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goto: Find a more exact end of path wrt goalRadius 

The last segment of the path is shortened to avoid going too close
and risk bumping into the object that it was meant to approach.

The same position could also be found by finding the roots of a second
order polynomial analytically but this solution is simple and sufficient.
fix-squashed-planets
Rasmus Brönnegård 2022-02-15 01:02:35 +01:00
parent 2d794d1a32
commit 3478ee322b
1 changed files with 28 additions and 4 deletions
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32
src/object/task/taskgoto.cpp
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@ -1912,18 +1912,42 @@ Error CTaskGoto::PathFindingSearch(const Math::Vector &start, const Math::Vector
if (btX == goalX && btY == goalY)
{
m_bmPoints[m_bmTotal] = goal;
break;
}
m_bmPoints[m_bmTotal].x = (btX + 0.5f) * BM_DIM_STEP - 1600.f;
m_bmPoints[m_bmTotal].z = (btY + 0.5f) * BM_DIM_STEP - 1600.f;
else
{
m_bmPoints[m_bmTotal].x = (btX + 0.5f) * BM_DIM_STEP - 1600.f;
m_bmPoints[m_bmTotal].z = (btY + 0.5f) * BM_DIM_STEP - 1600.f;
}
if (bestDistance == 0)
{
if (goalRadius > 0.0f)
{
// Find a more exact position by repeatedly bisecting the interval.
const float r2 = goalRadius * goalRadius;
Math::Vector inside = m_bmPoints[m_bmTotal] - goal;
Math::Vector outside = m_bmPoints[m_bmTotal-1] - goal;
Math::Vector mid = (inside + outside) * 0.5f;
for (int i = 0; i < 10; ++i)
{
if (mid.x*mid.x + mid.z*mid.z < r2)
{
inside = mid;
}
else
{
outside = mid;
}
mid = (inside + outside) * 0.5f;
}
m_bmPoints[m_bmTotal] = mid + goal;
}
break;
}
}
GetLogger()->Debug("Found path to goal with %d nodes and %d cost\n", m_bmTotal + 1, totalDistance);
const float distanceToGoal = DistanceProjected(m_bmPoints[m_bmTotal], goal);
GetLogger()->Debug("Found path to goal with %d nodes and %d cost. Final distance to goal: %f\n", m_bmTotal + 1, totalDistance, distanceToGoal);
GetLogger()->Debug("m_bmStep: %d\n", m_bmStep);
GetLogger()->Debug("m_bfsQueueMin: %d mod %d = %d\n", m_bfsQueueMin, NUMQUEUEBUCKETS, m_bfsQueueMin % NUMQUEUEBUCKETS);
GetLogger()->Debug("m_bfsQueueCountPushed: %d\n", m_bfsQueueCountPushed);