# Began work on new pathfinder

Created CTerrain::getSlope(x,y), and added a new order type to support
high-level pathing.

This was SVN commit r3735.

source/graphics/Terrain.cpp

@@ -182,6 +182,41 @@ float CTerrain::getVertexGroundLevel(int x, int z) const
 	return HEIGHT_SCALE * m_Heightmap[z*m_MapSize + x];
 }
 
+float CTerrain::getSlope(float x, float y) const
+{
+	x /= (float)CELL_SIZE;
+	y /= (float)CELL_SIZE;
+
+	int xi = (int)floor(x);
+	int yi = (int)floor(y);
+
+	if (xi < 0)
+	{
+		xi = 0;
+	}
+	else if (xi >= (int)m_MapSize-1)
+	{
+		xi = m_MapSize - 2;
+	}
+
+	if (yi < 0)
+	{
+		yi = 0;
+	}
+	else if (yi >= (int)m_MapSize-1)
+	{
+		yi = m_MapSize - 2;
+	}
+
+	float h00 = m_Heightmap[yi*m_MapSize + xi];
+	float h01 = m_Heightmap[yi*m_MapSize + xi + m_MapSize];
+	float h10 = m_Heightmap[yi*m_MapSize + xi + 1];
+	float h11 = m_Heightmap[yi*m_MapSize + xi + m_MapSize + 1];
+
+	return MAX(MAX(h00, h01), MAX(h10, h11)) -
+		   MIN(MIN(h00, h01), MIN(h10, h11));
+}
+
 float CTerrain::getExactGroundLevel(float x, float y) const
 {
 	x /= (float)CELL_SIZE;

source/graphics/Terrain.h

@@ -42,6 +42,8 @@ public:
 	float getExactGroundLevel( float x, float y ) const ;
 	inline float getExactGroundLevel( const CVector2D& v ) const { return( getExactGroundLevel( v.x, v.y ) ); }
 
+	float getSlope(float x, float y) const ;
+
 	// resize this terrain such that each side has given number of patches
 	void Resize(u32 size);
 

source/simulation/Entity.cpp

@@ -471,6 +471,11 @@ void CEntity::update( size_t timestep )
 					break;
 				updateCollisionPatch();
 				return;
+			case CEntityOrder::ORDER_GOTO_WAYPOINT:
+				if ( processGotoWaypoint( current, timestep ) )
+					break;
+				updateCollisionPatch();
+				return;
             case CEntityOrder::ORDER_GOTO:
 			case CEntityOrder::ORDER_RUN:
 				if( processGoto( current, timestep ) )

source/simulation/Entity.h

@@ -225,6 +225,7 @@ private:
 
 	bool processGotoNoPathing( CEntityOrder* current, size_t timestep_milli );
 	bool processGoto( CEntityOrder* current, size_t timestep_milli );
+	bool processGotoWaypoint( CEntityOrder* current, size_t timestep_milli );
 
 	bool processPatrol( CEntityOrder* current, size_t timestep_milli );
 

source/simulation/EntityOrders.h

@@ -85,6 +85,7 @@ public:
 		ORDER_GOTO_NOPATHING,
 		ORDER_GOTO_SMOOTHED,
 		ORDER_GOTO_COLLISION,
+		ORDER_GOTO_WAYPOINT,
 		ORDER_GOTO,
 		ORDER_RUN,
 		ORDER_PATROL,

source/simulation/EntityStateProcessing.cpp

@@ -592,6 +592,26 @@ bool CEntity::processGoto( CEntityOrder* current, size_t UNUSED(timestep_millis)
 	return( true );
 }
 
+bool CEntity::processGotoWaypoint( CEntityOrder* current, size_t UNUSED(timestep_milli) )
+{
+	CVector2D pos( m_position.X, m_position.Z );
+	CVector2D path_to = current->m_data[0].location;
+	m_orderQueue.pop_front();
+	float Distance = ( path_to - pos ).length();
+	
+	// Let's just check we're going somewhere...
+	if( Distance < 0.1f ) 
+	{
+		m_isRunning = false;
+		m_shouldRun = false;
+		return( false );
+	}
+
+	g_Pathfinder.requestLowLevelPath( me, path_to );
+
+	return( true );
+}
+
 bool CEntity::processPatrol( CEntityOrder* current, size_t UNUSED(timestep_millis) )
 {
 	// float timestep=timestep_millis/1000.0f;

source/simulation/PathfindEngine.cpp

@@ -13,6 +13,20 @@ CPathfindEngine::CPathfindEngine()
 
 void CPathfindEngine::requestPath( HEntity entity, const CVector2D& destination )
 {
+//	pathSparse( entity, destination );
+	/* TODO: Add code to generate high level path
+	         For now, just the one high level waypoint to the final 
+			  destination is added
+	*/
+	CEntityOrder waypoint;
+	waypoint.m_type = CEntityOrder::ORDER_GOTO_WAYPOINT;
+	waypoint.m_data[0].location = destination;
+	entity->m_orderQueue.push_front( waypoint );
+}
+
+void CPathfindEngine::requestLowLevelPath( HEntity entity, const CVector2D& destination )
+{
+	/* Temporary - will be replaced by low-level A* */
 	pathSparse( entity, destination );
 }
 

source/simulation/PathfindEngine.h

@@ -30,6 +30,7 @@ class CPathfindEngine : public Singleton<CPathfindEngine>
 public:
 	CPathfindEngine();
 	void requestPath( HEntity entity, const CVector2D& destination );
+	void requestLowLevelPath( HEntity entity, const CVector2D& destination );
 	void requestContactPath( HEntity entity, CEntityOrder* current );
 };