100 lines
2.4 KiB
C++
100 lines
2.4 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) 2001-2008 Martio Figueroa
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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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#ifndef _GLEST_GAME_PATHFINDER_H_
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#define _GLEST_GAME_PATHFINDER_H_
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#include "vec.h"
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#include <vector>
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#include <map>
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#include "game_constants.h"
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#include "skill_type.h"
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#include "leak_dumper.h"
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using std::vector;
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using Shared::Graphics::Vec2i;
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namespace Glest { namespace Game {
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class Map;
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class Unit;
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// =====================================================
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// class PathFinder
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//
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/// Finds paths for units using a modification of the A* algorithm
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// =====================================================
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class PathFinder {
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public:
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class Node {
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public:
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Node() {
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clear();
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}
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void clear() {
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pos.x = 0;
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pos.y = 0;
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next=NULL;
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prev=NULL;
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heuristic=0.0;
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exploredCell=false;
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}
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Vec2i pos;
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Node *next;
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Node *prev;
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float heuristic;
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bool exploredCell;
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};
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typedef vector<Node*> Nodes;
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public:
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static const int maxFreeSearchRadius;
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static int pathFindNodesMax;
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static const int pathFindRefresh;
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static const int pathFindBailoutRadius;
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private:
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std::map<Vec2i, bool> openPosList;
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std::map<float, Nodes> openNodesList;
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std::map<float, Nodes> closedNodesList;
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std::vector<Node> nodePool;
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int nodePoolCount;
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const Map *map;
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RandomGen random;
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int useMaxNodeCount;
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public:
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PathFinder();
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PathFinder(const Map *map);
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~PathFinder();
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void init(const Map *map);
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TravelState findPath(Unit *unit, const Vec2i &finalPos, bool *wasStuck=NULL);
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private:
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TravelState aStar(Unit *unit, const Vec2i &finalPos, bool inBailout);
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Node *newNode();
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Vec2i computeNearestFreePos(const Unit *unit, const Vec2i &targetPos);
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float heuristic(const Vec2i &pos, const Vec2i &finalPos);
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bool openPos(const Vec2i &sucPos);
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Node * minHeuristicFastLookup();
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bool processNode(Unit *unit, Node *node,const Vec2i finalPos, int i, int j, bool &nodeLimitReached);
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void processNearestFreePos(const Vec2i &finalPos, int i, int j, int size, Field field, int teamIndex,Vec2i unitPos, Vec2i &nearestPos, float &nearestDist);
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};
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}}//end namespace
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#endif
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