Differential D14 Diff 56 source/simulation2/helpers/HierarchicalPathfinder.h

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source/simulation2/helpers/HierarchicalPathfinder.h

Show First 20 Lines • Show All 82 Lines • ▼ Show 20 Lines	public:
void Recompute(Grid<NavcellData>* passabilityGrid,		void Recompute(Grid<NavcellData>* passabilityGrid,
const std::map<std::string, pass_class_t>& nonPathfindingPassClassMasks,		const std::map<std::string, pass_class_t>& nonPathfindingPassClassMasks,
const std::map<std::string, pass_class_t>& pathfindingPassClassMasks);		const std::map<std::string, pass_class_t>& pathfindingPassClassMasks);

void Update(Grid<NavcellData>* grid, const Grid<u8>& dirtinessGrid);		void Update(Grid<NavcellData>* grid, const Grid<u8>& dirtinessGrid);

bool IsChunkDirty(int ci, int cj, const Grid<u8>& dirtinessGrid) const;		bool IsChunkDirty(int ci, int cj, const Grid<u8>& dirtinessGrid) const;

RegionID Get(u16 i, u16 j, pass_class_t passClass);		RegionID Get(u16 i, u16 j, pass_class_t passClass) const;

/**		/**
* Updates @p goal so that it's guaranteed to be reachable from the navcell		* Updates @p goal so that it's guaranteed to be reachable from the navcell
* @p i0, @p j0 (which is assumed to be on a passable navcell).		* @p i0, @p j0 (which is assumed to be on a passable navcell).
*		*
* If the goal is not reachable, it is replaced with a point goal nearest to		* If the goal is not reachable, it is replaced with a point goal nearest to
* the goal center.		* the goal center.
*		*
* In the case of a non-point reachable goal, it is replaced with a point goal		* In the case of a non-point reachable goal, it is replaced with a point goal
* at the reachable navcell of the goal which is nearest to the starting navcell.		* at the reachable navcell of the goal which is nearest to the starting navcell.
*/		*/
void MakeGoalReachable(u16 i0, u16 j0, PathGoal& goal, pass_class_t passClass);		void MakeGoalReachable(u16 i0, u16 j0, PathGoal& goal, pass_class_t passClass) const;

/**		/**
* Updates @p i, @p j (which is assumed to be an impassable navcell)		* Updates @p i, @p j (which is assumed to be an impassable navcell)
* to the nearest passable navcell.		* to the nearest passable navcell.
*/		*/
void FindNearestPassableNavcell(u16& i, u16& j, pass_class_t passClass);		void FindNearestPassableNavcell(u16& i, u16& j, pass_class_t passClass) const;

/**		/**
* Generates the connectivity grid associated with the given pass_class		* Generates the connectivity grid associated with the given pass_class
*/		*/
Grid<u16> GetConnectivityGrid(pass_class_t passClass);		Grid<u16> GetConnectivityGrid(pass_class_t passClass) const;

pass_class_t GetPassabilityClass(const std::string& name) const		pass_class_t GetPassabilityClass(const std::string& name) const
{		{
auto it = m_PassClassMasks.find(name);		auto it = m_PassClassMasks.find(name);
if (it != m_PassClassMasks.end())		if (it != m_PassClassMasks.end())
return it->second;		return it->second;

LOGERROR("Invalid passability class name '%s'", name.c_str());		LOGERROR("Invalid passability class name '%s'", name.c_str());
Show All 20 Lines	struct Chunk

void RegionNavcellNearest(u16 r, int iGoal, int jGoal, int& iBest, int& jBest, u32& dist2Best) const;		void RegionNavcellNearest(u16 r, int iGoal, int jGoal, int& iBest, int& jBest, u32& dist2Best) const;

bool RegionNearestNavcellInGoal(u16 r, u16 i0, u16 j0, const PathGoal& goal, u16& iOut, u16& jOut, u32& dist2Best) const;		bool RegionNearestNavcellInGoal(u16 r, u16 i0, u16 j0, const PathGoal& goal, u16& iOut, u16& jOut, u32& dist2Best) const;
};		};

typedef std::map<RegionID, std::set<RegionID> > EdgesMap;		typedef std::map<RegionID, std::set<RegionID> > EdgesMap;

void FindEdges(u8 ci, u8 cj, pass_class_t passClass, EdgesMap& edges);		void FindEdges(u8 ci, u8 cj, pass_class_t passClass, EdgesMap& edges) const;

void FindReachableRegions(RegionID from, std::set<RegionID>& reachable, pass_class_t passClass);		void FindReachableRegions(RegionID from, std::set<RegionID>& reachable, pass_class_t passClass) const;

void FindPassableRegions(std::set<RegionID>& regions, pass_class_t passClass);		void FindPassableRegions(std::set<RegionID>& regions, pass_class_t passClass) const;

/**		/**
* Updates @p iGoal and @p jGoal to the navcell that is the nearest to the		* Updates @p iGoal and @p jGoal to the navcell that is the nearest to the
* initial goal coordinates, in one of the given @p regions.		* initial goal coordinates, in one of the given @p regions.
* (Assumes @p regions is non-empty.)		* (Assumes @p regions is non-empty.)
*/		*/
void FindNearestNavcellInRegions(const std::set<RegionID>& regions, u16& iGoal, u16& jGoal, pass_class_t passClass);		void FindNearestNavcellInRegions(const std::set<RegionID>& regions, u16& iGoal, u16& jGoal, pass_class_t passClass) const;

Chunk& GetChunk(u8 ci, u8 cj, pass_class_t passClass)		const Chunk& GetChunk(u8 ci, u8 cj, pass_class_t passClass) const
{		{
return m_Chunks[passClass].at(cj * m_ChunksW + ci);		return m_Chunks.at(passClass).at(cj * m_ChunksW + ci);
}		}

void FillRegionOnGrid(const RegionID& region, pass_class_t passClass, u16 value, Grid<u16>& grid);		void FillRegionOnGrid(const RegionID& region, pass_class_t passClass, u16 value, Grid<u16>& grid) const;

u16 m_W, m_H;		u16 m_W, m_H;
u16 m_ChunksW, m_ChunksH;		u16 m_ChunksW, m_ChunksH;
std::map<pass_class_t, std::vector<Chunk> > m_Chunks;		std::map<pass_class_t, std::vector<Chunk> > m_Chunks;

std::map<pass_class_t, EdgesMap> m_Edges;		std::map<pass_class_t, EdgesMap> m_Edges;

// Passability classes for which grids will be updated when calling Update		// Passability classes for which grids will be updated when calling Update
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