/** * MaNGOS is a full featured server for World of Warcraft, supporting * the following clients: 1.12.x, 2.4.3, 3.3.5a, 4.3.4a and 5.4.8 * * Copyright (C) 2005-2017 MaNGOS project * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * * World of Warcraft, and all World of Warcraft or Warcraft art, images, * and lore are copyrighted by Blizzard Entertainment, Inc. */ #ifndef MANGOS_PATH_FINDER_H #define MANGOS_PATH_FINDER_H #include "DetourNavMesh.h" #include "DetourNavMeshQuery.h" #include "MoveMapSharedDefines.h" #include "movement/MoveSplineInitArgs.h" using Movement::Vector3; using Movement::PointsArray; class Unit; // 74*4.0f=296y number_of_points*interval = max_path_len // this is way more than actual evade range // I think we can safely cut those down even more #define MAX_PATH_LENGTH 74 #define MAX_POINT_PATH_LENGTH 74 #define SMOOTH_PATH_STEP_SIZE 4.0f #define SMOOTH_PATH_SLOP 0.3f #define SMOOTH_PATH_HEIGHT 1.0f #define VERTEX_SIZE 3 #define INVALID_POLYREF 0 enum PathType { PATHFIND_BLANK = 0x0000, // path not built yet PATHFIND_NORMAL = 0x0001, // normal path PATHFIND_SHORTCUT = 0x0002, // travel through obstacles, terrain, air, etc (old behavior) PATHFIND_INCOMPLETE = 0x0004, // we have partial path to follow - getting closer to target PATHFIND_NOPATH = 0x0008, // no valid path at all or error in generating one PATHFIND_NOT_USING_PATH = 0x0010 // used when we are either flying/swiming or on map w/o mmaps }; class PathFinder { public: PathFinder(Unit const* owner); ~PathFinder(); // Calculate the path from owner to given destination // return: true if new path was calculated, false otherwise (no change needed) bool calculate(float destX, float destY, float destZ, bool forceDest = false); // option setters - use optional void setUseStrightPath(bool useStraightPath) { m_useStraightPath = useStraightPath; }; void setPathLengthLimit(float distance) { m_pointPathLimit = std::min(uint32(distance / SMOOTH_PATH_STEP_SIZE), MAX_POINT_PATH_LENGTH); }; // result getters Vector3 getStartPosition() const { return m_startPosition; } Vector3 getEndPosition() const { return m_endPosition; } Vector3 getActualEndPosition() const { return m_actualEndPosition; } void NormalizePath(uint32& size); PointsArray& getPath() { return m_pathPoints; } PathType getPathType() const { return m_type; } private: dtPolyRef m_pathPolyRefs[MAX_PATH_LENGTH]; // array of detour polygon references uint32 m_polyLength; // number of polygons in the path PointsArray m_pathPoints; // our actual (x,y,z) path to the target PathType m_type; // tells what kind of path this is bool m_useStraightPath; // type of path will be generated bool m_forceDestination; // when set, we will always arrive at given point uint32 m_pointPathLimit; // limit point path size; min(this, MAX_POINT_PATH_LENGTH) Vector3 m_startPosition; // {x, y, z} of current location Vector3 m_endPosition; // {x, y, z} of the destination Vector3 m_actualEndPosition;// {x, y, z} of the closest possible point to given destination const Unit* const m_sourceUnit; // the unit that is moving const dtNavMesh* m_navMesh; // the nav mesh const dtNavMeshQuery* m_navMeshQuery; // the nav mesh query used to find the path dtQueryFilter m_filter; // use single filter for all movements, update it when needed void setStartPosition(const Vector3 &point) { m_startPosition = point; } void setEndPosition(const Vector3 &point) { m_actualEndPosition = point; m_endPosition = point; } void setActualEndPosition(const Vector3 &point) { m_actualEndPosition = point; } void clear() { m_polyLength = 0; m_pathPoints.clear(); } bool inRange(const Vector3& p1, const Vector3& p2, float r, float h) const; float dist3DSqr(const Vector3& p1, const Vector3& p2) const; bool inRangeYZX(const float* v1, const float* v2, float r, float h) const; dtPolyRef getPathPolyByPosition(const dtPolyRef* polyPath, uint32 polyPathSize, const float* point, float* distance = NULL) const; dtPolyRef getPolyByLocation(const float* point, float* distance) const; bool HaveTile(const Vector3& p) const; void BuildPolyPath(const Vector3& startPos, const Vector3& endPos); void BuildPointPath(const float* startPoint, const float* endPoint); void BuildShortcut(); NavTerrain getNavTerrain(float x, float y, float z); void createFilter(); void updateFilter(); // smooth path aux functions uint32 fixupCorridor(dtPolyRef* path, uint32 npath, uint32 maxPath, const dtPolyRef* visited, uint32 nvisited); bool getSteerTarget(const float* startPos, const float* endPos, float minTargetDist, const dtPolyRef* path, uint32 pathSize, float* steerPos, unsigned char& steerPosFlag, dtPolyRef& steerPosRef); dtStatus findSmoothPath(const float* startPos, const float* endPos, const dtPolyRef* polyPath, uint32 polyPathSize, float* smoothPath, int* smoothPathSize, uint32 smoothPathMaxSize); }; #endif