HierarchicalPathfinder Class Reference

#include <HierarchicalPathfinder.h>

Collaboration diagram for HierarchicalPathfinder:

Classes
struct	Chunk
struct	InterestingRegion
struct	RegionID
struct	SortByBestToPoint
struct	SortByCenterToPoint

Public Types
typedef u32	GlobalRegionID

Public Member Functions
	HierarchicalPathfinder ()
	~HierarchicalPathfinder ()
void	SetDebugOverlay (bool enabled, const CSimContext *simContext)
void	Recompute (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 > *grid, const Grid< u8 > &dirtinessGrid)
RegionID	Get (u16 i, u16 j, pass_class_t passClass) const
GlobalRegionID	GetGlobalRegion (u16 i, u16 j, pass_class_t passClass) const
GlobalRegionID	GetGlobalRegion (RegionID region, pass_class_t passClass) const
bool	MakeGoalReachable (u16 i0, u16 j0, PathGoal &goal, pass_class_t passClass) const
	Updates goal so that it's guaranteed to be reachable from the navcell i0, j0 (which is assumed to be on a passable navcell). More...
bool	IsGoalReachable (u16 i0, u16 j0, const PathGoal &goal, pass_class_t passClass) const
void	FindNearestPassableNavcell (u16 &i, u16 &j, pass_class_t passClass) const
	Updates i, j (which is assumed to be an impassable navcell) to the nearest passable navcell. More...
Grid< u16 >	GetConnectivityGrid (pass_class_t passClass) const
	Generates the connectivity grid associated with the given pass_class. More...
pass_class_t	GetPassabilityClass (const std::string &name) const
void	RenderSubmit (SceneCollector &collector)

Public Attributes
std::vector< SOverlayLine >	m_DebugOverlayLines

Private Types
typedef std::map< RegionID, std::set< RegionID > >	EdgesMap

Private Member Functions
const Chunk &	GetChunk (u8 ci, u8 cj, pass_class_t passClass) const
void	ComputeNeighbors (EdgesMap &edges, Chunk &a, Chunk &b, bool transpose, bool opposite) const
void	RecomputeAllEdges (pass_class_t passClass, EdgesMap &edges)
	Find edges between regions in all chunks, in an optimised manner (only look at top/left) More...
void	UpdateEdges (u8 ci, u8 cj, pass_class_t passClass, EdgesMap &edges)
	Connect a chunk's regions to their neighbors. More...
void	UpdateGlobalRegions (const std::map< pass_class_t, std::vector< RegionID > > &needNewGlobalRegionMap)
template<typename Ordering >
void	FindReachableRegions (RegionID from, std::set< RegionID, Ordering > &reachable, pass_class_t passClass) const
	Returns all reachable regions, optionally ordered in a specific manner. More...
void	FindNearestNavcellInRegions (const std::set< RegionID, SortByCenterToPoint > &regions, u16 &iGoal, u16 &jGoal, pass_class_t passClass) const
void	FindGoalRegionsAndBestNavcells (u16 i0, u16 j0, u16 gi, u16 gj, const PathGoal &goal, std::set< InterestingRegion, SortByBestToPoint > &regions, pass_class_t passClass) const
void	FillRegionOnGrid (const RegionID &region, pass_class_t passClass, u16 value, Grid< u16 > &grid) const
void	AddDebugEdges (pass_class_t passClass)
	Debug visualisation of graph edges between regions. More...

Private Attributes
u16	m_W
u16	m_H
u8	m_ChunksW
u8	m_ChunksH
std::map< pass_class_t, std::vector< Chunk > >	m_Chunks
std::map< pass_class_t, EdgesMap >	m_Edges
std::map< pass_class_t, std::map< RegionID, GlobalRegionID > >	m_GlobalRegions
GlobalRegionID	m_NextGlobalRegionID
std::map< std::string, pass_class_t >	m_PassClassMasks
HierarchicalOverlay *	m_DebugOverlay
const CSimContext *	m_SimContext

Static Private Attributes
static const u8	CHUNK_SIZE = 96

Member Typedef Documentation

EdgesMap

typedef std::map<RegionID, std::set<RegionID> > HierarchicalPathfinder::EdgesMap

private

GlobalRegionID

typedef u32 HierarchicalPathfinder::GlobalRegionID

Constructor & Destructor Documentation

HierarchicalPathfinder()

HierarchicalPathfinder::HierarchicalPathfinder

(

)

~HierarchicalPathfinder()

HierarchicalPathfinder::~HierarchicalPathfinder

(

)

Member Function Documentation

AddDebugEdges()

void HierarchicalPathfinder::AddDebugEdges ( pass_class_t  passClass )

private

Debug visualisation of graph edges between regions.

ComputeNeighbors()

void HierarchicalPathfinder::ComputeNeighbors ( EdgesMap &  edges, Chunk &  a, Chunk &  b, bool  transpose, bool  opposite  ) const

private

FillRegionOnGrid()

void HierarchicalPathfinder::FillRegionOnGrid ( const RegionID &  region, pass_class_t  passClass, u16  value, Grid< u16 > &  grid  ) const

private

FindGoalRegionsAndBestNavcells()

void HierarchicalPathfinder::FindGoalRegionsAndBestNavcells ( u16  i0, u16  j0, u16  gi, u16  gj, const PathGoal &  goal, std::set< InterestingRegion, SortByBestToPoint > &  regions, pass_class_t  passClass  ) const

private

FindNearestNavcellInRegions()

void HierarchicalPathfinder::FindNearestNavcellInRegions ( const std::set< RegionID, SortByCenterToPoint > &  regions, u16 &  iGoal, u16 &  jGoal, pass_class_t  passClass  ) const

private

FindNearestPassableNavcell()

void HierarchicalPathfinder::FindNearestPassableNavcell	(	u16 &	i,
		u16 &	j,
		pass_class_t	passClass
	)		const

Updates i, j (which is assumed to be an impassable navcell) to the nearest passable navcell.

FindReachableRegions()

template<typename Ordering >

void HierarchicalPathfinder::FindReachableRegions ( RegionID  from, std::set< RegionID, Ordering > &  reachable, pass_class_t  passClass  ) const

inlineprivate

Returns all reachable regions, optionally ordered in a specific manner.

Get()

HierarchicalPathfinder::RegionID HierarchicalPathfinder::Get	(	u16	i,
		u16	j,
		pass_class_t	passClass
	)		const

GetChunk()

const Chunk & HierarchicalPathfinder::GetChunk ( u8  ci, u8  cj, pass_class_t  passClass  ) const

inlineprivate

GetConnectivityGrid()

Grid< u16 > HierarchicalPathfinder::GetConnectivityGrid

(

pass_class_t

passClass

)

const

Generates the connectivity grid associated with the given pass_class.

GetGlobalRegion() [1/2]

HierarchicalPathfinder::GlobalRegionID HierarchicalPathfinder::GetGlobalRegion	(	RegionID	region,
		pass_class_t	passClass
	)		const

GetGlobalRegion() [2/2]

HierarchicalPathfinder::GlobalRegionID HierarchicalPathfinder::GetGlobalRegion	(	u16	i,
		u16	j,
		pass_class_t	passClass
	)		const

GetPassabilityClass()

pass_class_t HierarchicalPathfinder::GetPassabilityClass ( const std::string &  name ) const

inline

IsGoalReachable()

bool HierarchicalPathfinder::IsGoalReachable	(	u16	i0,
		u16	j0,
		const PathGoal &	goal,
		pass_class_t	passClass
	)		const

Returns

true if the goal is reachable from navcell i0, j0. (similar to MakeGoalReachable but only checking for reachability).

MakeGoalReachable()

bool HierarchicalPathfinder::MakeGoalReachable	(	u16	i0,
		u16	j0,
		PathGoal &	goal,
		pass_class_t	passClass
	)		const

Updates goal so that it's guaranteed to be reachable from the navcell i0, j0 (which is assumed to be on a passable navcell).

If the goal is not reachable, it is replaced with a point goal nearest to the goal center.

In the case of a non-point reachable goal, it is replaced with a point goal at the reachable navcell of the goal which is nearest to the starting navcell.

Returns

true if the goal was reachable, false otherwise.

Recompute()

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

RecomputeAllEdges()

void HierarchicalPathfinder::RecomputeAllEdges ( pass_class_t  passClass, EdgesMap &  edges  )

private

Find edges between regions in all chunks, in an optimised manner (only look at top/left)

RenderSubmit()

void HierarchicalPathfinder::RenderSubmit

(

SceneCollector &

collector

)

SetDebugOverlay()

void HierarchicalPathfinder::SetDebugOverlay	(	bool	enabled,
		const CSimContext *	simContext
	)

Update()

void HierarchicalPathfinder::Update	(	Grid< NavcellData > *	grid,
		const Grid< u8 > &	dirtinessGrid
	)

UpdateEdges()

void HierarchicalPathfinder::UpdateEdges ( u8  ci, u8  cj, pass_class_t  passClass, EdgesMap &  edges  )

private

Connect a chunk's regions to their neighbors.

Not optimised for global recomputing.

UpdateGlobalRegions()

void HierarchicalPathfinder::UpdateGlobalRegions ( const std::map< pass_class_t, std::vector< RegionID > > &  needNewGlobalRegionMap )

private

Member Data Documentation

CHUNK_SIZE

const u8 HierarchicalPathfinder::CHUNK_SIZE = 96

staticprivate

m_Chunks

std::map<pass_class_t, std::vector<Chunk> > HierarchicalPathfinder::m_Chunks

private

m_ChunksH

u8 HierarchicalPathfinder::m_ChunksH

private

m_ChunksW

u8 HierarchicalPathfinder::m_ChunksW

private

m_DebugOverlay

HierarchicalOverlay* HierarchicalPathfinder::m_DebugOverlay

private

m_DebugOverlayLines

std::vector<SOverlayLine> HierarchicalPathfinder::m_DebugOverlayLines

m_Edges

std::map<pass_class_t, EdgesMap> HierarchicalPathfinder::m_Edges

private

m_GlobalRegions

std::map<pass_class_t, std::map<RegionID, GlobalRegionID> > HierarchicalPathfinder::m_GlobalRegions

private

m_H

u16 HierarchicalPathfinder::m_H

private

m_NextGlobalRegionID

GlobalRegionID HierarchicalPathfinder::m_NextGlobalRegionID

private

m_PassClassMasks

std::map<std::string, pass_class_t> HierarchicalPathfinder::m_PassClassMasks

private

m_SimContext

const CSimContext* HierarchicalPathfinder::m_SimContext

private

m_W

u16 HierarchicalPathfinder::m_W

private

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

• /home/docker/jenkins/workspace/technical-docs/source/simulation2/helpers/HierarchicalPathfinder.h
• /home/docker/jenkins/workspace/technical-docs/source/simulation2/helpers/HierarchicalPathfinder.cpp