LongPathfinder Class Reference

#include <LongPathfinder.h>

Collaboration diagram for LongPathfinder:

Classes
struct	Debug

Public Member Functions
	LongPathfinder ()
	~LongPathfinder ()
void	SetDebugOverlay (bool enabled)
void	SetDebugPath (const HierarchicalPathfinder &hierPath, entity_pos_t x0, entity_pos_t z0, const PathGoal &goal, pass_class_t passClass)
void	Reload (Grid< NavcellData > *passabilityGrid)
void	Update (Grid< NavcellData > *passabilityGrid)
void	ComputePath (const HierarchicalPathfinder &hierPath, entity_pos_t x0, entity_pos_t z0, const PathGoal &origGoal, pass_class_t passClass, WaypointPath &path) const
	Compute a tile-based path from the given point to the goal, and return the set of waypoints. More...
void	ComputePath (const HierarchicalPathfinder &hierPath, entity_pos_t x0, entity_pos_t z0, const PathGoal &origGoal, pass_class_t passClass, std::vector< CircularRegion > excludedRegions, WaypointPath &path)
	Compute a tile-based path from the given point to the goal, excluding the regions specified in excludedRegions (which are treated as impassable) and return the set of waypoints. More...
void	GetDebugData (u32 &steps, double &time, Grid< u8 > &grid) const

Public Attributes
Grid< NavcellData > *	m_Grid
u16	m_GridSize
struct LongPathfinder::Debug	m_Debug

Private Member Functions
PathCost	CalculateHeuristic (int i, int j, int iGoal, int jGoal) const
void	ProcessNeighbour (int pi, int pj, int i, int j, PathCost pg, PathfinderState &state) const
void	AddJumpedHoriz (int i, int j, int di, PathCost g, PathfinderState &state, bool detectGoal) const
	JPS algorithm helper functions. More...
int	HasJumpedHoriz (int i, int j, int di, PathfinderState &state, bool detectGoal) const
void	AddJumpedVert (int i, int j, int dj, PathCost g, PathfinderState &state, bool detectGoal) const
int	HasJumpedVert (int i, int j, int dj, PathfinderState &state, bool detectGoal) const
void	AddJumpedDiag (int i, int j, int di, int dj, PathCost g, PathfinderState &state) const
void	ComputeJPSPath (const HierarchicalPathfinder &hierPath, entity_pos_t x0, entity_pos_t z0, const PathGoal &origGoal, pass_class_t passClass, WaypointPath &path) const
	See LongPathfinder.cpp for implementation details TODO: cleanup documentation. More...
void	GetDebugDataJPS (u32 &steps, double &time, Grid< u8 > &grid) const
void	ImprovePathWaypoints (WaypointPath &path, pass_class_t passClass, entity_pos_t maxDist, entity_pos_t x0, entity_pos_t z0) const
	Given a path with an arbitrary collection of waypoints, updates the waypoints to be nicer. More...
void	GenerateSpecialMap (pass_class_t passClass, std::vector< CircularRegion > excludedRegions)
	Generate a passability map, stored in the 16th bit of navcells, based on passClass, but with a set of impassable circular regions. More...

Private Attributes
bool	m_UseJPSCache
std::map< pass_class_t, std::shared_ptr< JumpPointCache > >	m_JumpPointCache

Constructor & Destructor Documentation

LongPathfinder()

LongPathfinder::LongPathfinder

(

)

~LongPathfinder()

LongPathfinder::~LongPathfinder

(

)

Member Function Documentation

AddJumpedDiag()

void LongPathfinder::AddJumpedDiag ( int  i, int  j, int  di, int  dj, PathCost  g, PathfinderState &  state  ) const

private

AddJumpedHoriz()

void LongPathfinder::AddJumpedHoriz ( int  i, int  j, int  di, PathCost  g, PathfinderState &  state, bool  detectGoal  ) const

private

JPS algorithm helper functions.

Parameters

detectGoal

is not used if m_UseJPSCache is true

AddJumpedVert()

void LongPathfinder::AddJumpedVert ( int  i, int  j, int  dj, PathCost  g, PathfinderState &  state, bool  detectGoal  ) const

private

CalculateHeuristic()

PathCost LongPathfinder::CalculateHeuristic ( int  i, int  j, int  iGoal, int  jGoal  ) const

private

ComputeJPSPath()

void LongPathfinder::ComputeJPSPath ( const HierarchicalPathfinder &  hierPath, entity_pos_t  x0, entity_pos_t  z0, const PathGoal &  origGoal, pass_class_t  passClass, WaypointPath &  path  ) const

private

See LongPathfinder.cpp for implementation details TODO: cleanup documentation.

ComputePath() [1/2]

void LongPathfinder::ComputePath	(	const HierarchicalPathfinder &	hierPath,
		entity_pos_t	x0,
		entity_pos_t	z0,
		const PathGoal &	origGoal,
		pass_class_t	passClass,
		std::vector< CircularRegion >	excludedRegions,
		WaypointPath &	path
	)

Compute a tile-based path from the given point to the goal, excluding the regions specified in excludedRegions (which are treated as impassable) and return the set of waypoints.

The waypoints correspond to the centers of horizontally/vertically adjacent tiles along the path.

ComputePath() [2/2]

void LongPathfinder::ComputePath	(	const HierarchicalPathfinder &	hierPath,
		entity_pos_t	x0,
		entity_pos_t	z0,
		const PathGoal &	origGoal,
		pass_class_t	passClass,
		WaypointPath &	path
	)		const

Compute a tile-based path from the given point to the goal, and return the set of waypoints.

The waypoints correspond to the centers of horizontally/vertically adjacent tiles along the path.

GenerateSpecialMap()

void LongPathfinder::GenerateSpecialMap ( pass_class_t  passClass, std::vector< CircularRegion >  excludedRegions  )

private

Generate a passability map, stored in the 16th bit of navcells, based on passClass, but with a set of impassable circular regions.

GetDebugData()

void LongPathfinder::GetDebugData ( u32 &  steps, double &  time, Grid< u8 > &  grid  ) const

inline

GetDebugDataJPS()

void LongPathfinder::GetDebugDataJPS ( u32 &  steps, double &  time, Grid< u8 > &  grid  ) const

private

HasJumpedHoriz()

int LongPathfinder::HasJumpedHoriz ( int  i, int  j, int  di, PathfinderState &  state, bool  detectGoal  ) const

private

HasJumpedVert()

int LongPathfinder::HasJumpedVert ( int  i, int  j, int  dj, PathfinderState &  state, bool  detectGoal  ) const

private

ImprovePathWaypoints()

void LongPathfinder::ImprovePathWaypoints ( WaypointPath &  path, pass_class_t  passClass, entity_pos_t  maxDist, entity_pos_t  x0, entity_pos_t  z0  ) const

private

Given a path with an arbitrary collection of waypoints, updates the waypoints to be nicer.

If

Parameters

maxDist	is non-zero, path waypoints will be espaced by at most
maxDist.	In that case the distance between (x0, z0) and the first waypoint will also be made less than maxDist.

ProcessNeighbour()

void LongPathfinder::ProcessNeighbour ( int  pi, int  pj, int  i, int  j, PathCost  pg, PathfinderState &  state  ) const

private

Reload()

void LongPathfinder::Reload ( Grid< NavcellData > *  passabilityGrid )

inline

SetDebugOverlay()

void LongPathfinder::SetDebugOverlay

(

bool

enabled

)

SetDebugPath()

void LongPathfinder::SetDebugPath ( const HierarchicalPathfinder &  hierPath, entity_pos_t  x0, entity_pos_t  z0, const PathGoal &  goal, pass_class_t  passClass  )

inline

Update()

void LongPathfinder::Update ( Grid< NavcellData > *  passabilityGrid )

inline

Member Data Documentation

m_Debug

struct LongPathfinder::Debug LongPathfinder::m_Debug

m_Grid

Grid<NavcellData>* LongPathfinder::m_Grid

m_GridSize

u16 LongPathfinder::m_GridSize

m_JumpPointCache

std::map<pass_class_t, std::shared_ptr<JumpPointCache> > LongPathfinder::m_JumpPointCache

mutableprivate

m_UseJPSCache

bool LongPathfinder::m_UseJPSCache

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