Pathfinding Overhaul - Even more cleanup and spacing corrections, small renaming (more to come), removed a few unnecessary actions that wasted CPU time and tmp RAM.

apps/openmw/mwmechanics/pathfinding.cpp

@@ -10,7 +10,25 @@
 
 namespace
 {
-    // helpers functions
+    struct found_path {};
+
+    typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS,
+        boost::property<boost::vertex_index_t, int, ESM::Pathgrid::Point>, boost::property<boost::edge_weight_t, float> >
+        PathGridGraph;
+    typedef boost::property_map<PathGridGraph, boost::edge_weight_t>::type WeightMap;
+    typedef PathGridGraph::vertex_descriptor PointID;
+    typedef PathGridGraph::edge_descriptor PointConnectionID;
+
+    class goalVisited : public boost::default_dijkstra_visitor
+    {
+        public:
+            goalVisited(PointID goal) {mGoal = goal;};
+            void examine_vertex(PointID u, const PathGridGraph g) {if(u == mGoal) throw found_path();};
+
+        private:
+            PointID mGoal;
+    };
+
     float distanceZCorrected(ESM::Pathgrid::Point point, float x, float y, float z)
     {
         return sqrt((point.mX - x) * (point.mX - x) + (point.mY - y) * (point.mY - y) + 0.1 * (point.mZ - z) * (point.mZ - z));
@@ -30,89 +48,29 @@ namespace
     {
         if(a > 0)
             return 1.0;
-        else
         return -1.0;
     }
 
     int getClosestPoint(const ESM::Pathgrid* grid, float x, float y, float z)
     {
-        if(!grid)
+        if(!grid || grid->mPoints.empty())
-            return -1;
-        if(grid->mPoints.empty())
             return -1;
 
-        float m = distance(grid->mPoints[0],x,y,z);
+        float distanceBetween = distance(grid->mPoints[0], x, y, z);
-        int i0 = 0;
+        int closestIndex = 0;
 
-        for(unsigned int i = 1; i < grid->mPoints.size(); ++i)
+        for(unsigned int counter = 1; counter < grid->mPoints.size(); counter++)
         {
-            if(distance(grid->mPoints[i],x,y,z) < m)
+            if(distance(grid->mPoints[counter], x, y, z) < distanceBetween)
             {
-                m = distance(grid->mPoints[i],x,y,z);
+                distanceBetween = distance(grid->mPoints[counter], x, y, z);
-                i0 = i;
+                closestIndex = counter;
             }
         }
-        return i0;
+
+        return closestIndex;
     }
 
-    typedef boost::adjacency_list<boost::vecS,boost::vecS,boost::undirectedS,
-        boost::property<boost::vertex_index_t,int,ESM::Pathgrid::Point>,boost::property<boost::edge_weight_t,float> > PathGridGraph;
-    typedef boost::property_map<PathGridGraph, boost::edge_weight_t>::type WeightMap;
-    typedef PathGridGraph::vertex_descriptor PointID;
-    typedef PathGridGraph::edge_descriptor PointConnectionID;
-
-    struct found_path {};
-
-    /*class goalVisited : public boost::default_astar_visitor
-{
-public:
-goalVisited(PointID goal) : mGoal(goal) {}
-
-void examine_vertex(PointID u, const PathGridGraph g)
-{
-if(u == mGoal)
-throw found_path();
-}
-private:
-PointID mGoal;
-};
-
-class DistanceHeuristic : public boost::atasr_heuristic <PathGridGraph, float>
-{
-public:
-DistanceHeuristic(const PathGridGraph & l, PointID goal)
-: mGraph(l), mGoal(goal) {}
-
-float operator()(PointID u)
-{
-const ESM::Pathgrid::Point & U = mGraph[u];
-const ESM::Pathgrid::Point & V = mGraph[mGoal];
-float dx = U.mX - V.mX;
-float dy = U.mY - V.mY;
-float dz = U.mZ - V.mZ;
-return sqrt(dx * dx + dy * dy + dz * dz);
-}
-private:
-const PathGridGraph & mGraph;
-PointID mGoal;
-};*/
-
-    class goalVisited : public boost::default_dijkstra_visitor
-    {
-        public:
-            goalVisited(PointID goal) : mGoal(goal) {}
-
-            void examine_vertex(PointID u, const PathGridGraph g)
-            {
-                if(u == mGoal)
-                    throw found_path();
-            }
-
-        private:
-            PointID mGoal;
-    };
-
-
     PathGridGraph buildGraph(const ESM::Pathgrid* pathgrid, float xCell = 0, float yCell = 0)
     {
         PathGridGraph graph;
@@ -140,31 +98,30 @@ PointID mGoal;
         return graph;
     }
 
-    std::list<ESM::Pathgrid::Point> findPath(PointID start,PointID end,PathGridGraph graph){
+    std::list<ESM::Pathgrid::Point> findPath(PointID start, PointID end, PathGridGraph graph)
+    {
         std::vector<PointID> p(boost::num_vertices(graph));
         std::vector<float> d(boost::num_vertices(graph));
         std::list<ESM::Pathgrid::Point> shortest_path;
 
-        try {
+        try
-            boost::dijkstra_shortest_paths
+        {
-                (
+            boost::dijkstra_shortest_paths(graph, start,
-                graph,
+                boost::predecessor_map(&p[0]).distance_map(&d[0]).visitor(goalVisited(end)));
-                start,
+        }
-                boost::predecessor_map(&p[0]).distance_map(&d[0]).visitor(goalVisited(end))//.weight_map(boost::get(&Edge::distance, graph))
-);
 
-        } catch(found_path fg) {
+        catch(found_path fg)
-            for(PointID v = end; ; v = p[v]) {
+        {
+            for(PointID v = end; ; v = p[v])
+            {
                 shortest_path.push_front(graph[v]);
                 if(p[v] == v)
                     break;
             }
         }
+
         return shortest_path;
     }
-
-    //end of helpers functions
-
 }
 
 namespace MWMechanics
@@ -197,6 +154,7 @@ namespace MWMechanics
                 mPath = findPath(start, end, graph);
             }
         }
+
         mPath.push_back(endPoint);
         mIsPathConstructed = true;
     }
@@ -204,12 +162,13 @@ namespace MWMechanics
     float PathFinder::getZAngleToNext(float x, float y, float z)
     {
         if(mPath.empty())
-            return 0; /// shouldn't happen!
+            return 0; // shouldn't happen!
 
         ESM::Pathgrid::Point nextPoint = *mPath.begin();
         float dX = nextPoint.mX - x;
         float dY = nextPoint.mY - y;
         float h = sqrt(dX * dX + dY * dY);
+
         return Ogre::Radian(acos(dY / h) * sgn(asin(dX / h))).valueDegrees();
     }
 
@@ -222,12 +181,10 @@ namespace MWMechanics
         if(distanceZCorrected(nextPoint, x, y, z) < 20)
         {
             mPath.pop_front();
-
             if(mPath.empty())
                 return true;
-
-            nextPoint = *mPath.begin();
         }
+
         return false;
     }
 

apps/openmw/mwmechanics/pathfinding.hpp

@@ -15,7 +15,8 @@ namespace MWMechanics
             void buildPath(ESM::Pathgrid::Point startPoint,ESM::Pathgrid::Point endPoint,
                 const ESM::Pathgrid* pathGrid,float xCell = 0,float yCell = 0);
 
-            bool checkIfNextPointReached(float x,float y,float z);//returns true if the last point of the path has been reached.
+            bool checkIfNextPointReached(float x,float y,float z);
+            ///< \Returns true if the last point of the path has been reached.
             float getZAngleToNext(float x,float y,float z);
 
             std::list<ESM::Pathgrid::Point> getPath();