PathGenerator.h

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/*
* This file is part of Project SkyFire https://www.projectskyfire.org.
* See LICENSE.md file for Copyright information
*/
 
#ifndef SF_PATH_GENERATOR_H
#define SF_PATH_GENERATOR_H
 
#include "DetourNavMesh.h"
#include "DetourNavMeshQuery.h"
#include "MoveSplineInitArgs.h"
#include "SharedDefines.h"
 
class Unit;
 
// 74*4.0f=296y  number_of_points*interval = max_path_len
// this is way more than actual evade range
// I think we can safely cut those down even more
#define MAX_PATH_LENGTH         74
#define MAX_POINT_PATH_LENGTH   74
 
#define SMOOTH_PATH_STEP_SIZE   4.0f
#define SMOOTH_PATH_SLOP        0.3f
 
#define VERTEX_SIZE       3
#define INVALID_POLYREF   0
 
enum PathType
{
    PATHFIND_BLANK = 0x00,   // path not built yet
    PATHFIND_NORMAL = 0x01,   // normal path
    PATHFIND_SHORTCUT = 0x02,   // travel through obstacles, terrain, air, etc (old behavior)
    PATHFIND_INCOMPLETE = 0x04,   // we have partial path to follow - getting closer to target
    PATHFIND_NOPATH = 0x08,   // no valid path at all or error in generating one
    PATHFIND_NOT_USING_PATH = 0x10,   // used when we are either flying/swiming or on map w/o mmaps
    PATHFIND_SHORT = 0x20,   // path is longer or equal to its limited path length
};
 
class PathGenerator
{
public:
    explicit PathGenerator(Unit const* owner);
    ~PathGenerator();
 
    // Calculate the path from owner to given destination
    // return: true if new path was calculated, false otherwise (no change needed)
    bool CalculatePath(float destX, float destY, float destZ, bool forceDest = false);
 
    // option setters - use optional
    void SetUseStraightPath(bool useStraightPath) { _useStraightPath = useStraightPath; }
    void SetPathLengthLimit(float distance) { _pointPathLimit = std::min<uint32>(uint32(distance / SMOOTH_PATH_STEP_SIZE), MAX_POINT_PATH_LENGTH); }
 
    // result getters
    G3D::Vector3 const& GetStartPosition() const { return _startPosition; }
    G3D::Vector3 const& GetEndPosition() const { return _endPosition; }
    G3D::Vector3 const& GetActualEndPosition() const { return _actualEndPosition; }
 
    Movement::PointsArray const& GetPath() const { return _pathPoints; }
 
    PathType GetPathType() const { return _type; }
 
private:
    dtPolyRef _pathPolyRefs[MAX_PATH_LENGTH];   // array of detour polygon references
    uint32 _polyLength;                         // number of polygons in the path
 
    Movement::PointsArray _pathPoints;  // our actual (x,y,z) path to the target
    PathType _type;                     // tells what kind of path this is
 
    bool _useStraightPath;  // type of path will be generated
    bool _forceDestination; // when set, we will always arrive at given point
    uint32 _pointPathLimit; // limit point path size; min(this, MAX_POINT_PATH_LENGTH)
 
    G3D::Vector3 _startPosition;        // {x, y, z} of current location
    G3D::Vector3 _endPosition;          // {x, y, z} of the destination
    G3D::Vector3 _actualEndPosition;    // {x, y, z} of the closest possible point to given destination
 
    Unit const* const _sourceUnit;          // the unit that is moving
    dtNavMesh const* _navMesh;              // the nav mesh
    dtNavMeshQuery const* _navMeshQuery;    // the nav mesh query used to find the path
 
    dtQueryFilter _filter;  // use single filter for all movements, update it when needed
 
    void SetStartPosition(G3D::Vector3 const& point) { _startPosition = point; }
    void SetEndPosition(G3D::Vector3 const& point) { _actualEndPosition = point; _endPosition = point; }
    void SetActualEndPosition(G3D::Vector3 const& point) { _actualEndPosition = point; }
    void NormalizePath();
    void DensifyGroundPath();
    static float ResolveTerrainZ(Unit const* unit, float x, float y, float z);
 
    void Clear()
    {
        _polyLength = 0;
        _pathPoints.clear();
    }
 
    bool InRange(G3D::Vector3 const& p1, G3D::Vector3 const& p2, float r, float h) const;
    float Dist3DSqr(G3D::Vector3 const& p1, G3D::Vector3 const& p2) const;
    bool InRangeYZX(float const* v1, float const* v2, float r, float h) const;
 
    dtPolyRef GetPathPolyByPosition(dtPolyRef const* polyPath, uint32 polyPathSize, float const* Point, float* Distance = NULL) const;
    dtPolyRef GetPolyByLocation(float const* Point, float* Distance) const;
    bool HaveTile(G3D::Vector3 const& p) const;
 
    void BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 const& endPos);
    void BuildPointPath(float const* startPoint, float const* endPoint);
    void BuildShortcut();
 
    NavTerrain GetNavTerrain(float x, float y, float z);
    void CreateFilter();
    void UpdateFilter();
 
    // smooth path aux functions
    uint32 FixupCorridor(dtPolyRef* path, uint32 npath, uint32 maxPath, dtPolyRef const* visited, uint32 nvisited);
    bool GetSteerTarget(float const* startPos, float const* endPos, float minTargetDist, dtPolyRef const* path, uint32 pathSize, float* steerPos,
        unsigned char& steerPosFlag, dtPolyRef& steerPosRef);
    dtStatus FindSmoothPath(float const* startPos, float const* endPos,
        dtPolyRef const* polyPath, uint32 polyPathSize,
        float* smoothPath, int* smoothPathSize, uint32 smoothPathMaxSize);
};
 
#endif