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annotate engine/core/pathfinder/routepather/routepather.h @ 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 * *
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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. *
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 #ifndef FIFE_PATHFINDER_ROUTEPATHER
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23 #define FIFE_PATHFINDER_ROUTEPATHER
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24
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25 // Standard C++ library includes
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26 #include <map>
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27 #include <vector>
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28
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29 // 3rd party library includes
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30
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31 // FIFE includes
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32 // These includes are split up in two parts, separated by one empty line
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33 // First block: files included from the FIFE root src directory
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34 // Second block: files included from the same folder
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35 #include "model/metamodel/abstractpather.h"
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36 #include "model/structures/location.h"
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37 #include "model/structures/map.h"
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38 #include "util/structures/priorityqueue.h"
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39
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40 namespace FIFE {
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41
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42 class Search;
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43 class SearchSpace;
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44 class RoutePatherSearch;
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45
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46 class RoutePather : public AbstractPather {
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47 public:
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48 /** Constructor.
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49 *
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50 */
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51 RoutePather() : m_map(0), m_nextFreeSessionId(0), m_maxticks(1000) {
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52 }
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53
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54 void setMap(Map* map);
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55 int getNextLocation(const Instance* instance, const Location& target,
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56 double distance_to_travel, Location& nextLocation,
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57 Location& facingLocation, int session_id=-1,
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58 int priority = MEDIUM_PRIORITY);
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59
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60 /** Updates the route pather.
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61 *
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62 * Advances the active search by so many time steps. If the search
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63 * completes then this function pops it from the active session list and
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64 * continues updating the next session until it runs out of time.
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65 */
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66 void update();
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67
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68 /** Cancels a session.
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69 *
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70 * Cancels a route pather session. Determines if it is an active session
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71 * or not and acts accordingly.
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72 *
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73 * @param session_id The id of the session to cancel.
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74 * @return True if the session could be canceled false otherwise.
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75 */
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76 bool cancelSession(const int session_id);
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77
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78 /** Adds a search space to the route pather.
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79 *
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80 * @param search_space A pointer to the search space to add.
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81 * @return a boolean signifying whether the search space was correctly added or not.
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82 */
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83 bool addSearchSpace(SearchSpace* search_space);
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84
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85 /** Retrieves a searchspace associated with the given layer.
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86 *
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87 * @param A pointer to the search space
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88 * @return A pointer to the search space if it could be found, 0 otherwise.
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89 */
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90 SearchSpace* getSearchSpace(Layer * const layer);
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91
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92 std::string getName() const { return "RoutePather"; };
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93 private:
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94 typedef std::list<Location> Path;
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8afb9b443f66 merged the pathfinding branch to trunk
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95 typedef PriorityQueue<RoutePatherSearch*, int> SessionQueue;
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96 typedef std::list<int> SessionList;
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97 typedef std::map<int, Path> PathMap;
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98 typedef std::map<Layer*, SearchSpace*> SearchSpaceMap;
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99 typedef std::map<int, Location> LocationMap;
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100 /** Makes the instance follow the given path.
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101 *
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102 * Calculates the next position the instance should move to given the
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103 * the instance's speed.
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104 *
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105 * @param instance A pointer to the instance to move.
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106 * @param speed The speed to move the instance.
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107 * @param nextLocation An out variable which will store the instances next location.
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108 * @param facingLocation An out variable which will store the instances facing location.
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109 * @return true if it was possible to follow the path, false if it was not
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110 */
190
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111 bool followPath(const Instance* instance, Path& path, double speed, Location& nextLocation, Location& facingLocation);
0
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112
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113 /** Adds a session id to the session map.
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114 *
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115 * Stores the given session id in the session map.
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116 *
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117 * @param sessionId The session id to store.
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118 */
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119 void addSessionId(const int sessionId);
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120
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121 /** Schedules a plan to be created for the given instance to reach the given
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122 * target; the session id is where the plan should be stored
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123 *
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124 * @param instance is the instance to pathfind for
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125 * @param target is where the instance is going
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126 * @param session_id is which pathfinding slot to put the plan in
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127 * @param priority is the priority of the request
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128 */
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129 void makePlan(const Instance *instance, const Location& target, int session_id, int priority);
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130
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131 /** make a new session id
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132 @return the new session id
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133 */
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134 int makeSessionId();
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135
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136 /** are two locations equivalent from the perspective of pathing */
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137 bool locationsEqual(const Location &a, const Location &b);
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138
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139 /** check whether it's safe to continue moving down the path
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140 @param instance is the instance following the path
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141 @param path is the path to step through
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142 @return true if the path could be followed, false if blocked
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143 */
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144 bool testStep(const Instance *instance, Path& path);
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145
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146 /** Determines if the given session Id is valid.
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147 *
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148 * Searches the session list to determine if a search with the given session id
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149 * has been registered.
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150 *
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151 * @return true if one has, false otherwise.
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152 */
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153 bool sessionIdValid(const int sessionId);
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154
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155 /** Removes a session id from the session map.
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156 *
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157 * @param sessionId The session id to remove.
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158 * @return True if the sessionId could be removed, false otherwise.
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159 */
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160 bool invalidateSessionId(const int sessionId);
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161
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162 //The map the search is running on.
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163 Map* m_map;
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164
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165 //A map of currently running sessions (searches).
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166 SessionQueue m_sessions;
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167
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168 //A list of session ids that have been registered.
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169 SessionList m_registeredSessionIds;
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170
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171 //Calculated paths for the movement phase.
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172 PathMap m_paths;
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173
190
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174 //The endpoints for which those paths were calculated
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175 LocationMap m_path_targets;
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176
0
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177 //A map of searchspaces.
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178 SearchSpaceMap m_searchspaces;
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179
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180 //The next free session id.
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181 int m_nextFreeSessionId;
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182
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183 //The maximum number of ticks allowed.
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184 int m_maxticks;
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185 };
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186 }
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187 #endif