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engines/ultima/ultima8/world/actors/pathfinder.h

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+/* ScummVM - Graphic Adventure Engine
+ *
+ * ScummVM is the legal property of its developers, whose names
+ * are too numerous to list here. Please refer to the COPYRIGHT
+ * file distributed with this source distribution.
+ *
+ * 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 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 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef ULTIMA8_WORLD_ACTORS_PATHFINDER_H
+#define ULTIMA8_WORLD_ACTORS_PATHFINDER_H
+
+#include "ultima/shared/std/containers.h"
+#include "ultima/ultima8/misc/direction.h"
+#include "ultima/ultima8/misc/point3.h"
+#include "ultima/ultima8/misc/priority_queue.h"
+#include "ultima/ultima8/world/actors/animation.h"
+
+//#define DEBUG_PATHFINDER
+
+namespace Ultima {
+namespace Ultima8 {
+
+class Actor;
+class Item;
+
+struct PathfindingState {
+	PathfindingState() : _point(), _direction(dir_north),
+		_lastAnim(Animation::walk), _flipped(false),
+		_firstStep(true), _combat(false) {};
+	Point3 _point;
+	Animation::Sequence _lastAnim;
+	Direction _direction;
+	bool _flipped;
+	bool _firstStep;
+	bool _combat;
+
+	void load(const Actor *actor);
+	bool checkPoint(const Point3 &pt, int range) const;
+	bool checkItem(const Item *item, int xyRange, int zRange) const;
+	bool checkHit(const Actor *actor, const Item *target) const;
+};
+
+struct PathfindingAction {
+	Animation::Sequence _action;
+	Direction _direction;
+	uint32 _steps;
+};
+
+struct PathNode;
+
+class PathNodeCmp {
+public:
+	bool operator()(const PathNode *n1, const PathNode *n2) const;
+};
+
+class Pathfinder {
+public:
+	Pathfinder();
+	~Pathfinder();
+
+	void init(Actor *actor, PathfindingState *state = 0);
+	void setTarget(const Point3 &pt);
+	void setTarget(Item *item, bool hit = false);
+
+	//! try to reach the target by pathfinding
+	bool canReach();
+
+	//! pathfind. If true, the found path is returned in path
+	bool pathfind(Std::vector<PathfindingAction> &path);
+
+#ifdef DEBUG_PATHFINDER
+	static ObjId _visualDebugActor;
+#endif
+
+
+protected:
+	PathfindingState _start;
+	Actor *_actor;
+	Point3 _target;
+	Item *_targetItem;
+	bool _hitMode;
+	int32 _expandTime;
+
+	int32 _actorXd, _actorYd, _actorZd;
+
+	Common::Array<PathfindingState> _visited;
+	PriorityQueue<PathNode *, Std::vector<PathNode *>, PathNodeCmp> _nodes;
+
+	/** List of nodes for garbage collection later and order is not important */
+	Std::vector<PathNode *> _cleanupNodes;
+
+	bool alreadyVisited(const Point3 &pt) const;
+	void newNode(PathNode *oldnode, PathfindingState &state,
+				 unsigned int steps);
+	void expandNode(PathNode *node);
+	unsigned int costHeuristic(PathNode *node) const;
+	bool checkTarget(const PathNode *node) const;
+};
+
+} // End of namespace Ultima8
+} // End of namespace Ultima
+
+#endif