Create command

include/movement_path_planning.h

@@ -17,15 +17,19 @@ static const u32 moves_walk[] =
     MOVEMENT_ACTION_WALK_NORMAL_DOWN, 
     MOVEMENT_ACTION_WALK_NORMAL_UP,
     MOVEMENT_ACTION_WALK_NORMAL_LEFT, 
-    MOVEMENT_ACTION_WALK_NORMAL_RIGHT,  
+    MOVEMENT_ACTION_WALK_NORMAL_RIGHT,
+    MOVEMENT_ACTION_FACE_DOWN,
+    MOVEMENT_ACTION_FACE_UP,
+    MOVEMENT_ACTION_FACE_LEFT,
+    MOVEMENT_ACTION_FACE_RIGHT,
 };
 
 
 static EWRAM_DATA u8 *SolutionPath = NULL;
 
 
 #define MAXPATH 100 // Max final path size
-#define MAXNODES 100 //Max size of the queues
+#define MAXNODES 500 //Max size of the queues
 
 #define HEUR_WEIGHT 1
 //Weight of the Heuristic, 0 for Dijkstra Algoritmin (Uniform Cost Search), 1 for A*, and >>1 for Greedy Best First Search
@@ -44,7 +48,7 @@ typedef struct Set{
 
 typedef struct PriorityQueue{
     unsigned int size;
-    int priority[MAXNODES]; // PODEMOS REEMPLAZAR ESTAS LISTAS USANDO EL HEAP
+    float priority[MAXNODES]; // PODEMOS REEMPLAZAR ESTAS LISTAS USANDO EL HEAP
     struct Node value[MAXNODES]; // PODEMOS REEMPLAZAR ESTAS LISTAS USANDO EL HEAP
 } PriorityQueue;
 
@@ -54,21 +58,23 @@ void swapNode(struct Node *a, struct Node *b) {
   *a = temp;
 }
 
-void swap(int *a, int *b) {
-  int temp = *b;
+void swap(float *a, float *b) {
+  float temp = *b;
   *b = *a;
   *a = temp;
 }
 
 u32 abs(s32 x){
     return (u32)((x<0)?-x:x);}
 
-u32 L1Distance(s32 x0, s32 y0, s32 xf, s32 yf){ //MAnhatan distance used as heuristic
+u32 L1Distance(s32 x0, s32 y0, s32 xf, s32 yf){ //Manhatan distance used as heuristic
     return abs(x0 - xf) + abs(y0 - yf);}
 
-u32 CalcHeuristic(struct Node *node, s32 xgoal,s32 ygoal)
+float CalcHeuristic(struct Node *node, s32 xgoal,s32 ygoal)
 {
-    return HEUR_WEIGHT*L1Distance(node->coords.x, node->coords.y, xgoal, ygoal);
+    float heuristic = HEUR_WEIGHT*L1Distance(node->coords.x, node->coords.y, xgoal, ygoal);
+    heuristic *= (1.0 + 1/MAXPATH); // For breaking ties
+    return heuristic;
 }
 
 // Function to insert to set

include/script_movement.h

@@ -4,5 +4,6 @@
 bool8 ScriptMovement_StartObjectMovementScript(u8 localId, u8 mapNum, u8 mapGroup, const u8 *movementScript);
 bool8 ScriptMovement_IsObjectMovementFinished(u8 localId, u8 mapNum, u8 mapGroup);
 void ScriptMovement_UnfreezeObjectEvents(void);
+void MovementPathPlanning_MoveObjectToPos(u8 localId, u8 mapNum, u8 mapGroup, u8 x, u8 y, u8 facing);
 
 #endif // GUARD_SCRIPT_MOVEMENT_H

src/movement_path_planning.c

@@ -27,16 +27,9 @@
 u16 *InitalizeInd();
 u32 abs();
 u32 distance();
-void MoveObjectToPos();
 
 static const u32 MOVES_COUNT = 4;
 
-// PARAMETROS DE ENTRADA DE LA FUNCION
-static const u8 localId = 1;
-static const s32 x_goal = 9;
-static const s32 y_goal = 9;
-
-
 // .text
 
 
@@ -46,7 +39,7 @@ int isMoveNotPossible(struct ObjectEvent *objectEvent, s16 x, s16 y, u32 dir)
 }
 
 // Driver code
-int searchPath(struct ObjectEvent *objectEvent,s32 x, s32 y){
+int searchPath(struct ObjectEvent *objectEvent,s32 x, s32 y, s32 facing){
 
     Node startNode;
     PriorityQueue frontier;
@@ -84,13 +77,20 @@ int searchPath(struct ObjectEvent *objectEvent,s32 x, s32 y){
         setInsert(&explored,node.state);
 
         if(node.cost<MAXPATH){
-            for(i=0; i<4;i++){
+            for(i=0; i < MOVES_COUNT;i++){
                 if(node.cost == 0 || !(i+node.path[node.cost-1] == 1 || i+node.path[node.cost-1] == 5)){
                     if (!isMoveNotPossible(objectEvent,node.coords.x + moves[i].x, node.coords.y + moves[i].y,i))
                     {
                         getChild(node,i,&child);
                         childState = child.coords.x + MapWidth * child.coords.y; 
                         child.state = childState;
+
+                        if(child.coords.x == x && child.coords.y == y){ // CHECK FACING
+                            if(i != facing){ //Add facing move
+                                child.path[child.cost] = facing + MOVES_COUNT;
+                                child.cost ++;
+                            }
+                        }
 
                         if (!(isInSet(&explored,childState) || isInQueue(&frontier,childState)))
                             insert(&frontier,child,CalcHeuristic(&child,x,y));
@@ -106,21 +106,19 @@ int searchPath(struct ObjectEvent *objectEvent,s32 x, s32 y){
     }
 }
 
-void MoveObjectToPos(void)
+void MovementPathPlanning_MoveObjectToPos(u8 localId, u8 mapNum, u8 mapGroup, u8 x_goal, u8 y_goal, u8 facing)
 {
-    u8 mapNum = gSaveBlock1Ptr->location.mapNum;
-    u8 mapGroup = gSaveBlock1Ptr->location.mapGroup;
-    // LoadCurrentMapData();
     u8 objectEventId;
 
     if (!TryGetObjectEventIdByLocalIdAndMap(localId, mapNum, mapGroup, &objectEventId))
     {
-        if(searchPath(&gObjectEvents[objectEventId],x_goal,y_goal))
+        if(searchPath(&gObjectEvents[objectEventId],x_goal,y_goal,facing))
         {
             ScriptMovement_StartObjectMovementScript(localId, mapNum, mapGroup, SolutionPath);
             SetMovingNpcId(localId);
 
             FREE_AND_SET_NULL(SolutionPath);
+
         }
     }
 

src/scrcmd.c

@@ -2304,3 +2304,29 @@ bool8 ScrCmd_warpsootopolislegend(struct ScriptContext *ctx)
     ResetInitialPlayerAvatarState();
     return TRUE;
 }
+
+bool8 ScrCmd_MoveObjectToPos(struct ScriptContext *ctx)
+{
+    u16 localId = VarGet(ScriptReadHalfword(ctx));
+    u16 posX = VarGet(ScriptReadHalfword(ctx));
+    u16 posY = VarGet(ScriptReadHalfword(ctx));
+    u16 facing = VarGet(ScriptReadHalfword(ctx));
+
+    MovementPathPlanning_MoveObjectToPos(localId, gSaveBlock1Ptr->location.mapNum, gSaveBlock1Ptr->location.mapGroup, posX,posY,facing);
+    // sMovingNpcId = localId;
+    return FALSE;
+}
+
+bool8 ScrCmd_MoveObjectToPos_at(struct ScriptContext *ctx)
+{
+    u16 localId = VarGet(ScriptReadHalfword(ctx));
+    u16 posX = VarGet(ScriptReadHalfword(ctx));	
+    u16 posY = VarGet(ScriptReadHalfword(ctx));
+    u16 facing = VarGet(ScriptReadHalfword(ctx));
+    u8 mapGroup = ScriptReadByte(ctx);
+    u8 mapNum = ScriptReadByte(ctx);
+
+    MovementPathPlanning_MoveObjectToPos(localId, mapNum, mapGroup, posX,posY,facing);
+    // sMovingNpcId = localId;
+    return FALSE;
+}