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AalaarDB
5df2c69d10
Fixed bug in AStar code. Fixed night combat chance to hit Optimized worst case scenario pathing to be faster. git-svn-id: https://ja2svn.mooo.com/source/ja2/trunk/GameSource/ja2_v1.13/Build@1438 3b4a5df2-a311-0410-b5c6-a8a6f20db521
302 lines
10 KiB
C++
302 lines
10 KiB
C++
/*
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Filename : pathai.h
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Author : Ray E. Bornert II
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Date : 1992-MAR-15
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Copyright (C) 1993 HixoxiH Software
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*/
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#ifndef _PATHAI_H
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#define _PATHAI_H
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#include "isometric utils.h"
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#define USE_ASTAR_PATHS
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#ifdef USE_ASTAR_PATHS
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namespace ASTAR {
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#include "BinaryHeap.hpp"
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#include <vector>
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enum eAStar
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{
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AStar_Init,
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AStar_Open,
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AStar_Closed
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};
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class AStar_Data
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{
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public:
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AStar_Data()
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{
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cost = f = APCost = direction = prevCost = 0;
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#ifdef ASTAR_USING_EXTRACOVER
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extraGCoverCost = -1;//-1 means we have not stopped at this node
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#endif
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wasBackwards = false;
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status = AStar_Init;
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parent = GridNode(-1,-1);
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};
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//no H
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int cost;//G
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int f;//F
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int APCost;//the APs spent to get here
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#ifdef ASTAR_USING_EXTRACOVER
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int extraGCoverCost;//an extra cost that makes stopping in midpath at a node with little cover worse
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#endif
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GridNode parent;
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eAStar status;
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int prevCost;
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bool wasBackwards;
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int direction;
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};
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typedef HEAP<int, GridNode> AStarHeap;
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class AStarPathfinder
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{
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public:
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AStarPathfinder ();
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static AStarPathfinder& GetInstance();
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int GetPath (SOLDIERTYPE *s ,
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INT16 dest,
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INT8 ubLevel,
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INT16 usMovementMode,
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INT8 bCopy,
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UINT8 fFlags );
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private:
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static AStarPathfinder* pThis;
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std::vector<GridNode> ClosedList;
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CBinaryHeap<int, GridNode> OpenHeap;
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int direction;//current direction
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int startDir;
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int endDir;
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int lastDir;
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bool startingLoop;
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SOLDIERTYPE* pSoldier;
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INT8 onRooftop;//aka ubLevel, not sure if this bool is logically reversed yet
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bool fNonFenceJumper;
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bool fNonSwimmer;
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bool fPathingForPlayer;
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bool fPathAroundPeople;
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bool fGoingThroughDoor;
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int bOKToAddStructID;
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int bLoopState;
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bool bWaterToWater;
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bool fVisitSpotsOnlyOnce;
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bool fCheckedBehind;
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bool fTurnBased;
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bool fCloseGoodEnough;
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bool fContinuousTurnNeeded;
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bool fConsiderPersonAtDestAsObstacle;
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bool fCopyReachable;
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bool fCopyPathCosts;
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int maxAPBudget;//the gubNPCAPBudget
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int mercsMaxAPs;//the merc only has so many points to move with
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int movementMode;
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int sClosePathLimit;
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int PATHAI_VISIBLE_DEBUG_Counter;
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//vehicle defined in cpp
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//#ifdef VEHICLE
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BOOLEAN fMultiTile;
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STRUCTURE_FILE_REF * pStructureFileRef;
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//#endif
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// member variables to prevent passing them around
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GridNode StartNode;
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GridNode DestNode;
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GridNode CurrentNode;
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GridNode ParentNode;
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INT16 ParentNodeIndex;
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INT16 CurrentNodeIndex;
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AStar_Data AStarData[WORLD_COLS][WORLD_ROWS];
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AStarHeap AStar ();
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void ExecuteAStarLogic();
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void ResetAStarList ();
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int TerrainCostToAStarG(int const terrainCost);
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int CalcG (int* pPrevCost);
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int CalcAP (int const terrainCost);
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int CalcH ();
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int CalcGCover (int const NodeIndex,
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int const APCost);
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int CalcStartingAP ();
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//including THREATTYPE was a pain, so pass by value
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int CalcCoverValue (INT16 sMyGridNo, INT32 iMyThreat, INT32 iMyAPsLeft,
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INT32 myThreatsiOrigRange, INT16 myThreatssGridNo, SOLDIERTYPE* myThreatspOpponent,
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INT32 myThreatsiValue, INT32 myThreatsiAPs, INT32 myThreatsiCertainty);
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eAStar GetAStarStatus (const GridNode node) const {return AStarData[node.x][node.y].status;};
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GridNode GetAStarParent (const GridNode node) const {return AStarData[node.x][node.y].parent;};
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int GetAStarG (const GridNode node) const {return AStarData[node.x][node.y].cost;};
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int GetAStarF (const GridNode node) const {return AStarData[node.x][node.y].f;};
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int GetActionPoints (const GridNode node) const {return AStarData[node.x][node.y].APCost;};
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bool GetLoopState (const GridNode node) const {return AStarData[node.x][node.y].wasBackwards;};
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int GetPrevCost (const GridNode node) const {return AStarData[node.x][node.y].prevCost;};
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int GetDirection (const GridNode node) const {return AStarData[node.x][node.y].direction;};
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#ifdef ASTAR_USING_EXTRACOVER
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int GetExtraGCover (const GridNode node) const {return AStarData[node.x][node.y].extraGCoverCost;};
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void SetExtraGCover (const GridNode node, const int extraGCoverCost) {AStarData[node.x][node.y].extraGCoverCost = extraGCoverCost;};
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#endif
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void SetAStarStatus (const GridNode node, const eAStar status) {AStarData[node.x][node.y].status = status;};
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void SetAStarParent (const GridNode node, const GridNode parent) {AStarData[node.x][node.y].parent = parent;};
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void SetAStarG (const GridNode node, const int cost) {AStarData[node.x][node.y].cost = cost;};
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void SetAStarF (const GridNode node, const int f) {AStarData[node.x][node.y].f = f;};
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void SetActionPoints (const GridNode node, const int APCost) {AStarData[node.x][node.y].APCost = APCost;};
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void SetLoopState (const GridNode node, const int loopState);
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void SetPrevCost (const GridNode node, const int prevCost) {AStarData[node.x][node.y].prevCost = prevCost;};
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void SetDirection (const GridNode node, const int direction) {AStarData[node.x][node.y].direction = direction;};
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INT16 PythSpacesAway (GridNode const node1,
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GridNode const node2);
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INT16 SpacesAway (GridNode const node1,
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GridNode const node2);
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//bool IsDiagonal (GridNode const node1,
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// GridNode const node2) {return (abs(node1.x - node2.x) && abs(node1.y - node2.y));};
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bool IsDiagonal (int const direction) {return (direction & 1);};
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void InitVehicle ();
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int VehicleObstacleCheck();
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bool CanTraverse ();
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bool IsSomeoneInTheWay();
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void IncrementLoop ();
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void InitLoop ();
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bool ContinueLoop ();
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};
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};//end namespace ASTAR
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#endif//end #ifdef USE_ASTAR_PATHS
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BOOLEAN InitPathAI( void );
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void ShutDownPathAI( void );
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INT16 PlotPath( SOLDIERTYPE *pSold, INT16 sDestGridno, INT8 bCopyRoute, INT8 bPlot, INT8 bStayOn, UINT16 usMovementMode, INT8 bStealth, INT8 bReverse , INT16 sAPBudget);
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INT16 UIPlotPath( SOLDIERTYPE *pSold, INT16 sDestGridno, INT8 bCopyRoute, INT8 bPlot, INT8 bStayOn, UINT16 usMovementMode, INT8 bStealth, INT8 bReverse , INT16 sAPBudget);
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INT16 EstimatePlotPath( SOLDIERTYPE *pSold, INT16 sDestGridno, INT8 bCopyRoute, INT8 bPlot, INT8 bStayOn, UINT16 usMovementMode, INT8 bStealth, INT8 bReverse , INT16 sAPBudget);
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void ErasePath(char bEraseOldOne);
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INT32 FindBestPath(SOLDIERTYPE *s , INT16 sDestination, INT8 ubLevel, INT16 usMovementMode, INT8 bCopy, UINT8 fFlags );
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void GlobalReachableTest( INT16 sStartGridNo );
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void GlobalItemsReachableTest( INT16 sStartGridNo1, INT16 sStartGridNo2 );
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void RoofReachableTest( INT16 sStartGridNo, UINT8 ubBuildingID );
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void LocalReachableTest( INT16 sStartGridNo, INT8 bRadius );
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UINT8 DoorTravelCost( SOLDIERTYPE * pSoldier, INT32 iGridNo, UINT8 ubMovementCost, BOOLEAN fReturnPerceivedValue, INT32 * piDoorGridNo );
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UINT8 InternalDoorTravelCost( SOLDIERTYPE * pSoldier, INT32 iGridNo, UINT8 ubMovementCost, BOOLEAN fReturnPerceivedValue, INT32 * piDoorGridNo, BOOLEAN fReturnDoorCost );
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INT16 RecalculatePathCost( SOLDIERTYPE *pSoldier, UINT16 usMovementMode );
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// Lesh: setup max length of path
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#define MAX_PATH_DATA_LENGTH 512
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// Exporting these global variables
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extern UINT32 guiPathingData[MAX_PATH_DATA_LENGTH];
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extern UINT8 gubNPCAPBudget;
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extern UINT16 gusNPCMovementMode;
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extern UINT8 gubNPCDistLimit;
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extern UINT8 gubNPCPathCount;
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extern BOOLEAN gfPlotPathToExitGrid;
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extern BOOLEAN gfNPCCircularDistLimit;
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extern BOOLEAN gfEstimatePath;
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extern BOOLEAN gfPathAroundObstacles;
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extern UINT8 gubGlobalPathFlags;
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// Ian's terrain values for travelling speed/pathing purposes
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// Fixed by CJC March 4, 1998. Please do not change these unless familiar
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// with how this will affect the path code!
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#define TRAVELCOST_NONE 0
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#define TRAVELCOST_FLAT 10
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#define TRAVELCOST_BUMPY 12
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#define TRAVELCOST_GRASS 12
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#define TRAVELCOST_THICK 16
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#define TRAVELCOST_DEBRIS 20
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#define TRAVELCOST_SHORE 30
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#define TRAVELCOST_KNEEDEEP 36
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#define TRAVELCOST_DEEPWATER 50
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#define TRAVELCOST_FENCE 40
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// these values are used to indicate "this is an obstacle
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// if there is a door (perceived) open/closed in this tile
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#define TRAVELCOST_DOOR_CLOSED_HERE 220
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#define TRAVELCOST_DOOR_CLOSED_N 221
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#define TRAVELCOST_DOOR_CLOSED_W 222
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#define TRAVELCOST_DOOR_OPEN_HERE 223
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#define TRAVELCOST_DOOR_OPEN_N 224
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#define TRAVELCOST_DOOR_OPEN_NE 225
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#define TRAVELCOST_DOOR_OPEN_E 226
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#define TRAVELCOST_DOOR_OPEN_SE 227
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#define TRAVELCOST_DOOR_OPEN_S 228
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#define TRAVELCOST_DOOR_OPEN_SW 229
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#define TRAVELCOST_DOOR_OPEN_W 230
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#define TRAVELCOST_DOOR_OPEN_NW 231
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#define TRAVELCOST_DOOR_OPEN_N_N 232
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#define TRAVELCOST_DOOR_OPEN_NW_N 233
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#define TRAVELCOST_DOOR_OPEN_NE_N 234
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#define TRAVELCOST_DOOR_OPEN_W_W 235
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#define TRAVELCOST_DOOR_OPEN_SW_W 236
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#define TRAVELCOST_DOOR_OPEN_NW_W 237
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#define TRAVELCOST_NOT_STANDING 248
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#define TRAVELCOST_OFF_MAP 249
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#define TRAVELCOST_CAVEWALL 250
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#define TRAVELCOST_HIDDENOBSTACLE 251
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#define TRAVELCOST_DOOR 252
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#define TRAVELCOST_OBSTACLE 253
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#define TRAVELCOST_WALL 254
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#define TRAVELCOST_EXITGRID 255
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#define TRAVELCOST_TRAINTRACKS 30
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#define TRAVELCOST_DIRTROAD 9
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#define TRAVELCOST_PAVEDROAD 9
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#define TRAVELCOST_FLATFLOOR 10
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#define TRAVELCOST_BLOCKED (TRAVELCOST_OFF_MAP)
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#define IS_TRAVELCOST_DOOR( x ) (x >= TRAVELCOST_DOOR_CLOSED_HERE && x <= TRAVELCOST_DOOR_OPEN_NW_W)
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#define IS_TRAVELCOST_CLOSED_DOOR( x ) (x >= TRAVELCOST_DOOR_CLOSED_HERE && x << TRAVELCOST_DOOR_CLOSED_W)
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// ------------------------------------------
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// PLOT PATH defines
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#define NOT_STEALTH 0
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#define STEALTH 1
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#define NO_PLOT 0
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#define PLOT 1
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#define TEMPORARY 0
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#define PERMANENT 1
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#define FORWARD 0
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#define REVERSE 1
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#define NO_COPYROUTE 0
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#define COPYROUTE 1
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#define COPYREACHABLE 2
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#define COPYREACHABLE_AND_APS 3
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#define PATH_THROUGH_PEOPLE 0x01
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#define PATH_IGNORE_PERSON_AT_DEST 0x02
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#define PATH_CLOSE_GOOD_ENOUGH 0x04
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#define PATH_CLOSE_RADIUS 5
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// ------------------------------------------
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#endif
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