OpenMW/apps/openmw/mwmechanics/pathfinding.hpp

#ifndef GAME_MWMECHANICS_PATHFINDING_H
#define GAME_MWMECHANICS_PATHFINDING_H

#include <components/esm/defs.hpp>
#include <components/esm/loadpgrd.hpp>
#include <list>

#include <OgreMath.h>
#include <OgreVector3.h>

namespace MWWorld
{
    class CellStore;
}

namespace MWMechanics
{
    float distance(ESM::Pathgrid::Point point, float x, float y, float);
    float distance(ESM::Pathgrid::Point a, ESM::Pathgrid::Point b);
    class PathFinder
    {
        public:
            PathFinder();

            static float sgn(Ogre::Radian a)
            {
                if(a.valueRadians() > 0)
                    return 1.0;
                return -1.0;
            }

            static int sgn(int a)
            {
                if(a > 0)
                    return 1;
                return -1;
            }

            void clearPath();

            void buildPath(const ESM::Pathgrid::Point &startPoint, const ESM::Pathgrid::Point &endPoint,
                           const MWWorld::CellStore* cell, bool allowShortcuts = true);

            bool checkPathCompleted(float x, float y, float z, float tolerance=32.f);
            ///< \Returns true if we are within \a tolerance units of the last path point.

            float getZAngleToNext(float x, float y) const;

            bool isPathConstructed() const
            {
                return mIsPathConstructed;
            }

            int getPathSize() const
            {
                return mPath.size();
            }

            const std::list<ESM::Pathgrid::Point>& getPath() const
            {
                return mPath;
            }

            /** Synchronize new path with old one to avoid visiting 1 waypoint 2 times
            @note
                If the first point is chosen as the nearest one
                the situation can occur when the 1st point of the new path is undesirable
                (i.e. the 2nd point of new path == the 1st point of old path).
            @param path - old path
            @return true if such point was found and deleted
             */
            bool syncStart(const std::list<ESM::Pathgrid::Point> &path);

            void addPointToPath(ESM::Pathgrid::Point &point)
            {
                mPath.push_back(point);
            }

            /// utility function to convert a Ogre::Vector3 to a Pathgrid::Point
            static ESM::Pathgrid::Point MakePathgridPoint(const Ogre::Vector3& v)
            {
                return ESM::Pathgrid::Point(static_cast<int>(v[0]), static_cast<int>(v[1]), static_cast<int>(v[2]));
            }

            /// utility function to convert an ESM::Position to a Pathgrid::Point
            static ESM::Pathgrid::Point MakePathgridPoint(const ESM::Position& p)
            {
                return ESM::Pathgrid::Point(static_cast<int>(p.pos[0]), static_cast<int>(p.pos[1]), static_cast<int>(p.pos[2]));
            }

            /// utility function to convert a Pathgrid::Point to a Ogre::Vector3
            static Ogre::Vector3 MakeOgreVector3(const ESM::Pathgrid::Point& p)
            {
                return Ogre::Vector3(static_cast<Ogre::Real>(p.mX), static_cast<Ogre::Real>(p.mY), static_cast<Ogre::Real>(p.mZ));
            }

        private:

            bool mIsPathConstructed;

            std::list<ESM::Pathgrid::Point> mPath;

            const ESM::Pathgrid *mPathgrid;
            const MWWorld::CellStore* mCell;
    };
}

#endif