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Rework pathfinding to use Vector2, form formations

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This commit is contained in:
Klemen Plestenjak
2023-11-23 12:01:42 +01:00
parent 513168825c
commit 0dc8046d8f
6 changed files with 129 additions and 85 deletions
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52
game/pathfinding.c
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@@ -14,11 +14,28 @@ static i32 dst(TilePosition a, TilePosition b) {
return 14 * dstX + 10 * (dstY - dstX);
}
static PathData *pushPathWaypoint(PathData *pathData, Position waypoint, BzObjectPool *pathPool) {
if (pathData->numWaypoints + 1 > PATH_DATA_SIZE) {
PathData *newPathData = bzObjectPool(pathPool);
BZ_ASSERT(newPathData);
newPathData->numWaypoints = 0;
newPathData->next = pathData;
pathData = newPathData;
}
pathData->waypoints[pathData->numWaypoints++] = waypoint;
return pathData;
}
bool findPath(const PathfindingDesc *desc) {
BZ_ASSERT(desc->map);
BzTileMap *map = desc->map;
BZ_ASSERT(desc->start.x >= 0 && desc->start.x < map->width);
BZ_ASSERT(desc->start.y >= 0 && desc->start.y < map->height);
TilePosition start = {0}, target = {0};
bzTileMapPosToTile(map, desc->start, &start.x, &start.y);
bzTileMapPosToTile(map, desc->target, &target.x, &target.y);
BZ_ASSERT(start.x >= 0 && start.x < map->width);
BZ_ASSERT(start.y >= 0 && start.y < map->height);
typedef struct Visited {
bool visited : 1;
i8 x : 3;
@@ -30,21 +47,22 @@ bool findPath(const PathfindingDesc *desc) {
if (!openSet) openSet = bzHeapCreate(PathNode, map->width * map->height);
else bzHeapClear(openSet);
i32 toTargetCost = dst(desc->start, desc->target);
i32 toTargetCost = dst(start, target);
bzHeapPush(openSet, (PathNode) {
.weight=toTargetCost,
.gCost=0,
.hCost=toTargetCost,
.visited=false,
.pos=desc->start
.pos=start
});
bool foundPath = false;
while (!bzHeapIsEmpty(openSet)) {
PathNode node = bzHeapPop(openSet);
if (node.pos.x == desc->target.x &&
node.pos.y == desc->target.y) {
if (node.pos.x == target.x &&
node.pos.y == target.y) {
// Found path
foundPath = true;
break;
@@ -69,7 +87,7 @@ bool findPath(const PathfindingDesc *desc) {
TilePosition curPos = {x, y};
i32 gCost = node.gCost + dst(node.pos, curPos);
//if (gCost >= node.gCost) continue;
toTargetCost = dst(curPos, desc->target);
toTargetCost = dst(curPos, target);
curClosed->x = (i8) (curPos.x - node.pos.x);
curClosed->y = (i8) (curPos.y - node.pos.y);
@@ -87,31 +105,25 @@ bool findPath(const PathfindingDesc *desc) {
i32 pathLen = 0;
if (foundPath && desc->outPath) {
TilePosition pos = desc->target;
TilePosition pos = target;
Path *out = desc->outPath;
out->curWaypoint = 0;
BZ_ASSERT(desc->pool);
PathData *pathData = bzObjectPool(desc->pool);
pathData->numWaypoints = 0;
pathData->next = NULL;
i32 numWaypoints = 0;
pathData = pushPathWaypoint(pathData, desc->target, desc->pool);
// Write path
// TODO: Write end pos
while (pos.x != desc->start.x || pos.y != desc->start.y) {
while (pos.x != start.x || pos.y != start.y) {
Position waypoint = {
pos.x * map->tileWidth + map->tileWidth * 0.5f,
pos.y * map->tileHeight + map->tileHeight * 0.5f
};
if (pathData->numWaypoints + 1 > PATH_DATA_SIZE) {
PathData *newPathData = bzObjectPool(desc->pool);
newPathData->numWaypoints = 0;
newPathData->next = pathData;
pathData = newPathData;
numWaypoints = 0;
}
pathData->waypoints[numWaypoints++] = waypoint;
pathData->numWaypoints = numWaypoints;
if (pathLen != 0)
pathData = pushPathWaypoint(pathData, waypoint, desc->pool);
Visited visit = closedSet[pos.y * map->width + pos.x];
BZ_ASSERT(visit.x != 0 || visit.y != 0);