mirror of https://github.com/AxioDL/metaforce.git
73 lines
3.0 KiB
C++
73 lines
3.0 KiB
C++
#include "CPathFindSearch.hpp"
|
|
|
|
namespace urde {
|
|
|
|
bool CPathFindSearch::SegmentOver(const zeus::CVector3f& p1) const {
|
|
if (x4_waypoints.size() > 1 && xc8_curWaypoint < x4_waypoints.size() - 1) {
|
|
const zeus::CVector3f& wp0 = x4_waypoints[xc8_curWaypoint];
|
|
const zeus::CVector3f& wp1 = x4_waypoints[xc8_curWaypoint + 1];
|
|
const zeus::CVector3f& wp2 = x4_waypoints[std::min(u32(x4_waypoints.size()) - 1, xc8_curWaypoint + 2)];
|
|
return (p1 - wp1).dot(wp2 - wp0) >= 0.f;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
void CPathFindSearch::GetSplinePoint(zeus::CVector3f& pOut, const zeus::CVector3f& p1, u32 wpIdx) const {
|
|
if (x4_waypoints.size() > 1 && wpIdx < x4_waypoints.size() - 1) {
|
|
zeus::CVector3f a = (wpIdx == 0) ? x4_waypoints[0] * 2.f - x4_waypoints[1] : x4_waypoints[wpIdx - 1];
|
|
const zeus::CVector3f& b = x4_waypoints[wpIdx];
|
|
const zeus::CVector3f& c = x4_waypoints[wpIdx + 1];
|
|
zeus::CVector3f d = (wpIdx + 2 >= x4_waypoints.size())
|
|
? x4_waypoints[x4_waypoints.size() - 1] * 2.f - x4_waypoints[x4_waypoints.size() - 2]
|
|
: x4_waypoints[wpIdx + 2];
|
|
zeus::CVector3f delta = c - b;
|
|
if (delta.isMagnitudeSafe())
|
|
pOut = zeus::getCatmullRomSplinePoint(a, b, c, d, (p1 - b).dot(delta) / delta.magSquared());
|
|
else
|
|
pOut = b;
|
|
}
|
|
}
|
|
|
|
void CPathFindSearch::GetSplinePoint(zeus::CVector3f& pOut, const zeus::CVector3f& p1) const {
|
|
GetSplinePoint(pOut, p1, xc8_curWaypoint);
|
|
}
|
|
|
|
void CPathFindSearch::GetSplinePointWithLookahead(zeus::CVector3f& pOut, const zeus::CVector3f& p1, u32 wpIdx,
|
|
float lookahead) const {
|
|
if (x4_waypoints.size() > 1 && wpIdx < x4_waypoints.size() - 1) {
|
|
const zeus::CVector3f& wp0 = x4_waypoints[wpIdx];
|
|
const zeus::CVector3f& wp1 = x4_waypoints[wpIdx + 1];
|
|
zeus::CVector3f delta = wp1 - wp0;
|
|
if (delta.isMagnitudeSafe()) {
|
|
float deltaMag = delta.magnitude();
|
|
delta = delta * (1.f / deltaMag);
|
|
float bToPtProj = (p1 - wp0).dot(delta);
|
|
if (bToPtProj + lookahead <= deltaMag)
|
|
GetSplinePoint(pOut, delta * lookahead + p1, wpIdx);
|
|
else if (wpIdx < x4_waypoints.size() - 2)
|
|
GetSplinePointWithLookahead(pOut, wp1, wpIdx + 1, lookahead - (deltaMag - bToPtProj));
|
|
else
|
|
pOut = delta * (lookahead - (deltaMag - bToPtProj)) + wp1;
|
|
} else {
|
|
pOut = wp1;
|
|
}
|
|
}
|
|
}
|
|
|
|
void CPathFindSearch::GetSplinePointWithLookahead(zeus::CVector3f& pOut, const zeus::CVector3f& p1,
|
|
float lookahead) const {
|
|
GetSplinePointWithLookahead(pOut, p1, xc8_curWaypoint, lookahead);
|
|
}
|
|
|
|
float CPathFindSearch::RemainingPathDistance(const zeus::CVector3f& pos) const {
|
|
float f31 = 0.f;
|
|
if (xc8_curWaypoint < x4_waypoints.size() - 1) {
|
|
f31 += (x4_waypoints[xc8_curWaypoint + 1] - pos).magnitude();
|
|
for (int i = xc8_curWaypoint + 1; i < x4_waypoints.size() - 1; ++i) {
|
|
f31 += (x4_waypoints[i + 1] - x4_waypoints[i]).magnitude();
|
|
}
|
|
}
|
|
return f31;
|
|
}
|
|
|
|
} // namespace urde
|