npc : Debug pathfinding

src/game.c

@@ -273,7 +273,7 @@ void game_get_inputs(Game *game) {
                 mynpc->y = player->x;
                 mynpc->hasPath = 0;
                 mynpc->owns_path = false;
-                mynpc->face = 1;
+                mynpc->face = 0;
                 mynpc->paused = 0;
                 mynpc->has_dialog = 0;
                 mynpc->xpath = NULL;

src/npc.c

@@ -91,44 +91,49 @@ void as_clean(uint8_t *visited, uint8_t *gscore, uint8_t *fscore) {
     free(fscore);
 }
 
-// TODO : Fix
+int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t start,
-int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
+                        int16_t dest, bool is_alloc, NPC *npc) {
-                        int16_t dest, NPC *npc) {
     if(npc_clear_path(npc))
         goto as_recons_fail;
 
-    int16_t next = came_from[dest];
+    int16_t prev = came_from[dest];
 
-    unsigned int i;
+    uint32_t i;
+    int x, y;
 
-    for(i = 0; i < 64; i++) {
+    for(i = 0; i < PATHFIND_MAX_ITER; i++) {
-        if(npc_append_path((next % w) * T_WIDTH, (next / h) * T_HEIGHT, npc)) {
+        x = ((prev%w)*T_WIDTH + T_WIDTH/2) << PRECISION;
+        y = ((prev/w)*T_HEIGHT + T_HEIGHT/2) << PRECISION;
+        if(npc_append_path(x,y,npc)) {
             goto as_recons_fail;
         }
-
+        prev = came_from[prev];
-        next = came_from[next];
+        if(prev == start){
-        if(next == spos) {
+            x = ((prev%w)*T_WIDTH + T_WIDTH/2) << PRECISION;
-            if(npc_append_path((spos % w) * T_WIDTH, (spos / h) * T_HEIGHT,
+            y = ((prev/w)*T_HEIGHT + T_HEIGHT/2) << PRECISION;
-                               npc))
+            if(npc_append_path(x,y,npc))
                 goto as_recons_fail;
             break;
         }
+        if(prev == -1)
+            goto as_recons_fail;
     }
 
     uint16_t tx, ty;
 
     // Flip the path because it started from the end
 
-    for(i = 0; 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 - 1];
         npc->ypath[i] = npc->ypath[npc->path_length - i - 1];
         npc->ypath[npc->path_length - i - 1] = tx;
         npc->ypath[npc->path_length - i - 1] = ty;
-    }
+    }*/
 
-    free(came_from);
+    if(is_alloc)
+        free(came_from);
 
     npc->hasPath = true;
 
@@ -136,7 +141,8 @@ int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
 
 as_recons_fail:
 
-    free(came_from);
+    if(is_alloc)
+        free(came_from);
 
     return 1;
 }
@@ -148,8 +154,8 @@ uint32_t xyram = 0xe500e000 + 32;
 int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc) {
     int32_t i, j;
 
-    int32_t w = full_map->w;
+    int32_t w = full_map->w/T_WIDTH/PXSIZE;
-    int32_t h = full_map->h;
+    int32_t h = full_map->h/T_HEIGHT/PXSIZE;
     int32_t x = (npc->curx >> PRECISION) / T_WIDTH;
     int32_t y = (npc->cury >> PRECISION) / T_HEIGHT;
     dest_x /= T_WIDTH;
@@ -158,8 +164,8 @@ int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc) {
 
     uint8_t *map = full_map->walkable;
 
-    if(dest_x < 0 || dest_x > w || dest_y < 0 || dest_x > h)
+    /*if(dest_x < 0 || dest_x > w || dest_y < 0 || dest_x > h)
-        return 2;
+        return 2;*/
     if(map[spos])
         return 2;
     if(map[dest_y * w + dest_x])
@@ -172,7 +178,11 @@ int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc) {
     uint8_t *gscore;
     uint8_t *fscore;
 
-    if(isSH3() || w * h * 5 > 1024 * 15) {
+    bool is_alloc;
+
+    if(1 || isSH3() || w * h * 5 > 1024 * 15) {
+        is_alloc = true;
+
         visited = malloc(w * h);
         came_from = malloc(w * h * 2);
         gscore = malloc(w * h * 2);
@@ -182,6 +192,7 @@ int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc) {
             free(came_from);
             return 4;
         }
+
         for(i = 0; i < w * h; i++)
             visited[i] = 1;
         for(i = 0; i < w * h; i++)
@@ -191,6 +202,8 @@ int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc) {
         for(i = 0; i < w * h; i++)
             fscore[i] = 255;
     } else {
+        is_alloc = false;
+
         visited = (void *)xyram;
         gscore = (void *)(xyram + w * h);
         fscore = (void *)(xyram + w * h * 2);
@@ -213,7 +226,7 @@ int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc) {
     int32_t bx = x;
     int32_t by = y;
 
-    for(int iter = 0; iter < 64; iter++) {
+    for(int iter = 0; iter < PATHFIND_MAX_ITER; iter++) {
         bscore = 255;
         /* Cheapest known tile */
         /* Could be improved with a priority queue*/
@@ -230,9 +243,8 @@ int npc_pathfind(int32_t dest_x, int32_t dest_y, Map *full_map, NPC *npc) {
         }
         if(bx == dest_x && by == dest_y) {
             as_clean(visited, gscore, fscore);
-            return 1 /*as_reconstruct_path(came_from, w, h, spos,
+            return 0; /*as_reconstruct_path(came_from, w, h, spos,
                                         dest_y * w + dest_x, npc)*/
-                ;
         }
 
         visited[by * w + bx] = 1;
@@ -276,8 +288,9 @@ void update_npcs(Game *game) {
     }
     for(i = 0; i < npc_count; i++) {
         update_npc(&npc_stack[i]);
-        /*npc_pathfind(game->player.x, game->player.y, game->map_level,
+        /*Temp debug*/
-                     &npc_stack[i]);*/
+        game->mana = npc_pathfind(game->player.x, game->player.y, game->map_level,
+                     &npc_stack[i]);
     }
 }
 

src/npc.h

@@ -7,6 +7,9 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+/*Maximum iterations before the pathfinding considers the target unreacheable*/
+#define PATHFIND_MAX_ITER 64
+
 enum {
 
     NPC_NONE = 0,
@@ -14,7 +17,6 @@ enum {
     NPC_HOSTILE = 2,  // to the player
     NPC_ALL = 3
 };
-
 /* /!\ Warning /!\
  * Do not keep hard references to non-static NPCs, as they will likely move
  * in the stack */