135 lines
3.7 KiB
C++
135 lines
3.7 KiB
C++
// ==============================================================
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// This file is part of Glest (www.glest.org)
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//
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// Copyright (C) 2009 James McCulloch <silnarm at gmail>
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//
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// You can redistribute this code and/or modify it under
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// the terms of the GNU General Public License as published
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// by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version
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// ==============================================================
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//
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// File: node_pool.cpp
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//
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#include "node_pool.h"
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#include "world.h"
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#include "map.h"
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namespace Glest { namespace Game {
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// =====================================================
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// class NodePool
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// =====================================================
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NodePool::NodePool(int w, int h)
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: counter(0)
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, leastH(NULL)
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, numNodes(0)
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, tmpMaxNodes(size)
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, markerArray(w, h) {
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stock = new AStarNode[size];
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}
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NodePool::~NodePool() {
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delete [] stock;
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}
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/** reset the node pool for a new search (resets tmpMaxNodes too) */
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void NodePool::reset() {
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numNodes = 0;
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counter = 0;
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tmpMaxNodes = size;
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leastH = NULL;
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markerArray.newSearch();
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openHeap.clear();
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//IF_DEBUG_EDITION( listedNodes.clear(); )
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}
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/** set a maximum number of nodes to expand */
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void NodePool::setMaxNodes(const int max) {
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assert(max >= 32 && max <= size); // reasonable number ?
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assert(!numNodes); // can't do this after we've started using it.
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tmpMaxNodes = max;
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}
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/** marks an unvisited position as open
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* @param pos the position to open
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* @param prev the best known path to pos is from
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* @param h the heuristic for pos
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* @param d the costSoFar for pos
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* @return true if added, false if node limit reached */
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bool NodePool::setOpen(const Vec2i &pos, const Vec2i &prev, float h, float d) {
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assert(!isOpen(pos));
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AStarNode *node = newNode();
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if (!node) { // NodePool exhausted
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return false;
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}
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//IF_DEBUG_EDITION( listedNodes.push_back(pos); )
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node->posOff = pos;
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if (prev.x >= 0) {
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node->posOff.ox = prev.x - pos.x;
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node->posOff.oy = prev.y - pos.y;
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} else {
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node->posOff.ox = 0;
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node->posOff.oy = 0;
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}
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node->distToHere = d;
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node->heuristic = h;
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addOpenNode(node);
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if (!numNodes || h < leastH->heuristic) {
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leastH = node;
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}
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numNodes++;
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return true;
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}
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/** add a new node to the open list @param node pointer to the node to add */
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void NodePool::addOpenNode(AStarNode *node) {
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assert(!isOpen(node->pos()));
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markerArray.setOpen(node->pos());
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markerArray.set(node->pos(), node);
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openHeap.insert(node);
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}
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/** conditionally update a node on the open list. Tests if a path through a new nieghbour
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* is better than the existing known best path to pos, updates if so.
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* @param pos the open postion to test
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* @param prev the new path from
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* @param cost the cost to here from prev */
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void NodePool::updateOpen(const Vec2i &pos, const Vec2i &prev, const float cost) {
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assert(isClosed(prev));
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assert(isOpen(pos));
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AStarNode *posNode, *prevNode;
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posNode = markerArray.get(pos);
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prevNode = markerArray.get(prev);
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if (prevNode->distToHere + cost < posNode->distToHere) {
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posNode->posOff.ox = prev.x - pos.x;
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posNode->posOff.oy = prev.y - pos.y;
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posNode->distToHere = prevNode->distToHere + cost;
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openHeap.promote(posNode);
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}
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}
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#if _GAE_DEBUG_EDITION_
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list<Vec2i>* NodePool::getOpenNodes() {
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list<Vec2i> *ret = new list<Vec2i>();
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list<Vec2i>::iterator it = listedNodes.begin();
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for ( ; it != listedNodes.end (); ++it) {
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if (isOpen(*it)) ret->push_back(*it);
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}
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return ret;
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}
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list<Vec2i>* NodePool::getClosedNodes() {
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list<Vec2i> *ret = new list<Vec2i>();
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list<Vec2i>::iterator it = listedNodes.begin();
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for ( ; it != listedNodes.end(); ++it) {
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if (isClosed(*it)) ret->push_back(*it);
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}
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return ret;
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}
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#endif // _GAE_DEBUG_EDITION_
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}}
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