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e2add58410
Added code to requestLowLevelPath that modifies the final waypoint to use exactly the coordinates where the player clicked, instead of the rounded-to-nearest-tile coordinates from the A* pathfinder. A more complete fix required eventually might be to make the A* engine itself aware of fractional locations within a tile but for now this seemed like a simple thing to do. Also fixed a bug that was causing the final step of the path not to be added: the code was adding an ORDER_PATH_END_MARKER but no ORDER_GOTO_NOPATHING for the final point. The ORDER_PATH_END_MARKER doesn't seem to do anything useful here so the unit never went that last step. Also fixed a bug with "pass-through-allies" that was causing units to avoid allies anyway: although the pathfinder assumed you could pass through allies, when you actually bumped into one while executing a goto instruction, the collision test used did not check for pass-through-allies so you ended up avoiding allies anyway. This might not be too horrible if it works in practice (since the avoidance was done using simple local work, not a full repath) but I've removed it for now since it might cause problems with formations, when avoidance will not be trivial. This was SVN commit r4226.
111 lines
3.5 KiB
C++
111 lines
3.5 KiB
C++
#include "precompiled.h"
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#include "ps/Profile.h"
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#include "EntityOrders.h"
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#include "Entity.h"
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#include "PathfindEngine.h"
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CPathfindEngine::CPathfindEngine()
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{
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}
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void CPathfindEngine::requestPath( HEntity entity, const CVector2D& destination )
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{
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/* TODO: Add code to generate high level path
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For now, just the one high level waypoint to the final
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destination is added
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*/
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CEntityOrder waypoint;
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waypoint.m_type = CEntityOrder::ORDER_GOTO_WAYPOINT;
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waypoint.m_data[0].location = destination;
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*((float*)&waypoint.m_data[0].data) = 0.0f;
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entity->m_orderQueue.push_front( waypoint );
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}
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void CPathfindEngine::requestLowLevelPath( HEntity entity, const CVector2D& destination, bool contact, float radius )
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{
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PROFILE_START("Pathfinding");
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CVector2D source( entity->m_position.X, entity->m_position.Z );
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if ( mLowPathfinder.findPath(source, destination, entity->m_player, radius) )
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{
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std::vector<CVector2D> path = mLowPathfinder.getLastPath();
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if( path.size() > 0 )
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{
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std::vector<CVector2D>::iterator it;
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CEntityOrder node;
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for( it = path.begin(); (it+1) != path.end(); it++ )
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{
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if ( !contact )
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{
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node.m_type = CEntityOrder::ORDER_GOTO_NOPATHING;
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}
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else
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{
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// TODO: Is this right?
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node.m_type = CEntityOrder::ORDER_GOTO_NOPATHING;
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}
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node.m_data[0].location = *it;
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entity->m_orderQueue.push_back(node);
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}
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// Hack to make pathfinding slightly more precise:
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// If the radius was 0, make the final node be exactly at the destination
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// (otherwise, go to wherever the pathfinder tells us since we just want to be in range)
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CVector2D finalDest = (radius==0 ? destination : (*it));
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node.m_type = CEntityOrder::ORDER_GOTO_NOPATHING;
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node.m_data[0].location = finalDest;
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entity->m_orderQueue.push_back(node);
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node.m_type = CEntityOrder::ORDER_PATH_END_MARKER;
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node.m_data[0].location = finalDest;
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entity->m_orderQueue.push_back(node);
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}
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else {
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// Hack to make pathfinding slightly more precise:
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// If radius = 0, we are still moving within the same tile, so add a GOTO order anyway
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if(radius == 0)
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{
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CEntityOrder node;
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node.m_type = CEntityOrder::ORDER_GOTO_NOPATHING;
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node.m_data[0].location = destination;
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entity->m_orderQueue.push_back(node);
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node.m_type = CEntityOrder::ORDER_PATH_END_MARKER;
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node.m_data[0].location = destination;
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entity->m_orderQueue.push_back(node);
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}
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}
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}
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else
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{
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// If no path was found, then unsolvable
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// TODO: Figure out what to do in this case
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}
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PROFILE_END("Pathfinding");
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}
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void CPathfindEngine::requestContactPath( HEntity entity, CEntityOrder* current, float range )
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{
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/* TODO: Same as non-contact: need high-level planner */
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CEntityOrder waypoint;
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waypoint.m_type = CEntityOrder::ORDER_GOTO_WAYPOINT_CONTACT;
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waypoint.m_data[0].location = current->m_data[0].entity->m_position;
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*((float*)&waypoint.m_data[0].data) = std::max( current->m_data[0].entity->m_bounds->m_radius, range );
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entity->m_orderQueue.push_front( waypoint );
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//pathSparse( entity, current->m_data[0].entity->m_position );
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//// For attack orders, do some additional postprocessing (replace goto/nopathing
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//// with attack/nopathing, up until the attack order marker)
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//std::deque<CEntityOrder>::iterator it;
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//for( it = entity->m_orderQueue.begin(); it != entity->m_orderQueue.end(); it++ )
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//{
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// if( it->m_type == CEntityOrder::ORDER_PATH_END_MARKER )
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// break;
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// if( it->m_type == CEntityOrder::ORDER_GOTO_NOPATHING )
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// {
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// *it = *current;
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// }
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//}
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}
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