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