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fixes and performance improvements in hierarchical pathfinder, fixes #3621

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This was SVN commit r17284.
This commit is contained in:
mimo 2015-11-19 22:02:25 +00:00
parent 4a2a155090
commit 9b0ed97d05
1 changed files with 47 additions and 23 deletions
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70
source/simulation2/helpers/HierarchicalPathfinder.cpp
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@ -230,64 +230,88 @@ bool HierarchicalPathfinder::Chunk::RegionNearestNavcellInGoal(u16 r, u16 i0, u1
+ (gj + m_ChunkJ*CHUNK_SIZE - j0)*(gj + m_ChunkJ*CHUNK_SIZE - j0);
return true;
}
return false;
}
case PathGoal::CIRCLE:
case PathGoal::SQUARE:
{
// restrict ourselves to a square surrounding the goal.
int radius = (std::max(goal.hw*3/2,goal.hh*3/2) >> Pathfinding::NAVCELL_SIZE_LOG2).ToInt_RoundToInfinity();
int i0 = std::max(0, gi-radius);
int i1 = std::min((int)CHUNK_SIZE, gi+radius+1);
int j0 = std::max(0, gj-radius);
int j1 = std::min((int)CHUNK_SIZE, gj+radius+1);
for (u16 j = j0; j < j1; ++j)
int imin = std::max(0, gi-radius);
int imax = std::min((int)CHUNK_SIZE, gi+radius+1);
int jmin = std::max(0, gj-radius);
int jmax = std::min((int)CHUNK_SIZE, gj+radius+1);
bool found = false;
u32 dist2;
for (u16 j = jmin; j < jmax; ++j)
{
for (u16 i = i0; i < i1; ++i)
for (u16 i = imin; i < imax; ++i)
{
if (m_Regions[j][i] != r || !goal.NavcellContainsGoal(m_ChunkI * CHUNK_SIZE + i, m_ChunkJ * CHUNK_SIZE + j))
if (m_Regions[j][i] != r)
continue;
u32 dist2 = (i + m_ChunkI*CHUNK_SIZE - i0)*(i + m_ChunkI*CHUNK_SIZE - i0)
+ (j + m_ChunkJ*CHUNK_SIZE - j0)*(j + m_ChunkJ*CHUNK_SIZE - j0);
if (dist2 < dist2Best)
if (found)
{
dist2 = (i + m_ChunkI*CHUNK_SIZE - i0)*(i + m_ChunkI*CHUNK_SIZE - i0)
+ (j + m_ChunkJ*CHUNK_SIZE - j0)*(j + m_ChunkJ*CHUNK_SIZE - j0);
if (dist2 >= dist2Best)
continue;
}
if (goal.NavcellContainsGoal(m_ChunkI * CHUNK_SIZE + i, m_ChunkJ * CHUNK_SIZE + j))
{
if (!found)
{
found = true;
dist2 = (i + m_ChunkI*CHUNK_SIZE - i0)*(i + m_ChunkI*CHUNK_SIZE - i0)
+ (j + m_ChunkJ*CHUNK_SIZE - j0)*(j + m_ChunkJ*CHUNK_SIZE - j0);
}
iOut = i + m_ChunkI*CHUNK_SIZE;
jOut = j + m_ChunkJ*CHUNK_SIZE;
dist2Best = dist2;
}
}
}
return found;
}
case PathGoal::INVERTED_CIRCLE:
case PathGoal::INVERTED_SQUARE:
{
bool found = false;
u32 dist2;
// loop over all navcells.
for (u16 j = 0; j < CHUNK_SIZE; ++j)
{
for (u16 i = 0; i < CHUNK_SIZE; ++i)
{
if (m_Regions[j][i] != r || !goal.NavcellContainsGoal(m_ChunkI * CHUNK_SIZE + i, m_ChunkJ * CHUNK_SIZE + j))
if (m_Regions[j][i] != r)
continue;
u32 dist2 = (i + m_ChunkI*CHUNK_SIZE - i0)*(i + m_ChunkI*CHUNK_SIZE - i0)
+ (j + m_ChunkJ*CHUNK_SIZE - j0)*(j + m_ChunkJ*CHUNK_SIZE - j0);
if (dist2 < dist2Best)
if (found)
{
dist2 = (i + m_ChunkI*CHUNK_SIZE - i0)*(i + m_ChunkI*CHUNK_SIZE - i0)
+ (j + m_ChunkJ*CHUNK_SIZE - j0)*(j + m_ChunkJ*CHUNK_SIZE - j0);
if (dist2 >= dist2Best)
continue;
}
if (goal.NavcellContainsGoal(m_ChunkI * CHUNK_SIZE + i, m_ChunkJ * CHUNK_SIZE + j))
{
if (!found)
{
found = true;
dist2 = (i + m_ChunkI*CHUNK_SIZE - i0)*(i + m_ChunkI*CHUNK_SIZE - i0)
+ (j + m_ChunkJ*CHUNK_SIZE - j0)*(j + m_ChunkJ*CHUNK_SIZE - j0);
}
iOut = i + m_ChunkI*CHUNK_SIZE;
jOut = j + m_ChunkJ*CHUNK_SIZE;
dist2Best = dist2;
}
}
}
return found;
}
}
if (dist2Best != std::numeric_limits<u32>::max())
return true;
return false;
}
HierarchicalPathfinder::HierarchicalPathfinder() : m_DebugOverlay(NULL)