444 lines
15 KiB
C++
Executable file
444 lines
15 KiB
C++
Executable file
/*
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* World.cpp
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*
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* Created on: 29.08.2012
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* Author: Felix
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*/
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#include "World.h"
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#include <unordered_set>
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#include <unordered_map>
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#include <Thor/Vectors.hpp>
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#include "util/Interval.h"
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const float World::WALL_DISTANCE_MULTIPLIER = 1.5f;
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/**
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* Insert a drawable into the group. Drawables should only be handled with shared_ptr.
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* An object can't be inserted more than once at the same level.
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*/
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void
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World::insert(std::shared_ptr<Sprite> drawable) {
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#ifndef NDEBUG
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Sprite::Category cat = drawable->getCategory();
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auto item = std::find(mDrawables[cat].begin(), mDrawables[cat].end(), drawable);
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assert(item == mDrawables[cat].end());
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#endif
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mDrawables[drawable->getCategory()].push_back(drawable);
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}
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/**
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* Removes a drawable from the group.
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*/
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void
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World::remove(std::shared_ptr<Sprite> drawable) {
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for (auto v = mDrawables.begin(); v != mDrawables.end(); v++) {
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auto item = std::find(v->second.begin(), v->second.end(), drawable);
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if (item != v->second.end()) {
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v->second.erase(item);
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break;
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}
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}
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}
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/**
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* Inserts a character into the world. A character can only be inserted once.
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* Also calls insert(character);
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*/
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void
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World::insertCharacter(std::shared_ptr<Character> character) {
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#ifndef NDEBUG
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auto item = std::find(mCharacters.begin(), mCharacters.end(), character);
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assert(item == mCharacters.end());
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#endif
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mCharacters.push_back(character);
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insert(character);
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}
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/**
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* Removes a character from the world.
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* Also calls remove(character);
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*/
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void
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World::removeCharacter(std::shared_ptr<Character> character) {
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auto item = std::find(mCharacters.begin(), mCharacters.end(), character);
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if (item != mCharacters.end())
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mCharacters.erase(item);
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remove(character);
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}
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/**
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* Generate path finding base data.
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*
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* Hardcoded as heuristic may be unnecessary with proper map generation.
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*
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* @warning Must not be run while getPath() is running (raw pointers).
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*/
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void
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World::generateAreas() {
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Area a;
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a.area = sf::FloatRect(50, 50, 900, 300);
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a.center = sf::Vector2f(500, 200);
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mAreas.push_back(a);
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a.area = sf::FloatRect(450, 350, 450, 100);
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a.center = sf::Vector2f(675, 400);
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mAreas.push_back(a);
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a.area = sf::FloatRect(50, 450, 900, 500);
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a.center = sf::Vector2f(500, 700);
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mAreas.push_back(a);
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Portal p1;
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Portal p2;
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std::vector<Portal> vp;
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p1.start = sf::Vector2f(450, 350);
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p1.end = sf::Vector2f(950, 350);
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p1.area = &mAreas[1];
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vp.push_back(p1);
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mAreas[0].portals = vp;
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vp.clear();
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p2.start = sf::Vector2f(450, 450);
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p2.end = sf::Vector2f(950, 450);
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p2.area = &mAreas[1];
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vp.push_back(p2);
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mAreas[2].portals = vp;
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vp.clear();
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p1.area = &mAreas[0];
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vp.push_back(p1);
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p2.area = &mAreas[2];
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vp.push_back(p2);
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mAreas[1].portals = vp;
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}
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/**
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* Runs the A* path finding algorithm with areas as nodes and portals as edges.
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*
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* @warning Areas and portals must not be changed while this is running.
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*
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* @param start The area to start the path finding from. Must not be null.
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* @param end The goal to reach. May be null.
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* @return Path in reverse order (start being the last item and end the first).
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*/
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std::vector<World::Portal*>
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World::astarArea(Area* start, Area* end) const {
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assert(start);
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if (!end)
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return std::vector<World::Portal*>();
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std::unordered_set<Area*> closed;
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std::unordered_map<Area*, float> openAreasEstimatedCost;
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// Navigated areas with previous area/portal.
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std::unordered_map<Area*, std::pair<Area*, Portal*>> previousAreaAndPortal;
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std::unordered_map<Area*, float> bestPathCost;
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openAreasEstimatedCost[start] = heuristic_cost_estimate(start, end);
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bestPathCost[start] = 0;
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while (!openAreasEstimatedCost.empty()) {
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Area* current = std::min_element(openAreasEstimatedCost.begin(),
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openAreasEstimatedCost.end())->first;
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if (current == end) {
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std::vector<Portal*> path;
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auto previous = current;
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while (previous != start) {
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path.push_back(previousAreaAndPortal[previous].second);
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previous = previousAreaAndPortal[previous].first;
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}
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return path;
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}
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openAreasEstimatedCost.erase(current);
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closed.insert(current);
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for (Portal& portal : current->portals) {
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Area* neighbor = portal.area;
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float tentative_g_score = bestPathCost[current] +
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heuristic_cost_estimate(current,neighbor);
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if (closed.find(neighbor) != closed.end()) {
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if (tentative_g_score >= bestPathCost[neighbor])
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continue;
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}
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if ((openAreasEstimatedCost.find(neighbor) ==
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openAreasEstimatedCost.end()) ||
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(tentative_g_score < bestPathCost[neighbor])) {
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previousAreaAndPortal[neighbor] = std::make_pair(current,
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&portal);
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bestPathCost[neighbor] = tentative_g_score;
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openAreasEstimatedCost[neighbor] = bestPathCost[neighbor] +
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heuristic_cost_estimate(neighbor, end);
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}
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}
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}
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return std::vector<Portal*>();
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}
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/**
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* Returns path in reverse order.
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*
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* @warning Areas and portals must not be changed while this running.
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*
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* @param start Position to start the path from.
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* @param end Position to move to.
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* @param radius Radius of the moving object.
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* @return Path from end to start (path from start to end in reverse order).
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*/
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std::vector<sf::Vector2f>
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World::getPath(const sf::Vector2f& start, const sf::Vector2f& end,
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float radius) const {
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std::vector<Portal*> portals = astarArea(getArea(start), getArea(end));
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std::vector<sf::Vector2f> path;
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path.push_back(end);
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for (auto p : portals) {
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// Find the point on the line of the portal closest to the previous point.
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sf::Vector2f startToEnd = p->end - p->start;
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float percentage = thor::dotProduct(startToEnd, path.back() - p->start) /
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thor::squaredLength(startToEnd);
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sf::Vector2f point;
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if (percentage < 0 || percentage > 1.0f) {
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if (thor::squaredLength(p->start - path.back()) <
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thor::squaredLength(p->end - path.back())) {
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thor::setLength(startToEnd, WALL_DISTANCE_MULTIPLIER * radius);
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point = p->start + startToEnd;
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}
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else {
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thor::setLength(startToEnd, WALL_DISTANCE_MULTIPLIER * radius);
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point = p->end - startToEnd;
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}
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}
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else
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point = p->start + startToEnd * percentage;
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// Take two points on a line orthogonal to the portal.
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thor::setLength(startToEnd, radius);
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startToEnd = thor::perpendicularVector(startToEnd);
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path.push_back(point + startToEnd);
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path.push_back(point - startToEnd);
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// Make sure the points are in the right order.
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if (thor::squaredLength(*(path.end() - 1) - *(path.end() - 3) ) <
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thor::squaredLength(*(path.end() - 2) - *(path.end() - 3) ))
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std::swap(*(path.end() - 1), *(path.end() - 2));
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}
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return path;
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}
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/**
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* Returns all characters that are within maxDistance from position.
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*/
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std::vector<std::shared_ptr<Character> >
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World::getCharacters(const sf::Vector2f& position, float maxDistance) const {
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std::vector<std::shared_ptr<Character> > visible;
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for (auto it : mCharacters) {
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if (position == it->getPosition())
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continue;
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if (thor::squaredLength(position - it->getPosition()) <=
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maxDistance * maxDistance)
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visible.push_back(it);
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}
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return visible;
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}
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/**
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* Returns the linear distance between two areas (using their center).
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*/
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float
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World::heuristic_cost_estimate(Area* start, Area* end) const {
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return thor::length(end->center - start->center);
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}
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/**
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* Checks for collisions and applies movement, also removes sprites if
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* Sprite::getDelete returns true.
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*
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* This method can be improved by only testing each pair of sprites once,
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* and using the result for both. Applying movement should be done in
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* testCollision, always applying the part that causes no collision.
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*/
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void
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World::step(int elapsed) {
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for (auto v = mDrawables.begin(); v != mDrawables.end(); v++) {
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for (auto it = v->second.begin(); it != v->second.end(); ) {
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auto spriteA = *it;
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if (spriteA->getDelete())
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remove(spriteA);
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else {
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sf::Vector2f speed = spriteA->getSpeed();
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speed *= elapsed / 1000.0f;
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bool overlap = false;
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for (auto w = mDrawables.begin(); w != mDrawables.end(); w++) {
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for (auto spriteB : w->second) {
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if (spriteA == spriteB)
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continue;
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// Ignore anything that is filtered by masks.
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if (!spriteA->collisionEnabled(spriteB->getCategory()) ||
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!spriteB->collisionEnabled(spriteA->getCategory()))
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continue;
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if (testCollision(spriteA, spriteB, elapsed)) {
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spriteA->onCollide(spriteB);
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overlap = true;
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}
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}
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}
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if (!overlap)
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spriteA->setPosition(spriteA->getPosition() + speed);
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it++;
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}
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}
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}
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}
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/**
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* Calls Character::onThink for each character. Must be called
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* before step (due to character removal).
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*
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* @param elapsed Time since last call.
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*/
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void
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World::think(int elapsed) {
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for (auto it = mCharacters.begin(); it != mCharacters.end(); ) {
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if ((*it)->getDelete())
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removeCharacter(*it);
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else {
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(*it)->onThink(elapsed);
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it++;
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}
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}
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}
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/**
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* Tests for collisions using Seperating Axis Theorem (SAT).
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*
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* http://www.metanetsoftware.com/technique/tutorialA.html
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*
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* @param spriteA, spriteB Pair of sprites which to test for collision/overlapping.
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* @param elapsed Time elapsed in this step.
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* @return True if both sprites will be overlapping after their current movement.
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*/
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bool
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World::testCollision(std::shared_ptr<Sprite> spriteA,
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std::shared_ptr<Sprite> spriteB, int elapsed) const {
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// circle-circle collision
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if ((spriteA->mShape.type == Sprite::Shape::Type::CIRCLE) &&
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(spriteB->mShape.type == Sprite::Shape::Type::CIRCLE)) {
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sf::Vector2f axis = spriteA->getPosition() - spriteB->getPosition();
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// If both objects are at the exact same position, allow any movement for unstucking.
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if (axis == sf::Vector2f())
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return true;
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axis = thor::unitVector(axis);
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float centerA = thor::dotProduct(axis, spriteA->getPosition());
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float radiusA = spriteA->getRadius();
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float movementA = thor::dotProduct(axis, spriteA->getSpeed() * (elapsed / 1000.0f));
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float centerB = thor::dotProduct(axis, spriteB->getPosition());
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float radiusB = spriteB->getRadius();
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float movementB = thor::dotProduct(axis, spriteB->getSpeed() * (elapsed / 1000.0f));
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// Allow movement if sprites are moving apart.
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return Interval::IntervalFromRadius(centerA, radiusA).getOverlap(
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Interval::IntervalFromRadius(centerB, radiusB)).getLength() <
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Interval::IntervalFromRadius(centerA + movementA, radiusA).getOverlap(
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Interval::IntervalFromRadius(centerB + movementB, radiusB)).getLength();
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}
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// circle-rect collision
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if (((spriteA->mShape.type == Sprite::Shape::Type::CIRCLE) &&
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(spriteB->mShape.type == Sprite::Shape::Type::RECTANGLE)) ||
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((spriteA->mShape.type == Sprite::Shape::Type::RECTANGLE) &&
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(spriteB->mShape.type == Sprite::Shape::Type::CIRCLE))) {
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std::shared_ptr<Sprite> circle = spriteA;
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std::shared_ptr<Sprite> rect = spriteB;
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if (circle->mShape.type != Sprite::Shape::Type::CIRCLE)
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std::swap(circle, rect);
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float radius = circle->getRadius();
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sf::Vector2f halfsize = rect->getSize() / 2.0f;
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sf::Vector2f circlePos = circle->getPosition();
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sf::Vector2f rectPos = rect->getPosition();
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// Only circle movement as rectangles don't move.
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sf::Vector2f circleMovement = circle->getSpeed() * (elapsed / 1000.0f);
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// We assume that rectangles are always axis aligned.
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float overlapNoMovementX = Interval::IntervalFromRadius(circlePos.x, radius)
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.getOverlap(Interval::IntervalFromRadius(rectPos.x, halfsize.x)).getLength();
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float overlapMovementX = Interval::IntervalFromRadius(circlePos.x + circleMovement.x, radius)
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.getOverlap(Interval::IntervalFromRadius(rectPos.x, halfsize.x)).getLength();
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float overlapNoMovementY = Interval::IntervalFromRadius(circlePos.y, radius)
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.getOverlap(Interval::IntervalFromRadius(rectPos.y, halfsize.y)).getLength();
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float overlapMovementY = Interval::IntervalFromRadius(circlePos.y + circleMovement.y, radius)
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.getOverlap(Interval::IntervalFromRadius(rectPos.y, halfsize.y)).getLength();
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bool xyCollisionResult = (((overlapNoMovementX < overlapMovementX) &&
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(overlapNoMovementY > 0)) ||
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((overlapNoMovementY < overlapMovementY) && (overlapNoMovementX > 0)));
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// If circle center is overlapping rectangle on x or y axis, we can take xyCollisionResult.
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if (Interval::IntervalFromRadius(rectPos.x, halfsize.x).isInside(circlePos.x) ||
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Interval::IntervalFromRadius(rectPos.y, halfsize.y).isInside(circlePos.y))
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return xyCollisionResult;
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// Test if the circle is colliding with a corner of the rectangle.
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else if (xyCollisionResult) {
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// This is the same as circle-circle collision.
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sf::Vector2f axis = circle->getPosition() - rect->getPosition();
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// If both objects are at the exact same position, allow any
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// movement for unstucking.
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if (axis == sf::Vector2f())
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return true;
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axis = thor::unitVector(axis);
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float circlePosProjected = thor::dotProduct(axis, circlePos);
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float movementProjected = thor::dotProduct(axis, circleMovement);
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float rectPosProjected = thor::dotProduct(axis, rectPos);
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// For corner projections, those on the same line with the rect
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// center are equal by value, so we only need one on each axis
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// and take the maximum.
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float rectHalfWidthProjected = std::max(
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abs(thor::dotProduct(axis, halfsize)),
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abs(thor::dotProduct(axis,
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sf::Vector2f(halfsize.x, -halfsize.y))));
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// Allow movement if sprites are moving apart.
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return Interval::IntervalFromRadius(circlePosProjected, radius)
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.getOverlap(Interval::IntervalFromRadius(rectPosProjected,
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rectHalfWidthProjected))
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.getLength() <
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Interval::IntervalFromRadius(circlePosProjected + movementProjected, radius)
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.getOverlap(Interval::IntervalFromRadius(rectPosProjected,
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rectHalfWidthProjected))
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.getLength();
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}
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// If there is no collision on x and y axis, there can't be one at all.
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else {
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return false;
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}
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}
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// Rectangles can't move and thus not collide.
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return false;
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}
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/**
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* Returns the area where point is in.
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* Just iterates through all areas and tests each.
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*/
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World::Area*
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World::getArea(const sf::Vector2f& point) const {
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for (auto area = mAreas.begin(); area != mAreas.end(); area++) {
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if (area->area.contains(point))
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// Make the return value non-const for convenience.
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return &const_cast<Area&>(*area);
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}
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return nullptr;
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}
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/**
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* Draws all elements in the group.
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*/
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void
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World::draw(sf::RenderTarget& target, sf::RenderStates states) const {
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for (auto v = mDrawables.begin(); v != mDrawables.end(); v++) {
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for (auto item : v->second) {
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target.draw(static_cast<sf::Drawable&>(*item), states);
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}
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}
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}
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