83 lines
3.0 KiB
C++
83 lines
3.0 KiB
C++
/* ScummVM - Graphic Adventure Engine
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*
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* ScummVM is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifndef NUVIE_PATHFINDER_ASTAR_PATH_H
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#define NUVIE_PATHFINDER_ASTAR_PATH_H
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#include "ultima/nuvie/core/map.h"
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#include "ultima/nuvie/pathfinder/path.h"
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namespace Ultima {
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namespace Nuvie {
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typedef struct astar_node_s {
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MapCoord loc; // location
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uint32 to_start; // costs from this node to start and to goal
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uint32 to_goal;
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uint32 score; // node score
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uint32 len; // number of nodes before this one, regardless of score
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struct astar_node_s *parent;
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astar_node_s() : loc(0, 0, 0), to_start(0), to_goal(0), score(0), len(0),
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parent(nullptr) { }
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} astar_node;
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/* Provides A* search and cost methods for PathFinder and subclasses.
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*/class AStarPath: public Path {
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protected:
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Std::list<astar_node *> open_nodes, closed_nodes; // nodes seen
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astar_node *final_node; // last node in path search, used by create_path()
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/* Forms a usable path from results of a search. */
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void create_path();
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/* Search routine. */
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bool search_node_neighbors(astar_node *nnode, const MapCoord &goal, const uint32 max_score);
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bool compare_neighbors(astar_node *nnode, astar_node *neighbor,
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sint32 nnode_to_neighbor, astar_node *in_open,
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astar_node *in_closed);
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bool score_to_neighbor(sint8 dir, astar_node *nnode, astar_node *neighbor,
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sint32 &nnode_to_neighbor);
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public:
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AStarPath();
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~AStarPath() override { }
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bool path_search(const MapCoord &start, const MapCoord &goal) override;
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uint32 path_cost_est(const MapCoord &s, const MapCoord &g) override {
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return Path::path_cost_est(s, g);
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}
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uint32 get_max_score(uint32 cost) override {
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return Path::get_max_score(cost);
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}
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uint32 path_cost_est(const astar_node &n1, const astar_node &n2) {
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return Path::path_cost_est(n1.loc, n2.loc);
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}
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sint32 step_cost(const MapCoord &c1, const MapCoord &c2) override;
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protected:
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/* FIXME: These node functions can be replaced with a priority_queue and a list. */
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astar_node *find_open_node(astar_node *ncmp);
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void push_open_node(astar_node *node);
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astar_node *pop_open_node();
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astar_node *find_closed_node(astar_node *ncmp);
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void remove_closed_node(astar_node *ncmp);
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void delete_nodes();
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};
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} // End of namespace Nuvie
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} // End of namespace Ultima
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#endif
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