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annotate engine/core/pathfinder/routepather/routepathersearch.cpp @ 295:faabfaf25f15

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Removed the deletion of the search space from the the RoutePatherSearch class. This will fix the path finding so it now will calculate paths correctly. It should not be deleting the search space because it does not own it, it is only using it for calculations. Need to investigate further as to why the memory consumption continually increases when running UH. Also removed the need to store a local pointer in RoutePatherSearch to the singleton instance of a Heuristic, this will eliminate the possibly of having a dangling pointer or deleting something that it shouldn't.
author vtchill@33b003aa-7bff-0310-803a-e67f0ece8222
date Fri, 03 Jul 2009 05:11:54 +0000
parents 7416088ab191
children 1465536aec94
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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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, *
0
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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 <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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6362c6812580 combine routepathersearch and search class to clean up the code.
wenlin_fife@33b003aa-7bff-0310-803a-e67f0ece8222
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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) {
0
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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 }
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52
293
66df2422a8b0 Added destructor to the routepathersearch class.
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53 RoutePatherSearch::~RoutePatherSearch(){
295
faabfaf25f15 Removed the deletion of the search space from the the RoutePatherSearch class. This will fix the path finding so it now will calculate paths correctly. It should not be deleting the search space because it does not own it, it is only using it for calculations. Need to investigate further as to why the memory consumption continually increases when running UH. Also removed the need to store a local pointer in RoutePatherSearch to the singleton instance of a Heuristic, this will eliminate the possibly of having a dangling pointer or deleting something that it shouldn't.
vtchill@33b003aa-7bff-0310-803a-e67f0ece8222
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54
293
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55 }
66df2422a8b0 Added destructor to the routepathersearch class.
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56
0
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57 void RoutePatherSearch::updateSearch() {
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58 if(m_sortedfrontier.empty()) {
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59 setSearchStatus(search_status_failed);
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60 return;
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61 }
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62 PriorityQueue<int, float>::value_type topvalue = m_sortedfrontier.getPriorityElement();
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63 m_sortedfrontier.popElement();
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64 m_next = topvalue.first;
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65 m_spt[m_next] = m_sf[m_next];
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66 ModelCoordinate destCoord = m_to.getLayerCoordinates();
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67 if(m_destCoordInt == m_next) {
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68 setSearchStatus(search_status_complete);
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69 return;
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70 }
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71 //use destination layer for getting the cell coordinates for now, this should be moved
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72 //into search space.
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73 ModelCoordinate nextCoord = m_searchspace->convertIntToCoord(m_next);
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74 std::vector<ModelCoordinate> adjacents;
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75 m_searchspace->getLayer()->getCellGrid()->getAccessibleCoordinates(nextCoord, adjacents);
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76 for(std::vector<ModelCoordinate>::iterator i = adjacents.begin(); i != adjacents.end(); ++i) {
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77 //first determine if coordinate is in search space.
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78 Location loc;
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79 loc.setLayer(m_searchspace->getLayer());
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80 loc.setLayerCoordinates((*i));
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81 int adjacentInt = m_searchspace->convertCoordToInt((*i));
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82 if(m_searchspace->isInSearchSpace(loc)) {
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83 if((adjacentInt == m_next || loc.getLayer()->cellContainsBlockingInstance(loc.getLayerCoordinates())) &&
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84 adjacentInt != m_destCoordInt) {
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85 continue;
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86 }
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87
295
faabfaf25f15 Removed the deletion of the search space from the the RoutePatherSearch class. This will fix the path finding so it now will calculate paths correctly. It should not be deleting the search space because it does not own it, it is only using it for calculations. Need to investigate further as to why the memory consumption continually increases when running UH. Also removed the need to store a local pointer in RoutePatherSearch to the singleton instance of a Heuristic, this will eliminate the possibly of having a dangling pointer or deleting something that it shouldn't.
vtchill@33b003aa-7bff-0310-803a-e67f0ece8222
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88 float hCost = Heuristic::getHeuristic(m_searchspace->getLayer()->getCellGrid()->getType())->calculate((*i), destCoord);
0
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89 float gCost = m_gCosts[m_next] + loc.getLayer()->getCellGrid()->getAdjacentCost(nextCoord, (*i));
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90 if(m_sf[adjacentInt] == -1) {
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91 m_sortedfrontier.pushElement(PriorityQueue<int, float>::value_type(adjacentInt, gCost + hCost));
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92 m_gCosts[adjacentInt] = gCost;
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93 m_sf[adjacentInt] = m_next;
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94 }
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95 else if(gCost < m_gCosts[adjacentInt] && m_spt[adjacentInt] == -1) {
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96 m_sortedfrontier.changeElementPriority(adjacentInt, gCost + hCost);
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97 m_gCosts[adjacentInt] = gCost;
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98 m_sf[adjacentInt] = m_next;
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99 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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100 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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101 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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102 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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103
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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104 RoutePatherSearch::Path RoutePatherSearch::calcPath() {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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105 int current = m_destCoordInt;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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106 int end = m_startCoordInt;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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107 Path path;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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108 //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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109 Location to(m_to);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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110 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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111 path.push_back(to);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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112 while(current != end) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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113 current = m_spt[current];
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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114 Location newnode;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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115 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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116 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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117 newnode.setLayerCoordinates(currentCoord);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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118 path.push_front(newnode);
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119 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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120 path.front().setExactLayerCoordinates(m_from.getExactLayerCoordinates());
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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121 return path;
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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122 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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123 }