Mercurial > fife-parpg

annotate engine/core/pathfinder/routepather/routepather.cpp @ 310:8afb9b443f66

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merged the pathfinding branch to trunk
author wenlin_fife@33b003aa-7bff-0310-803a-e67f0ece8222
date Fri, 14 Aug 2009 00:00:58 +0000
parents 1465536aec94
children
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
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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 *
0
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18 * Free Software Foundation, Inc., *
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19 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
0
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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 <cassert>
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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/instance.h"
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33 #include "model/structures/layer.h"
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34
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35 #include "pathfinder/searchspace.h"
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36
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37 #include "routepather.h"
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38 #include "routepathersearch.h"
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39
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40 namespace FIFE {
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41 void RoutePather::setMap(Map* map) {
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42 if(!map) {
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43 return;
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44 }
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45 m_map = map;
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46 }
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47
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48 int RoutePather::makeSessionId() {
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49 return m_nextFreeSessionId++;
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50 }
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51
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52 void RoutePather::makePlan(const Instance *instance, const Location& target, int session_id, int priority) {
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53 SearchSpace* searchspace = getSearchSpace(target.getLayer());
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54 if(!searchspace) {
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55 searchspace = new SearchSpace(target.getLayer());
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56 addSearchSpace(searchspace);
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57 }
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58 if(searchspace->isInSearchSpace(target)) {
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59 RoutePatherSearch* newSearch = new RoutePatherSearch(session_id, instance->getLocation(), target, searchspace);
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60 m_sessions.pushElement(SessionQueue::value_type(newSearch, priority));
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61 addSessionId(session_id);
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62 m_path_targets.insert(LocationMap::value_type(session_id,target));
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63 }
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64 }
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65
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66 bool RoutePather::locationsEqual(const Location &a, const Location &b) {
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67
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68 const ModelCoordinate a_coord = a.getLayerCoordinates();
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69 const ModelCoordinate b_coord = b.getLayerCoordinates();
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70
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71 return a_coord == b_coord;
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72 }
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73
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74 bool RoutePather::testStep(const Instance *instance, Path& path) {
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75 Location instanceLoc = instance->getLocation();
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76 if(!path.empty() &&
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77 !locationsEqual(path.front(), instanceLoc) &&
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78 instanceLoc.getLayer()->cellContainsBlockingInstance(path.front().getLayerCoordinates())) {
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79 const bool last_step = path.front() == path.back();
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80 path.clear();
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81 return last_step;
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82 }
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83 return true;
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84 }
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85
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86 int RoutePather::getNextLocation(const Instance* instance, const Location& target,
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87 double distance_to_travel, Location& nextLocation,
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88 Location& facingLocation, int session_id, int priority) {
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89 assert(instance);
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90 assert(instance->getLocation().getLayer() == target.getLayer());
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91 bool plan_needed = true;
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92
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93 if(session_id != -1) {
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94 plan_needed = false;
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95 PathMap::iterator path_itor = m_paths.find(session_id);
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96 if(path_itor != m_paths.end()) {
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97 LocationMap::iterator location_itor = m_path_targets.find(session_id);
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98 assert(location_itor != m_path_targets.end());
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99
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100 if(path_itor->second.empty()) {
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101 m_paths.erase(path_itor);
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102 m_path_targets.erase(location_itor);
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103 return -1;
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104 }
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105
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106 if(!followPath(instance, path_itor->second, distance_to_travel, nextLocation, facingLocation)
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107 || !locationsEqual(location_itor->second, target)) {
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108 m_paths.erase(path_itor);
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
109 m_path_targets.erase(location_itor);
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
110 plan_needed = true;
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
111 }
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parents: 46
diff changeset
112 } else if(!sessionIdValid(session_id)) {
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
113 //Session id is invalid.
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
114 return -1;
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diff changeset
115 }
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diff changeset
116 }
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diff changeset
117 if(plan_needed) {
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
118 if(session_id == -1) {
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
119 session_id = makeSessionId();
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diff changeset
120 }
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diff changeset
121 makePlan(instance, target, session_id, priority);
0
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122 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
123 return session_id;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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124 }
190
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diff changeset
125
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
126 void RoutePather::update() {
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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127 int ticksleft = m_maxticks;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
128 while(ticksleft >= 0) {
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129 if(m_sessions.empty()) {
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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130 break;
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131 }
310
8afb9b443f66 merged the pathfinding branch to trunk
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diff changeset
132 RoutePatherSearch* priority_session = m_sessions.getPriorityElement().first;
0
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133 if(!sessionIdValid(priority_session->getSessionId())) {
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134 delete priority_session;
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135 m_sessions.popElement();
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
136 continue;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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137 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
138 priority_session->updateSearch();
310
8afb9b443f66 merged the pathfinding branch to trunk
wenlin_fife@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
139 if(priority_session->getSearchStatus() == RoutePatherSearch::search_status_complete) {
190
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diff changeset
140 const int session_id = priority_session->getSessionId();
0
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141 Path newPath = priority_session->calcPath();
190
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diff changeset
142 newPath.erase(newPath.begin());
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diff changeset
143 m_paths.insert(PathMap::value_type(session_id, newPath));
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diff changeset
144 invalidateSessionId(session_id);
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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145 delete priority_session;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
146 m_sessions.popElement();
310
8afb9b443f66 merged the pathfinding branch to trunk
wenlin_fife@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 300
diff changeset
147 } else if(priority_session->getSearchStatus() == RoutePatherSearch::search_status_failed) {
190
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diff changeset
148 const int session_id = priority_session->getSessionId();
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diff changeset
149 invalidateSessionId(session_id);
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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150 delete priority_session;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
151 m_sessions.popElement();
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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152 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
153 --ticksleft;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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154 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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155 }
190
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diff changeset
156
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diff changeset
157 bool RoutePather::followPath(const Instance* instance, Path& path, double speed, Location& nextLocation, Location& facingLocation) {
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diff changeset
158 Location instanceLoc = instance->getLocation();
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diff changeset
159 if(!testStep(instance, path)) {
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160 return false;
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161 }
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diff changeset
162
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diff changeset
163 if(path.empty()) {
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diff changeset
164 return true;
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165 }
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diff changeset
166
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
167 ExactModelCoordinate instancePos = instanceLoc.getMapCoordinates();
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diff changeset
168 ExactModelCoordinate facingPos = path.front().getMapCoordinates();
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169 facingPos.x = facingPos.x + (facingPos.x - instancePos.x);
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diff changeset
170 facingPos.y = facingPos.y + (facingPos.y - instancePos.y);
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diff changeset
171 facingLocation = path.front();
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diff changeset
172 facingLocation.setMapCoordinates(facingPos);
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173 ExactModelCoordinate targetPos = path.front().getMapCoordinates();
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
174 CellGrid* grid = instanceLoc.getLayer()->getCellGrid();
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
175 double dx = (targetPos.x - instancePos.x) * grid->getXScale();
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diff changeset
176 double dy = (targetPos.y - instancePos.y) * grid->getYScale();
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diff changeset
177 double distance = sqrt(dx * dx + dy * dy);
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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178 bool pop = false;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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179 if(speed > distance) {
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180 speed = distance;
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181 pop = true;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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182 }
190
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diff changeset
183 if(distance != 0) {
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
184 instancePos.x += (dx / distance) * speed;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
185 instancePos.y += (dy / distance) * speed;
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diff changeset
186 } else {
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
187 pop = true;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
188 }
190
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diff changeset
189
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
190 nextLocation.setMapCoordinates(instancePos);
190
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diff changeset
191 if(pop) {
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
192 path.pop_front();
190
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diff changeset
193 if(!testStep(instance, path)) {
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diff changeset
194 return false;
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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195 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
196 }
190
f970f7dab2dd Allow routepather to re-plan when the plan becomes invalid:
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diff changeset
197 return true;
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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198 }
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diff changeset
199
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
200 bool RoutePather::cancelSession(const int session_id) {
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
201 if(session_id >= 0) {
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
202 PathMap::iterator i = m_paths.find(session_id);
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
203 if(i != m_paths.end()) {
190
f970f7dab2dd Allow routepather to re-plan when the plan becomes invalid:
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parents: 46
diff changeset
204 LocationMap::iterator j = m_path_targets.find(session_id);
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diff changeset
205 assert(j != m_path_targets.end());
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
206 m_paths.erase(i);
190
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
207 m_path_targets.erase(j);
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
208 return true;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
209 } else {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
210 invalidateSessionId(session_id);
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
211 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
212 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
213 return false;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
214 }
190
f970f7dab2dd Allow routepather to re-plan when the plan becomes invalid:
icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
215
0
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
216 void RoutePather::addSessionId(const int sessionId) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
217 m_registeredSessionIds.push_back(sessionId);
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
218 }
190
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219
0
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220 bool RoutePather::sessionIdValid(const int sessionId) {
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221 for(SessionList::const_iterator i = m_registeredSessionIds.begin();
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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222 i != m_registeredSessionIds.end();
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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223 ++i) {
190
f970f7dab2dd Allow routepather to re-plan when the plan becomes invalid:
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224 if((*i) == sessionId) {
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225 return true;
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226 }
0
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227 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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228 return false;
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229 }
190
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230
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
231 bool RoutePather::invalidateSessionId(const int sessionId) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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232 for(SessionList::iterator i = m_registeredSessionIds.begin();
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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233 i != m_registeredSessionIds.end();
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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234 ++i) {
190
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diff changeset
235 if((*i) == sessionId) {
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icelus@33b003aa-7bff-0310-803a-e67f0ece8222
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236 m_registeredSessionIds.erase(i);
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237 return true;
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238 }
0
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239 }
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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240 return false;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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241 }
190
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242
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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243 bool RoutePather::addSearchSpace(SearchSpace* search_space) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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244 std::pair<SearchSpaceMap::iterator, bool> res = m_searchspaces.insert(SearchSpaceMap::value_type(search_space->getLayer(), search_space));
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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245
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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246 return res.second;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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247 }
190
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diff changeset
248
0
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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249 SearchSpace* RoutePather::getSearchSpace(Layer * const layer) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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250 SearchSpaceMap::iterator i = m_searchspaces.find(layer);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
251 if(i == m_searchspaces.end()) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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252 return 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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253 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
254 return i->second;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
255 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
256 }