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Differential D2105 Diff 9067 ps/trunk/source/simulation2/helpers/VertexPathfinder.cpp

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

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WaypointPath VertexPathfinder::ComputeShortPath(const ShortPathRequest& request, CmpPtr<ICmpObstructionManager> cmpObstructionManager) const WaypointPath VertexPathfinder::ComputeShortPath(const ShortPathRequest& request, CmpPtr<ICmpObstructionManager> cmpObstructionManager) const
{ {
PROFILE2("ComputeShortPath"); PROFILE2("ComputeShortPath");
DebugRenderGoal(cmpObstructionManager->GetSimContext(), request.goal); DebugRenderGoal(cmpObstructionManager->GetSimContext(), request.goal);
// 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,
// as the vertex pathfinder tends to be used to get around entities in front of us.
CFixedVector2D toGoal = CFixedVector2D(request.goal.x, request.goal.z) - CFixedVector2D(request.x0, request.z0);
if (toGoal.CompareLength(request.range) >= 0)
{
fixed toGoalLength = toGoal.Length();
fixed inv = fixed::FromInt(1) / toGoalLength;
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;
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;
}
// Add domain edges // Add domain edges
// (Inside-out square, so edges are in reverse from the usual direction.) // (Inside-out square, so edges are in reverse from the usual direction.)
m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMin, rangeZMin), CFixedVector2D(rangeXMin, rangeZMax) }); m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMin, rangeZMin), CFixedVector2D(rangeXMin, rangeZMax) });
m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMin, rangeZMax), CFixedVector2D(rangeXMax, rangeZMax) }); m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMin, rangeZMax), CFixedVector2D(rangeXMax, rangeZMax) });
m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMax, rangeZMax), CFixedVector2D(rangeXMax, rangeZMin) }); m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMax, rangeZMax), CFixedVector2D(rangeXMax, rangeZMin) });
m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMax, rangeZMin), CFixedVector2D(rangeXMin, rangeZMin) }); m_Edges.emplace_back(Edge{ CFixedVector2D(rangeXMax, rangeZMin), CFixedVector2D(rangeXMin, rangeZMin) });
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