Mercurial > fife-parpg
annotate engine/core/pathfinder/routepather/routepathersearch.cpp @ 339:0fd74235b34d
Fixes.
* The signature of InstanceTree.add/remove is adapted to the new behaviour.
* Add/Remove ActionListeners from Instances should now be reentrant.
* Small compile warning fixed.
author | phoku@33b003aa-7bff-0310-803a-e67f0ece8222 |
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date | Mon, 24 Aug 2009 18:52:49 +0000 |
parents | 8afb9b443f66 |
children | 64738befdf3b |
rev | line source |
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1 /*************************************************************************** |
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2 * Copyright (C) 2005-2008 by the FIFE team * |
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3 * http://www.fifengine.de * |
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4 * This file is part of FIFE. * |
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5 * * |
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6 * FIFE is free software; you can redistribute it and/or * |
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7 * modify it under the terms of the GNU Lesser General Public * |
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8 * License as published by the Free Software Foundation; either * |
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9 * version 2.1 of the License, or (at your option) any later version. * |
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10 * * |
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11 * This library is distributed in the hope that it will be useful, * |
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12 * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * |
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14 * Lesser General Public License for more details. * |
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15 * * |
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16 * You should have received a copy of the GNU Lesser General Public * |
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17 * License along with this library; if not, write to the * |
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18 * Free Software Foundation, Inc., * |
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19 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * |
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20 ***************************************************************************/ |
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21 |
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22 // Standard C++ library includes |
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23 #include <algorithm> |
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24 |
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25 // 3rd party library includes |
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26 |
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27 // FIFE includes |
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28 // These includes are split up in two parts, separated by one empty line |
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29 // First block: files included from the FIFE root src directory |
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30 // Second block: files included from the same folder |
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31 #include "model/metamodel/grids/cellgrid.h" |
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32 #include "model/structures/layer.h" |
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33 #include "model/structures/instancetree.h" |
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34 #include "model/metamodel/object.h" |
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35 #include "pathfinder/searchspace.h" |
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36 #include "pathfinder/heuristic.h" |
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37 #include "util/math/fife_math.h" |
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38 |
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39 #include "routepathersearch.h" |
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40 |
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41 namespace FIFE { |
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42 RoutePatherSearch::RoutePatherSearch(const int session_id, const Location& from, const Location& to, SearchSpace* searchSpace) |
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43 : m_destCoordInt(0), m_startCoordInt(0), m_next(0), m_to(to), m_from(from), m_sessionId(session_id), m_searchspace(searchSpace), m_status(search_status_incomplete){ |
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44 m_startCoordInt = m_searchspace->convertCoordToInt(from.getLayerCoordinates()); |
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45 int max_index = m_searchspace->getMaxIndex(); |
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46 m_destCoordInt = m_searchspace->convertCoordToInt(to.getLayerCoordinates()); |
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47 m_sortedfrontier.pushElement(PriorityQueue<int, float>::value_type(m_startCoordInt, 0.0f)); |
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48 m_spt.resize(max_index + 1, -1); |
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49 m_sf.resize(max_index + 1, -1); |
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50 m_gCosts.resize(max_index + 1, 0.0f); |
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51 m_heuristic = Heuristic::getHeuristic(searchSpace->getLayer()->getCellGrid()->getType()); |
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52 } |
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53 |
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54 |
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55 void RoutePatherSearch::updateSearch() { |
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56 if(m_sortedfrontier.empty()) { |
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57 setSearchStatus(search_status_failed); |
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58 return; |
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59 } |
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60 PriorityQueue<int, float>::value_type topvalue = m_sortedfrontier.getPriorityElement(); |
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61 m_sortedfrontier.popElement(); |
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62 m_next = topvalue.first; |
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63 m_spt[m_next] = m_sf[m_next]; |
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64 ModelCoordinate destCoord = m_to.getLayerCoordinates(); |
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65 if(m_destCoordInt == m_next) { |
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66 setSearchStatus(search_status_complete); |
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67 return; |
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68 } |
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69 //use destination layer for getting the cell coordinates for now, this should be moved |
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70 //into search space. |
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71 ModelCoordinate nextCoord = m_searchspace->convertIntToCoord(m_next); |
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72 std::vector<ModelCoordinate> adjacents; |
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73 m_searchspace->getLayer()->getCellGrid()->getAccessibleCoordinates(nextCoord, adjacents); |
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74 for(std::vector<ModelCoordinate>::iterator i = adjacents.begin(); i != adjacents.end(); ++i) { |
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75 //first determine if coordinate is in search space. |
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76 Location loc; |
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77 loc.setLayer(m_searchspace->getLayer()); |
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78 loc.setLayerCoordinates((*i)); |
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79 int adjacentInt = m_searchspace->convertCoordToInt((*i)); |
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80 if(m_searchspace->isInSearchSpace(loc)) { |
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81 if((adjacentInt == m_next || loc.getLayer()->cellContainsBlockingInstance(loc.getLayerCoordinates())) && |
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82 adjacentInt != m_destCoordInt) { |
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83 continue; |
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84 } |
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85 float hCost = m_heuristic->calculate((*i), destCoord); |
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86 //float hCost = Heuristic::getHeuristic(m_searchspace->getLayer()->getCellGrid()->getType())->calculate((*i), destCoord); |
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87 float gCost = m_gCosts[m_next] + loc.getLayer()->getCellGrid()->getAdjacentCost(nextCoord, (*i)); |
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88 if(m_sf[adjacentInt] == -1) { |
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89 m_sortedfrontier.pushElement(PriorityQueue<int, float>::value_type(adjacentInt, gCost + hCost)); |
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90 m_gCosts[adjacentInt] = gCost; |
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91 m_sf[adjacentInt] = m_next; |
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92 } |
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93 else if(gCost < m_gCosts[adjacentInt] && m_spt[adjacentInt] == -1) { |
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* Datasets becomes the new trunk and retires after that :-)
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94 m_sortedfrontier.changeElementPriority(adjacentInt, gCost + hCost); |
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* Datasets becomes the new trunk and retires after that :-)
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95 m_gCosts[adjacentInt] = gCost; |
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96 m_sf[adjacentInt] = m_next; |
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97 } |
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98 } |
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99 } |
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100 } |
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101 |
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102 RoutePatherSearch::Path RoutePatherSearch::calcPath() { |
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* Datasets becomes the new trunk and retires after that :-)
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103 int current = m_destCoordInt; |
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* Datasets becomes the new trunk and retires after that :-)
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104 int end = m_startCoordInt; |
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105 Path path; |
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106 //This assures that the agent always steps into the center of the cell. |
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* Datasets becomes the new trunk and retires after that :-)
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107 Location to(m_to); |
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108 to.setExactLayerCoordinates(FIFE::intPt2doublePt(to.getLayerCoordinates())); |
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109 path.push_back(to); |
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110 while(current != end) { |
310
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111 if(m_spt[current] < 0 ) { |
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112 // This is when the size of m_spt can not handle the distance of the location |
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113 setSearchStatus(search_status_failed); |
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114 break; |
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115 } |
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116 current = m_spt[current]; |
0
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117 Location newnode; |
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118 newnode.setLayer(m_searchspace->getLayer()); |
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119 ModelCoordinate currentCoord = m_searchspace->convertIntToCoord(current); |
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* Datasets becomes the new trunk and retires after that :-)
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120 newnode.setLayerCoordinates(currentCoord); |
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121 path.push_front(newnode); |
310
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122 } |
0
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123 path.front().setExactLayerCoordinates(m_from.getExactLayerCoordinates()); |
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* Datasets becomes the new trunk and retires after that :-)
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124 return path; |
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125 } |
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* Datasets becomes the new trunk and retires after that :-)
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126 } |