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Continue working on pathfinding
This commit is contained in:
attilavs2
parent
52da4be1af
commit
21a5659d58
2 changed files with 82 additions and 38 deletions
105
src/npc.c
105
src/npc.c
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@ -34,7 +34,7 @@ float length( float x, float y )
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int npc_clear_path(NPC *npc)
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{
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npc->currentPoint = 0;
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npc->hasPath = 1;
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npc->hasPath = 0;
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npc->path_length = 0;
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free(npc->xpath);
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free(npc->ypath);
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@ -46,10 +46,10 @@ int npc_clear_path(NPC *npc)
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int npc_append_path(uint16_t x, uint16_t y, NPC *npc)
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{
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npc->path_length++;
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npc->xpath = realloc(npc->xpath, npc->path_length*2);
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npc->ypath = realloc(npc->ypath, npc->path_length*2);
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npc->xpath = realloc(npc->xpath, npc->path_length*2+2);
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npc->ypath = realloc(npc->ypath, npc->path_length*2+2);
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if(npc->xpath == NULL || npc->ypath == NULL) return 1;
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npc->path_length++;
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npc->xpath[npc->path_length-1] = x - npc->x;
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npc->ypath[npc->path_length-1] = y - npc->y;
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return 0;
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@ -73,12 +73,14 @@ int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
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for(i = 0; i < 64; i++)
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{
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if(next == -1) goto as_recons_fail;
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if(npc_append_path(next%w, next/h, npc)) goto as_recons_fail;
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if(npc_append_path((next%w)*T_WIDTH,(next/h)*T_HEIGHT, npc))
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{
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goto as_recons_fail;
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}
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next = came_from[next];
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if(next == spos){
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if(npc_append_path(spos%w, spos/h, npc))
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if(npc_append_path((spos%w)*T_WIDTH,(spos/h)*T_HEIGHT, npc))
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goto as_recons_fail;
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break;
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}
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@ -88,18 +90,20 @@ int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
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//Flip the path because it started from the end
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for(i = 1; i < npc->path_length/2; i++)
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for(i = 0; i < npc->path_length/2; i++)
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{
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tx = npc->xpath[i];
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ty = npc->ypath[i];
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npc->xpath[i] = npc->xpath[npc->path_length-i];
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npc->ypath[i] = npc->ypath[npc->path_length-i];
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npc->ypath[npc->path_length-i] = tx;
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npc->ypath[npc->path_length-i] = ty;
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npc->xpath[i] = npc->xpath[npc->path_length-i-1];
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npc->ypath[i] = npc->ypath[npc->path_length-i-1];
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npc->ypath[npc->path_length-i-1] = tx;
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npc->ypath[npc->path_length-i-1] = ty;
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}
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free(came_from);
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npc->hasPath = true;
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return 0;
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as_recons_fail:
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@ -112,16 +116,21 @@ int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
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//Returns non zero error code on failure
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//Custom a* implemetation
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//Unoptimized, may become an issue
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int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
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int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc)
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{
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uint32_t i, j;
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int32_t i, j;
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int32_t w = full_map->w;
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int32_t h = full_map->h;
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int32_t x = floor(npc->curx)/T_WIDTH;
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int32_t y = floor(npc->cury)/T_HEIGHT;
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dest_x /= T_WIDTH;
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dest_y /= T_HEIGHT;
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int32_t spos = y*w+x;
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uint32_t w = full_map->w;
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uint32_t h = full_map->h;
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uint32_t x = floor(npc->curx);
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uint32_t y = floor(npc->cury);
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uint32_t spos = y*w+x;
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uint8_t *map = full_map->walkable;
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if(dest_x < 0 || dest_x > w || dest_y < 0 || dest_x > h) return 2;
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if(map[spos]) return 2;
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if(map[dest_y*w+dest_x]) return 2;
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@ -134,26 +143,26 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
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int16_t *came_from = malloc(w*h*2);
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for(i=0; i<w*h; i++) came_from[i] = -1;
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uint8_t *gscore = malloc(w*h);
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uint8_t *gscore = malloc(w*h*2);
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for(i=0; i<w*h; i++) gscore[i] = 255;
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gscore[spos] = 0;
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uint8_t *fscore = malloc(w*h);
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uint8_t *fscore = malloc(w*h*2);
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for(i=0; i<w*h; i++) fscore[i] = 255;
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fscore[spos] = length(dest_x-x, dest_y-y);
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uint8_t bscore;
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uint32_t bx = x;
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uint32_t by = y;
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int32_t bx = x;
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int32_t by = y;
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for(int iter=0; iter < 1024; iter++)
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for(int iter=0; iter < 64; iter++)
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{
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bscore = 255;
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//Cheapest known tile
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for(i = 0; i <= w*h; i++)
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{
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if(visited[i]) continue;
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if(map[i]) continue;
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if(map[i] == 1) continue;
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if(fscore[i] > bscore) continue;
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bx = i%w;
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by = i/w;
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@ -162,7 +171,8 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
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if(bx == dest_x && by == dest_y)
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{
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as_clean(visited, gscore, fscore);
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return as_reconstruct_path(came_from, w, h, spos, dest_y*w+dest_x, npc);
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return as_reconstruct_path(came_from, w, h, spos,
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dest_y*w+dest_x, npc);
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}
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visited[by*w+bx] = 1;
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@ -174,14 +184,16 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
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if(i > w) break;
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for(j = by-1; j < by+2; j++)
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{
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if(j > h ) break;
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if(map[j*w+i]) continue;
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att_score = gscore[by*w+bx] + ceil(length(bx-i,by-j));
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if(j > h) break;
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if(map[j*w+i] == 1) continue;
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if(i == bx && j == by) continue;
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att_score = gscore[by*w+bx] + round(length(bx-i,by-j));
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if(att_score < gscore[j*w+i])
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{
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came_from[j*w+i] = by*w+bx;
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gscore[j*w+i] = att_score;
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fscore[j*w+i] = att_score + ceil(length(dest_x-i, dest_y-j));
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fscore[j*w+i] = att_score + round(
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length(dest_x-i, dest_y-j));
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if(visited[j*w+i]) visited[j*w+i] = 0;
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}
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}
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@ -194,11 +206,34 @@ int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc)
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return 3;
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}
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NPC *npc_create()
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{
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//Use temp pointer to avoid breaking the whole npcRPG on failure
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void *temp = realloc(npcRPG, (nbNPC+1)*sizeof(NPC));
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if(temp == NULL) return NULL;
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npcRPG = temp;
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nbNPC++;
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NPC *npc = &npcRPG[nbNPC-1];
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npc->xpath = malloc(2);
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npc->ypath = malloc(2);
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return npc;
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}
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void npc_remove(NPC *npc)
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{
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uint32_t pos = ((uint32_t)npc - (uint32_t)npcRPG)/sizeof(NPC);
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if(pos > nbNPC-1) return;
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if(pos == nbNPC-1)
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{
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nbNPC--;
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return;
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}
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memmove(npc, &npc[1], (nbNPC-pos-1)*sizeof(NPC));
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}
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//Refactoring to make adding complexity cleaner
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void update_npcs([[maybe_unused]] Game *game)
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{
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//npc_pathfind(game->player.x, game->player.y, game->map_level, &npcRPG[0]);
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for( uint32_t u=0; u<nbNPC; u++ )
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{
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update_npc(&npcRPG[u]);
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@ -207,8 +242,8 @@ void update_npcs([[maybe_unused]] Game *game)
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void update_npc(NPC *npc)
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{
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/* if the NPC has no path and is paused, skip it */
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if (!npc->hasPath && npc->paused==true) return;
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/* if the NPC has no path or is paused, skip it */
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if (!npc->hasPath || npc->paused==true) return;
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float vecX = (float) (npc->xpath[ npc->currentPoint ] +
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npc->x) - npc->curx;
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@ -232,7 +267,6 @@ void update_npc(NPC *npc)
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}
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//TODO ; Add malloc() failure case
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void reload_npc(Game *game)
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{
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if (npcRPG!=NULL)
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@ -256,6 +290,7 @@ void reload_npc(Game *game)
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}
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npcRPG = (NPC*) malloc( nbNPC * sizeof(NPC) );
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if(npcRPG == NULL) return;
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int currentNPC=0;
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for (uint32_t u=0; u<game->map_level->nbextradata; u++)
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15
src/npc.h
15
src/npc.h
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@ -38,12 +38,14 @@ typedef struct
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int16_t *xpath;
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int16_t *ypath;
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int type;
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int8_t current_group;
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int8_t hostile_to_group;
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/* is the current NPC in pause (during dialog) */
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bool paused;
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} NPC;
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//Frees then malloc()s a new path to npc
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@ -57,7 +59,14 @@ int npc_append_path(uint16_t x, uint16_t y, NPC *npc);
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//Clears the NPCs path and creates a new one going to dest,
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//avoiding non-walkable tiles
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//Returns non-zero on failure
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int npc_pathfind(uint32_t dest_x, uint32_t dest_y, Map *full_map, NPC *npc);
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int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc);
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//realloc()s npcRPG to adequate size and returns a pointer to the new element
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//Returns NULL on failure
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NPC *npc_create();
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//Pops the NPC from npcRPG
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void npc_remove(NPC *npc);
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/* Draws the player player. This function should be called after drawing the
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* map! */
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