
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class VertexPathfinder;
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class SceneCollector;
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class AtlasOverlay;
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#ifdef NDEBUG
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#define PATHFIND_DEBUG 0
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#else
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#define PATHFIND_DEBUG 1
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#endif
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/**
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* Implementation of ICmpPathfinder
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*/
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class CCmpPathfinder final : public ICmpPathfinder
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{
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protected:
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class PathfinderWorker
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{
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friend CCmpPathfinder;
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public:
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PathfinderWorker();
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// Process path requests, checking if we should stop before each new one.
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void Work(const CCmpPathfinder& pathfinder);
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private:
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// Insert requests in m_[Long/Short]Requests depending on from.
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// This could be removed when we may use if-constexpr in CCmpPathfinder::PushRequestsToWorkers
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template<typename T>
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void PushRequests(std::vector<T>& from, ssize_t amount);
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// Stores our results, the main thread will fetch this.
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std::vector<PathResult> m_Results;
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std::vector<LongPathRequest> m_LongRequests;
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std::vector<ShortPathRequest> m_ShortRequests;
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};
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// Allow the workers to access our private variables
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friend class PathfinderWorker;
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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_Deserialized);
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componentManager.SubscribeToMessageType(MT_Update);
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componentManager.SubscribeToMessageType(MT_RenderSubmit); // for debug overlays
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componentManager.SubscribeToMessageType(MT_TerrainChanged);
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componentManager.SubscribeToMessageType(MT_WaterChanged);
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componentManager.SubscribeToMessageType(MT_ObstructionMapShapeChanged);
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componentManager.SubscribeToMessageType(MT_TurnStart);
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}
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~CCmpPathfinder();
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DEFAULT_COMPONENT_ALLOCATOR(Pathfinder)
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// Template state:
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std::map<std::string, pass_class_t> m_PassClassMasks;
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std::vector<PathfinderPassability> m_PassClasses;
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// Dynamic state:
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std::vector<LongPathRequest> m_LongPathRequests;
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std::vector<ShortPathRequest> m_ShortPathRequests;
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u32 m_NextAsyncTicket; // Unique IDs for asynchronous path requests.
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u16 m_MaxSameTurnMoves; // Compute only this many paths when useMax is true in StartProcessingMoves.
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// Lazily-constructed dynamic state (not serialized):
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u16 m_MapSize; // tiles per side
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Grid<NavcellData>* m_Grid; // terrain/passability information
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Grid<NavcellData>* m_TerrainOnlyGrid; // same as m_Grid, but only with terrain, to avoid some recomputations
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// Keep clever updates in memory to avoid memory fragmentation from the grid.
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// This should be used only in UpdateGrid(), there is no guarantee the data is properly initialized anywhere else.
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GridUpdateInformation m_DirtinessInformation;
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// The data from clever updates is stored for the AI manager
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GridUpdateInformation m_AIPathfinderDirtinessInformation;
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bool m_TerrainDirty;
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std::unique_ptr<VertexPathfinder> m_VertexPathfinder;
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std::unique_ptr<HierarchicalPathfinder> m_PathfinderHier;
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std::unique_ptr<LongPathfinder> m_LongPathfinder;
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// Workers process pathing requests.
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std::vector<PathfinderWorker> m_Workers;
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AtlasOverlay* m_AtlasOverlay;
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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& paramNode);
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virtual void Deinit();
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template<typename S>
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void SerializeCommon(S& serialize);
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virtual void Serialize(ISerializer& serialize);
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virtual void Deserialize(const CParamNode& paramNode, IDeserializer& deserialize);
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virtual void HandleMessage(const CMessage& msg, bool global);
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virtual pass_class_t GetPassabilityClass(const std::string& name) const;
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virtual void GetPassabilityClasses(std::map<std::string, pass_class_t>& passClasses) const;
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virtual void GetPassabilityClasses(
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std::map<std::string, pass_class_t>& nonPathfindingPassClasses,
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std::map<std::string, pass_class_t>& pathfindingPassClasses) const;
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const PathfinderPassability* GetPassabilityFromMask(pass_class_t passClass) const;
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virtual entity_pos_t GetClearance(pass_class_t passClass) const
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{
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const PathfinderPassability* passability = GetPassabilityFromMask(passClass);
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if (!passability)
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return fixed::Zero();
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return passability->m_Clearance;
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}
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virtual entity_pos_t GetMaximumClearance() const
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{
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entity_pos_t max = fixed::Zero();
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for (const PathfinderPassability& passability : m_PassClasses)
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if (passability.m_Clearance > max)
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max = passability.m_Clearance;
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return max + Pathfinding::CLEARANCE_EXTENSION_RADIUS;
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}
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virtual const Grid<NavcellData>& GetPassabilityGrid();
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virtual const GridUpdateInformation& GetAIPathfinderDirtinessInformation() const
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{
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return m_AIPathfinderDirtinessInformation;
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}
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virtual void FlushAIPathfinderDirtinessInformation()
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{
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m_AIPathfinderDirtinessInformation.Clean();
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}
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virtual Grid<u16> ComputeShoreGrid(bool expandOnWater = false);
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virtual void ComputePathImmediate(entity_pos_t x0, entity_pos_t z0, const PathGoal& goal, pass_class_t passClass, WaypointPath& ret) const;
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virtual u32 ComputePathAsync(entity_pos_t x0, entity_pos_t z0, const PathGoal& goal, pass_class_t passClass, entity_id_t notify);
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virtual WaypointPath ComputeShortPathImmediate(const ShortPathRequest& request) const;
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virtual u32 ComputeShortPathAsync(entity_pos_t x0, entity_pos_t z0, entity_pos_t clearance, entity_pos_t range, const PathGoal& goal, pass_class_t passClass, bool avoidMovingUnits, entity_id_t controller, entity_id_t notify);
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virtual void SetDebugPath(entity_pos_t x0, entity_pos_t z0, const PathGoal& goal, pass_class_t passClass);
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virtual void SetDebugOverlay(bool enabled);
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virtual void SetHierDebugOverlay(bool enabled);
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virtual void GetDebugData(u32& steps, double& time, Grid<u8>& grid) const;
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virtual void SetAtlasOverlay(bool enable, pass_class_t passClass = 0);
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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) const;
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virtual ICmpObstruction::EFoundationCheck CheckUnitPlacement(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t r, pass_class_t passClass, bool onlyCenterPoint) const;
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virtual ICmpObstruction::EFoundationCheck CheckBuildingPlacement(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t a, entity_pos_t w, entity_pos_t h, entity_id_t id, pass_class_t passClass) const;
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virtual ICmpObstruction::EFoundationCheck CheckBuildingPlacement(const IObstructionTestFilter& filter, entity_pos_t x, entity_pos_t z, entity_pos_t a, entity_pos_t w, entity_pos_t h, entity_id_t id, pass_class_t passClass, bool onlyCenterPoint) const;
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virtual void FetchAsyncResultsAndSendMessages();
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virtual void StartProcessingMoves(bool useMax);
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template <typename T>
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std::vector<T> GetMovesToProcess(std::vector<T>& requests, bool useMax = false, size_t maxMoves = 0);
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template <typename T>
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void PushRequestsToWorkers(std::vector<T>& from);
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/**
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* Regenerates the grid based on the current obstruction list, if necessary
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*/
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virtual void UpdateGrid();
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/**
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* Updates the terrain-only grid without updating the dirtiness informations.
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* Useful for fast passability updates in Atlas.
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*/
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void MinimalTerrainUpdate(int itile0, int jtile0, int itile1, int jtile1);
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/**
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* Regenerates the terrain-only grid.
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* Atlas doesn't need to have passability cells expanded.
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*/
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void TerrainUpdateHelper(bool expandPassability = true, int itile0 = -1, int jtile0 = -1, int itile1 = -1, int jtile1 = -1);
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void RenderSubmit(SceneCollector& collector);
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};
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class AtlasOverlay : public TerrainTextureOverlay
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{
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public:
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const CCmpPathfinder* m_Pathfinder;
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pass_class_t m_PassClass;
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AtlasOverlay(const CCmpPathfinder* pathfinder, pass_class_t passClass) :
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TerrainTextureOverlay(Pathfinding::NAVCELLS_PER_TILE), m_Pathfinder(pathfinder), m_PassClass(passClass)
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{
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}
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virtual void BuildTextureRGBA(u8* data, size_t w, size_t h)
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{
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// Render navcell passability, based on the terrain-only grid
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u8* p = data;
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for (size_t j = 0; j < h; ++j)
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{
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for (size_t i = 0; i < w; ++i)
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{
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SColor4ub color(0, 0, 0, 0);
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if (!IS_PASSABLE(m_Pathfinder->m_TerrainOnlyGrid->get((int)i, (int)j), m_PassClass))
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color = SColor4ub(255, 0, 0, 127);
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*p++ = color.R;
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*p++ = color.G;
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*p++ = color.B;
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*p++ = color.A;
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}
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}
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}
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};
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#endif // INCLUDED_CCMPPATHFINDER_COMMON
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