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#include "path-search.hpp"
#include "astar.hpp"
#include "global-coords.hpp"
#include "world.hpp"
#include "pass-mode.hpp"
#include "RTree-search.hpp"
#include "compat/function2.hpp"
#include <bit>
namespace floormat {
using namespace detail_astar;
namespace {
constexpr int div_BITS = 2;
static_assert(1 << div_BITS == div_factor);
constexpr auto never_continue_1 = [](collision_data) constexpr { return path_search_continue::blocked; };
constexpr auto never_continue_ = path_search::pred{never_continue_1};
constexpr auto always_continue_1 = [](collision_data) constexpr { return path_search_continue::pass; };
constexpr auto always_continue_ = path_search::pred{always_continue_1};
} // namespace
auto path_search::never_continue() noexcept -> const pred& { return never_continue_; }
auto path_search::always_continue() noexcept -> const pred& { return always_continue_; }
bool path_search::is_passable_1(chunk& c, Vector2 min, Vector2 max, object_id own_id, const pred& p)
{
auto& rt = *c.rtree();
bool is_passable = true;
rt.Search(min.data(), max.data(), [&](uint64_t data, const auto& r)
{
auto x = std::bit_cast<collision_data>(data);
if (x.data != own_id && x.pass != (uint64_t)pass_mode::pass)
{
if (rect_intersects(min, max, {r.m_min[0], r.m_min[1]}, {r.m_max[0], r.m_max[1]}))
if (p(x) != path_search_continue::pass)
{
is_passable = false;
//[[maybe_unused]] auto obj = c.world().find_object(x.data);
return false;
}
}
return true;
});
return is_passable;
}
bool path_search::is_passable_(chunk* c0, const std::array<chunk*, 8>& neighbors,
Vector2 min, Vector2 max, object_id own_id, const pred& p)
{
fm_debug_assert(max >= min);
if (c0)
// it's not correct to return true if c == nullptr
// because neighbors can still contain bounding boxes for that tile
if (!is_passable_1(*c0, min, max, own_id, p))
return false;
for (auto i = 0uz; i < 8; i++)
{
auto nb = world::neighbor_offsets[i];
auto* c2 = neighbors[i];
if (c2)
{
static_assert(std::size(world::neighbor_offsets) == 8);
constexpr auto chunk_size = iTILE_SIZE2 * TILE_MAX_DIM;
constexpr auto bbox_size = Vector2i(1 << sizeof(Vector2b::Type)*8);
constexpr auto chunk_max = chunk_size + bbox_size;
const auto off = Vector2(nb)*Vector2(chunk_size);
const auto min_ = min - off, max_ = max - off;
if (min_.x() > chunk_max.x() || min_.y() > chunk_max.y())
continue;
if (max_.x() < -bbox_size.x() || max_.y() < -bbox_size.y())
continue;
if (!is_passable_1(*c2, min_, max_, own_id, p))
return false;
}
}
return true;
}
bool path_search::is_passable(world& w, global_coords coord,
Vector2b offset, Vector2ui size_,
object_id own_id, const pred& p)
{
auto center = iTILE_SIZE2 * Vector2i(coord.local()) + Vector2i(offset);
auto size = Vector2(size_);
auto min = Vector2(center) - size*.5f, max = min + size;
return is_passable(w, coord, {min, max}, own_id, p);
}
bool path_search::is_passable(world& w, struct detail_astar::cache& cache, global_coords coord,
Vector2b offset, Vector2ui size_,
object_id own_id, const pred& p)
{
auto center = iTILE_SIZE2 * Vector2i(coord.local()) + Vector2i(offset);
auto size = Vector2(size_);
auto min = Vector2(center) - size*.5f, max = min + size;
return is_passable(w, cache, coord, {min, max}, own_id, p);
}
bool path_search::is_passable(world& w, chunk_coords_ ch, const bbox<float>& bb,
object_id own_id, const pred& p)
{
auto* c = w.at(ch);
auto neighbors = w.neighbors(ch);
return is_passable_(c, neighbors, bb.min, bb.max, own_id, p);
}
bool path_search::is_passable(world& w, struct detail_astar::cache& cache, chunk_coords_ ch0,
const bbox<float>& bb, object_id own_id, const pred& p)
{
auto* c = cache.try_get_chunk(w, ch0);
auto nbs = cache.get_neighbors(w, ch0);
return is_passable_(c, nbs, bb.min, bb.max, own_id, p);
}
} // namespace floormat
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