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Finish pathfinding implementations

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This commit is contained in:
Jack Andersen
2018-03-02 19:49:13 -10:00
parent 2018ef17d2
commit cb2988c9a4
6 changed files with 562 additions and 129 deletions
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122
Runtime/World/CPathFindArea.cpp
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@@ -48,6 +48,13 @@ int CPFAreaOctree::GetChildIndex(const zeus::CVector3f& point) const
return idx;
}
rstl::prereserved_vector<CPFRegion*>* CPFAreaOctree::GetRegionList(const zeus::CVector3f& point)
{
if (x0_isLeaf)
return &x48_regions;
return x28_children[GetChildIndex(point)]->GetRegionList(point);
}
void CPFAreaOctree::GetRegionListList(rstl::reserved_vector<rstl::prereserved_vector<CPFRegion*>*, 32>& listOut,
const zeus::CVector3f& point, float padding)
{
@@ -78,14 +85,52 @@ bool CPFAreaOctree::IsPointInsidePaddedAABox(const zeus::CVector3f& point, float
point.z <= x4_aabb.max.z + padding;
}
CPFOpenList::CPFOpenList()
{
}
void CPFOpenList::Clear()
{
x40_region.Data()->SetOpenMore(&x40_region);
x40_region.Data()->SetOpenLess(&x40_region);
x0_bitSet.Clear();
}
void CPFOpenList::Push(CPFRegion* reg)
{
x0_bitSet.Add(reg->GetIndex());
CPFRegion* other = x40_region.Data()->GetOpenMore();
while (other != &x40_region && reg->Data()->GetCost() > other->Data()->GetCost())
other = other->Data()->GetOpenMore();
other->Data()->GetOpenLess()->Data()->SetOpenMore(reg);
reg->Data()->SetOpenLess(other->Data()->GetOpenLess());
other->Data()->SetOpenLess(reg);
reg->Data()->SetOpenMore(other);
}
CPFRegion* CPFOpenList::Pop()
{
CPFRegion* reg = x40_region.Data()->GetOpenMore();
if (reg != &x40_region)
{
x0_bitSet.Rmv(reg->GetIndex());
reg->Data()->GetOpenMore()->Data()->SetOpenLess(reg->Data()->GetOpenLess());
reg->Data()->GetOpenLess()->Data()->SetOpenMore(reg->Data()->GetOpenMore());
reg->Data()->SetOpenMore(nullptr);
reg->Data()->SetOpenLess(nullptr);
return reg;
}
return nullptr;
}
void CPFOpenList::Pop(CPFRegion* reg)
{
x0_bitSet.Rmv(reg->GetIndex());
reg->Data()->GetOpenMore()->Data()->SetOpenLess(reg->Data()->GetOpenLess());
reg->Data()->GetOpenLess()->Data()->SetOpenMore(reg->Data()->GetOpenMore());
reg->Data()->SetOpenMore(nullptr);
reg->Data()->SetOpenLess(nullptr);
}
bool CPFOpenList::Test(CPFRegion* reg)
{
return x0_bitSet.Test(reg->GetIndex());
}
CPFArea::CPFArea(std::unique_ptr<u8[]>&& buf, u32 len)
@@ -143,16 +188,42 @@ CPFArea::CPFArea(std::unique_ptr<u8[]>&& buf, u32 len)
node.Fixup(*this);
}
rstl::prereserved_vector<CPFRegion*>* CPFArea::GetOctreeRegionList(const zeus::CVector3f& point)
{
if (x30_hasCachedRegionList && zeus::close_enough(point, x24_cachedRegionListPoint))
return x20_cachedRegionList;
return x158_octree.back().GetRegionList(point);
}
u32 CPFArea::FindRegions(rstl::reserved_vector<CPFRegion*, 4>& regions, const zeus::CVector3f& point,
u32 flags, u32 indexMask)
{
bool isFlyer = (flags & 0x2) != 0;
bool isSwimmer = (flags & 0x4) != 0;
for (CPFRegion* region : *GetOctreeRegionList(point))
{
if (region->GetFlags() & 0xff & flags && (region->GetFlags() >> 16) & 0xff & indexMask &&
region->IsPointInside(point) && (isFlyer || isSwimmer || region->PointHeight(point) < 3.f))
{
regions.push_back(region);
if (regions.size() == regions.capacity())
break;
}
}
return u32(regions.size());
}
CPFRegion* CPFArea::FindClosestRegion(const zeus::CVector3f& point, u32 flags, u32 indexMask, float padding)
{
rstl::reserved_vector<rstl::prereserved_vector<CPFRegion*>*, 32> regionListList;
x158_octree.back().GetRegionListList(regionListList, point, padding);
bool isFlyer = (flags & 0x2) != 0;
CPFRegion* ret = nullptr;
for (rstl::prereserved_vector<CPFRegion*>* list : regionListList)
{
for (CPFRegion* region : *list)
{
if (region->Data()->GetCookie() != x34_curRegionCookie)
if (region->Data()->GetCookie() != x34_curCookie)
{
if (region->GetFlags() & 0xff & flags &&
(region->GetFlags() >> 16) & 0xff & indexMask &&
@@ -161,19 +232,44 @@ CPFRegion* CPFArea::FindClosestRegion(const zeus::CVector3f& point, u32 flags, u
{
if (region->FindBestPoint(x10_tmpPolyPoints, point, flags, padding * padding))
{
// TODO: Finish
ret = region;
padding = region->Data()->GetBestPointDistanceSquared() == 0.0 ? 0.f :
std::sqrt(region->Data()->GetBestPointDistanceSquared());
x4_closestPoint = region->Data()->GetBestPoint();
}
}
region->Data()->SetCookie(x34_curRegionCookie);
region->Data()->SetCookie(x34_curCookie);
}
}
}
return nullptr;
return ret;
}
void CPFArea::FindClosestReachablePoint(rstl::reserved_vector<CPFRegion, 4>&, const zeus::CVector3f&, u32)
zeus::CVector3f CPFArea::FindClosestReachablePoint(rstl::reserved_vector<CPFRegion*, 4>& regs,
const zeus::CVector3f& point, u32 flags, u32 indexMask)
{
zeus::CVector3f ret;
float closestDistSq = FLT_MAX;
for (CPFRegion& reg : x150_regions)
{
if (reg.GetFlags() & 0xff & flags && (reg.GetFlags() >> 16) & 0xff & indexMask)
{
for (CPFRegion* oreg : regs)
{
if (PathExists(oreg, &reg, flags))
{
float distSq = (reg.GetCentroid() - point).magSquared();
if (distSq < closestDistSq)
{
closestDistSq = distSq;
ret = reg.GetCentroid();
break;
}
}
}
}
}
return ret;
}
bool CPFArea::PathExists(const CPFRegion* r1, const CPFRegion* r2, u32 flags) const
@@ -193,9 +289,9 @@ bool CPFArea::PathExists(const CPFRegion* r1, const CPFRegion* r2, u32 flags) co
auto d = std::div(bit, 32);
if ((flags & 0x2) != 0)
return ((x170_connectionsFlyers[d.quot] >> d.rem) & 0x1) == 0x1;
return ((x170_connectionsFlyers[d.quot] >> d.rem) & 0x1) != 0;
else
return ((x168_connectionsGround[d.quot] >> d.rem) & 0x1) == 0x1;
return ((x168_connectionsGround[d.quot] >> d.rem) & 0x1) != 0;
}
CFactoryFnReturn FPathFindAreaFactory(const urde::SObjectTag& tag,