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Waypoint pathfinding exists!

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Includes some small refactoring of older functions - single return is a bit safer and easier to debug.
Still needs doing are: Finish Line Waypoint, Shortcut waypoints, disabled waypoints.
The actual A* method itself is a bit of a monster, but I can't figure out how to refactor it too much more.
This commit is contained in:
Sryder 2019-06-09 19:49:21 +01:00
parent 128d970bad
commit e9786fa956
2 changed files with 1316 additions and 262 deletions
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1441
src/k_waypoint.c
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137
src/k_waypoint.h
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@ -10,16 +10,149 @@ typedef struct waypoint_s
size_t id;
struct waypoint_s **nextwaypoints;
struct waypoint_s **prevwaypoints;
fixed_t *nextwaypointdistances;
fixed_t *prevwaypointdistances;
UINT32 *nextwaypointdistances;
UINT32 *prevwaypointdistances;
size_t numnextwaypoints;
size_t numprevwaypoints;
} waypoint_t;
typedef struct pathfindnode_s {
size_t heapindex; // The index in the openset binary heap. Only valid while the node is in the openset.
waypoint_t *waypoint;
struct pathfindnode_s *camefrom; // should eventually be the most efficient predecessor node
UINT32 gscore; // The accumulated distance from the start to this node
UINT32 hscore; // The heuristic from this node to the goal, saved to avoid expensive recalculation
} pathfindnode_t;
typedef struct path_s {
size_t numnodes;
struct pathfindnode_s *array;
UINT32 totaldist;
} path_t;
// AVAILABLE FOR LUA
/*--------------------------------------------------
boolean K_GetWaypointIsShortcut(waypoint_t *waypoint)
Returns whether the waypoint is part of a shortcut.
Input Arguments:-
waypoint - The waypoint to return shortcut status of.
Return:-
true if the waypoint is a shortcut, false if it isn't.
--------------------------------------------------*/
boolean K_GetWaypointIsShortcut(waypoint_t *waypoint);
/*--------------------------------------------------
boolean K_GetWaypointIsEnabled(waypoint_t *waypoint)
Returns whether the waypoint is enabled.
Input Arguments:-
waypoint - The waypoint to return enabled status of.
Return:-
true if the waypoint is enabled, false if it isn't.
--------------------------------------------------*/
boolean K_GetWaypointIsEnabled(waypoint_t *waypoint);
/*--------------------------------------------------
INT32 K_GetWaypointNextID(waypoint_t *waypoint)
Returns the waypoint's next waypoint ID.
Input Arguments:-
waypoint - The waypoint to return the next waypoint ID of.
Return:-
The next waypoint ID, -1 if there is no waypoint or mobj.
--------------------------------------------------*/
INT32 K_GetWaypointNextID(waypoint_t *waypoint);
/*--------------------------------------------------
INT32 K_GetWaypointID(waypoint_t *waypoint)
Returns the waypoint's ID.
Input Arguments:-
waypoint - The waypoint to return the ID of.
Return:-
The waypoint ID, -1 if there is no waypoint or mobj.
--------------------------------------------------*/
INT32 K_GetWaypointID(waypoint_t *waypoint);
/*--------------------------------------------------
boolean K_PathfindToWaypoint(
waypoint_t *const sourcewaypoint,
waypoint_t *const destinationwaypoint,
path_t *const returnpath,
const boolean useshortcuts,
const boolean huntbackwards)
Use pathfinding to try and find the best route to the destination. Data is allocated into the returnpath,
and should be freed when done with. A call to this with a path already in the returnpath will free the data
already in there if one is found.
Input Arguments:-
sourcewaypoint - The waypoint to start searching from
destinationwaypoint - The waypoint to try and get to.
returnpath - The path_t that will contain the final found path
useshortcuts - Whether to use waypoints that are marked as being shortcuts in the search
huntbackwards - Goes through the waypoints backwards if true
Return:-
True if a path was found to the waypoint, false if there wasn't.
--------------------------------------------------*/
boolean K_PathfindToWaypoint(
waypoint_t *const sourcewaypoint,
waypoint_t *const destinationwaypoint,
path_t *const returnpath,
const boolean useshortcuts,
const boolean huntbackwards);
/*--------------------------------------------------
waypoint_t *K_GetNextWaypointToDestination(
waypoint_t *const sourcewaypoint,
waypoint_t *const destinationwaypoint,
const boolean useshortcuts,
const boolean huntbackwards)
Uses pathfinding to find the next waypoint to go to in order to get to the destination waypoint, from the source
waypoint. If the source waypoint only has one next waypoint it will always pick that one and not do any
pathfinding.
Input Arguments:-
sourcewaypoint - The waypoint to start searching from
destinationwaypoint - The waypoint to try and get to.
useshortcuts - Whether to use waypoints that are marked as being shortcuts in the search
huntbackwards - Goes through the waypoints backwards if true
Return:-
The next waypoint on the way to the destination waypoint. Returns the source waypoint if the source and
destination are the same.
--------------------------------------------------*/
waypoint_t *K_GetNextWaypointToDestination(
waypoint_t *const sourcewaypoint,
waypoint_t *const destinationwaypoint,
const boolean useshortcuts,
const boolean huntbackwards);
/*--------------------------------------------------
waypoint_t *K_SearchWaypointGraphForMobj(mobj_t *const mobj)