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|
;----------------------------------------------------------------------------;
; Does A* pathfinding for rockraiders and vehicles
;
; Copyright 2015 Ruben De Smet
;
; Redistribution and use in source and binary forms, with or without
; modification, are permitted provided that the following conditions are
; met:
;
; (1) Redistributions of source code must retain the above copyright
; notice, this list of conditions and the following disclaimer.
;
; (2) Redistributions in binary form must reproduce the above copyright
; notice, this list of conditions and the following disclaimer in
; the documentation and/or other materials provided with the
; distribution.
;
; (3) The name of the author may not be used to
; endorse or promote products derived from this software without
; specific prior written permission.
;
; THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
; IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
; WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
; DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT,
; INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
; (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
; SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
; HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
; STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
; IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
; POSSIBILITY OF SUCH DAMAGE.
;
;----------------------------------------------------------------------------;
IDEAL
P386
MODEL FLAT, C
ASSUME cs:_TEXT,ds:FLAT,es:FLAT,fs:FLAT,gs:FLAT
INCLUDE "ASTAR.INC"
INCLUDE "READLVL.INC"
INCLUDE "DEBUG.INC"
STRUC TPriorityField
heuristic dd ?
distance dd ?
x db ?
y db ?
fromx db ?
fromy db ?
ENDS
STRUC TField
distance dd ?
x db ?
y db ?
ENDS
CODESEG
PROC getPath
USES ecx
ARG @@tgtx:dword, \
@@tgty:dword \
RETURNS eax, ebx ; eax contains x, ebx contains y
call getLevelWidth
imul eax, [@@tgty]
add eax, [@@tgtx]
imul eax, SIZE TField
add eax, offset backtraceGraph
mov ecx, eax
xor eax, eax
xor ebx, ebx
mov al, [(TField ptr ecx).x]
mov bl, [(TField ptr ecx).y]
ret
ENDP getPath
PROC findPath
; eax will contain a 1 when a path has been found
; 0 otherwise.
ARG @@srcx:dword, \
@@srcy:dword, \
@@tgtx:dword, \
@@tgty:dword, \
@@type:dword \
RETURNS eax
; Check whether the target field is "allowed" for
; the selected vehicle or rock raider
call getField, [@@tgtx], [@@tgty]
mov al, [byte ptr eax]
and eax, 0FFh
add eax, offset actionTable
mov eax, [eax]
and eax, [@@type] ; TODO: for now, rock raider is hard coded
jnz @canGoToTarget
mov eax, 0
ret
@canGoToTarget:
call cleanData
mov eax, [@@type]
mov [currentType], eax
mov eax, [@@srcx]
mov [currentOpen.x], al
mov eax, [@@srcy]
mov [currentOpen.y], al
call distance, [@@srcx], [@@srcy], [@@tgtx], [@@tgty]
; eax <- distance
call addOpen, [@@srcx], [@@srcy], eax, 0
@openListNotEmpty:
call popOpen
cmp eax, 0
je @openListEmpty
call addToMap
call addClosed
mov eax, [@@tgtx]
cmp [currentOpen.x], al
jne @nextOpen
mov eax, [@@tgty]
cmp [currentOpen.y], al
jne @nextOpen
jmp @routeFound
@nextOpen:
call addNeighbours, [@@tgtx], [@@tgty]
jmp @openListNotEmpty
@openListEmpty:
mov eax, 0
ret
@routeFound:
mov eax, 1
ret
ENDP findPath
PROC addToMap
USES eax, ecx
call getLevelWidth
xor ecx, ecx
mov cl, [currentOpen.y]
imul eax, ecx
mov cl, [currentOpen.x]
add eax, ecx
imul eax, SIZE TField
add eax, offset backtraceGraph
mov ecx, [currentOpen.distance]
cmp [(TField ptr eax).distance], ecx
jbe @dontAdd
mov [(TField ptr eax).distance], ecx
mov cl, [currentOpen.fromx]
mov [(TField ptr eax).x], cl
mov cl, [currentOpen.fromy]
mov [(TField ptr eax).y], cl
@dontAdd:
ret
ENDP addToMap
; Is closed checks whether the field considered is "closed" for being added to the open list.
; So, it also checks whether we can go on the selected field.
PROC isClosed
USES ebx, ecx, edx
ARG @@x:dword, \
@@y:dword RETURNS eax
; Check bounds first:
call getLevelWidth
cmp [@@x], eax
ja notWithinBounds ; ja considers -1 > 10
call getLevelHeight
cmp [@@y], eax
ja notWithinBounds
; Check whether this field is "allowed" for
; the selected vehicle or rock raider
call getField, [@@x], [@@y]
mov al, [byte ptr eax]
and eax, 0FFh
add eax, offset actionTable
mov eax, [eax]
and eax, [currentType] ; TODO: for now, rock raider is hard coded
jnz @canGoHere
inc eax ; mov eax, 1
ret
@canGoHere:
; Getting here means the field is okay to walk/fly/whatever on
xor ecx, ecx
mov cx, [closedlistSize]
cmp cx, 0 ; If empty, return 0
jne @closedNotEmpty
mov eax, 0
ret
@closedNotEmpty:
mov ebx, offset closedlist
@loopClosed:
mov edx, [@@x]
cmp [(TField ptr ebx).x], dl
jne @nextClosed
mov edx, [@@y]
cmp [(TField ptr ebx).y], dl
jne @nextClosed
; If reached here, yep, contained in closed list
mov eax, 1
ret
@nextClosed:
add ebx, SIZE TField
dec ecx
jnz @loopClosed
mov eax, 0
ret
notWithinBounds:
mov eax, 1
ret
ENDP isClosed
PROC addNeighbours
USES eax, ebx, ecx, edx
ARG @@tgtx:dword, \
@@tgty:dword
; Push all neighbours of currentOpen on openList
xor ebx, ebx
xor ecx, ecx
mov bl, [currentOpen.x]
mov cl, [currentOpen.y]
mov edx, [currentOpen.distance]
inc edx ; Next distance is one more.
; Up
dec ecx
call isClosed, ebx, ecx
cmp eax, 0
jne @noUp
call distance, ebx, ecx, [@@tgtx], [@@tgty]
add eax, edx
call addOpen, ebx, ecx, eax, edx
@noUp:
inc ecx
; Right
inc ebx
call isClosed, ebx, ecx
cmp eax, 0
jne @noRight
call distance, ebx, ecx, [@@tgtx], [@@tgty]
add eax, edx
call addOpen, ebx, ecx, eax, edx
@noRight:
dec ebx
; Left
dec ebx
call isClosed, ebx, ecx
cmp eax, 0
jne @noLeft
call distance, ebx, ecx, [@@tgtx], [@@tgty]
add eax, edx
call addOpen, ebx, ecx, eax, edx
@noLeft:
inc ebx
; Down
inc ecx
call isClosed, ebx, ecx
cmp eax, 0
jne @noDown
call distance, ebx, ecx, [@@tgtx], [@@tgty]
add eax, edx
call addOpen, ebx, ecx, eax, edx
@noDown:
dec ecx
ret
ENDP addNeighbours
PROC popOpen
ARG RETURNS eax
USES ebx, ecx, edx, esi, edi
; eax contains the smallest current heuristic
; ebx contains the index of that field
cmp [openlistSize], 0 ; If empty, return 0
jne @goForth
mov eax, 0
ret
@goForth:
mov eax, 0FFFFFFFFh ; Longest distance possible in 32 bits.
xor ebx, ebx
xor ecx, ecx ; ecx contains the current index
@searchFurther:
mov edx, ecx
imul edx, SIZE TPriorityField
cmp [(TPriorityField ptr (openlist + edx)).heuristic], eax
ja @notBetter
; Better guess found, put right values in eax and ebx
mov eax, [(TPriorityField ptr (openlist + edx)).heuristic]
mov ebx, ecx
@notBetter:
inc ecx
cmp cx, [openlistSize]
jne @searchFurther
; By now, we have found the right item to pop from the priorityqueue.
; Move the correct item in currentOpen
mov ecx, SIZE TPriorityField
mov esi, ebx
imul esi, ecx
add esi, offset openlist
mov edi, offset currentOpen
rep movsb
; Now make the remove the thing from the vector
xor ecx, ecx
mov cx, [openlistSize]
sub ecx, ebx
dec ecx
imul ecx, SIZE TPriorityField
mov edi, esi
sub edi, SIZE TPriorityField
rep movsb
dec [openlistSize]
mov eax, 1
ret
ENDP popOpen
PROC addClosed
USES eax, ebx
xor ebx, ebx
xor eax, eax
mov bx, [closedlistSize]
imul ebx, SIZE TField
add ebx, offset closedlist ; ebx contains the target TField
mov al, [currentOpen.x]
mov [(TField ptr ebx).x], al
mov al, [currentOpen.y]
mov [(TField ptr ebx).y], al
mov eax, [currentOpen.distance]
mov [(TField ptr ebx).distance], eax
inc [closedlistSize]
cmp [closedlistSize], CLOSED_LIST_SIZE_MAX
jne @noProblemWithClosedVector
xor eax, eax
mov ax, [closedlistSize]
call crash, offset closedOutOfMemory, eax
@noProblemWithClosedVector:
ret
ENDP addClosed
PROC addOpen
USES eax, ebx
ARG @@x:dword, \
@@y:dword, \
@@priority:dword, \
@@distance:dword
xor eax, eax
mov ax, [openlistSize]
imul eax, SIZE TPriorityField
add eax, offset openlist
mov ebx, [@@x]
mov [(TPriorityField ptr eax).x], bl
mov ebx, [@@y]
mov [(TPriorityField ptr eax).y], bl
mov bl, [currentOpen.x]
mov [(TPriorityField ptr eax).fromx], bl
mov bl, [currentOpen.y]
mov [(TPriorityField ptr eax).fromy], bl
mov ebx, [@@priority]
mov [(TPriorityField ptr eax).heuristic], ebx
mov ebx, [@@distance]
mov [(TPriorityField ptr eax).distance], ebx
inc [openlistSize]
cmp [openlistSize], OPEN_LIST_SIZE_MAX
jne @noProblem
xor eax, eax
mov ax, [openlistSize]
call crash, offset openOutOfMemory, eax
@noProblem:
ret
ENDP
PROC distance
USES ebx
ARG @@srcx:dword, \
@@srcy:dword, \
@@tgtx:dword, \
@@tgty:dword \
RETURNS eax
mov eax, [@@srcx]
sub eax, [@@tgtx]
jns @noSignChangex
neg eax
@noSignChangex:
mov ebx, [@@srcy]
sub ebx, [@@tgty]
jns @noSignChangey
neg ebx
@noSignChangey:
add eax, ebx
ret
ENDP distance
PROC cleanData
USES eax, ecx
mov [openlistSize], 0
mov [closedlistSize], 0
mov [currentOpen.x], -1
mov [currentOpen.y], -1
mov [currentOpen.distance], 0
call getLevelWidth
mov ecx, eax
call getLevelHeight
imul ecx, eax
mov eax, offset backtraceGraph
@fieldIter:
mov [(TField ptr eax).distance], 0ffffffffh ; Set to approximately +inf
mov [(TField ptr eax).x], 0
mov [(TField ptr eax).y], 0
add eax, SIZE TField
dec ecx
jnz @fieldIter
ret
ENDP cleanData
DATASEG
openOutOfMemory db "Out of openlistSize memory. Hi dev: Please increase$"
closedOutOfMemory db "Out of closedlistSize memory. Hi dev: Please increase$"
; power | discover | walking | sailing | flying
actionTable db 00001101b, \ ;EMPTY
00001101b, \ ;RUBBLE
00000000b, \ ;GRAVEL
00000000b, \ ;LOOSE ROCK
00000000b, \ ;HARD ROCK
00000000b, \ ;MASSIVE ROCK
00000000b, \ ;KRISTAL SOURCE
00000000b, \ ;OREROCK
00001011b, \ ;WATER
00001001b, \ ;LAVA
00001101b, \ ;SNAIL HOLE
00001101b, \ ;EROSION
00011101b, \ ;POWER PATH
00011101b, \ ;BUILDING POWER PATH
00011000b \ ;BUILDING
UDATASEG
currentType dd ?
currentOpen TPriorityField ?
openlist TPriorityField OPEN_LIST_SIZE_MAX dup(?)
openlistSize dw ?
closedlist TField CLOSED_LIST_SIZE_MAX dup(?)
closedlistSize dw ?
backtraceGraph TField MAX_LEVEL_SIZE dup(?)
END
|