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Differential D2024 Diff 8643 source/simulation2/helpers/VertexPathfinder.h

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source/simulation2/helpers/VertexPathfinder.h

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class ICmpObstructionManager; class ICmpObstructionManager;
class CSimContext; class CSimContext;
class SceneCollector; class SceneCollector;
class VertexPathfinder class VertexPathfinder
{ {
public: public:
VertexPathfinder(const u16& mapSize, Grid<NavcellData>* const & terrainOnlyGrid) : m_MapSize(mapSize), m_TerrainOnlyGrid(terrainOnlyGrid), m_DebugOverlay(false) {}; VertexPathfinder() : m_DebugOverlay(false) {};
/** /**
* Compute a precise path from the given point to the goal, and return the set of waypoints. * Compute a precise path from the given point to the goal, and return the set of waypoints.
* The path is based on the full set of obstructions that pass the filter, such that * The path is based on the full set of obstructions that pass the filter, such that
* a unit of clearance 'clearance' will be able to follow the path with no collisions. * a unit of clearance 'clearance' will be able to follow the path with no collisions.
* The path is restricted to a box of radius 'range' from the starting point. * The path is restricted to a box of radius 'range' from the starting point.
* Defined in CCmpPathfinder_Vertex.cpp * Defined in CCmpPathfinder_Vertex.cpp
*/ */
WaypointPath ComputeShortPath(const ShortPathRequest& request, CmpPtr<ICmpObstructionManager> cmpObstructionManager) const; WaypointPath ComputeShortPath(const u16 mapSize, Grid<NavcellData>* const& terrainOnlyGrid, const ShortPathRequest& request, CmpPtr<ICmpObstructionManager> cmpObstructionManager) const;
void SetDebugOverlay(bool enabled) { m_DebugOverlay = enabled; } void SetDebugOverlay(bool enabled) { m_DebugOverlay = enabled; }
void RenderSubmit(SceneCollector& collector); void RenderSubmit(SceneCollector& collector);
private: private:
void DebugRenderGoal(const CSimContext& simContext, const PathGoal& goal) const; void DebugRenderGoal(const CSimContext& simContext, const PathGoal& goal) const;
void DebugRenderGraph(const CSimContext& simContext, const std::vector<Vertex>& vertexes, const std::vector<Edge>& edges, const std::vector<Square>& edgeSquares) const; void DebugRenderGraph(const CSimContext& simContext, const std::vector<Vertex>& vertexes, const std::vector<Edge>& edges, const std::vector<Square>& edgeSquares) const;
void DebugRenderEdges(const CSimContext& simContext, bool visible, CFixedVector2D curr, CFixedVector2D npos) const; void DebugRenderEdges(const CSimContext& simContext, bool visible, CFixedVector2D curr, CFixedVector2D npos) const;
// References to the Pathfinder for convenience.
const u16& m_MapSize;
Grid<NavcellData>* const & m_TerrainOnlyGrid;
std::atomic<bool> m_DebugOverlay; std::atomic<bool> m_DebugOverlay;
mutable std::vector<SOverlayLine> m_DebugOverlayShortPathLines; mutable std::vector<SOverlayLine> m_DebugOverlayShortPathLines;
// These vectors are expensive to recreate on every call, so we cache them here. // These vectors are expensive to recreate on every call, so we cache them here.
// They are made mutable to allow using them in the otherwise const ComputeShortPath. // They are made mutable to allow using them in the otherwise const ComputeShortPath.
mutable std::vector<Edge> m_EdgesUnaligned; mutable std::vector<Edge> m_EdgesUnaligned;
mutable std::vector<EdgeAA> m_EdgesLeft; mutable std::vector<EdgeAA> m_EdgesLeft;
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