#include <LongPathfinder.h>

Collaboration diagram for LongPathfinder:

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Public Member Functions
	LongPathfinder ()

	~LongPathfinder ()

void	SetDebugOverlay (bool enabled)

void	SetHierDebugOverlay (bool enabled, const CSimContext *simContext)

void	SetDebugPath (entity_pos_t x0, entity_pos_t z0, const PathGoal &goal, pass_class_t passClass)

void	Reload (Grid< NavcellData > *passabilityGrid, const std::map< std::string, pass_class_t > &nonPathfindingPassClassMasks, const std::map< std::string, pass_class_t > &pathfindingPassClassMasks)

void	Update (Grid< NavcellData > *passabilityGrid, const Grid< u8 > &dirtinessGrid)

void	HierarchicalRenderSubmit (SceneCollector &collector)

void	ComputePath (entity_pos_t x0, entity_pos_t z0, const PathGoal &origGoal, pass_class_t passClass, WaypointPath &path)
	Compute a tile-based path from the given point to the goal, and return the set of waypoints. More...

void	ComputePath (entity_pos_t x0, entity_pos_t z0, const PathGoal &origGoal, pass_class_t passClass, std::vector< CircularRegion > excludedRegions, WaypointPath &path)
	Compute a tile-based path from the given point to the goal, excluding the regions specified in excludedRegions (which are treated as impassable) and return the set of waypoints. More...

Grid< u16 >	GetConnectivityGrid (pass_class_t passClass)

void	GetDebugData (u32 &steps, double &time, Grid< u8 > &grid) const

Public Attributes
Grid< NavcellData > *	m_Grid

u16	m_GridSize

LongOverlay *	m_DebugOverlay

PathfindTileGrid *	m_DebugGrid

u32	m_DebugSteps

double	m_DebugTime

PathGoal	m_DebugGoal

WaypointPath *	m_DebugPath

pass_class_t	m_DebugPassClass

Private Member Functions
PathCost	CalculateHeuristic (int i, int j, int iGoal, int jGoal)

void	ProcessNeighbour (int pi, int pj, int i, int j, PathCost pg, PathfinderState &state)

void	AddJumpedHoriz (int i, int j, int di, PathCost g, PathfinderState &state, bool detectGoal)
	JPS algorithm helper functions. More...

int	HasJumpedHoriz (int i, int j, int di, PathfinderState &state, bool detectGoal)

void	AddJumpedVert (int i, int j, int dj, PathCost g, PathfinderState &state, bool detectGoal)

int	HasJumpedVert (int i, int j, int dj, PathfinderState &state, bool detectGoal)

void	AddJumpedDiag (int i, int j, int di, int dj, PathCost g, PathfinderState &state)

void	ComputeJPSPath (entity_pos_t x0, entity_pos_t z0, const PathGoal &origGoal, pass_class_t passClass, WaypointPath &path)
	See LongPathfinder.cpp for implementation details TODO: cleanup documentation. More...

void	GetDebugDataJPS (u32 &steps, double &time, Grid< u8 > &grid) const

void	ImprovePathWaypoints (WaypointPath &path, pass_class_t passClass, entity_pos_t maxDist, entity_pos_t x0, entity_pos_t z0)
	Given a path with an arbitrary collection of waypoints, updates the waypoints to be nicer. More...

void	GenerateSpecialMap (pass_class_t passClass, std::vector< CircularRegion > excludedRegions)
	Generate a passability map, stored in the 16th bit of navcells, based on passClass, but with a set of impassable circular regions. More...

Private Attributes
bool	m_UseJPSCache

std::map< pass_class_t, shared_ptr< JumpPointCache > >	m_JumpPointCache

HierarchicalPathfinder	m_PathfinderHier

Constructor & Destructor Documentation

LongPathfinder::LongPathfinder ( )

LongPathfinder::~LongPathfinder ( )

Member Function Documentation

void LongPathfinder::AddJumpedDiag	(	int	i,
		int	j,
		int	di,
		int	dj,
		PathCost	g,
		PathfinderState &	state
	)

private

void LongPathfinder::AddJumpedHoriz	(	int	i,
		int	j,
		int	di,
		PathCost	g,
		PathfinderState &	state,
		bool	detectGoal
	)

private

JPS algorithm helper functions.

Parameters

detectGoal is not used if m_UseJPSCache is true

void LongPathfinder::AddJumpedVert	(	int	i,
		int	j,
		int	dj,
		PathCost	g,
		PathfinderState &	state,
		bool	detectGoal
	)

private

PathCost LongPathfinder::CalculateHeuristic	(	int	i,
		int	j,
		int	iGoal,
		int	jGoal
	)

private

void LongPathfinder::ComputeJPSPath	(	entity_pos_t	x0,
		entity_pos_t	z0,
		const PathGoal &	origGoal,
		pass_class_t	passClass,
		WaypointPath &	path
	)

private

See LongPathfinder.cpp for implementation details TODO: cleanup documentation.

void LongPathfinder::ComputePath	(	entity_pos_t	x0,
		entity_pos_t	z0,
		const PathGoal &	origGoal,
		pass_class_t	passClass,
		WaypointPath &	path
	)

inline

Compute a tile-based path from the given point to the goal, and return the set of waypoints.

The waypoints correspond to the centers of horizontally/vertically adjacent tiles along the path.

void LongPathfinder::ComputePath	(	entity_pos_t	x0,
		entity_pos_t	z0,
		const PathGoal &	origGoal,
		pass_class_t	passClass,
		std::vector< CircularRegion >	excludedRegions,
		WaypointPath &	path
	)

Compute a tile-based path from the given point to the goal, excluding the regions specified in excludedRegions (which are treated as impassable) and return the set of waypoints.

The waypoints correspond to the centers of horizontally/vertically adjacent tiles along the path.

void LongPathfinder::GenerateSpecialMap	(	pass_class_t	passClass,
		std::vector< CircularRegion >	excludedRegions
	)

private

Generate a passability map, stored in the 16th bit of navcells, based on passClass, but with a set of impassable circular regions.

Grid<u16> LongPathfinder::GetConnectivityGrid ( pass_class_t passClass )

inline

void LongPathfinder::GetDebugData	(	u32 &	steps,
		double &	time,
		Grid< u8 > &	grid
	)		const

inline

void LongPathfinder::GetDebugDataJPS	(	u32 &	steps,
		double &	time,
		Grid< u8 > &	grid
	)		const

private

int LongPathfinder::HasJumpedHoriz	(	int	i,
		int	j,
		int	di,
		PathfinderState &	state,
		bool	detectGoal
	)

private

int LongPathfinder::HasJumpedVert	(	int	i,
		int	j,
		int	dj,
		PathfinderState &	state,
		bool	detectGoal
	)

private

void LongPathfinder::HierarchicalRenderSubmit ( SceneCollector & collector )

inline

void LongPathfinder::ImprovePathWaypoints	(	WaypointPath &	path,
		pass_class_t	passClass,
		entity_pos_t	maxDist,
		entity_pos_t	x0,
		entity_pos_t	z0
	)

private

Given a path with an arbitrary collection of waypoints, updates the waypoints to be nicer.

Calls "Testline" between waypoints so that bended paths can become straight if there's nothing in between (this happens because A* is 8-direction, and the map isn't actually a grid). If

Parameters

maxDist	is non-zero, path waypoints will be espaced by at most
maxDist.	In that case the distance between (x0, z0) and the first waypoint will also be made less than maxDist.

void LongPathfinder::ProcessNeighbour	(	int	pi,
		int	pj,
		int	i,
		int	j,
		PathCost	pg,
		PathfinderState &	state
	)

private

void LongPathfinder::Reload	(	Grid< NavcellData > *	passabilityGrid,
		const std::map< std::string, pass_class_t > &	nonPathfindingPassClassMasks,
		const std::map< std::string, pass_class_t > &	pathfindingPassClassMasks
	)

inline

void LongPathfinder::SetDebugOverlay ( bool enabled )

void LongPathfinder::SetDebugPath	(	entity_pos_t	x0,
		entity_pos_t	z0,
		const PathGoal &	goal,
		pass_class_t	passClass
	)

inline

void LongPathfinder::SetHierDebugOverlay	(	bool	enabled,
		const CSimContext *	simContext
	)

inline

void LongPathfinder::Update	(	Grid< NavcellData > *	passabilityGrid,
		const Grid< u8 > &	dirtinessGrid
	)

inline

Member Data Documentation

PathGoal LongPathfinder::m_DebugGoal

PathfindTileGrid* LongPathfinder::m_DebugGrid

LongOverlay* LongPathfinder::m_DebugOverlay

pass_class_t LongPathfinder::m_DebugPassClass

WaypointPath* LongPathfinder::m_DebugPath

u32 LongPathfinder::m_DebugSteps

double LongPathfinder::m_DebugTime

Grid<NavcellData>* LongPathfinder::m_Grid

u16 LongPathfinder::m_GridSize

std::map<pass_class_t, shared_ptr<JumpPointCache> > LongPathfinder::m_JumpPointCache

private

HierarchicalPathfinder LongPathfinder::m_PathfinderHier

private

bool LongPathfinder::m_UseJPSCache

private

The documentation for this class was generated from the following files:

/var/svn/checkout/source/simulation2/helpers/LongPathfinder.h
/var/svn/checkout/source/simulation2/helpers/LongPathfinder.cpp

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation