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/*
* Seven Kingdoms: Ancient Adversaries
*
* Copyright 1997,1998 Enlight Software Ltd.
*
* 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 2 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/>.
*
*/
#include <OSPATH.h>
#ifdef NO_DEBUG_SEARCH
#undef err_when
#undef err_here
#undef err_if
#undef err_else
#undef err_now
#define err_when(cond)
#define err_here()
#define err_if(cond)
#define err_else
#define err_now(msg)
#undef DEBUG
#endif
NodePriorityQueue SeekPath::open_node_list;
NodePriorityQueue SeekPath::closed_node_list;
//-------- Begin of function NodePriorityQueue::reset_priority_queue -------//
void NodePriorityQueue::reset_priority_queue()
{
size = 0U;
memset(elements, 0, sizeof(Node*)*(MAX_ARRAY_SIZE));
}
//-------- End of function NodePriorityQueue::reset_priority_queue ---------//
//-------- Begin of function NodePriorityQueue::insert_node -------//
void NodePriorityQueue::insert_node(Node *insertNode)
{
unsigned int i = ++size;
REGISTER int f=insertNode->node_f;
Node **localElements = elements;
while(i>1 && localElements[i/2]->node_f > f)
{
localElements[i] = localElements[i/2];
i /= 2;
}
localElements[i] = insertNode;
}
//-------- End of function NodePriorityQueue::insert_node ---------//
//-------- Begin of function NodePriorityQueue::return_min -------//
Node* NodePriorityQueue::return_min()
{
if(!size)
return NULL;
unsigned int i, child, doubleI;
unsigned int localSize = size--;
Node **localElements = elements;
Node *minElement = localElements[1];
Node *lastElement = localElements[localSize];
int lastF = lastElement->node_f;
//--------- doubleI = i*2 ---------//
for(i=1, doubleI=2; doubleI<=localSize; i=child, doubleI=i<<1)
{
child = doubleI;
if(child!=localSize && localElements[child+1]->node_f < localElements[child]->node_f)
child++;
if(lastF > localElements[child]->node_f)
localElements[i] = localElements[child];
else
break;
}
localElements[i] = lastElement;
return minElement;
}
//-------- End of function NodePriorityQueue::return_min ---------//
//-------- Begin of function SeekPath::return_best_node -------//
// return : <Node*> the best node.
// NULL if no more node on the open node list. There is no
// possible path between the starting and destination points.
//
Node* SeekPath::return_best_node()
{
Node *tempNode = open_node_list.return_min();
if(tempNode)
closed_node_list.insert_node(tempNode);
return tempNode;
}
//-------- End of function SeekPath::return_best_node ---------//
//----- Begin of function SeekPath::return_closest_node -------//
// Return the node that is closest to the destination.
//
Node* SeekPath::return_closest_node()
{
Node *nodePtr;
Node *shortestNode;
int shortestDistance=0x7FFFFFFF;
shortestNode = open_node_list.return_min();
if(shortestNode)
shortestDistance = shortestNode->node_h;
nodePtr = closed_node_list.return_min();
if(nodePtr && nodePtr->node_h<shortestDistance)
{
shortestNode = nodePtr;
shortestDistance = nodePtr->node_h;
}
//--------------------------------------------------------------------------------//
// there may be some nodes with the same shortest Distance from the destination node.
// However, one should be closer to the starting node. The following is used to find
// out the closer node.
//--------------------------------------------------------------------------------//
if(!shortestNode)
return NULL;
nodePtr = shortestNode->parent_node;
while(nodePtr)
{
if(nodePtr->node_h <= shortestDistance)
{
shortestDistance = nodePtr->node_h;
shortestNode = nodePtr;
}
else
break;
nodePtr=nodePtr->parent_node;
}
return shortestNode;
}
//----- End of function SeekPath::return_closest_node -------//
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