mirror of
https://github.com/ptitSeb/Serious-Engine
synced 2024-10-05 15:34:50 +02:00
280 lines
8.2 KiB
C++
280 lines
8.2 KiB
C++
#include "../StdH/StdH.h"
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#include "Entities/Common/PathFinding.h"
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#include "Entities/NavigationMarker.h"
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#define PRINTOUT(_dummy)
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//#define PRINTOUT(something) something
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// open and closed lists of nodes
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static CListHead _lhOpen;
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static CListHead _lhClosed;
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FLOAT NodeDistance(CPathNode *ppn0, CPathNode *ppn1)
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{
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return (
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ppn0->pn_pnmMarker->GetPlacement().pl_PositionVector -
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ppn1->pn_pnmMarker->GetPlacement().pl_PositionVector).Length();
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}
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CPathNode::CPathNode(class CNavigationMarker *penMarker)
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{
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pn_pnmMarker = penMarker;
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pn_ppnParent = NULL;
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pn_fG = 0.0f;
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pn_fH = 0.0f;
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pn_fF = 0.0f;
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}
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CPathNode::~CPathNode(void)
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{
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// detach from marker when deleting
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ASSERT(pn_pnmMarker!=NULL);
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pn_pnmMarker->m_ppnNode = NULL;
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}
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// get name of this node
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const CTString &CPathNode::GetName(void)
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{
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static CTString strNone="<none>";
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if (this==NULL || pn_pnmMarker==NULL) {
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return strNone;
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} else {
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return pn_pnmMarker->GetName();
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}
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}
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// get link with given index or null if no more (for iteration along the graph)
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CPathNode *CPathNode::GetLink(INDEX i)
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{
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if (this==NULL || pn_pnmMarker==NULL) {
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ASSERT(FALSE);
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return NULL;
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}
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CNavigationMarker *pnm = pn_pnmMarker->GetLink(i);
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if (pnm==NULL) {
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return NULL;
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}
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return pnm->GetPathNode();
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}
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// add given node to open list, sorting best first
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static void SortIntoOpenList(CPathNode *ppnLink)
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{
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// start at head of the open list
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LISTITER(CPathNode, pn_lnInOpen) itpn(_lhOpen);
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// while the given node is further than the one in list
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while(ppnLink->pn_fF>itpn->pn_fF && !itpn.IsPastEnd()) {
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// move to next node
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itpn.MoveToNext();
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}
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// if past the end of list
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if (itpn.IsPastEnd()) {
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// add to the end of list
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_lhOpen.AddTail(ppnLink->pn_lnInOpen);
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// if not past end of list
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} else {
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// add before current node
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itpn.InsertBeforeCurrent(ppnLink->pn_lnInOpen);
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}
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}
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// find shortest path from one marker to another
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static BOOL FindPath(CNavigationMarker *pnmSrc, CNavigationMarker *pnmDst)
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{
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ASSERT(pnmSrc!=pnmDst);
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CPathNode *ppnSrc = pnmSrc->GetPathNode();
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CPathNode *ppnDst = pnmDst->GetPathNode();
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PRINTOUT(CPrintF("--------------------\n"));
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PRINTOUT(CPrintF("FindPath(%s, %s)\n", ppnSrc->GetName(), ppnDst->GetName()));
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// start with empty open and closed lists
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ASSERT(_lhOpen.IsEmpty());
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ASSERT(_lhClosed.IsEmpty());
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// add the start node to open list
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ppnSrc->pn_fG = 0.0f;
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ppnSrc->pn_fH = NodeDistance(ppnSrc, ppnDst);
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ppnSrc->pn_fF = ppnSrc->pn_fG +ppnSrc->pn_fH;
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_lhOpen.AddTail(ppnSrc->pn_lnInOpen);
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PRINTOUT(CPrintF("StartState: %s\n", ppnSrc->GetName()));
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// while the open list is not empty
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while (!_lhOpen.IsEmpty()) {
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// get the first node from open list (that is, the one with lowest F)
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CPathNode *ppnNode = LIST_HEAD(_lhOpen, CPathNode, pn_lnInOpen);
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ppnNode->pn_lnInOpen.Remove();
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_lhClosed.AddTail(ppnNode->pn_lnInClosed);
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PRINTOUT(CPrintF("Node: %s - moved from OPEN to CLOSED\n", ppnNode->GetName()));
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// if this is the goal
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if (ppnNode==ppnDst) {
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PRINTOUT(CPrintF("PATH FOUND!\n"));
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// the path is found
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return TRUE;
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}
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// for each link of current node
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CPathNode *ppnLink = NULL;
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for(INDEX i=0; (ppnLink=ppnNode->GetLink(i))!=NULL; i++) {
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PRINTOUT(CPrintF(" Link %d: %s\n", i, ppnLink->GetName()));
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// get cost to get to this node if coming from current node
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FLOAT fNewG = ppnLink->pn_fG+NodeDistance(ppnNode, ppnLink);
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// if a shorter path already exists
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if ((ppnLink->pn_lnInOpen.IsLinked() || ppnLink->pn_lnInClosed.IsLinked()) && fNewG>=ppnLink->pn_fG) {
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PRINTOUT(CPrintF(" shorter path exists through: %s\n", ppnLink->pn_ppnParent->GetName()));
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// skip this link
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continue;
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}
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// remember this path
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ppnLink->pn_ppnParent = ppnNode;
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ppnLink->pn_fG = fNewG;
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ppnLink->pn_fH = NodeDistance(ppnLink, ppnDst);
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ppnLink->pn_fF = ppnLink->pn_fG + ppnLink->pn_fH;
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// remove from closed list, if in it
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if (ppnLink->pn_lnInClosed.IsLinked()) {
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ppnLink->pn_lnInClosed.Remove();
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PRINTOUT(CPrintF(" %s removed from CLOSED\n", ppnLink->GetName()));
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}
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// add to open if not in it
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if (!ppnLink->pn_lnInOpen.IsLinked()) {
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SortIntoOpenList(ppnLink);
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PRINTOUT(CPrintF(" %s added to OPEN\n", ppnLink->GetName()));
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}
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}
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}
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// if we get here, there is no path
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PRINTOUT(CPrintF("PATH NOT FOUND!\n"));
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return FALSE;
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}
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// clear all temporary structures used for path finding
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static void ClearPath(CEntity *penThis)
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{
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{FORDELETELIST(CPathNode, pn_lnInOpen, _lhOpen, itpn) {
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delete &itpn.Current();
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}}
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{FORDELETELIST(CPathNode, pn_lnInClosed, _lhClosed, itpn) {
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delete &itpn.Current();
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}}
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#ifndef NDEBUG
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// for each navigation marker in the world
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{FOREACHINDYNAMICCONTAINER(penThis->en_pwoWorld->wo_cenEntities, CEntity, iten) {
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if (!IsOfClass(iten, "NavigationMarker")) {
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continue;
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}
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CNavigationMarker &nm = (CNavigationMarker&)*iten;
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ASSERT(nm.m_ppnNode==NULL);
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}}
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#endif
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}
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// find marker closest to a given position
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static void FindClosestMarker(
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CEntity *penThis, const FLOAT3D &vSrc, CEntity *&penMarker, FLOAT3D &vPath)
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{
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CNavigationMarker *pnmMin = NULL;
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FLOAT fMinDist = UpperLimit(0.0f);
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// for each sector this entity is in
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{FOREACHSRCOFDST(penThis->en_rdSectors, CBrushSector, bsc_rsEntities, pbsc)
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// for each navigation marker in that sector
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{FOREACHDSTOFSRC(pbsc->bsc_rsEntities, CEntity, en_rdSectors, pen)
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if (!IsOfClass(pen, "NavigationMarker")) {
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continue;
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}
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CNavigationMarker &nm = (CNavigationMarker&)*pen;
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// get distance from source
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FLOAT fDist = (vSrc-nm.GetPlacement().pl_PositionVector).Length();
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// if closer than best found
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if(fDist<fMinDist) {
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// remember it
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fMinDist = fDist;
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pnmMin = &nm;
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}
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ENDFOR}
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ENDFOR}
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// if none found
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if (pnmMin==NULL) {
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// fail
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vPath = vSrc;
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penMarker = NULL;
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return;
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}
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// return position
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vPath = pnmMin->GetPlacement().pl_PositionVector;
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penMarker = pnmMin;
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}
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// find first marker for path navigation
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void PATH_FindFirstMarker(CEntity *penThis, const FLOAT3D &vSrc, const FLOAT3D &vDst, CEntity *&penMarker, FLOAT3D &vPath)
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{
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// find closest markers to source and destination positions
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CNavigationMarker *pnmSrc;
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FLOAT3D vSrcPath;
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FindClosestMarker(penThis, vSrc, (CEntity*&)pnmSrc, vSrcPath);
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CNavigationMarker *pnmDst;
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FLOAT3D vDstPath;
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FindClosestMarker(penThis, vDst, (CEntity*&)pnmDst, vDstPath);
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// if at least one is not found, or if they are same
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if (pnmSrc==NULL || pnmDst==NULL || pnmSrc==pnmDst) {
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// fail
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penMarker = NULL;
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vPath = vSrc;
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return;
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}
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// go to the source marker position
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vPath = vSrcPath;
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penMarker = pnmSrc;
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}
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// find next marker for path navigation
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void PATH_FindNextMarker(CEntity *penThis, const FLOAT3D &vSrc, const FLOAT3D &vDst, CEntity *&penMarker, FLOAT3D &vPath)
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{
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// find closest marker to destination position
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CNavigationMarker *pnmDst;
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FLOAT3D vDstPath;
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FindClosestMarker(penThis, vDst, (CEntity*&)pnmDst, vDstPath);
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// if at not found, or if same as current
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if (pnmDst==NULL || penMarker==pnmDst) {
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// fail
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penMarker = NULL;
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vPath = vSrc;
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return;
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}
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// try to find shortest path to the destination
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BOOL bFound = FindPath((CNavigationMarker*)penMarker, pnmDst);
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// if not found
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if (!bFound) {
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// just clean up and fail
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delete pnmDst->GetPathNode();
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ClearPath(penThis);
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penMarker = NULL;
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vPath = vSrc;
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return;
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}
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// find the first marker position after current
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CPathNode *ppn = pnmDst->GetPathNode();
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while (ppn->pn_ppnParent!=NULL && ppn->pn_ppnParent->pn_pnmMarker!=penMarker) {
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ppn = ppn->pn_ppnParent;
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}
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penMarker = ppn->pn_pnmMarker;
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// go there
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vPath = penMarker->GetPlacement().pl_PositionVector;
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// clean up
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ClearPath(penThis);
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} |