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metaforce/Runtime/World/CPathFindSearch.cpp

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#include "CPathFindSearch.hpp"
namespace urde
{
CPathFindSearch::CPathFindSearch(CPFArea* area, u32 flags, u32 index, float chRadius, float chHeight)
: x0_area(area), xd0_chHeight(chHeight), xd4_chRadius(chRadius), xdc_flags(flags), xe0_indexMask(1u << index)
{}
CPathFindSearch::EResult
CPathFindSearch::FindClosestReachablePoint(const zeus::CVector3f& p1, zeus::CVector3f& p2) const
{
if (!x0_area)
return EResult::InvalidArea;
/* Work in local PFArea coordinates */
zeus::CVector3f localP1 = x0_area->x188_transform.transposeRotate(p1 - x0_area->x188_transform.origin);
zeus::CVector3f localP2 = x0_area->x188_transform.transposeRotate(p2 - x0_area->x188_transform.origin);
/* Raise a bit above ground for step-up resolution */
if (!(xdc_flags & 0x2) && !(xdc_flags & 0x4))
{
localP2.z() += 0.3f;
localP1.z() += 0.3f;
}
rstl::reserved_vector<CPFRegion*, 4> regions;
if (x0_area->FindRegions(regions, localP1, xdc_flags, xe0_indexMask) == 0)
{
/* Point outside PATH; find nearest region point */
CPFRegion* region = x0_area->FindClosestRegion(localP1, xdc_flags, xe0_indexMask, xd8_padding);
if (!region)
return EResult::NoSourcePoint;
regions.push_back(region);
}
/* Override dest point to be reachable */
zeus::CVector3f closestPoint =
x0_area->FindClosestReachablePoint(regions, localP2, xdc_flags, xe0_indexMask) +
zeus::CVector3f(0.f, 0.f, 3.f);
p2 = x0_area->x188_transform * closestPoint;
return EResult::Success;
}
CPathFindSearch::EResult CPathFindSearch::PathExists(const zeus::CVector3f& p1, const zeus::CVector3f& p2) const
{
if (!x0_area)
return EResult::InvalidArea;
/* Work in local PFArea coordinates */
zeus::CVector3f localP1 = x0_area->x188_transform.transposeRotate(p1 - x0_area->x188_transform.origin);
zeus::CVector3f localP2 = x0_area->x188_transform.transposeRotate(p2 - x0_area->x188_transform.origin);
/* Raise a bit above ground for step-up resolution */
if (!(xdc_flags & 0x2) && !(xdc_flags & 0x4))
{
localP2.z() += 0.3f;
localP1.z() += 0.3f;
}
rstl::reserved_vector<CPFRegion*, 4> regions1;
if (x0_area->FindRegions(regions1, localP1, xdc_flags, xe0_indexMask) == 0)
return EResult::NoSourcePoint;
rstl::reserved_vector<CPFRegion*, 4> regions2;
if (x0_area->FindRegions(regions2, localP2, xdc_flags, xe0_indexMask) == 0)
return EResult::NoDestPoint;
for (CPFRegion* reg1 : regions1)
for (CPFRegion* reg2 : regions2)
if (reg1 == reg2 || x0_area->PathExists(reg1, reg2, xdc_flags))
return EResult::Success;
return EResult::NoPath;
}
CPathFindSearch::EResult CPathFindSearch::OnPath(const zeus::CVector3f& p1) const
{
if (!x0_area)
return EResult::InvalidArea;
/* Work in local PFArea coordinates */
zeus::CVector3f localP1 = x0_area->x188_transform.transposeRotate(p1 - x0_area->x188_transform.origin);
/* Raise a bit above ground for step-up resolution */
if (!(xdc_flags & 0x2) && !(xdc_flags & 0x4))
localP1.z() += 0.3f;
rstl::reserved_vector<CPFRegion*, 4> regions1;
if (x0_area->FindRegions(regions1, localP1, xdc_flags, xe0_indexMask) == 0)
return EResult::NoSourcePoint;
return EResult::Success;
}
CPathFindSearch::EResult CPathFindSearch::Search(const zeus::CVector3f& p1, const zeus::CVector3f& p2)
{
u32 firstPoint = 0;
u32 flyToOutsidePoint = 0;
x4_waypoints.clear();
xc8_curWaypoint = 0;
if (!x0_area || x0_area->x150_regions.size() > 512)
{
xcc_result = EResult::InvalidArea;
return xcc_result;
}
if (zeus::close_enough(p1, p2))
{
/* That was easy */
x4_waypoints.push_back(p1);
xcc_result = EResult::Success;
return xcc_result;
}
/* Work in local PFArea coordinates */
zeus::CVector3f localP1 = x0_area->x188_transform.transposeRotate(p1 - x0_area->x188_transform.origin);
zeus::CVector3f localP2 = x0_area->x188_transform.transposeRotate(p2 - x0_area->x188_transform.origin);
/* Raise a bit above ground for step-up resolution */
if (!(xdc_flags & 0x2) && !(xdc_flags & 0x4))
{
localP2.z() += 0.3f;
localP1.z() += 0.3f;
}
rstl::reserved_vector<CPFRegion*, 4> regions1;
rstl::reserved_vector<zeus::CVector3f, 16> points;
if (x0_area->FindRegions(regions1, localP1, xdc_flags, xe0_indexMask) == 0)
{
/* Point outside PATH; find nearest region point */
CPFRegion* region = x0_area->FindClosestRegion(localP1, xdc_flags, xe0_indexMask, xd8_padding);
if (!region)
{
xcc_result = EResult::NoSourcePoint;
return xcc_result;
}
if (xdc_flags & 0x2 || xdc_flags & 0x4)
{
points.push_back(localP1);
firstPoint = 1;
}
regions1.push_back(region);
localP1 = x0_area->GetClosestPoint();
}
zeus::CVector3f finalP2 = localP2;
rstl::reserved_vector<CPFRegion*, 4> regions2;
if (x0_area->FindRegions(regions2, localP2, xdc_flags, xe0_indexMask) == 0)
{
/* Point outside PATH; find nearest region point */
CPFRegion* region = x0_area->FindClosestRegion(localP2, xdc_flags, xe0_indexMask, xd8_padding);
if (!region)
{
xcc_result = EResult::NoDestPoint;
return xcc_result;
}
if (xdc_flags & 0x2 || xdc_flags & 0x4)
{
flyToOutsidePoint = 1;
}
regions2.push_back(region);
localP2 = x0_area->GetClosestPoint();
}
rstl::reserved_vector<CPFRegion*, 4> regions1Uniq;
rstl::reserved_vector<CPFRegion*, 4> regions2Uniq;
bool noPath = true;
for (CPFRegion* reg1 : regions1)
{
for (CPFRegion* reg2 : regions2)
{
if (reg1 == reg2)
{
/* Route within one region */
if (!(xdc_flags & 0x2) && !(xdc_flags & 0x4))
{
reg2->DropToGround(localP1);
reg2->DropToGround(localP2);
}
x4_waypoints.push_back(x0_area->x188_transform * localP1);
if (!zeus::close_enough(localP1, localP2))
x4_waypoints.push_back(x0_area->x188_transform * localP2);
if (flyToOutsidePoint && !zeus::close_enough(localP2, finalP2))
x4_waypoints.push_back(x0_area->x188_transform * finalP2);
xcc_result = EResult::Success;
return xcc_result;
}
if (x0_area->PathExists(reg1, reg2, xdc_flags))
{
/* Build unique source/dest region lists */
if (std::find(regions1Uniq.rbegin(), regions1Uniq.rend(), reg1) == regions1Uniq.rend())
regions1Uniq.push_back(reg1);
if (std::find(regions2Uniq.rbegin(), regions2Uniq.rend(), reg2) == regions2Uniq.rend())
regions2Uniq.push_back(reg2);
noPath = false;
}
}
}
/* Perform A* algorithm if path is known to exist */
if (noPath || !Search(regions1Uniq, localP1, regions2Uniq, localP2))
{
xcc_result = EResult::NoPath;
return xcc_result;
}
/* Set forward links with best path */
CPFRegion* reg = regions2Uniq[0];
u32 lastPoint = 0;
do {
reg->Data()->GetParent()->SetLinkTo(reg->GetIndex());
reg = reg->Data()->GetParent();
++lastPoint;
} while (reg != regions1Uniq[0]);
/* Setup point range */
bool includeP2 = true;
lastPoint -= 1;
firstPoint += 1;
lastPoint += firstPoint;
if (lastPoint > 15)
lastPoint = 15;
if (lastPoint + flyToOutsidePoint + 1 > 15)
includeP2 = false;
/* Ensure start and finish points are on ground */
if (!(xdc_flags & 0x2) && !(xdc_flags & 0x4))
{
regions1Uniq[0]->DropToGround(localP1);
regions2Uniq[0]->DropToGround(localP2);
}
/* Gather link points using midpoints */
float chHalfHeight = 0.5f * xd0_chHeight;
points.push_back(localP1);
reg = regions1Uniq[0];
for (u32 i=firstPoint ; i<=lastPoint ; ++i)
{
const CPFLink* link = reg->GetPathLink();
CPFRegion* linkReg = &x0_area->x150_regions[link->GetRegion()];
zeus::CVector3f midPoint = reg->GetLinkMidPoint(*link);
if (xdc_flags & 0x2 || xdc_flags & 0x4)
{
float minHeight = std::min(reg->GetHeight(), linkReg->GetHeight());
midPoint.z() = zeus::clamp(chHalfHeight + midPoint.z(), p2.z(), minHeight + midPoint.z() - chHalfHeight);
}
points.push_back(midPoint);
reg = linkReg;
}
/* Gather finish points */
if (includeP2)
{
points.push_back(localP2);
if (flyToOutsidePoint)
points.push_back(finalP2);
}
/* Optimize link points using character radius and height */
for (int i=0 ; i<2 ; ++i)
{
reg = regions1Uniq[0];
for (u32 j=firstPoint ; j<=(includeP2 ? lastPoint : lastPoint-1) ; ++j)
{
const CPFLink* link = reg->GetPathLink();
CPFRegion* linkReg = &x0_area->x150_regions[link->GetRegion()];
if (xdc_flags & 0x2 || xdc_flags & 0x4)
{
float minHeight = std::min(reg->GetHeight(), linkReg->GetHeight());
points[j] = reg->FitThroughLink3d(points[j-1], *link, minHeight, points[j+1],
xd4_chRadius, chHalfHeight);
}
else
{
points[j] = reg->FitThroughLink2d(points[j-1], *link, points[j+1], xd4_chRadius);
}
reg = linkReg;
}
}
/* Write out points */
for (u32 i=0 ; i<points.size() ; ++i)
if (i == points.size()-1 || !zeus::close_enough(points[i], points[i+1]))
x4_waypoints.push_back(x0_area->x188_transform * points[i]);
/* Done! */
xcc_result = EResult::Success;
return xcc_result;
}
/* A* search algorithm
* Reference: https://en.wikipedia.org/wiki/A*_search_algorithm
*/
bool CPathFindSearch::Search(rstl::reserved_vector<CPFRegion*, 4>& regs1, const zeus::CVector3f& p1,
rstl::reserved_vector<CPFRegion*, 4>& regs2, const zeus::CVector3f& p2)
{
/* Reset search sets */
x0_area->ClosedSet().Clear();
x0_area->OpenList().Clear();
/* Backup dest centroids */
rstl::reserved_vector<zeus::CVector3f, 4> centroidBackup2;
for (CPFRegion* reg2 : regs2)
{
centroidBackup2.push_back(reg2->GetCentroid());
reg2->SetCentroid(p2);
}
/* Initial heuristic */
float h = (p2 - p1).magnitude();
/* Backup source centroids and initialize heuristics */
rstl::reserved_vector<zeus::CVector3f, 4> centroidBackup1;
for (CPFRegion* reg1 : regs1)
{
centroidBackup1.push_back(reg1->GetCentroid());
reg1->SetCentroid(p1);
reg1->Data()->Setup(nullptr, 0.f, h);
x0_area->OpenList().Push(reg1);
}
/* Resolve path */
CPFRegion* reg;
while ((reg = x0_area->OpenList().Pop()))
{
/* Stop if we're at the destination */
if (std::find(regs2.begin(), regs2.end(), reg) != regs2.end())
break;
/* Exclude region from further resolves */
x0_area->ClosedSet().Add(reg->GetIndex());
for (u32 i=0 ; i<reg->GetNumLinks() ; ++i)
{
/* Potential link to follow */
CPFRegion* linkReg = &x0_area->x150_regions[reg->GetLink(i)->GetRegion()];
if (linkReg != reg->Data()->GetParent() && linkReg->GetFlags() & 0xff & xdc_flags &&
(linkReg->GetFlags() >> 16) & 0xff & xe0_indexMask)
{
/* Next G */
float g = (linkReg->GetCentroid() - reg->GetCentroid()).magnitude() + reg->Data()->GetG();
if ((!x0_area->ClosedSet().Test(linkReg->GetIndex()) && !x0_area->OpenList().Test(linkReg)) ||
linkReg->Data()->GetG() <= g)
{
if (x0_area->OpenList().Test(linkReg))
{
/* In rare cases, revisiting a region will yield a lower G (actual cost) */
x0_area->OpenList().Pop(linkReg);
linkReg->Data()->Setup(reg, g);
}
else
{
/* Compute next heuristic */
x0_area->ClosedSet().Rmv(linkReg->GetIndex());
float h = (p2 - linkReg->GetCentroid()).magnitude();
linkReg->Data()->Setup(reg, g, h);
}
/* Make next potential candidate */
x0_area->OpenList().Push(linkReg);
}
}
}
}
/* Restore source centroids */
auto p1It = centroidBackup1.begin();
for (CPFRegion* r : regs1)
r->SetCentroid(*p1It++);
/* Restore dest centroids */
auto p2It = centroidBackup2.begin();
for (CPFRegion* r : regs2)
r->SetCentroid(*p2It++);
/* Best destination region */
if (reg)
{
regs2.clear();
regs2.push_back(reg);
/* Retrace parents to find best source region */
while (CPFRegion* p = reg->Data()->GetParent())
reg = p;
regs1.clear();
regs1.push_back(reg);
}
return reg != nullptr;
}
}
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