92 lines
2.3 KiB
C++
92 lines
2.3 KiB
C++
// ==============================================================
|
|
// This file is part of Glest (www.glest.org)
|
|
//
|
|
// Copyright (C) 2001-2008 Martio Figueroa
|
|
//
|
|
// You can redistribute this code and/or modify it under
|
|
// the terms of the GNU General Public License as published
|
|
// by the Free Software Foundation; either version 2 of the
|
|
// License, or (at your option) any later version
|
|
// ==============================================================
|
|
|
|
#ifndef _GLEST_GAME_PATHFINDER_H_
|
|
#define _GLEST_GAME_PATHFINDER_H_
|
|
|
|
#include "vec.h"
|
|
|
|
#include <vector>
|
|
#include <map>
|
|
#include "game_constants.h"
|
|
#include "skill_type.h"
|
|
#include "leak_dumper.h"
|
|
|
|
using std::vector;
|
|
using Shared::Graphics::Vec2i;
|
|
|
|
namespace Glest { namespace Game {
|
|
|
|
class Map;
|
|
class Unit;
|
|
|
|
// =====================================================
|
|
// class PathFinder
|
|
//
|
|
/// Finds paths for units using a modification of the A* algorithm
|
|
// =====================================================
|
|
|
|
class PathFinder {
|
|
public:
|
|
class Node {
|
|
public:
|
|
Node() : pos(0,0) {
|
|
next=NULL;
|
|
prev=NULL;
|
|
heuristic=0.0;
|
|
exploredCell=false;
|
|
}
|
|
Vec2i pos;
|
|
Node *next;
|
|
Node *prev;
|
|
float heuristic;
|
|
bool exploredCell;
|
|
};
|
|
typedef vector<Node*> Nodes;
|
|
|
|
public:
|
|
static const int maxFreeSearchRadius;
|
|
static const int pathFindNodesMax;
|
|
static const int pathFindRefresh;
|
|
|
|
private:
|
|
std::map<Vec2i, bool> openPosList;
|
|
std::map<float, Nodes> openNodesList;
|
|
std::map<float, Nodes> closedNodesList;
|
|
|
|
std::vector<Node> nodePool;
|
|
int nodePoolCount;
|
|
const Map *map;
|
|
|
|
//std::map<Vec2i, std::map<Vec2i, std::map<int, std::map<Field,bool> > > > lookupCacheCanMove;
|
|
std::map<Vec2i, std::map<Vec2i, std::map<int, std::map<int, std::map<Field,bool> > > > > moveLookupCacheApproxCanMove;
|
|
|
|
public:
|
|
PathFinder();
|
|
PathFinder(const Map *map);
|
|
~PathFinder();
|
|
void init(const Map *map);
|
|
TravelState findPath(Unit *unit, const Vec2i &finalPos, bool *wasStuck=NULL,bool clearLookupCache=true);
|
|
|
|
private:
|
|
TravelState aStar(Unit *unit, const Vec2i &finalPos, bool inBailout);
|
|
Node *newNode();
|
|
Vec2i computeNearestFreePos(const Unit *unit, const Vec2i &targetPos);
|
|
float heuristic(const Vec2i &pos, const Vec2i &finalPos);
|
|
bool openPos(const Vec2i &sucPos);
|
|
|
|
Node * minHeuristicFastLookup();
|
|
};
|
|
|
|
}}//end namespace
|
|
|
|
#endif
|