Turánszki János
98 lines
3.1 KiB
C++
98 lines
3.1 KiB
C++
#pragma once
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#include "CommonInclude.h"
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#include "wiUnorderedMap.h"
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#include "wiVector.h"
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#include "wiVoxelGrid.h"
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#include "wiGraphicsDevice.h"
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#include "wiPrimitive.h"
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#include <queue>
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namespace wi
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{
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struct PathQuery
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{
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struct Node
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{
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uint16_t x = 0;
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uint16_t y = 0;
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uint16_t z = 0;
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uint16_t cost = 0;
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constexpr XMUINT3 coord() const
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{
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return XMUINT3(x, y, z);
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}
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static constexpr Node create(XMUINT3 coord)
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{
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Node node = {};
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node.x = coord.x;
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node.y = coord.y;
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node.z = coord.z;
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return node;
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}
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static constexpr Node invalid()
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{
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return {};
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}
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constexpr bool operator>(const Node& other) const { return cost > other.cost; } // for priority_queue
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constexpr bool operator<(const Node& other) const { return cost < other.cost; } // for priority_queue
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constexpr operator uint64_t() const { return uint64_t(uint64_t(x) | (uint64_t(y) << 16ull) | (uint64_t(z) << 32ull)); } // for unordered_map
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};
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std::priority_queue<Node, wi::vector<Node>, std::greater<Node>> frontier;
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wi::unordered_map<uint64_t, Node> came_from;
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wi::unordered_map<uint64_t, uint16_t> cost_so_far;
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wi::vector<XMFLOAT3> result_path_goal_to_start;
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wi::vector<XMFLOAT3> result_path_goal_to_start_simplified;
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XMFLOAT3 process_startpos = XMFLOAT3(0, 0, 0);
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bool flying = false; // if set to true, it will switch to navigating on empty voxels
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int agent_height = 1; // keep away from vertical obstacles by this many voxels
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int agent_width = 0; // keep away from horizontal obstacles by this many voxels
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// Find the path between startpos and goalpos in the voxel grid:
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void process(
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const XMFLOAT3& startpos,
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const XMFLOAT3& goalpos,
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const wi::VoxelGrid& voxelgrid
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);
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bool is_succesful() const;
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// Search for a cover location that can hide the subject from observer.
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// observer: location to hide from
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// subject: location of who wants to hide
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// direction: subject's search direction
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// max_distance: maximum search distance
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// voxelgrid: voxel grid to perform the search in
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// returns whether a suitable cover was found or not
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bool search_cover(
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const XMFLOAT3& observer,
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const XMFLOAT3& subject,
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const XMFLOAT3& direction,
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float max_distance,
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const wi::VoxelGrid& voxelgrid
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);
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// Gets the next upcoming waypoint between start and goal that was used in process():
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XMFLOAT3 get_next_waypoint() const;
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// Gets the number of resulting waypoints
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size_t get_waypoint_count() const;
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// Gets the result waypoint at specified index (direction: start -> goal)
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XMFLOAT3 get_waypoint(size_t index) const;
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XMFLOAT3 get_goal() const;
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bool is_voxel_valid(const VoxelGrid& voxelgrid, XMUINT3 coord) const;
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bool debug_voxels = true;
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mutable float debugtimer = 0;
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XMFLOAT3 debugvoxelsize = XMFLOAT3(0, 0, 0);
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XMFLOAT3 debugstartnode = XMFLOAT3(0, 0, 0);
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XMFLOAT3 debuggoalnode = XMFLOAT3(0, 0, 0);
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bool debug_waypoints = false; // if true, waypoint voxels will be drawn. Blue = waypoint, Pink = simplified waypoint
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void debugdraw(const XMFLOAT4X4& ViewProjection, wi::graphics::CommandList cmd) const;
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};
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}
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