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[11909] Implement Pathfinder class to handle the actual pathfinding
Authors of this are Faramir118 and qsa. Also thanks to many others for testing and suggestions!
This commit is contained in:
sixsixnine
Schmoozerd
parent
1c64b0658e
commit
d3606fb4ee
10 changed files with 1322 additions and 1 deletions
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@ -22,3 +22,337 @@
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#include "MoveMap.h"
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#include "MoveMapSharedDefines.h"
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namespace MMAP
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{
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// ######################## MMapFactory ########################
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// our global singelton copy
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MMapManager *g_MMapManager = NULL;
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// stores list of mapids which do not use pathfinding
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std::set<uint32>* g_mmapDisabledIds = NULL;
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MMapManager* MMapFactory::createOrGetMMapManager()
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{
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if(g_MMapManager == NULL)
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g_MMapManager = new MMapManager();
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return g_MMapManager;
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}
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void MMapFactory::preventPathfindingOnMaps(const char* ignoreMapIds)
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{
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if(!g_mmapDisabledIds)
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g_mmapDisabledIds = new std::set<uint32>();
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uint32 strLenght = strlen(ignoreMapIds)+1;
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char* mapList = new char[strLenght];
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memcpy(mapList, ignoreMapIds, sizeof(char)*strLenght);
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char* idstr = strtok(mapList, ",");
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while (idstr)
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{
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g_mmapDisabledIds->insert(uint32(atoi(idstr)));
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idstr = strtok(NULL, ",");
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}
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delete[] mapList;
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}
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bool MMapFactory::IsPathfindingEnabled(uint32 mapId)
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{
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return sWorld.getConfig(CONFIG_BOOL_MMAP_ENABLED)
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&& g_mmapDisabledIds->find(mapId) == g_mmapDisabledIds->end();
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}
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void MMapFactory::clear()
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{
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if(g_mmapDisabledIds)
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{
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delete g_mmapDisabledIds;
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g_mmapDisabledIds = NULL;
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}
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if(g_MMapManager)
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{
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delete g_MMapManager;
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g_MMapManager = NULL;
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}
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}
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// ######################## MMapManager ########################
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MMapManager::~MMapManager()
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{
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for (MMapDataSet::iterator i = loadedMMaps.begin(); i != loadedMMaps.end(); ++i)
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delete i->second;
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// by now we should not have maps loaded
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// if we had, tiles in MMapData->mmapLoadedTiles, their actual data is lost!
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}
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bool MMapManager::loadMapData(uint32 mapId)
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{
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// we already have this map loaded?
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if (loadedMMaps.find(mapId) != loadedMMaps.end())
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return true;
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// load and init dtNavMesh - read parameters from file
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uint32 pathLen = sWorld.GetDataPath().length() + strlen("mmaps/%03i.mmap")+1;
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char *fileName = new char[pathLen];
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snprintf(fileName, pathLen, (sWorld.GetDataPath()+"mmaps/%03i.mmap").c_str(), mapId);
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FILE* file = fopen(fileName, "rb");
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if (!file)
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{
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sLog.outDebug("MMAP:loadMapData: Error: Could not open mmap file '%s'", fileName);
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delete [] fileName;
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return false;
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}
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dtNavMeshParams params;
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fread(¶ms, sizeof(dtNavMeshParams), 1, file);
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fclose(file);
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dtNavMesh* mesh = dtAllocNavMesh();
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MANGOS_ASSERT(mesh);
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if (DT_SUCCESS != mesh->init(¶ms))
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{
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dtFreeNavMesh(mesh);
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sLog.outError("MMAP:loadMapData: Failed to initialize dtNavMesh for mmap %03u from file %s", mapId, fileName);
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delete [] fileName;
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return false;
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}
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delete [] fileName;
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sLog.outDetail("MMAP:loadMapData: Loaded %03i.mmap", mapId);
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// store inside our map list
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MMapData* mmap_data = new MMapData(mesh);
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mmap_data->mmapLoadedTiles.clear();
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loadedMMaps.insert(std::pair<uint32, MMapData*>(mapId, mmap_data));
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return true;
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}
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uint32 MMapManager::packTileID(int32 x, int32 y)
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{
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return uint32(x << 16 | y);
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}
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bool MMapManager::loadMap(uint32 mapId, int32 x, int32 y)
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{
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// make sure the mmap is loaded and ready to load tiles
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if(!loadMapData(mapId))
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return false;
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// get this mmap data
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MMapData* mmap = loadedMMaps[mapId];
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MANGOS_ASSERT(mmap->navMesh);
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// check if we already have this tile loaded
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uint32 packedGridPos = packTileID(x, y);
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if (mmap->mmapLoadedTiles.find(packedGridPos) != mmap->mmapLoadedTiles.end())
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{
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sLog.outError("MMAP:loadMap: Asked to load already loaded navmesh tile. %03u%02i%02i.mmtile", mapId, x, y);
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return false;
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}
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// load this tile :: mmaps/MMMXXYY.mmtile
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uint32 pathLen = sWorld.GetDataPath().length() + strlen("mmaps/%03i%02i%02i.mmtile")+1;
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char *fileName = new char[pathLen];
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snprintf(fileName, pathLen, (sWorld.GetDataPath()+"mmaps/%03i%02i%02i.mmtile").c_str(), mapId, x, y);
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FILE *file = fopen(fileName, "rb");
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if (!file)
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{
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sLog.outDebug("MMAP:loadMap: Could not open mmtile file '%s'", fileName);
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delete [] fileName;
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return false;
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}
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delete [] fileName;
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// read header
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MmapTileHeader fileHeader;
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fread(&fileHeader, sizeof(MmapTileHeader), 1, file);
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if (fileHeader.mmapMagic != MMAP_MAGIC)
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{
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sLog.outError("MMAP:loadMap: Bad header in mmap %03u%02i%02i.mmtile", mapId, x, y);
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return false;
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}
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if (fileHeader.mmapVersion != MMAP_VERSION)
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{
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sLog.outError("MMAP:loadMap: %03u%02i%02i.mmtile was built with generator v%i, expected v%i",
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mapId, x, y, fileHeader.mmapVersion, MMAP_VERSION);
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return false;
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}
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unsigned char* data = (unsigned char*)dtAlloc(fileHeader.size, DT_ALLOC_PERM);
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MANGOS_ASSERT(data);
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size_t result = fread(data, fileHeader.size, 1, file);
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if(!result)
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{
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sLog.outError("MMAP:loadMap: Bad header or data in mmap %03u%02i%02i.mmtile", mapId, x, y);
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fclose(file);
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return false;
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}
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fclose(file);
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dtMeshHeader* header = (dtMeshHeader*)data;
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dtTileRef tileRef = 0;
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// memory allocated for data is now managed by detour, and will be deallocated when the tile is removed
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if(DT_SUCCESS == mmap->navMesh->addTile(data, fileHeader.size, DT_TILE_FREE_DATA, 0, &tileRef))
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{
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mmap->mmapLoadedTiles.insert(std::pair<uint32, dtTileRef>(packedGridPos, tileRef));
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++loadedTiles;
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sLog.outDetail("MMAP:loadMap: Loaded mmtile %03i[%02i,%02i] into %03i[%02i,%02i]", mapId, x, y, mapId, header->x, header->y);
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return true;
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}
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else
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{
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sLog.outError("MMAP:loadMap: Could not load %03u%02i%02i.mmtile into navmesh", mapId, x, y);
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dtFree(data);
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return false;
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}
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return false;
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}
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bool MMapManager::unloadMap(uint32 mapId, int32 x, int32 y)
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{
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// check if we have this map loaded
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if (loadedMMaps.find(mapId) == loadedMMaps.end())
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{
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// file may not exist, therefore not loaded
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sLog.outDebug("MMAP:unloadMap: Asked to unload not loaded navmesh map. %03u%02i%02i.mmtile", mapId, x, y);
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return false;
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}
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MMapData* mmap = loadedMMaps[mapId];
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// check if we have this tile loaded
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uint32 packedGridPos = packTileID(x, y);
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if (mmap->mmapLoadedTiles.find(packedGridPos) == mmap->mmapLoadedTiles.end())
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{
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// file may not exist, therefore not loaded
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sLog.outDebug("MMAP:unloadMap: Asked to unload not loaded navmesh tile. %03u%02i%02i.mmtile", mapId, x, y);
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return false;
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}
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dtTileRef tileRef = mmap->mmapLoadedTiles[packedGridPos];
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// unload, and mark as non loaded
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if(DT_SUCCESS != mmap->navMesh->removeTile(tileRef, NULL, NULL))
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{
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// this is technically a memory leak
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// if the grid is later reloaded, dtNavMesh::addTile will return error but no extra memory is used
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// we cannot recover from this error - assert out
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sLog.outError("MMAP:unloadMap: Could not unload %03u%02i%02i.mmtile from navmesh", mapId, x, y);
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MANGOS_ASSERT(false);
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}
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else
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{
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mmap->mmapLoadedTiles.erase(packedGridPos);
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--loadedTiles;
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sLog.outDetail("MMAP:unloadMap: Unloaded mmtile %03i[%02i,%02i] from %03i", mapId, x, y, mapId);
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return true;
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}
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return false;
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}
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bool MMapManager::unloadMap(uint32 mapId)
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{
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if (loadedMMaps.find(mapId) == loadedMMaps.end())
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{
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// file may not exist, therefore not loaded
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sLog.outDebug("MMAP:unloadMap: Asked to unload not loaded navmesh map %03u", mapId);
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return false;
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}
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// unload all tiles from given map
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MMapData* mmap = loadedMMaps[mapId];
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for (MMapTileSet::iterator i = mmap->mmapLoadedTiles.begin(); i != mmap->mmapLoadedTiles.end(); ++i)
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{
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uint32 x = (i->first >> 16);
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uint32 y = (i->first & 0x0000FFFF);
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if(DT_SUCCESS != mmap->navMesh->removeTile(i->second, NULL, NULL))
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sLog.outError("MMAP:unloadMap: Could not unload %03u%02i%02i.mmtile from navmesh", mapId, x, y);
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else
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{
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--loadedTiles;
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sLog.outDetail("MMAP:unloadMap: Unloaded mmtile %03i[%02i,%02i] from %03i", mapId, x, y, mapId);
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}
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}
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delete mmap;
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loadedMMaps.erase(mapId);
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sLog.outDetail("MMAP:unloadMap: Unloaded %03i.mmap", mapId);
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return true;
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}
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bool MMapManager::unloadMapInstance(uint32 mapId, uint32 instanceId)
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{
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// check if we have this map loaded
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if (loadedMMaps.find(mapId) == loadedMMaps.end())
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{
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// file may not exist, therefore not loaded
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sLog.outDebug("MMAP:unloadMapInstance: Asked to unload not loaded navmesh map %03u", mapId);
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return false;
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}
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MMapData* mmap = loadedMMaps[mapId];
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if (mmap->navMeshQueries.find(instanceId) == mmap->navMeshQueries.end())
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{
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sLog.outDebug("MMAP:unloadMapInstance: Asked to unload not loaded dtNavMeshQuery mapId %03u instanceId %u", mapId, instanceId);
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return false;
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}
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dtNavMeshQuery* query = mmap->navMeshQueries[instanceId];
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dtFreeNavMeshQuery(query);
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mmap->navMeshQueries.erase(instanceId);
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sLog.outDetail("MMAP:unloadMapInstance: Unloaded mapId %03u instanceId %u", mapId, instanceId);
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return true;
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}
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dtNavMesh const* MMapManager::GetNavMesh(uint32 mapId)
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{
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if (loadedMMaps.find(mapId) == loadedMMaps.end())
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return NULL;
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return loadedMMaps[mapId]->navMesh;
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}
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dtNavMeshQuery const* MMapManager::GetNavMeshQuery(uint32 mapId, uint32 instanceId)
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{
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if (loadedMMaps.find(mapId) == loadedMMaps.end())
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return NULL;
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MMapData* mmap = loadedMMaps[mapId];
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if (mmap->navMeshQueries.find(instanceId) == mmap->navMeshQueries.end())
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{
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// allocate mesh query
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dtNavMeshQuery* query = dtAllocNavMeshQuery();
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MANGOS_ASSERT(query);
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if(DT_SUCCESS != query->init(mmap->navMesh, 1024))
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{
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dtFreeNavMeshQuery(query);
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sLog.outError("MMAP:GetNavMeshQuery: Failed to initialize dtNavMeshQuery for mapId %03u instanceId %u", mapId, instanceId);
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return NULL;
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}
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sLog.outDetail("MMAP:GetNavMeshQuery: created dtNavMeshQuery for mapId %03u instanceId %u", mapId, instanceId);
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mmap->navMeshQueries.insert(std::pair<uint32, dtNavMeshQuery*>(instanceId, query));
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}
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return mmap->navMeshQueries[instanceId];
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}
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}
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@ -25,4 +25,84 @@
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#include "../../dep/recastnavigation/Detour/Include/DetourNavMesh.h"
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#include "../../dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h"
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// memory management
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inline void* dtCustomAlloc(int size, dtAllocHint /*hint*/)
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{
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return (void*)new unsigned char[size];
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}
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inline void dtCustomFree(void* ptr)
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{
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delete [] (unsigned char*)ptr;
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}
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// move map related classes
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namespace MMAP
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{
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typedef UNORDERED_MAP<uint32, dtTileRef> MMapTileSet;
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typedef UNORDERED_MAP<uint32, dtNavMeshQuery*> NavMeshQuerySet;
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// dummy struct to hold map's mmap data
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struct MMapData
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{
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MMapData(dtNavMesh* mesh) : navMesh(mesh) {}
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~MMapData()
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{
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for (NavMeshQuerySet::iterator i = navMeshQueries.begin(); i != navMeshQueries.end(); ++i)
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dtFreeNavMeshQuery(i->second);
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if (navMesh)
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dtFreeNavMesh(navMesh);
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}
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dtNavMesh* navMesh;
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// we have to use single dtNavMeshQuery for every instance, since those are not thread safe
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NavMeshQuerySet navMeshQueries; // instanceId to query
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MMapTileSet mmapLoadedTiles; // maps [map grid coords] to [dtTile]
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};
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typedef UNORDERED_MAP<uint32, MMapData*> MMapDataSet;
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// singelton class
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// holds all all access to mmap loading unloading and meshes
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class MMapManager
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{
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public:
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MMapManager() : loadedTiles(0) {}
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~MMapManager();
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bool loadMap(uint32 mapId, int32 x, int32 y);
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bool unloadMap(uint32 mapId, int32 x, int32 y);
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bool unloadMap(uint32 mapId);
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bool unloadMapInstance(uint32 mapId, uint32 instanceId);
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// the returned [dtNavMeshQuery const*] is NOT threadsafe
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dtNavMeshQuery const* GetNavMeshQuery(uint32 mapId, uint32 instanceId);
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dtNavMesh const* GetNavMesh(uint32 mapId);
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uint32 getLoadedTilesCount() const { return loadedTiles; }
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uint32 getLoadedMapsCount() const { return loadedMMaps.size(); }
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private:
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bool loadMapData(uint32 mapId);
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uint32 packTileID(int32 x, int32 y);
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MMapDataSet loadedMMaps;
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uint32 loadedTiles;
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};
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// static class
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// holds all mmap global data
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// access point to MMapManager singelton
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class MMapFactory
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{
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public:
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static MMapManager* createOrGetMMapManager();
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static void clear();
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static void preventPathfindingOnMaps(const char* ignoreMapIds);
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static bool IsPathfindingEnabled(uint32 mapId);
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};
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}
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#endif // _MOVE_MAP_H
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@ -25,4 +25,30 @@
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#define MMAP_MAGIC 0x4d4d4150 // 'MMAP'
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#define MMAP_VERSION 3
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struct MmapTileHeader
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{
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uint32 mmapMagic;
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uint32 dtVersion;
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uint32 mmapVersion;
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uint32 size;
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bool usesLiquids : 1;
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MmapTileHeader() : mmapMagic(MMAP_MAGIC), dtVersion(DT_NAVMESH_VERSION),
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mmapVersion(MMAP_VERSION), size(0), usesLiquids(true) {}
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};
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enum NavTerrain
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{
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NAV_EMPTY = 0x00,
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NAV_GROUND = 0x01,
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NAV_MAGMA = 0x02,
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NAV_SLIME = 0x04,
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NAV_WATER = 0x08,
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NAV_UNUSED1 = 0x10,
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NAV_UNUSED2 = 0x20,
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NAV_UNUSED3 = 0x40,
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NAV_UNUSED4 = 0x80
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// we only have 8 bits
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};
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#endif // _MOVE_MAP_SHARED_DEFINES_H
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@ -23,3 +23,753 @@
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#include "Log.h"
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#include "../recastnavigation/Detour/Include/DetourCommon.h"
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////////////////// PathFinder //////////////////
|
||||
PathFinder::PathFinder(const Unit* owner) :
|
||||
m_polyLength(0), m_type(PATHFIND_BLANK),
|
||||
m_useStraightPath(false), m_forceDestination(false), m_pointPathLimit(MAX_POINT_PATH_LENGTH),
|
||||
m_sourceUnit(owner), m_navMesh(NULL), m_navMeshQuery(NULL)
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::PathInfo for %u \n", m_sourceUnit->GetGUIDLow());
|
||||
|
||||
uint32 mapId = m_sourceUnit->GetMapId();
|
||||
if (MMAP::MMapFactory::IsPathfindingEnabled(mapId))
|
||||
{
|
||||
MMAP::MMapManager* mmap = MMAP::MMapFactory::createOrGetMMapManager();
|
||||
m_navMesh = mmap->GetNavMesh(mapId);
|
||||
m_navMeshQuery = mmap->GetNavMeshQuery(mapId, m_sourceUnit->GetInstanceId());
|
||||
}
|
||||
|
||||
createFilter();
|
||||
}
|
||||
|
||||
PathFinder::~PathFinder()
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::~PathInfo() for %u \n", m_sourceUnit->GetGUIDLow());
|
||||
}
|
||||
|
||||
bool PathFinder::calculate(float destX, float destY, float destZ, bool forceDest)
|
||||
{
|
||||
Vector3 oldDest = getEndPosition();
|
||||
Vector3 dest(destX, destY, destZ);
|
||||
setEndPosition(dest);
|
||||
|
||||
float x, y, z;
|
||||
m_sourceUnit->GetPosition(x, y, z);
|
||||
Vector3 start(x, y, z);
|
||||
setStartPosition(start);
|
||||
|
||||
m_forceDestination = forceDest;
|
||||
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::calculate() for %u \n", m_sourceUnit->GetGUIDLow());
|
||||
|
||||
// make sure navMesh works - we can run on map w/o mmap
|
||||
// check if the start and end point have a .mmtile loaded (can we pass via not loaded tile on the way?)
|
||||
if (!m_navMesh || !m_navMeshQuery || m_sourceUnit->hasUnitState(UNIT_STAT_IGNORE_PATHFINDING) ||
|
||||
!HaveTile(start) || !HaveTile(dest))
|
||||
{
|
||||
BuildShortcut();
|
||||
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
|
||||
return true;
|
||||
}
|
||||
|
||||
updateFilter();
|
||||
|
||||
// check if destination moved - if not we can optimize something here
|
||||
// we are following old, precalculated path?
|
||||
float dist = m_sourceUnit->GetObjectBoundingRadius();
|
||||
if (inRange(oldDest, dest, dist, dist) && m_pathPoints.size() > 2)
|
||||
{
|
||||
// our target is not moving - we just coming closer
|
||||
// we are moving on precalculated path - enjoy the ride
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::calculate:: precalculated path\n");
|
||||
|
||||
m_pathPoints.erase(m_pathPoints.begin());
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
// target moved, so we need to update the poly path
|
||||
BuildPolyPath(start, dest);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
dtPolyRef PathFinder::getPathPolyByPosition(const dtPolyRef *polyPath, uint32 polyPathSize, const float* point, float *distance) const
|
||||
{
|
||||
if (!polyPath || !polyPathSize)
|
||||
return INVALID_POLYREF;
|
||||
|
||||
dtPolyRef nearestPoly = INVALID_POLYREF;
|
||||
float minDist2d = FLT_MAX;
|
||||
float minDist3d = 0.0f;
|
||||
|
||||
for (uint32 i = 0; i < polyPathSize; ++i)
|
||||
{
|
||||
float closestPoint[VERTEX_SIZE];
|
||||
if (DT_SUCCESS != m_navMeshQuery->closestPointOnPoly(polyPath[i], point, closestPoint))
|
||||
continue;
|
||||
|
||||
float d = dtVdist2DSqr(point, closestPoint);
|
||||
if (d < minDist2d)
|
||||
{
|
||||
minDist2d = d;
|
||||
nearestPoly = polyPath[i];
|
||||
minDist3d = dtVdistSqr(point, closestPoint);
|
||||
}
|
||||
|
||||
if(minDist2d < 1.0f) // shortcut out - close enough for us
|
||||
break;
|
||||
}
|
||||
|
||||
if (distance)
|
||||
*distance = dtSqrt(minDist3d);
|
||||
|
||||
return (minDist2d < 3.0f) ? nearestPoly : INVALID_POLYREF;
|
||||
}
|
||||
|
||||
dtPolyRef PathFinder::getPolyByLocation(const float* point, float *distance) const
|
||||
{
|
||||
// first we check the current path
|
||||
// if the current path doesn't contain the current poly,
|
||||
// we need to use the expensive navMesh.findNearestPoly
|
||||
dtPolyRef polyRef = getPathPolyByPosition(m_pathPolyRefs, m_polyLength, point, distance);
|
||||
if(polyRef != INVALID_POLYREF)
|
||||
return polyRef;
|
||||
|
||||
// we don't have it in our old path
|
||||
// try to get it by findNearestPoly()
|
||||
// first try with low search box
|
||||
float extents[VERTEX_SIZE] = {3.0f, 5.0f, 3.0f}; // bounds of poly search area
|
||||
float closestPoint[VERTEX_SIZE] = {0.0f, 0.0f, 0.0f};
|
||||
dtStatus result = m_navMeshQuery->findNearestPoly(point, extents, &m_filter, &polyRef, closestPoint);
|
||||
if(DT_SUCCESS == result && polyRef != INVALID_POLYREF)
|
||||
{
|
||||
*distance = dtVdist(closestPoint, point);
|
||||
return polyRef;
|
||||
}
|
||||
|
||||
// still nothing ..
|
||||
// try with bigger search box
|
||||
extents[1] = 200.0f;
|
||||
result = m_navMeshQuery->findNearestPoly(point, extents, &m_filter, &polyRef, closestPoint);
|
||||
if(DT_SUCCESS == result && polyRef != INVALID_POLYREF)
|
||||
{
|
||||
*distance = dtVdist(closestPoint, point);
|
||||
return polyRef;
|
||||
}
|
||||
|
||||
return INVALID_POLYREF;
|
||||
}
|
||||
|
||||
void PathFinder::BuildPolyPath(const Vector3 &startPos, const Vector3 &endPos)
|
||||
{
|
||||
// *** getting start/end poly logic ***
|
||||
|
||||
float distToStartPoly, distToEndPoly;
|
||||
float startPoint[VERTEX_SIZE] = {startPos.y, startPos.z, startPos.x};
|
||||
float endPoint[VERTEX_SIZE] = {endPos.y, endPos.z, endPos.x};
|
||||
|
||||
dtPolyRef startPoly = getPolyByLocation(startPoint, &distToStartPoly);
|
||||
dtPolyRef endPoly = getPolyByLocation(endPoint, &distToEndPoly);
|
||||
|
||||
// we have a hole in our mesh
|
||||
// make shortcut path and mark it as NOPATH ( with flying exception )
|
||||
// its up to caller how he will use this info
|
||||
if (startPoly == INVALID_POLYREF || endPoly == INVALID_POLYREF)
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPoly == 0 || endPoly == 0)\n");
|
||||
BuildShortcut();
|
||||
m_type = (m_sourceUnit->GetTypeId() == TYPEID_UNIT && ((Creature*)m_sourceUnit)->CanFly())
|
||||
? PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH) : PATHFIND_NOPATH;
|
||||
return;
|
||||
}
|
||||
|
||||
// we may need a better number here
|
||||
bool farFromPoly = (distToStartPoly > 7.0f || distToEndPoly > 7.0f);
|
||||
if (farFromPoly)
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: farFromPoly distToStartPoly=%.3f distToEndPoly=%.3f\n", distToStartPoly, distToEndPoly);
|
||||
|
||||
bool buildShotrcut = false;
|
||||
if (m_sourceUnit->GetTypeId() == TYPEID_UNIT)
|
||||
{
|
||||
Creature* owner = (Creature*)m_sourceUnit;
|
||||
|
||||
Vector3 p = (distToStartPoly > 7.0f) ? startPos : endPos;
|
||||
if (m_sourceUnit->GetTerrain()->IsUnderWater(p.x, p.y, p.z))
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: underWater case\n");
|
||||
if (owner->CanSwim())
|
||||
buildShotrcut = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: flying case\n");
|
||||
if (owner->CanFly())
|
||||
buildShotrcut = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (buildShotrcut)
|
||||
{
|
||||
BuildShortcut();
|
||||
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
|
||||
return;
|
||||
}
|
||||
else
|
||||
{
|
||||
float closestPoint[VERTEX_SIZE];
|
||||
// we may want to use closestPointOnPolyBoundary instead
|
||||
if (DT_SUCCESS == m_navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint))
|
||||
{
|
||||
dtVcopy(endPoint, closestPoint);
|
||||
setActualEndPosition(Vector3(endPoint[2],endPoint[0],endPoint[1]));
|
||||
}
|
||||
|
||||
m_type = PATHFIND_INCOMPLETE;
|
||||
}
|
||||
}
|
||||
|
||||
// *** poly path generating logic ***
|
||||
|
||||
// start and end are on same polygon
|
||||
// just need to move in straight line
|
||||
if (startPoly == endPoly)
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPoly == endPoly)\n");
|
||||
|
||||
BuildShortcut();
|
||||
|
||||
m_pathPolyRefs[0] = startPoly;
|
||||
m_polyLength = 1;
|
||||
|
||||
m_type = farFromPoly ? PATHFIND_INCOMPLETE : PATHFIND_NORMAL;
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: path type %d\n", m_type);
|
||||
return;
|
||||
}
|
||||
|
||||
// look for startPoly/endPoly in current path
|
||||
// TODO: we can merge it with getPathPolyByPosition() loop
|
||||
bool startPolyFound = false;
|
||||
bool endPolyFound = false;
|
||||
uint32 pathStartIndex, pathEndIndex;
|
||||
|
||||
if (m_polyLength)
|
||||
{
|
||||
for (pathStartIndex = 0; pathStartIndex < m_polyLength; ++pathStartIndex)
|
||||
{
|
||||
// here to carch few bugs
|
||||
MANGOS_ASSERT(m_pathPolyRefs[pathStartIndex] != INVALID_POLYREF);
|
||||
|
||||
if (m_pathPolyRefs[pathStartIndex] == startPoly)
|
||||
{
|
||||
startPolyFound = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
for (pathEndIndex = m_polyLength-1; pathEndIndex > pathStartIndex; --pathEndIndex)
|
||||
if (m_pathPolyRefs[pathEndIndex] == endPoly)
|
||||
{
|
||||
endPolyFound = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (startPolyFound && endPolyFound)
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPolyFound && endPolyFound)\n");
|
||||
|
||||
// we moved along the path and the target did not move out of our old poly-path
|
||||
// our path is a simple subpath case, we have all the data we need
|
||||
// just "cut" it out
|
||||
|
||||
m_polyLength = pathEndIndex - pathStartIndex + 1;
|
||||
memmove(m_pathPolyRefs, m_pathPolyRefs+pathStartIndex, m_polyLength*sizeof(dtPolyRef));
|
||||
}
|
||||
else if (startPolyFound && !endPolyFound)
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (startPolyFound && !endPolyFound)\n");
|
||||
|
||||
// we are moving on the old path but target moved out
|
||||
// so we have atleast part of poly-path ready
|
||||
|
||||
m_polyLength -= pathStartIndex;
|
||||
|
||||
// try to adjust the suffix of the path instead of recalculating entire length
|
||||
// at given interval the target cannot get too far from its last location
|
||||
// thus we have less poly to cover
|
||||
// sub-path of optimal path is optimal
|
||||
|
||||
// take ~80% of the original length
|
||||
// TODO : play with the values here
|
||||
uint32 prefixPolyLength = uint32(m_polyLength*0.8f + 0.5f);
|
||||
memmove(m_pathPolyRefs, m_pathPolyRefs+pathStartIndex, prefixPolyLength*sizeof(dtPolyRef));
|
||||
|
||||
dtPolyRef suffixStartPoly = m_pathPolyRefs[prefixPolyLength-1];
|
||||
|
||||
// we need any point on our suffix start poly to generate poly-path, so we need last poly in prefix data
|
||||
float suffixEndPoint[VERTEX_SIZE];
|
||||
if (DT_SUCCESS != m_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint))
|
||||
{
|
||||
// we can hit offmesh connection as last poly - closestPointOnPoly() don't like that
|
||||
// try to recover by using prev polyref
|
||||
--prefixPolyLength;
|
||||
suffixStartPoly = m_pathPolyRefs[prefixPolyLength-1];
|
||||
if (DT_SUCCESS != m_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint))
|
||||
{
|
||||
// suffixStartPoly is still invalid, error state
|
||||
BuildShortcut();
|
||||
m_type = PATHFIND_NOPATH;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// generate suffix
|
||||
uint32 suffixPolyLength = 0;
|
||||
dtStatus dtResult = m_navMeshQuery->findPath(
|
||||
suffixStartPoly, // start polygon
|
||||
endPoly, // end polygon
|
||||
suffixEndPoint, // start position
|
||||
endPoint, // end position
|
||||
&m_filter, // polygon search filter
|
||||
m_pathPolyRefs + prefixPolyLength - 1, // [out] path
|
||||
(int*)&suffixPolyLength,
|
||||
MAX_PATH_LENGTH-prefixPolyLength); // max number of polygons in output path
|
||||
|
||||
if (!suffixPolyLength || dtResult != DT_SUCCESS)
|
||||
{
|
||||
// this is probably an error state, but we'll leave it
|
||||
// and hopefully recover on the next Update
|
||||
// we still need to copy our preffix
|
||||
sLog.outError("%u's Path Build failed: 0 length path", m_sourceUnit->GetGUIDLow());
|
||||
}
|
||||
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ m_polyLength=%u prefixPolyLength=%u suffixPolyLength=%u \n",m_polyLength, prefixPolyLength, suffixPolyLength);
|
||||
|
||||
// new path = prefix + suffix - overlap
|
||||
m_polyLength = prefixPolyLength + suffixPolyLength - 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ BuildPolyPath :: (!startPolyFound && !endPolyFound)\n");
|
||||
|
||||
// either we have no path at all -> first run
|
||||
// or something went really wrong -> we aren't moving along the path to the target
|
||||
// just generate new path
|
||||
|
||||
// free and invalidate old path data
|
||||
clear();
|
||||
|
||||
dtStatus dtResult = m_navMeshQuery->findPath(
|
||||
startPoly, // start polygon
|
||||
endPoly, // end polygon
|
||||
startPoint, // start position
|
||||
endPoint, // end position
|
||||
&m_filter, // polygon search filter
|
||||
m_pathPolyRefs, // [out] path
|
||||
(int*)&m_polyLength,
|
||||
MAX_PATH_LENGTH); // max number of polygons in output path
|
||||
|
||||
if (!m_polyLength || dtResult != DT_SUCCESS)
|
||||
{
|
||||
// only happens if we passed bad data to findPath(), or navmesh is messed up
|
||||
sLog.outError("%u's Path Build failed: 0 length path", m_sourceUnit->GetGUIDLow());
|
||||
BuildShortcut();
|
||||
m_type = PATHFIND_NOPATH;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// by now we know what type of path we can get
|
||||
if (m_pathPolyRefs[m_polyLength - 1] == endPoly && !(m_type & PATHFIND_INCOMPLETE))
|
||||
m_type = PATHFIND_NORMAL;
|
||||
else
|
||||
m_type = PATHFIND_INCOMPLETE;
|
||||
|
||||
// generate the point-path out of our up-to-date poly-path
|
||||
BuildPointPath(startPoint, endPoint);
|
||||
}
|
||||
|
||||
void PathFinder::BuildPointPath(const float *startPoint, const float *endPoint)
|
||||
{
|
||||
float pathPoints[MAX_POINT_PATH_LENGTH*VERTEX_SIZE];
|
||||
uint32 pointCount = 0;
|
||||
dtStatus dtResult = DT_FAILURE;
|
||||
if (m_useStraightPath)
|
||||
{
|
||||
dtResult = m_navMeshQuery->findStraightPath(
|
||||
startPoint, // start position
|
||||
endPoint, // end position
|
||||
m_pathPolyRefs, // current path
|
||||
m_polyLength, // lenth of current path
|
||||
pathPoints, // [out] path corner points
|
||||
NULL, // [out] flags
|
||||
NULL, // [out] shortened path
|
||||
(int*)&pointCount,
|
||||
m_pointPathLimit); // maximum number of points/polygons to use
|
||||
}
|
||||
else
|
||||
{
|
||||
dtResult = findSmoothPath(
|
||||
startPoint, // start position
|
||||
endPoint, // end position
|
||||
m_pathPolyRefs, // current path
|
||||
m_polyLength, // length of current path
|
||||
pathPoints, // [out] path corner points
|
||||
(int*)&pointCount,
|
||||
m_pointPathLimit); // maximum number of points
|
||||
}
|
||||
|
||||
if (pointCount < 2 || dtResult != DT_SUCCESS)
|
||||
{
|
||||
// only happens if pass bad data to findStraightPath or navmesh is broken
|
||||
// single point paths can be generated here
|
||||
// TODO : check the exact cases
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath FAILED! path sized %d returned\n", pointCount);
|
||||
BuildShortcut();
|
||||
m_type = PATHFIND_NOPATH;
|
||||
return;
|
||||
}
|
||||
|
||||
m_pathPoints.resize(pointCount);
|
||||
for (uint32 i = 0; i < pointCount; ++i)
|
||||
m_pathPoints[i] = Vector3(pathPoints[i*VERTEX_SIZE+2], pathPoints[i*VERTEX_SIZE], pathPoints[i*VERTEX_SIZE+1]);
|
||||
|
||||
// first point is always our current location - we need the next one
|
||||
setActualEndPosition(m_pathPoints[pointCount-1]);
|
||||
|
||||
// force the given destination, if needed
|
||||
if(m_forceDestination &&
|
||||
(!(m_type & PATHFIND_NORMAL) || !inRange(getEndPosition(), getActualEndPosition(), 1.0f, 1.0f)))
|
||||
{
|
||||
// we may want to keep partial subpath
|
||||
if(dist3DSqr(getActualEndPosition(), getEndPosition()) <
|
||||
0.3f * dist3DSqr(getStartPosition(), getEndPosition()))
|
||||
{
|
||||
setActualEndPosition(getEndPosition());
|
||||
m_pathPoints[m_pathPoints.size()-1] = getEndPosition();
|
||||
}
|
||||
else
|
||||
{
|
||||
setActualEndPosition(getEndPosition());
|
||||
BuildShortcut();
|
||||
}
|
||||
|
||||
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
|
||||
}
|
||||
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildPointPath path type %d size %d poly-size %d\n", m_type, pointCount, m_polyLength);
|
||||
}
|
||||
|
||||
void PathFinder::BuildShortcut()
|
||||
{
|
||||
DEBUG_FILTER_LOG(LOG_FILTER_PATHFINDING, "++ PathFinder::BuildShortcut :: making shortcut\n");
|
||||
|
||||
clear();
|
||||
|
||||
// make two point path, our curr pos is the start, and dest is the end
|
||||
m_pathPoints.resize(2);
|
||||
|
||||
// set start and a default next position
|
||||
m_pathPoints[0] = getStartPosition();
|
||||
m_pathPoints[1] = getActualEndPosition();
|
||||
|
||||
m_type = PATHFIND_SHORTCUT;
|
||||
}
|
||||
|
||||
void PathFinder::createFilter()
|
||||
{
|
||||
uint16 includeFlags = 0;
|
||||
uint16 excludeFlags = 0;
|
||||
|
||||
if (m_sourceUnit->GetTypeId() == TYPEID_UNIT)
|
||||
{
|
||||
Creature* creature = (Creature*)m_sourceUnit;
|
||||
if (creature->CanWalk())
|
||||
includeFlags |= NAV_GROUND; // walk
|
||||
|
||||
// creatures don't take environmental damage
|
||||
if (creature->CanSwim())
|
||||
includeFlags |= (NAV_WATER | NAV_MAGMA | NAV_SLIME); // swim
|
||||
}
|
||||
else if (m_sourceUnit->GetTypeId() == TYPEID_PLAYER)
|
||||
{
|
||||
// perfect support not possible, just stay 'safe'
|
||||
includeFlags |= (NAV_GROUND | NAV_WATER);
|
||||
}
|
||||
|
||||
m_filter.setIncludeFlags(includeFlags);
|
||||
m_filter.setExcludeFlags(excludeFlags);
|
||||
|
||||
updateFilter();
|
||||
}
|
||||
|
||||
void PathFinder::updateFilter()
|
||||
{
|
||||
// allow creatures to cheat and use different movement types if they are moved
|
||||
// forcefully into terrain they can't normally move in
|
||||
if (m_sourceUnit->IsInWater() || m_sourceUnit->IsUnderWater())
|
||||
{
|
||||
uint16 includedFlags = m_filter.getIncludeFlags();
|
||||
includedFlags |= getNavTerrain(m_sourceUnit->GetPositionX(),
|
||||
m_sourceUnit->GetPositionY(),
|
||||
m_sourceUnit->GetPositionZ());
|
||||
|
||||
m_filter.setIncludeFlags(includedFlags);
|
||||
}
|
||||
}
|
||||
|
||||
NavTerrain PathFinder::getNavTerrain(float x, float y, float z)
|
||||
{
|
||||
GridMapLiquidData data;
|
||||
m_sourceUnit->GetTerrain()->getLiquidStatus(x, y, z, MAP_ALL_LIQUIDS, &data);
|
||||
|
||||
switch (data.type)
|
||||
{
|
||||
case MAP_LIQUID_TYPE_WATER:
|
||||
case MAP_LIQUID_TYPE_OCEAN:
|
||||
return NAV_WATER;
|
||||
case MAP_LIQUID_TYPE_MAGMA:
|
||||
return NAV_MAGMA;
|
||||
case MAP_LIQUID_TYPE_SLIME:
|
||||
return NAV_SLIME;
|
||||
default:
|
||||
return NAV_GROUND;
|
||||
}
|
||||
}
|
||||
|
||||
bool PathFinder::HaveTile(const Vector3 &p) const
|
||||
{
|
||||
int tx, ty;
|
||||
float point[VERTEX_SIZE] = {p.y, p.z, p.x};
|
||||
|
||||
m_navMesh->calcTileLoc(point, &tx, &ty);
|
||||
return (m_navMesh->getTileAt(tx, ty) != NULL);
|
||||
}
|
||||
|
||||
uint32 PathFinder::fixupCorridor(dtPolyRef* path, uint32 npath, uint32 maxPath,
|
||||
const dtPolyRef* visited, uint32 nvisited)
|
||||
{
|
||||
int32 furthestPath = -1;
|
||||
int32 furthestVisited = -1;
|
||||
|
||||
// Find furthest common polygon.
|
||||
for (int32 i = npath-1; i >= 0; --i)
|
||||
{
|
||||
bool found = false;
|
||||
for (int32 j = nvisited-1; j >= 0; --j)
|
||||
{
|
||||
if (path[i] == visited[j])
|
||||
{
|
||||
furthestPath = i;
|
||||
furthestVisited = j;
|
||||
found = true;
|
||||
}
|
||||
}
|
||||
if (found)
|
||||
break;
|
||||
}
|
||||
|
||||
// If no intersection found just return current path.
|
||||
if (furthestPath == -1 || furthestVisited == -1)
|
||||
return npath;
|
||||
|
||||
// Concatenate paths.
|
||||
|
||||
// Adjust beginning of the buffer to include the visited.
|
||||
uint32 req = nvisited - furthestVisited;
|
||||
uint32 orig = uint32(furthestPath+1) < npath ? furthestPath+1 : npath;
|
||||
uint32 size = npath-orig > 0 ? npath-orig : 0;
|
||||
if (req+size > maxPath)
|
||||
size = maxPath-req;
|
||||
|
||||
if (size)
|
||||
memmove(path+req, path+orig, size*sizeof(dtPolyRef));
|
||||
|
||||
// Store visited
|
||||
for (uint32 i = 0; i < req; ++i)
|
||||
path[i] = visited[(nvisited-1)-i];
|
||||
|
||||
return req+size;
|
||||
}
|
||||
|
||||
bool PathFinder::getSteerTarget(const float* startPos, const float* endPos,
|
||||
float minTargetDist, const dtPolyRef* path, uint32 pathSize,
|
||||
float* steerPos, unsigned char& steerPosFlag, dtPolyRef& steerPosRef)
|
||||
{
|
||||
// Find steer target.
|
||||
static const uint32 MAX_STEER_POINTS = 3;
|
||||
float steerPath[MAX_STEER_POINTS*VERTEX_SIZE];
|
||||
unsigned char steerPathFlags[MAX_STEER_POINTS];
|
||||
dtPolyRef steerPathPolys[MAX_STEER_POINTS];
|
||||
uint32 nsteerPath = 0;
|
||||
dtStatus dtResult = m_navMeshQuery->findStraightPath(startPos, endPos, path, pathSize,
|
||||
steerPath, steerPathFlags, steerPathPolys, (int*)&nsteerPath, MAX_STEER_POINTS);
|
||||
if (!nsteerPath || DT_SUCCESS != dtResult)
|
||||
return false;
|
||||
|
||||
// Find vertex far enough to steer to.
|
||||
uint32 ns = 0;
|
||||
while (ns < nsteerPath)
|
||||
{
|
||||
// Stop at Off-Mesh link or when point is further than slop away.
|
||||
if ((steerPathFlags[ns] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ||
|
||||
!inRangeYZX(&steerPath[ns*VERTEX_SIZE], startPos, minTargetDist, 1000.0f))
|
||||
break;
|
||||
ns++;
|
||||
}
|
||||
// Failed to find good point to steer to.
|
||||
if (ns >= nsteerPath)
|
||||
return false;
|
||||
|
||||
dtVcopy(steerPos, &steerPath[ns*VERTEX_SIZE]);
|
||||
steerPos[1] = startPos[1]; // keep Z value
|
||||
steerPosFlag = steerPathFlags[ns];
|
||||
steerPosRef = steerPathPolys[ns];
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
dtStatus PathFinder::findSmoothPath(const float* startPos, const float* endPos,
|
||||
const dtPolyRef* polyPath, uint32 polyPathSize,
|
||||
float* smoothPath, int* smoothPathSize, uint32 maxSmoothPathSize)
|
||||
{
|
||||
*smoothPathSize = 0;
|
||||
uint32 nsmoothPath = 0;
|
||||
|
||||
dtPolyRef polys[MAX_PATH_LENGTH];
|
||||
memcpy(polys, polyPath, sizeof(dtPolyRef)*polyPathSize);
|
||||
uint32 npolys = polyPathSize;
|
||||
|
||||
float iterPos[VERTEX_SIZE], targetPos[VERTEX_SIZE];
|
||||
if(DT_SUCCESS != m_navMeshQuery->closestPointOnPolyBoundary(polys[0], startPos, iterPos))
|
||||
return DT_FAILURE;
|
||||
|
||||
if(DT_SUCCESS != m_navMeshQuery->closestPointOnPolyBoundary(polys[npolys-1], endPos, targetPos))
|
||||
return DT_FAILURE;
|
||||
|
||||
dtVcopy(&smoothPath[nsmoothPath*VERTEX_SIZE], iterPos);
|
||||
nsmoothPath++;
|
||||
|
||||
// Move towards target a small advancement at a time until target reached or
|
||||
// when ran out of memory to store the path.
|
||||
while (npolys && nsmoothPath < maxSmoothPathSize)
|
||||
{
|
||||
// Find location to steer towards.
|
||||
float steerPos[VERTEX_SIZE];
|
||||
unsigned char steerPosFlag;
|
||||
dtPolyRef steerPosRef = INVALID_POLYREF;
|
||||
|
||||
if (!getSteerTarget(iterPos, targetPos, SMOOTH_PATH_SLOP, polys, npolys, steerPos, steerPosFlag, steerPosRef))
|
||||
break;
|
||||
|
||||
bool endOfPath = (steerPosFlag & DT_STRAIGHTPATH_END);
|
||||
bool offMeshConnection = (steerPosFlag & DT_STRAIGHTPATH_OFFMESH_CONNECTION);
|
||||
|
||||
// Find movement delta.
|
||||
float delta[VERTEX_SIZE];
|
||||
dtVsub(delta, steerPos, iterPos);
|
||||
float len = dtSqrt(dtVdot(delta,delta));
|
||||
// If the steer target is end of path or off-mesh link, do not move past the location.
|
||||
if ((endOfPath || offMeshConnection) && len < SMOOTH_PATH_STEP_SIZE)
|
||||
len = 1.0f;
|
||||
else
|
||||
len = SMOOTH_PATH_STEP_SIZE / len;
|
||||
|
||||
float moveTgt[VERTEX_SIZE];
|
||||
dtVmad(moveTgt, iterPos, delta, len);
|
||||
|
||||
// Move
|
||||
float result[VERTEX_SIZE];
|
||||
const static uint32 MAX_VISIT_POLY = 16;
|
||||
dtPolyRef visited[MAX_VISIT_POLY];
|
||||
|
||||
uint32 nvisited = 0;
|
||||
m_navMeshQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &m_filter, result, visited, (int*)&nvisited, MAX_VISIT_POLY);
|
||||
npolys = fixupCorridor(polys, npolys, MAX_PATH_LENGTH, visited, nvisited);
|
||||
|
||||
m_navMeshQuery->getPolyHeight(polys[0], result, &result[1]);
|
||||
result[1] += 0.5f;
|
||||
dtVcopy(iterPos, result);
|
||||
|
||||
// Handle end of path and off-mesh links when close enough.
|
||||
if (endOfPath && inRangeYZX(iterPos, steerPos, SMOOTH_PATH_SLOP, 1.0f))
|
||||
{
|
||||
// Reached end of path.
|
||||
dtVcopy(iterPos, targetPos);
|
||||
if (nsmoothPath < maxSmoothPathSize)
|
||||
{
|
||||
dtVcopy(&smoothPath[nsmoothPath*VERTEX_SIZE], iterPos);
|
||||
nsmoothPath++;
|
||||
}
|
||||
break;
|
||||
}
|
||||
else if (offMeshConnection && inRangeYZX(iterPos, steerPos, SMOOTH_PATH_SLOP, 1.0f))
|
||||
{
|
||||
// Advance the path up to and over the off-mesh connection.
|
||||
dtPolyRef prevRef = INVALID_POLYREF;
|
||||
dtPolyRef polyRef = polys[0];
|
||||
uint32 npos = 0;
|
||||
while (npos < npolys && polyRef != steerPosRef)
|
||||
{
|
||||
prevRef = polyRef;
|
||||
polyRef = polys[npos];
|
||||
npos++;
|
||||
}
|
||||
|
||||
for (uint32 i = npos; i < npolys; ++i)
|
||||
polys[i-npos] = polys[i];
|
||||
|
||||
npolys -= npos;
|
||||
|
||||
// Handle the connection.
|
||||
float startPos[VERTEX_SIZE], endPos[VERTEX_SIZE];
|
||||
if (DT_SUCCESS == m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos))
|
||||
{
|
||||
if (nsmoothPath < maxSmoothPathSize)
|
||||
{
|
||||
dtVcopy(&smoothPath[nsmoothPath*VERTEX_SIZE], startPos);
|
||||
nsmoothPath++;
|
||||
}
|
||||
// Move position at the other side of the off-mesh link.
|
||||
dtVcopy(iterPos, endPos);
|
||||
|
||||
m_navMeshQuery->getPolyHeight(polys[0], iterPos, &iterPos[1]);
|
||||
iterPos[1] += 0.5f;
|
||||
}
|
||||
}
|
||||
|
||||
// Store results.
|
||||
if (nsmoothPath < maxSmoothPathSize)
|
||||
{
|
||||
dtVcopy(&smoothPath[nsmoothPath*VERTEX_SIZE], iterPos);
|
||||
nsmoothPath++;
|
||||
}
|
||||
}
|
||||
|
||||
*smoothPathSize = nsmoothPath;
|
||||
|
||||
// this is most likely a loop
|
||||
return nsmoothPath < MAX_POINT_PATH_LENGTH ? DT_SUCCESS : DT_FAILURE;
|
||||
}
|
||||
|
||||
bool PathFinder::inRangeYZX(const float* v1, const float* v2, float r, float h) const
|
||||
{
|
||||
const float dx = v2[0] - v1[0];
|
||||
const float dy = v2[1] - v1[1]; // elevation
|
||||
const float dz = v2[2] - v1[2];
|
||||
return (dx*dx + dz*dz) < r*r && fabsf(dy) < h;
|
||||
}
|
||||
|
||||
bool PathFinder::inRange(const Vector3 &p1, const Vector3 &p2, float r, float h) const
|
||||
{
|
||||
Vector3 d = p1-p2;
|
||||
return (d.x*d.x + d.y*d.y) < r*r && fabsf(d.z) < h;
|
||||
}
|
||||
|
||||
float PathFinder::dist3DSqr(const Vector3 &p1, const Vector3 &p2) const
|
||||
{
|
||||
return (p1-p2).squaredLength();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -25,4 +25,112 @@
|
|||
|
||||
#include "movement/MoveSplineInitArgs.h"
|
||||
|
||||
using Movement::Vector3;
|
||||
using Movement::PointsArray;
|
||||
|
||||
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 = 0x0000, // path not built yet
|
||||
PATHFIND_NORMAL = 0x0001, // normal path
|
||||
PATHFIND_SHORTCUT = 0x0002, // travel through obstacles, terrain, air, etc (old behavior)
|
||||
PATHFIND_INCOMPLETE = 0x0004, // we have partial path to follow - getting closer to target
|
||||
PATHFIND_NOPATH = 0x0008, // no valid path at all or error in generating one
|
||||
PATHFIND_NOT_USING_PATH = 0x0010 // used when we are either flying/swiming or on map w/o mmaps
|
||||
};
|
||||
|
||||
class PathFinder
|
||||
{
|
||||
public:
|
||||
PathFinder(Unit const* owner);
|
||||
~PathFinder();
|
||||
|
||||
// Calculate the path from owner to given destination
|
||||
// return: true if new path was calculated, false otherwise (no change needed)
|
||||
bool calculate(float destX, float destY, float destZ, bool forceDest = false);
|
||||
|
||||
// option setters - use optional
|
||||
void setUseStrightPath(bool useStraightPath) { m_useStraightPath = useStraightPath; };
|
||||
void setPathLengthLimit(float distance) { m_pointPathLimit = std::min<uint32>(uint32(distance/SMOOTH_PATH_STEP_SIZE), MAX_POINT_PATH_LENGTH); };
|
||||
|
||||
// result getters
|
||||
Vector3 getStartPosition() const { return m_startPosition; }
|
||||
Vector3 getEndPosition() const { return m_endPosition; }
|
||||
Vector3 getActualEndPosition() const { return m_actualEndPosition; }
|
||||
|
||||
PointsArray& getPath() { return m_pathPoints; }
|
||||
PathType getPathType() const { return m_type; }
|
||||
|
||||
private:
|
||||
|
||||
dtPolyRef m_pathPolyRefs[MAX_PATH_LENGTH]; // array of detour polygon references
|
||||
uint32 m_polyLength; // number of polygons in the path
|
||||
|
||||
PointsArray m_pathPoints; // our actual (x,y,z) path to the target
|
||||
PathType m_type; // tells what kind of path this is
|
||||
|
||||
bool m_useStraightPath; // type of path will be generated
|
||||
bool m_forceDestination; // when set, we will always arrive at given point
|
||||
uint32 m_pointPathLimit; // limit point path size; min(this, MAX_POINT_PATH_LENGTH)
|
||||
|
||||
Vector3 m_startPosition; // {x, y, z} of current location
|
||||
Vector3 m_endPosition; // {x, y, z} of the destination
|
||||
Vector3 m_actualEndPosition;// {x, y, z} of the closest possible point to given destination
|
||||
|
||||
const Unit* const m_sourceUnit; // the unit that is moving
|
||||
const dtNavMesh* m_navMesh; // the nav mesh
|
||||
const dtNavMeshQuery* m_navMeshQuery; // the nav mesh query used to find the path
|
||||
|
||||
dtQueryFilter m_filter; // use single filter for all movements, update it when needed
|
||||
|
||||
void setStartPosition(Vector3 point) { m_startPosition = point; }
|
||||
void setEndPosition(Vector3 point) { m_actualEndPosition = point; m_endPosition = point; }
|
||||
void setActualEndPosition(Vector3 point) { m_actualEndPosition = point; }
|
||||
|
||||
void clear()
|
||||
{
|
||||
m_polyLength = 0;
|
||||
m_pathPoints.clear();
|
||||
}
|
||||
|
||||
bool inRange(const Vector3 &p1, const Vector3 &p2, float r, float h) const;
|
||||
float dist3DSqr(const Vector3 &p1, const Vector3 &p2) const;
|
||||
bool inRangeYZX(const float* v1, const float* v2, float r, float h) const;
|
||||
|
||||
dtPolyRef getPathPolyByPosition(const dtPolyRef *polyPath, uint32 polyPathSize, const float* point, float *distance = NULL) const;
|
||||
dtPolyRef getPolyByLocation(const float* point, float *distance) const;
|
||||
bool HaveTile(const Vector3 &p) const;
|
||||
|
||||
void BuildPolyPath(const Vector3 &startPos, const Vector3 &endPos);
|
||||
void BuildPointPath(const float *startPoint, const float *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,
|
||||
const dtPolyRef* visited, uint32 nvisited);
|
||||
bool getSteerTarget(const float* startPos, const float* endPos, float minTargetDist,
|
||||
const dtPolyRef* path, uint32 pathSize, float* steerPos,
|
||||
unsigned char& steerPosFlag, dtPolyRef& steerPosRef);
|
||||
dtStatus findSmoothPath(const float* startPos, const float* endPos,
|
||||
const dtPolyRef* polyPath, uint32 polyPathSize,
|
||||
float* smoothPath, int* smoothPathSize, uint32 smoothPathMaxSize);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -407,6 +407,7 @@ enum UnitState
|
|||
UNIT_STAT_FOLLOW_MOVE = 0x00010000,
|
||||
UNIT_STAT_FLEEING = 0x00020000, // FleeMovementGenerator/TimedFleeingMovementGenerator active/onstack
|
||||
UNIT_STAT_FLEEING_MOVE = 0x00040000,
|
||||
UNIT_STAT_IGNORE_PATHFINDING = 0x00080000, // do not use pathfinding in any MovementGenerator
|
||||
|
||||
// masks (only for check)
|
||||
|
||||
|
|
|
|||
|
|
@ -52,6 +52,7 @@
|
|||
#include "BattleGroundMgr.h"
|
||||
#include "TemporarySummon.h"
|
||||
#include "VMapFactory.h"
|
||||
#include "MoveMap.h"
|
||||
#include "GameEventMgr.h"
|
||||
#include "PoolManager.h"
|
||||
#include "Database/DatabaseImpl.h"
|
||||
|
|
@ -134,6 +135,7 @@ World::~World()
|
|||
delete command;
|
||||
|
||||
VMAP::VMapFactory::clear();
|
||||
MMAP::MMapFactory::clear();
|
||||
|
||||
//TODO free addSessQueue
|
||||
}
|
||||
|
|
@ -887,6 +889,11 @@ void World::LoadConfigSettings(bool reload)
|
|||
sLog.outString( "WORLD: VMap support included. LineOfSight:%i, getHeight:%i, indoorCheck:%i",
|
||||
enableLOS, enableHeight, getConfig(CONFIG_BOOL_VMAP_INDOOR_CHECK) ? 1 : 0);
|
||||
sLog.outString( "WORLD: VMap data directory is: %svmaps",m_dataPath.c_str());
|
||||
|
||||
setConfig(CONFIG_BOOL_MMAP_ENABLED, "mmap.enabled", true);
|
||||
std::string ignoreMapIds = sConfig.GetStringDefault("mmap.ignoreMapIds", "");
|
||||
MMAP::MMapFactory::preventPathfindingOnMaps(ignoreMapIds.c_str());
|
||||
sLog.outString("WORLD: mmap pathfinding %sabled", getConfig(CONFIG_BOOL_MMAP_ENABLED) ? "en" : "dis");
|
||||
}
|
||||
|
||||
/// Initialize the World
|
||||
|
|
@ -898,6 +905,9 @@ void World::SetInitialWorldSettings()
|
|||
///- Time server startup
|
||||
uint32 uStartTime = WorldTimer::getMSTime();
|
||||
|
||||
///- Initialize detour memory management
|
||||
dtAllocSetCustom(dtCustomAlloc, dtCustomFree);
|
||||
|
||||
///- Initialize config settings
|
||||
LoadConfigSettings();
|
||||
|
||||
|
|
|
|||
|
|
@ -332,6 +332,7 @@ enum eConfigBoolValues
|
|||
CONFIG_BOOL_CLEAN_CHARACTER_DB,
|
||||
CONFIG_BOOL_VMAP_INDOOR_CHECK,
|
||||
CONFIG_BOOL_PET_UNSUMMON_AT_MOUNT,
|
||||
CONFIG_BOOL_MMAP_ENABLED,
|
||||
CONFIG_BOOL_VALUE_COUNT
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -168,6 +168,15 @@ BindIP = "0.0.0.0"
|
|||
# More distance let have better performence, less distance let have more sensitive reaction at target move.
|
||||
# Default: 1.5
|
||||
#
|
||||
# mmap.enabled
|
||||
# Enable/Disable pathfinding using mmaps
|
||||
# Default: 1 (enable)
|
||||
# 0 (disable)
|
||||
#
|
||||
# mmap.ignoreMapIds
|
||||
# Disable mmap pathfinding on the listed maps.
|
||||
# List of map ids with delimiter ','
|
||||
#
|
||||
# UpdateUptimeInterval
|
||||
# Update realm uptime period in minutes (for save data in 'uptime' table). Must be > 0
|
||||
# Default: 10 (minutes)
|
||||
|
|
@ -209,6 +218,8 @@ vmap.ignoreSpellIds = "7720"
|
|||
vmap.enableIndoorCheck = 1
|
||||
DetectPosCollision = 1
|
||||
TargetPosRecalculateRange = 1.5
|
||||
mmap.enabled = 1
|
||||
mmap.ignoreMapIds = ""
|
||||
UpdateUptimeInterval = 10
|
||||
MaxCoreStuckTime = 0
|
||||
AddonChannel = 1
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
#ifndef __REVISION_NR_H__
|
||||
#define __REVISION_NR_H__
|
||||
#define REVISION_NR "11908"
|
||||
#define REVISION_NR "11909"
|
||||
#endif // __REVISION_NR_H__
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue