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engines/hpl1/engine/ai/AStar.h

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+/* ScummVM - Graphic Adventure Engine
+ *
+ * ScummVM is the legal property of its developers, whose names
+ * are too numerous to list here. Please refer to the COPYRIGHT
+ * file distributed with this source distribution.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/*
+ * Copyright (C) 2006-2010 - Frictional Games
+ *
+ * This file is part of HPL1 Engine.
+ */
+
+#ifndef HPL_A_STAR_H
+#define HPL_A_STAR_H
+
+#include "common/list.h"
+#include "hpl1/engine/game/GameTypes.h"
+#include "hpl1/engine/math/MathTypes.h"
+#include "hpl1/engine/system/SystemTypes.h"
+
+namespace hpl {
+
+class cAINodeContainer;
+class cAINode;
+
+//--------------------------------------
+
+typedef Hpl1::Std::set<cAINode *> tAINodeSet;
+typedef tAINodeSet::iterator tAINodeSetIt;
+
+//--------------------------------------
+
+typedef Common::List<cAINode *> tAINodeList;
+typedef tAINodeList::iterator tAINodeListIt;
+
+//--------------------------------------
+
+class cAStarNode {
+public:
+	cAStarNode(cAINode *apAINode);
+
+	float mfCost;
+	float mfDistance;
+
+	cAStarNode *mpParent;
+	cAINode *mpAINode;
+};
+
+class cAStarNodeCompare {
+public:
+	bool operator()(cAStarNode *apNodeA, cAStarNode *apNodeB) const;
+};
+
+typedef Hpl1::Std::set<cAStarNode *, cAStarNodeCompare> tAStarNodeSet;
+typedef tAStarNodeSet::iterator tAStarNodeSetIt;
+
+//--------------------------------------
+class cAStarHandler;
+
+class iAStarCallback {
+public:
+	virtual ~iAStarCallback() {}
+
+	virtual bool CanAddNode(cAINode *apParentNode, cAINode *apChildNode) = 0;
+};
+
+//--------------------------------------
+
+class cAStarHandler {
+public:
+	cAStarHandler(cAINodeContainer *apContainer);
+	~cAStarHandler();
+
+	bool GetPath(const cVector3f &avStart, const cVector3f &avGoal, tAINodeList *apNodeList);
+
+	/**
+	 * Set max number of times the algorithm is iterated.
+	 * \param alX -1 = until OpenList is empty
+	 */
+	void SetMaxIterations(int alX) { mlMaxIterations = alX; }
+
+	void SetCallback(iAStarCallback *apCallback) { mpCallback = apCallback; }
+
+private:
+	void IterateAlgorithm();
+
+	void AddOpenNode(cAINode *apAINode, cAStarNode *apParent, float afDistance);
+
+	cAStarNode *GetBestNode();
+
+	float Cost(float afDistance, cAINode *apAINode, cAStarNode *apParent);
+	float Heuristic(const cVector3f &avStart, const cVector3f &avGoal);
+
+	bool IsGoalNode(cAINode *apAINode);
+
+	cVector3f mvGoal;
+
+	cAStarNode *mpGoalNode;
+	tAINodeSet m_setGoalNodes;
+
+	cAINodeContainer *mpContainer;
+
+	int mlMaxIterations;
+
+	iAStarCallback *mpCallback;
+
+	tAStarNodeSet m_setOpenList;
+	tAStarNodeSet m_setClosedList;
+};
+
+} // namespace hpl
+
+#endif // HPL_A_STAR_H