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annotate engine/core/pathfinder/routepather/routepathersearch.cpp @ 292:6362c6812580

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combine routepathersearch and search class to clean up the code.
author wenlin_fife@33b003aa-7bff-0310-803a-e67f0ece8222
date Fri, 26 Jun 2009 18:04:57 +0000
parents 90005975cdbb
children 66df2422a8b0
rev   line source
0
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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 * *
46
90005975cdbb * Final LGPL switch step by adjusting the file headers
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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. *
0
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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. *
0
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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) {
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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 // m_to = to;
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53 // m_from = from;
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54 // m_sessionId = session_id;
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55 // m_searchspace = searchSpace;
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56 }
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57
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58 void RoutePatherSearch::updateSearch() {
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59 if(m_sortedfrontier.empty()) {
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60 setSearchStatus(search_status_failed);
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61 return;
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62 }
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63 PriorityQueue<int, float>::value_type topvalue = m_sortedfrontier.getPriorityElement();
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64 m_sortedfrontier.popElement();
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65 m_next = topvalue.first;
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66 m_spt[m_next] = m_sf[m_next];
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67 ModelCoordinate destCoord = m_to.getLayerCoordinates();
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68 if(m_destCoordInt == m_next) {
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69 setSearchStatus(search_status_complete);
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70 return;
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71 }
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72 //use destination layer for getting the cell coordinates for now, this should be moved
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73 //into search space.
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74 ModelCoordinate nextCoord = m_searchspace->convertIntToCoord(m_next);
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75 std::vector<ModelCoordinate> adjacents;
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76 m_searchspace->getLayer()->getCellGrid()->getAccessibleCoordinates(nextCoord, adjacents);
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77 for(std::vector<ModelCoordinate>::iterator i = adjacents.begin(); i != adjacents.end(); ++i) {
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78 //first determine if coordinate is in search space.
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79 Location loc;
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80 loc.setLayer(m_searchspace->getLayer());
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81 loc.setLayerCoordinates((*i));
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82 int adjacentInt = m_searchspace->convertCoordToInt((*i));
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83 if(m_searchspace->isInSearchSpace(loc)) {
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84 if((adjacentInt == m_next || loc.getLayer()->cellContainsBlockingInstance(loc.getLayerCoordinates())) &&
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85 adjacentInt != m_destCoordInt) {
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86 continue;
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87 }
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88
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89 float hCost = m_heuristic->calculate((*i), destCoord);
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90 float gCost = m_gCosts[m_next] + loc.getLayer()->getCellGrid()->getAdjacentCost(nextCoord, (*i));
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91 if(m_sf[adjacentInt] == -1) {
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92 m_sortedfrontier.pushElement(PriorityQueue<int, float>::value_type(adjacentInt, gCost + hCost));
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93 m_gCosts[adjacentInt] = gCost;
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94 m_sf[adjacentInt] = m_next;
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95 }
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96 else if(gCost < m_gCosts[adjacentInt] && m_spt[adjacentInt] == -1) {
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97 m_sortedfrontier.changeElementPriority(adjacentInt, gCost + hCost);
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98 m_gCosts[adjacentInt] = gCost;
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99 m_sf[adjacentInt] = m_next;
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100 }
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101 }
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102 }
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103 }
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104
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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105 RoutePatherSearch::Path RoutePatherSearch::calcPath() {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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106 int current = m_destCoordInt;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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107 int end = m_startCoordInt;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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108 Path path;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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109 //This assures that the agent always steps into the center of the cell.
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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110 Location to(m_to);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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111 to.setExactLayerCoordinates(FIFE::intPt2doublePt(to.getLayerCoordinates()));
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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112 path.push_back(to);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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113 while(current != end) {
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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114 current = m_spt[current];
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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115 Location newnode;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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116 newnode.setLayer(m_searchspace->getLayer());
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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117 ModelCoordinate currentCoord = m_searchspace->convertIntToCoord(current);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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118 newnode.setLayerCoordinates(currentCoord);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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119 path.push_front(newnode);
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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120 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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121 path.front().setExactLayerCoordinates(m_from.getExactLayerCoordinates());
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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122 return path;
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123 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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124 }