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Merge remote-tracking branch 'dteviot/PathfindingRefactor'

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This commit is contained in:
Marc Zinnschlag 2015-08-14 10:13:04 +02:00
commit 5aeabe22f0
1 changed files with 37 additions and 43 deletions
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80
apps/openmw/mwmechanics/pathfinding.cpp
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@ -51,8 +51,7 @@ namespace
const MWWorld::CellStore *cell,
const osg::Vec3f pos, int start)
{
if(!grid || grid->mPoints.empty())
return std::pair<int, bool> (-1, false);
assert(grid && !grid->mPoints.empty());
float distanceBetween = distanceSquared(grid->mPoints[0], pos);
int closestIndex = 0;
@ -76,8 +75,6 @@ namespace
// AiWander has logic that depends on whether a path was created, deleting
// allowed nodes if not. Hence a path needs to be created even if the start
// and the end points are the same.
//if(start == closestReachableIndex)
//closestReachableIndex = -1; // couldn't find anyting other than start
return std::pair<int, bool>
(closestReachableIndex, closestReachableIndex == closestIndex);
@ -110,6 +107,11 @@ namespace MWMechanics
return sqrt(x * x + y * y + z * z);
}
osg::Vec3f ToLocalCoordinates(const ESM::Pathgrid::Point &point, float xCell, float yCell)
{
return osg::Vec3f(point.mX - xCell, point.mY - yCell, static_cast<float>(point.mZ));
}
PathFinder::PathFinder()
: mPathgrid(NULL),
mCell(NULL)
@ -139,8 +141,6 @@ namespace MWMechanics
* pathgrid point (e.g. wander) then it may be worth while to call
* pop_back() to remove the redundant entry.
*
* mPathConstructed is set true if successful, false if not
*
* NOTE: co-ordinates must be converted prior to calling getClosestPoint()
*
* |
@ -208,46 +208,40 @@ namespace MWMechanics
// outside an area enclosed by walls, but there is a pathgrid
// point right behind the wall that is closer than any pathgrid
// point outside the wall
int startNode = getClosestPoint(mPathgrid,
osg::Vec3f(startPoint.mX - xCell, startPoint.mY - yCell, static_cast<float>(startPoint.mZ)));
// Some cells don't have any pathgrids at all
if(startNode != -1)
osg::Vec3f startPointInLocalCoords(ToLocalCoordinates(startPoint, xCell, yCell));
int startNode = getClosestPoint(mPathgrid, startPointInLocalCoords);
osg::Vec3f endPointInLocalCoords(ToLocalCoordinates(endPoint, xCell, yCell));
std::pair<int, bool> endNode = getClosestReachablePoint(mPathgrid, cell,
endPointInLocalCoords,
startNode);
// AiWander has logic that depends on whether a path was created,
// deleting allowed nodes if not. Hence a path needs to be created
// even if the start and the end points are the same.
// NOTE: aStarSearch will return an empty path if the start and end
// nodes are the same
if(startNode == endNode.first)
{
std::pair<int, bool> endNode = getClosestReachablePoint(mPathgrid, cell,
osg::Vec3f(endPoint.mX - xCell, endPoint.mY - yCell, static_cast<float>(endPoint.mZ)),
startNode);
mPath.push_back(endPoint);
return;
}
// this shouldn't really happen, but just in case
if(endNode.first != -1)
{
// AiWander has logic that depends on whether a path was created,
// deleting allowed nodes if not. Hence a path needs to be created
// even if the start and the end points are the same.
// NOTE: aStarSearch will return an empty path if the start and end
// nodes are the same
if(startNode == endNode.first)
{
mPath.push_back(endPoint);
return;
}
mPath = mCell->aStarSearch(startNode, endNode.first);
mPath = mCell->aStarSearch(startNode, endNode.first);
if(!mPath.empty())
{
// Add the destination (which may be different to the closest
// pathgrid point). However only add if endNode was the closest
// point to endPoint.
//
// This logic can fail in the opposite situate, e.g. endPoint may
// have been reachable but happened to be very close to an
// unreachable pathgrid point.
//
// The AI routines will have to deal with such situations.
if(endNode.second)
mPath.push_back(endPoint);
}
}
if(!mPath.empty())
{
// Add the destination (which may be different to the closest
// pathgrid point). However only add if endNode was the closest
// point to endPoint.
//
// This logic can fail in the opposite situate, e.g. endPoint may
// have been reachable but happened to be very close to an
// unreachable pathgrid point.
//
// The AI routines will have to deal with such situations.
if(endNode.second)
mPath.push_back(endPoint);
}
return;