Made pathfinding algorithm cope better with beings blocking the road. This is

done by allowing walking over other beings, but at an additional cost so that
it is preferable to walk around them.

2 files changed, 42 insertions, 23 deletions

diff --git a/src/map.cpp b/src/map.cpp
index 05dea951..897fbe22 100644
--- a/src/map.cpp
+++ b/src/map.cpp
@@ -282,33 +282,35 @@ Map::setWalk(int x, int y, bool walkable)
 bool
 Map::getWalk(int x, int y)
 {
-    // Check for being walkable
-    if (tileCollides(x, y)) {
-        return false;
-    }
+    return !tileCollides(x, y) && !occupied(x, y);
+}
 
-    // Check for collision with a being
+bool
+Map::occupied(int x, int y)
+{
     Beings &beings = beingManager->getAll();
-    for (BeingIterator i = beings.begin(); i != beings.end(); i++) {
+    for (BeingIterator i = beings.begin(); i != beings.end(); i++)
+    {
         // job 45 is a portal, they don't collide
-        if ((*i)->mX == x && (*i)->mY == y && (*i)->mJob != 45) {
-            return false;
+        if ((*i)->mX == x && (*i)->mY == y && (*i)->mJob != 45)
+        {
+            return true;
         }
     }
 
-    return true;
+    return false;
 }
 
 bool
 Map::tileCollides(int x, int y)
 {
-    // You can't walk outside of the map
-    if (x < 0 || y < 0 || x >= mWidth || y >= mHeight) {
-        return true;
-    }
+    return !(contains(x, y) && mMetaTiles[x + y * mWidth].walkable);
+}
 
-    // Check if the tile is walkable
-    return !mMetaTiles[x + y * mWidth].walkable;
+bool
+Map::contains(int x, int y)
+{
+    return x >= 0 && y >= 0 && x < mWidth && y < mHeight;
 }
 
 void
@@ -351,8 +353,9 @@ Map::findPath(int startX, int startY, int destX, int destY)
     // Declare open list, a list with open tiles sorted on F cost
     std::priority_queue<Location> openList;
 
-    // Return empty path when destination not walkable
-    if (!getWalk(destX, destY)) return path;
+    // Return empty path when destination collides
+    if (tileCollides(destX, destY))
+        return path;
 
     // Reset starting tile's G cost to 0
     MetaTile *startTile = getMetaTile(startX, startY);
@@ -391,16 +394,15 @@ Map::findPath(int startX, int startY, int destX, int destY)
 
                 // Skip if if we're checking the same tile we're leaving from,
                 // or if the new location falls outside of the map boundaries
-                if ((dx == 0 && dy == 0) ||
-                    (x < 0 || y < 0 || x >= mWidth || y >= mHeight))
+                if ((dx == 0 && dy == 0) || !contains(x, y))
                 {
                     continue;
                 }
 
                 MetaTile *newTile = getMetaTile(x, y);
 
-                // Skip if the tile is on the closed list or is not walkable
-                if (newTile->whichList == mOnClosedList || !getWalk(x, y))
+                // Skip if the tile is on the closed list or collides
+                if (newTile->whichList == mOnClosedList || tileCollides(x, y))
                 {
                     continue;
                 }
@@ -420,9 +422,16 @@ Map::findPath(int startX, int startY, int destX, int destY)
                 }
 
                 // Calculate G cost for this route, 10 for moving straight and
-                // 14 for moving diagonal
+                // 14 for moving diagonal (sqrt(200) = 14.1421...)
                 int Gcost = curr.tile->Gcost + ((dx == 0 || dy == 0) ? 10 : 14);
 
+                // It costs extra to walk through a being (needs to be enough
+                // to make it more attractive to walk around).
+                if (occupied(x, y))
+                {
+                    Gcost += 30;
+                }
+
                 // Skip if Gcost becomes too much
                 // Warning: probably not entirely accurate
                 if (Gcost > 200)
diff --git a/src/map.h b/src/map.h
index 961326b8..15b9b0dc 100644
--- a/src/map.h
+++ b/src/map.h
@@ -129,7 +129,7 @@ class Map : public Properties
         MetaTile *getMetaTile(int x, int y);
 
         /**
-         * Set walkability flag for a tile
+         * Set walkability flag for a tile.
          */
         void setWalk(int x, int y, bool walkable);
 
@@ -199,6 +199,16 @@ class Map : public Properties
         Tileset*
         getTilesetWithGid(int gid);
 
+        /**
+         * Tells whether a tile is occupied by a being.
+         */
+        bool occupied(int x, int y);
+
+        /**
+         * Tells whether the given coordinates fall within the map boundaries.
+         */
+        bool contains(int x, int y);
+
         int mWidth, mHeight;
         int mTileWidth, mTileHeight;
         MetaTile *mMetaTiles;