Differential D3203 Diff 14744 ps/trunk/source/simulation2/helpers/VertexPathfinder.cpp

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ps/trunk/source/simulation2/helpers/VertexPathfinder.cpp

Show First 20 Lines • Show All 519 Lines • ▼ Show 20 Lines	WaypointPath VertexPathfinder::ComputeShortPath(const ShortPathRequest& request, CmpPtr<ICmpObstructionManager> cmpObstructionManager) const
// Create impassable edges at the max-range boundary, so we can't escape the region		// Create impassable edges at the max-range boundary, so we can't escape the region
// where we're meant to be searching		// where we're meant to be searching

fixed rangeXMin = request.x0 - request.range;		fixed rangeXMin = request.x0 - request.range;
fixed rangeXMax = request.x0 + request.range;		fixed rangeXMax = request.x0 + request.range;
fixed rangeZMin = request.z0 - request.range;		fixed rangeZMin = request.z0 - request.range;
fixed rangeZMax = request.z0 + request.range;		fixed rangeZMax = request.z0 + request.range;

// If useful, move the center of the search-space so that it's slightly towards the goal,		// If the goal is outside the bounds, move the center of the search-space towards it slightly,
// as the vertex pathfinder tends to be used to get around entities in front of us.		// as the vertex pathfinder tends to be used to get around entities in front of us
		// (this makes it possible to use smaller search ranges, but still find good paths).
		// Don't do this for the largest ranges: it makes it harder to backtrack, and large search domains
		// indicate a rather stuck unit, which means having to backtrack is probable.
		// (keep this in sync with unitMotion's max-search range).
		// (this also ensures symmetrical behaviour for goals inside/outside the max search range).
CFixedVector2D toGoal = CFixedVector2D(request.goal.x, request.goal.z) - CFixedVector2D(request.x0, request.z0);		CFixedVector2D toGoal = CFixedVector2D(request.goal.x, request.goal.z) - CFixedVector2D(request.x0, request.z0);
if (toGoal.CompareLength(request.range) >= 0)		if (toGoal.CompareLength(request.range) >= 0 && request.range < fixed::FromInt(TERRAIN_TILE_SIZE) * 10)
{		{
fixed toGoalLength = toGoal.Length();		fixed toGoalLength = toGoal.Length();
fixed inv = fixed::FromInt(1) / toGoalLength;		fixed inv = fixed::FromInt(1) / toGoalLength;
rangeXMin += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).X;		rangeXMin += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).X;
rangeXMax += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).X;		rangeXMax += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).X;
rangeZMin += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).Y;		rangeZMin += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).Y;
rangeZMax += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).Y;		rangeZMax += (toGoal.Multiply(std::min(toGoalLength / 2, request.range * 3 / 5)).Multiply(inv)).Y;
}		}
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