mirror of
https://github.com/Cesarus85/ringfall-mjolnir-vr.git
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324 lines
8.0 KiB
C
324 lines
8.0 KiB
C
/*
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PATH_OBSTACLE_AVOIDANCE.C
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symbols in this file:
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0004E6E0 0050:
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_obstacles_get_disc (0000)
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0004E730 0030:
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_obstacle_from_disc (0000)
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0004E760 0050:
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_path_get_step (0000)
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0004E7B0 0060:
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_path_get_step_index (0000)
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0004E810 0040:
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_heap_parent_index (0000)
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0004E850 0010:
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_heap_left_index (0000)
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0004E860 0010:
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_heap_right_index (0000)
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0004E870 0060:
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_heap_cost (0000)
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0004E8D0 00d0:
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_code_0004e8d0 (0000)
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0004E9A0 01b0:
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_code_0004e9a0 (0000)
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0004EB50 0190:
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_code_0004eb50 (0000)
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0004ECE0 02a0:
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_code_0004ece0 (0000)
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0004EF80 0060:
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_code_0004ef80 (0000)
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0004EFE0 0070:
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_code_0004efe0 (0000)
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0004F050 0260:
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_render_debug_path (0000)
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0004F2B0 0040:
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_valid_real_point2d (0000)
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0004F2F0 0220:
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_code_0004f2f0 (0000)
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0004F510 01e0:
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_code_0004f510 (0000)
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0004F6F0 0200:
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_code_0004f6f0 (0000)
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0004F8F0 0330:
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_code_0004f8f0 (0000)
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0004FC20 0130:
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_code_0004fc20 (0000)
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0004FD50 0070:
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_code_0004fd50 (0000)
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0004FDC0 0550:
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_path_avoid_obstacles (0000)
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00050310 00e0:
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_render_debug_obstacle_path (0000)
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0024E4E0 005f:
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??_C@_0FP@EDEGFDAA@disc_index?$DO?$DN0?5?$CG?$CG?5disc_index?$DMobst@ (0000)
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0024E540 0019:
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??_C@_0BJ@LMDHFJFI@c?3?2halo?2source?2ai?2path?4h?$AA@ (0000)
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0024E560 0063:
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??_C@_0GD@BIALPJBH@step_index?$DO?$DN0?5?$CG?$CG?5step_index?$DMpath@ (0000)
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0024E5C4 002c:
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??_C@_0CM@IMJGFEPB@c?3?2halo?2SOURCE?2ai?2path_obstacle_@ (0000)
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0024E5F0 0063:
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??_C@_0GD@EOCGPJDJ@heap_index?$DO?$DN0?5?$CG?$CG?5heap_index?$DMpath@ (0000)
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0024E654 000d:
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??_C@_0N@FHNAKGNC@heap_index?$DO0?$AA@ (0000)
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0024E664 0010:
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??_C@_0BA@OJJDPBG@?$CF3d?4?5?$CF?412g?5?$CI?$CFx?$CJ?$AA@ (0000)
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0024E674 0025:
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??_C@_0CF@NHJKJPIK@please?5give?5this?5debug?4txt?5to?5ch@ (0000)
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0024E69C 0018:
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??_C@_0BI@GONMKDOC@heap_verify?5failed?5?$CI?$CFs?$CJ?$AA@ (0000)
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0024E6B4 0013:
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??_C@_0BD@OPIGCKBC@heap_insert?5output?$AA@ (0000)
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0024E6C8 0012:
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??_C@_0BC@FFIJKMBF@heap_insert?5input?$AA@ (0000)
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0024E6DC 0013:
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??_C@_0BD@JEBDACBO@heap_remove?5output?$AA@ (0000)
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0024E6F0 0012:
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??_C@_0BC@HBIKAONP@heap_remove?5input?$AA@ (0000)
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0024E704 0005:
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??_C@_04PBNHMBFG@goal?$AA@ (0000)
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0024E70C 0026:
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??_C@_0CG@LBHAPEOA@?$CFs?3?5assert_valid_real_point2d?$CI?$CFf@ (0000)
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0024E734 0006:
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??_C@_05FAGFPHJG@start?$AA@ (0000)
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0024E73C 0021:
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??_C@_0CB@CJEIPHLL@?$CFs?3?5assert_valid_real?$CI0x?$CF08X?5?$CFf?$CJ@ (0000)
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0024E760 001d:
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??_C@_0BN@KOMMMEHH@stack_top?$DMMAXIMUM_DISC_COUNT?$AA@ (0000)
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0024E780 0046:
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??_C@_0EG@PAHGCCFL@result?4disc_index?$DO?$DN0?5?$CG?$CG?5result?4d@ (0000)
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0024E7C8 0042:
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??_C@_0EC@PIPIECEP@seed_disc_index?$DO?$DN0?5?$CG?$CG?5seed_disc_@ (0000)
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0024E810 0052:
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??_C@_0FC@HKCAOOKO@path?9?$DOobstacles?9?$DOdisc_count?$DO?$DN0?5?$CG@ (0000)
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0024E864 0017:
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??_C@_0BH@FKFIAHK@obstacle?5path?5failure?$CB?$AA@ (0000)
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0024E880 0050:
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??_C@_0FA@MIKGHDND@?$CIobstacle_step_index?5?$DO?$DN?50?$CJ?5?$CG?$CG?5?$CIo@ (0000)
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0024E8D0 0030:
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??_C@_0DA@BINHGJIJ@input_step_count?5?$DM?$DN?5MAXIMUM_SMOO@ (0000)
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00319D08 2142:
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_bss_00319d08 (0000)
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_debug_obstacle_path_on_failure (2140)
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_debug_obstacle_path (2141)
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*/
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/* ---------- headers */
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#include "cseries/cseries.h"
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#define valid_real_point2d valid_real_point2d_inline
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#include "math/real_math.h"
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#undef valid_real_point2d
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#undef memcpy
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#include <stddef.h>
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#include <string.h>
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/* ---------- constants */
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enum
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{
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MAXIMUM_DISC_COUNT = 128,
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MAXIMUM_OBSTACLE_AVOIDANCE_STEPS = 128,
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};
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/* ---------- macros */
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/* ---------- structures */
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struct structure_bsp;
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struct obstacle_disc
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{
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short flags;
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short obstacle_index;
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long object_index;
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real_point2d center;
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real radius;
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byte reserved14[4];
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};
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struct obstacles
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{
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short obstacle_count;
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short disc_count;
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short disc_optional_count;
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byte reserved6[2];
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struct obstacle_disc discs[MAXIMUM_DISC_COUNT];
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};
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struct obstacle_path_step
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{
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real_point2d point;
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long surface_index;
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real_vector2d direction;
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real distance;
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short obstacle_index;
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byte obstacle_direction_index;
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byte reserved1B;
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short obstructed_goal_step_indices[2];
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real total_distance;
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short previous_step_index;
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byte reserved26[2];
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};
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struct obstacle_path
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{
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real radius;
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boolean ignore_broken_surfaces;
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byte reserved5[3];
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struct obstacles const *obstacles;
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struct structure_bsp const *structure;
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real_point2d goal;
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long goal_surface_index;
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short goal_obstacle_index;
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short goal_step_index;
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short best_goal_blocked_step_index;
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byte reserved22[2];
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real best_goal_blocked_distance;
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boolean goal_found_exactly;
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boolean finishing;
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boolean ignore_optional;
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byte reserved2B;
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short step_count;
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byte reserved2E[2];
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struct obstacle_path_step steps[MAXIMUM_OBSTACLE_AVOIDANCE_STEPS];
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short heap_count;
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short heap[MAXIMUM_OBSTACLE_AVOIDANCE_STEPS];
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byte reserved1532[2];
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};
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typedef char obstacle_path_step_size_assert[
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sizeof(struct obstacle_path_step) == 0x28 ? 1 : -1];
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typedef char obstacle_disc_size_assert[
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sizeof(struct obstacle_disc) == 0x18 ? 1 : -1];
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typedef char obstacle_disc_obstacle_index_offset_assert[
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offsetof(struct obstacle_disc, obstacle_index) == 0x2 ? 1 : -1];
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typedef char obstacles_size_assert[
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sizeof(struct obstacles) == 0xC08 ? 1 : -1];
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typedef char obstacles_disc_count_offset_assert[
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offsetof(struct obstacles, disc_count) == 0x2 ? 1 : -1];
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typedef char obstacles_discs_offset_assert[
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offsetof(struct obstacles, discs) == 0x8 ? 1 : -1];
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typedef char obstacle_path_size_assert[
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sizeof(struct obstacle_path) == 0x1534 ? 1 : -1];
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typedef char obstacle_path_step_count_offset_assert[
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offsetof(struct obstacle_path, step_count) == 0x2C ? 1 : -1];
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typedef char obstacle_path_steps_offset_assert[
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offsetof(struct obstacle_path, steps) == 0x30 ? 1 : -1];
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typedef char obstacle_path_heap_count_offset_assert[
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offsetof(struct obstacle_path, heap_count) == 0x1430 ? 1 : -1];
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typedef char obstacle_path_heap_offset_assert[
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offsetof(struct obstacle_path, heap) == 0x1432 ? 1 : -1];
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/* ---------- prototypes */
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struct obstacle_disc const *obstacles_get_disc(
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struct obstacles const *obstacles,
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short disc_index);
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/* ---------- globals */
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/* ---------- public code */
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/* ---------- private code */
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struct obstacle_disc const *obstacles_get_disc(
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struct obstacles const *obstacles,
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short disc_index)
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{
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match_assert(
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"c:\\halo\\source\\ai\\path.h",
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0x18C,
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disc_index>=0 && disc_index<obstacles->disc_count && obstacles->disc_count<=MAXIMUM_DISC_COUNT);
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return &obstacles->discs[disc_index];
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}
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long obstacle_from_disc(
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struct obstacles const *obstacles,
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short disc_index)
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{
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if (disc_index != NONE)
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return obstacles_get_disc(obstacles, disc_index)->obstacle_index;
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return NONE;
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}
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struct obstacle_path_step *path_get_step(
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struct obstacle_path *path,
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short step_index)
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{
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match_assert("c:\\halo\\SOURCE\\ai\\path_obstacle_avoidance.c", 40, step_index>=0 && step_index<path->step_count && path->step_count<=MAXIMUM_OBSTACLE_AVOIDANCE_STEPS);
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return &path->steps[step_index];
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}
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unsigned short path_get_step_index(
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struct obstacle_path *path,
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short heap_index)
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{
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match_assert(
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"c:\\halo\\SOURCE\\ai\\path_obstacle_avoidance.c",
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0x31,
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heap_index>=0 && heap_index<path->heap_count && path->heap_count<=MAXIMUM_OBSTACLE_AVOIDANCE_STEPS);
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return path->heap[heap_index];
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}
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short heap_parent_index(
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short heap_index)
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{
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match_assert("c:\\halo\\SOURCE\\ai\\path_obstacle_avoidance.c", 57, heap_index>0);
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return (short)((heap_index - 1) >> 1);
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}
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short heap_left_index(
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short heap_index)
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{
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short result = 2 * heap_index + 1;
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return result;
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}
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short heap_right_index(
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short heap_index)
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{
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short result = 2 * (heap_index + 1);
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return result;
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}
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real heap_cost(
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struct obstacle_path *path,
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short heap_index)
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{
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short step_index = path_get_step_index(path, heap_index);
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match_assert(
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"c:\\halo\\SOURCE\\ai\\path_obstacle_avoidance.c",
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0x28,
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step_index>=0 && step_index<path->step_count && path->step_count<=MAXIMUM_OBSTACLE_AVOIDANCE_STEPS);
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return path->steps[step_index].total_distance;
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}
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boolean valid_real_point2d(
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real_point2d const *point)
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{
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real x_value = point->x;
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real y_value;
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unsigned long x_bits;
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unsigned long y_bits;
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memcpy(&x_bits, &x_value, sizeof(x_bits));
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return (x_bits & 0x7F800000) != 0x7F800000 &&
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(y_value = point->y,
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memcpy(&y_bits, &y_value, sizeof(y_bits)),
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(y_bits & 0x7F800000) != 0x7F800000);
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}
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