91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
/* Copyright (C) 2009 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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// PathfindSparse.h
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//
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// Sparse pathfinder.
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//
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// Usage: You won't. See PathfindEngine.h
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//
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// Notes: A geometric pathfinder primarily for path postprocessing. Takes straight line
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// paths and warps them to avoid obstacles.
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// Sparse, because it runs in /exponential/ time with number of detours. Hence, only use
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// where obstructions are sparse. You'll have fun if you try and path through, say,
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// a forest with this.
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//
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// It also won't work at all through impassable terrain.
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//
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// TODO: Fix the algorithm for OABB obstacles.
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// TODO: Replace with timesliced version and proper manager (either a singleton or tasks linked into g_Pathfinder)
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//
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// Mark Thompson mot20@cam.ac.uk / mark@wildfiregames.com
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#ifndef INCLUDED_PATHFINDSPARSE
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#define INCLUDED_PATHFINDSPARSE
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#include "EntityHandles.h"
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#include "ps/Vector2D.h"
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#include "Collision.h"
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struct SparsePathTree
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{
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enum
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{
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SPF_IMPOSSIBLE = 0,
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SPF_OPEN_UNVISITED = 4,
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SPF_OPEN_PROCESSING = 5,
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SPF_CLOSED_DIRECT = 2,
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SPF_CLOSED_WAYPOINTED = 3,
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SPF_OPEN = 4,
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SPF_SOLVED = 2
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} type;
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int recursionDepth;
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HEntity entity;
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CBoundingObject* destinationCollisionObject;
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CVector2D from;
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CVector2D to;
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bool leftImpossible;
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CVector2D left;
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bool rightImpossible;
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CVector2D right;
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bool favourLeft;
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union
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{
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struct
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{
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SparsePathTree* leftPre;
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SparsePathTree* leftPost;
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SparsePathTree* rightPre;
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SparsePathTree* rightPost;
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};
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SparsePathTree* subtrees[4];
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};
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unsigned short nextSubtree;
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SparsePathTree( const CVector2D& from, const CVector2D& to, HEntity entity, CBoundingObject* destinationCollisionObject, int _recursionDepth );
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~SparsePathTree();
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bool slice();
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void pushResults( std::vector<CVector2D>& nodelist );
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};
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extern int SPF_RECURSION_DEPTH;
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void NodePostProcess( HEntity entity, std::vector<CVector2D>& nodelist );
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void PathSparse( HEntity entity, CVector2D destination );
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bool PathSparseRecursive( HEntity entity, CVector2D from, CVector2D to, CBoundingObject* destinationCollisionObject );
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#endif
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