Continue working on pathfinding

src/npc.c

@@ -34,7 +34,7 @@ float length( float x, float y )
 int npc_clear_path(NPC *npc)
 {
     npc->currentPoint = 0;
-    npc->hasPath = 1;
+    npc->hasPath = 0;
     npc->path_length = 0;
     free(npc->xpath);
     free(npc->ypath);
@@ -46,10 +46,10 @@ int npc_clear_path(NPC *npc)
 
 int npc_append_path(uint16_t x, uint16_t y, NPC *npc)
 {
-    npc->path_length++;
+    npc->xpath = realloc(npc->xpath, npc->path_length*2+2);
-    npc->xpath = realloc(npc->xpath, npc->path_length*2);
+    npc->ypath = realloc(npc->ypath, npc->path_length*2+2);
-    npc->ypath = realloc(npc->ypath, npc->path_length*2);
     if(npc->xpath == NULL || npc->ypath == NULL) return 1;
+    npc->path_length++;
     npc->xpath[npc->path_length-1] = x - npc->x;
     npc->ypath[npc->path_length-1] = y - npc->y;
     return 0;
@@ -73,12 +73,14 @@ int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
 
     for(i = 0; i < 64; i++)
     {
-        if(next == -1) goto as_recons_fail;
+        if(npc_append_path((next%w)*T_WIDTH,(next/h)*T_HEIGHT, npc))
-        if(npc_append_path(next%w, next/h, npc)) goto as_recons_fail;
+        {
+            goto as_recons_fail;
+        }
 
         next = came_from[next];
         if(next == spos){
-            if(npc_append_path(spos%w, spos/h, npc))
+            if(npc_append_path((spos%w)*T_WIDTH,(spos/h)*T_HEIGHT, npc))
                 goto as_recons_fail;
             break;
         }
@@ -88,18 +90,20 @@ int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
 
     //Flip the path because it started from the end
 
-    for(i = 1; i < npc->path_length/2; i++)
+    for(i = 0; i < npc->path_length/2; i++)
     {
         tx = npc->xpath[i];
         ty = npc->ypath[i];
-        npc->xpath[i] = npc->xpath[npc->path_length-i];
+        npc->xpath[i] = npc->xpath[npc->path_length-i-1];
-        npc->ypath[i] = npc->ypath[npc->path_length-i];
+        npc->ypath[i] = npc->ypath[npc->path_length-i-1];
-        npc->ypath[npc->path_length-i] = tx;
+        npc->ypath[npc->path_length-i-1] = tx;
-        npc->ypath[npc->path_length-i] = ty;
+        npc->ypath[npc->path_length-i-1] = ty;
     }
 
     free(came_from);
 
+    npc->hasPath = true;
+
     return 0;
 
     as_recons_fail:
@@ -112,16 +116,21 @@ int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
 //Returns non zero error code on failure
 //Custom a* implemetation
 //Unoptimized, may become an issue
-int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
+int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc)
 {
-    uint32_t i, j;
+    int32_t i, j;
+
+    int32_t w = full_map->w;
+    int32_t h = full_map->h;
+    int32_t x = floor(npc->curx)/T_WIDTH;
+    int32_t y = floor(npc->cury)/T_HEIGHT;
+    dest_x /= T_WIDTH;
+    dest_y /= T_HEIGHT;
+    int32_t spos = y*w+x;
 
-    uint32_t w = full_map->w;
-    uint32_t h = full_map->h;
-    uint32_t x = floor(npc->curx);
-    uint32_t y = floor(npc->cury);
-    uint32_t spos = y*w+x;
     uint8_t *map = full_map->walkable;
+
+    if(dest_x < 0 || dest_x > w || dest_y < 0 || dest_x > h) return 2;
     if(map[spos]) return 2;
     if(map[dest_y*w+dest_x]) return 2;
 
@@ -134,26 +143,26 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
     int16_t *came_from = malloc(w*h*2);
     for(i=0; i<w*h; i++) came_from[i] = -1;
 
-    uint8_t *gscore = malloc(w*h);
+    uint8_t *gscore = malloc(w*h*2);
     for(i=0; i<w*h; i++) gscore[i] = 255;
     gscore[spos] = 0;
 
-    uint8_t *fscore = malloc(w*h);
+    uint8_t *fscore = malloc(w*h*2);
     for(i=0; i<w*h; i++) fscore[i] = 255;
     fscore[spos] = length(dest_x-x, dest_y-y);
 
     uint8_t bscore;
-    uint32_t bx = x;
+    int32_t bx = x;
-    uint32_t by = y;
+    int32_t by = y;
 
-    for(int iter=0; iter < 1024; iter++)
+    for(int iter=0; iter < 64; iter++)
     {
         bscore = 255;
         //Cheapest known tile
         for(i = 0; i <= w*h; i++)
         {
             if(visited[i]) continue;
-            if(map[i]) continue;
+            if(map[i] == 1) continue;
             if(fscore[i] > bscore) continue;
             bx = i%w;
             by = i/w;
@@ -162,7 +171,8 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
         if(bx == dest_x && by == dest_y)
         {
             as_clean(visited, gscore, fscore);
-            return as_reconstruct_path(came_from, w, h, spos, dest_y*w+dest_x, npc);
+            return as_reconstruct_path(came_from, w, h, spos,
+                                        dest_y*w+dest_x, npc);
         }
 
         visited[by*w+bx] = 1;
@@ -175,13 +185,15 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
             for(j = by-1; j < by+2; j++)
             {
                 if(j > h) break;
-                if(map[j*w+i]) continue;
+                if(map[j*w+i] == 1) continue;
-                att_score = gscore[by*w+bx] + ceil(length(bx-i,by-j));
+                if(i == bx && j == by) continue;
+                att_score = gscore[by*w+bx] + round(length(bx-i,by-j));
                 if(att_score < gscore[j*w+i])
                 {
                     came_from[j*w+i] = by*w+bx;
                     gscore[j*w+i] = att_score;
-                    fscore[j*w+i] = att_score + ceil(length(dest_x-i, dest_y-j));
+                    fscore[j*w+i] = att_score + round(
+                                        length(dest_x-i, dest_y-j));
                     if(visited[j*w+i]) visited[j*w+i] = 0;
                 }
             }
@@ -194,11 +206,34 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
     return 3;
 }
 
+NPC *npc_create()
+{
+    //Use temp pointer to avoid breaking the whole npcRPG on failure
+    void *temp = realloc(npcRPG, (nbNPC+1)*sizeof(NPC));
+    if(temp == NULL) return NULL;
+    npcRPG = temp;
+    nbNPC++;
+    NPC *npc = &npcRPG[nbNPC-1];
+    npc->xpath = malloc(2);
+    npc->ypath = malloc(2);
+    return npc;
+}
+
+void npc_remove(NPC *npc)
+{
+    uint32_t pos = ((uint32_t)npc - (uint32_t)npcRPG)/sizeof(NPC);
+    if(pos > nbNPC-1) return;
+    if(pos == nbNPC-1)
+    {
+        nbNPC--;
+        return;
+    }
+    memmove(npc, &npc[1], (nbNPC-pos-1)*sizeof(NPC));
+}
+
 //Refactoring to make adding complexity cleaner
 void update_npcs([[maybe_unused]] Game *game)
 {
-    //npc_pathfind(game->player.x, game->player.y, game->map_level, &npcRPG[0]);
-
     for( uint32_t u=0; u<nbNPC; u++ )
     {
         update_npc(&npcRPG[u]);
@@ -207,8 +242,8 @@ void update_npcs([[maybe_unused]] Game *game)
 
 void update_npc(NPC *npc)
 {
-    /* if the NPC has no path and is paused, skip it */
+    /* if the NPC has no path or is paused, skip it */
-    if (!npc->hasPath && npc->paused==true) return;
+    if (!npc->hasPath || npc->paused==true) return;
 
     float vecX = (float) (npc->xpath[ npc->currentPoint ] +
                                  npc->x) - npc->curx;
@@ -232,7 +267,6 @@ void update_npc(NPC *npc)
 
 }
 
-//TODO ; Add malloc() failure case
 void reload_npc(Game *game)
 {
     if (npcRPG!=NULL)
@@ -256,6 +290,7 @@ void reload_npc(Game *game)
     }
 
     npcRPG = (NPC*) malloc( nbNPC * sizeof(NPC) );
+    if(npcRPG == NULL) return;
     int currentNPC=0;
 
     for (uint32_t u=0; u<game->map_level->nbextradata; u++)

src/npc.h

@@ -38,12 +38,14 @@ typedef struct
     int16_t *xpath;
     int16_t *ypath;
 
+    int type;
+
+    int8_t current_group;
     int8_t hostile_to_group;
 
-
-
     /* is the current NPC in pause (during dialog) */
     bool paused;
+
 } NPC;
 
 //Frees then malloc()s a new path to npc
@@ -57,7 +59,14 @@ int npc_append_path(uint16_t x, uint16_t y, NPC *npc);
 //Clears the NPCs path and creates a new one going to dest,
 //avoiding non-walkable tiles
 //Returns non-zero on failure
-int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc);
+int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc);
+
+//realloc()s npcRPG to adequate size and returns a pointer to the new element
+//Returns NULL on failure
+NPC *npc_create();
+
+//Pops the NPC from npcRPG
+void npc_remove(NPC *npc);
 
 /* Draws the player player. This function should be called after drawing the
  * map! */