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Merge remote-tracking branch 'origin'

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This commit is contained in:
Matt Threlfall
2025-10-05 16:51:59 +01:00
parent 222575b318 9a46a802e0
commit 8dc0ac1d3e
8 changed files with 131 additions and 80 deletions
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48
code/game/impl/nav.c
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@@ -6,7 +6,8 @@
#define MAX_UNFINISHED 128
typedef struct navSearchNodeState navSearchNodeState;
struct navSearchNodeState{
struct navSearchNodeState
{
bool visited;
F64 distance;
U32 shortest;
@@ -14,37 +15,45 @@ struct navSearchNodeState{
};
typedef struct navSearchState navSearchState;
struct navSearchState{
struct navSearchState
{
navSearchNodeState nodeStates[NAV_MAX_NODES];
};
navSearchState initState(U32 start, U32 meshSize) {
navSearchState state = {};
for(U32 i = 0; i < meshSize; i++) {
state.nodeStates[i].visited = false;
navSearchState initState(U32 start, U32 meshSize)
{
navSearchState state;
for (U32 i = 0; i < meshSize; i++)
{
state.nodeStates[i].visited = false;
state.nodeStates[i].addedToUnvisited = false;
state.nodeStates[i].distance = U64_MAX;
state.nodeStates[i].shortest = 0;
state.nodeStates[i].distance = U64_MAX;
state.nodeStates[i].shortest = 0;
}
state.nodeStates[start].distance = 0;
return state;
}
U32 getLowestState(U32 unfinishedIndexes[128], U32 unfinishedCount, navSearchState state, U32 *offset) {
U32 lowest = U32_MAX;
U32 getLowestState(U32 unfinishedIndexes[128], U32 unfinishedCount, navSearchState state, U32 *offset)
{
U32 lowest = U32_MAX;
U32 lowestI = U32_MAX;
bool startFound = false;
for(U32 i = *offset; i < unfinishedCount; i++) {
for (U32 i = *offset; i < unfinishedCount; i++)
{
navSearchNodeState checkNode = state.nodeStates[unfinishedIndexes[i]];
if(checkNode.visited) {
if(!startFound) {
if (checkNode.visited)
{
if (!startFound)
{
*offset = i;
}
continue;
}
startFound = true;
if (lowest > checkNode.distance) {
lowest = cast(U32) checkNode.distance;
if (lowest > checkNode.distance)
{
lowest = cast(U32) checkNode.distance;
lowestI = unfinishedIndexes[i];
}
}
@@ -81,7 +90,8 @@ NavPath Nav_Path(NavMesh *mesh, U32 start, U32 end) {
testNode->distance = distance;
testNode->shortest = lowestNodeIndex;
}
if(!testNode->addedToUnvisited) {
if (!testNode->addedToUnvisited)
{
unfinishedIndexes[unfinishedCount] = connection->NodeIndex;
unfinishedCount++;
testNode->addedToUnvisited = true;
@@ -89,13 +99,15 @@ NavPath Nav_Path(NavMesh *mesh, U32 start, U32 end) {
}
state.nodeStates[lowestNodeIndex].visited = true;
lowestNodeIndex = getLowestState(unfinishedIndexes, unfinishedCount, state, &unfinishedOffset);
if(lowestNodeIndex == end) {
if (lowestNodeIndex == end)
{
found = true;
}
}
NavPath res_path = {0};
U32 index = end;
while(index!=start) {
while (index != start)
{
res_path.indexes[res_path.nodeCount] = index;
res_path.nodeCount++;
index = state.nodeStates[index].shortest;