/*
* This file is part of the AzerothCore Project. See AUTHORS file for Copyright information
*
* This program is free software; you can redistribute it and/or modify it
* under the terms of the GNU Affero General Public License as published by the
* Free Software Foundation; either version 3 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 Affero General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see .
*/
#ifndef _PATH_GENERATOR_H
#define _PATH_GENERATOR_H
#include "DetourNavMesh.h"
#include "DetourNavMeshQuery.h"
#include "MMapFactory.h"
#include "MMapMgr.h"
#include "MapDefines.h"
#include "MoveSplineInitArgs.h"
#include "SharedDefines.h"
#include
class Unit;
class WorldObject;
// 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 DISALLOW_TIME_AFTER_FAIL 3 // secs
#define VERTEX_SIZE 3
#define INVALID_POLYREF 0
enum PathType
{
PATHFIND_BLANK = 0x00, // path not built yet
PATHFIND_NORMAL = 0x01, // normal path
PATHFIND_SHORTCUT = 0x02, // travel through obstacles, terrain, air, etc (old behavior)
PATHFIND_INCOMPLETE = 0x04, // we have partial path to follow - getting closer to target
PATHFIND_NOPATH = 0x08, // no valid path at all or error in generating one
PATHFIND_NOT_USING_PATH = 0x10, // used when we are either flying/swiming or on map w/o mmaps
PATHFIND_SHORT = 0x20, // path is longer or equal to its limited path length
PATHFIND_FARFROMPOLY_START = 0x40, // start position is far from the mmap poligon
PATHFIND_FARFROMPOLY_END = 0x80, // end positions is far from the mmap poligon
PATHFIND_FARFROMPOLY = PATHFIND_FARFROMPOLY_START | PATHFIND_FARFROMPOLY_END, // start or end positions are far from the mmap poligon
};
class PathGenerator
{
public:
explicit PathGenerator(WorldObject const* owner);
~PathGenerator();
// Calculate the path from owner to given destination
// return: true if new path was calculated, false otherwise (no change needed)
bool CalculatePath(float destX, float destY, float destZ, bool forceDest = false);
bool CalculatePath(float x, float y, float z, float destX, float destY, float destZ, bool forceDest);
[[nodiscard]] bool IsInvalidDestinationZ(Unit const* target) const;
[[nodiscard]] bool IsWalkableClimb(float const* v1, float const* v2) const;
[[nodiscard]] bool IsWalkableClimb(float x, float y, float z, float destX, float destY, float destZ) const;
[[nodiscard]] static bool IsWalkableClimb(float x, float y, float z, float destX, float destY, float destZ, float sourceHeight);
[[nodiscard]] bool IsWaterPath(Movement::PointsArray pathPoints) const;
[[nodiscard]] bool IsSwimmableSegment(float const* v1, float const* v2, bool checkSwim = true) const;
[[nodiscard]] bool IsSwimmableSegment(float x, float y, float z, float destX, float destY, float destZ, bool checkSwim = true) const;
[[nodiscard]] static float GetRequiredHeightToClimb(float x, float y, float z, float destX, float destY, float destZ, float sourceHeight);
// option setters - use optional
// when set, it skips paths with too high slopes (doesn't work with StraightPath enabled)
void SetSlopeCheck(bool checkSlope) { _slopeCheck = checkSlope; }
void SetUseStraightPath(bool useStraightPath) { _useStraightPath = useStraightPath; }
void SetPathLengthLimit(float distance) { _pointPathLimit = std::min(uint32(distance/SMOOTH_PATH_STEP_SIZE), MAX_POINT_PATH_LENGTH); }
void SetUseRaycast(bool useRaycast) { _useRaycast = useRaycast; }
// result getters
[[nodiscard]] G3D::Vector3 const& GetStartPosition() const { return _startPosition; }
[[nodiscard]] G3D::Vector3 const& GetEndPosition() const { return _endPosition; }
[[nodiscard]] G3D::Vector3 const& GetActualEndPosition() const { return _actualEndPosition; }
[[nodiscard]] Movement::PointsArray const& GetPath() const { return _pathPoints; }
[[nodiscard]] PathType GetPathType() const { return _type; }
// shortens the path until the destination is the specified distance from the target point
void ShortenPathUntilDist(G3D::Vector3 const& point, float dist);
[[nodiscard]] float getPathLength() const
{
float len = 0.0f;
float dx, dy, dz;
uint32 size = _pathPoints.size();
if (size)
{
dx = _pathPoints[0].x - _startPosition.x;
dy = _pathPoints[0].y - _startPosition.y;
dz = _pathPoints[0].z - _startPosition.z;
len += std::sqrt( dx * dx + dy * dy + dz * dz );
}
else
{
return len;
}
for (uint32 i = 1; i < size; ++i)
{
dx = _pathPoints[i].x - _pathPoints[i - 1].x;
dy = _pathPoints[i].y - _pathPoints[i - 1].y;
dz = _pathPoints[i].z - _pathPoints[i - 1].z;
len += std::sqrt( dx * dx + dy * dy + dz * dz );
}
return len;
}
void Clear()
{
_polyLength = 0;
_pathPoints.clear();
}
private:
dtPolyRef _pathPolyRefs[MAX_PATH_LENGTH]; // array of detour polygon references
uint32 _polyLength; // number of polygons in the path
Movement::PointsArray _pathPoints; // our actual (x,y,z) path to the target
PathType _type; // tells what kind of path this is
bool _useStraightPath; // type of path will be generated (do not use it for movement paths)
bool _forceDestination; // when set, we will always arrive at given point
bool _slopeCheck; // when set, it skips paths with too high slopes (doesn't work with _useStraightPath)
uint32 _pointPathLimit; // limit point path size; min(this, MAX_POINT_PATH_LENGTH)
bool _useRaycast; // use raycast if true for a straight line path
G3D::Vector3 _startPosition; // {x, y, z} of current location
G3D::Vector3 _endPosition; // {x, y, z} of the destination
G3D::Vector3 _actualEndPosition; // {x, y, z} of the closest possible point to given destination
WorldObject const* const _source; // the object that is moving
dtNavMesh const* _navMesh; // the nav mesh
dtNavMeshQuery const* _navMeshQuery; // the nav mesh query used to find the path
dtQueryFilterExt _filter; // use single filter for all movements, update it when needed
void SetStartPosition(G3D::Vector3 const& point) { _startPosition = point; }
void SetEndPosition(G3D::Vector3 const& point) { _actualEndPosition = point; _endPosition = point; }
void SetActualEndPosition(G3D::Vector3 const& point) { _actualEndPosition = point; }
void NormalizePath();
[[nodiscard]] bool InRange(G3D::Vector3 const& p1, G3D::Vector3 const& p2, float r, float h) const;
[[nodiscard]] float Dist3DSqr(G3D::Vector3 const& p1, G3D::Vector3 const& p2) const;
bool InRangeYZX(float const* v1, float const* v2, float r, float h) const;
dtPolyRef GetPathPolyByPosition(dtPolyRef const* polyPath, uint32 polyPathSize, float const* Point, float* Distance = nullptr) const;
dtPolyRef GetPolyByLocation(float const* Point, float* Distance) const;
[[nodiscard]] bool HaveTile(G3D::Vector3 const& p) const;
void BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 const& endPos);
void BuildPointPath(float const* startPoint, float const* endPoint);
void BuildShortcut();
[[nodiscard]] NavTerrain GetNavTerrain(float x, float y, float z) const;
void CreateFilter();
void UpdateFilter();
// smooth path aux functions
uint32 FixupCorridor(dtPolyRef* path, uint32 npath, uint32 maxPath, dtPolyRef const* visited, uint32 nvisited);
bool GetSteerTarget(float const* startPos, float const* endPos, float minTargetDist, dtPolyRef const* path, uint32 pathSize, float* steerPos,
unsigned char& steerPosFlag, dtPolyRef& steerPosRef);
dtStatus FindSmoothPath(float const* startPos, float const* endPos,
dtPolyRef const* polyPath, uint32 polyPathSize,
float* smoothPath, int* smoothPathSize, uint32 smoothPathMaxSize);
void AddFarFromPolyFlags(bool startFarFromPoly, bool endFarFromPoly);
};
#endif