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/* ScummVM - Graphic Adventure Engine
*
* ScummVM is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* 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 3 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/>.
*
*/
/*
* Copyright (C) 2006-2010 - Frictional Games
*
* This file is part of HPL1 Engine.
*/
#ifndef HPL_A_STAR_H
#define HPL_A_STAR_H
#include "common/list.h"
#include "hpl1/engine/game/GameTypes.h"
#include "hpl1/engine/math/MathTypes.h"
#include "hpl1/engine/system/SystemTypes.h"
namespace hpl {
class cAINodeContainer;
class cAINode;
//--------------------------------------
typedef Hpl1::Std::set<cAINode *> tAINodeSet;
typedef tAINodeSet::iterator tAINodeSetIt;
//--------------------------------------
typedef Common::List<cAINode *> tAINodeList;
typedef tAINodeList::iterator tAINodeListIt;
//--------------------------------------
class cAStarNode {
public:
cAStarNode(cAINode *apAINode);
float mfCost;
float mfDistance;
cAStarNode *mpParent;
cAINode *mpAINode;
};
class cAStarNodeCompare {
public:
bool operator()(cAStarNode *apNodeA, cAStarNode *apNodeB) const;
};
typedef Hpl1::Std::set<cAStarNode *, cAStarNodeCompare> tAStarNodeSet;
typedef tAStarNodeSet::iterator tAStarNodeSetIt;
//--------------------------------------
class cAStarHandler;
class iAStarCallback {
public:
virtual ~iAStarCallback() {}
virtual bool CanAddNode(cAINode *apParentNode, cAINode *apChildNode) = 0;
};
//--------------------------------------
class cAStarHandler {
public:
cAStarHandler(cAINodeContainer *apContainer);
~cAStarHandler();
bool GetPath(const cVector3f &avStart, const cVector3f &avGoal, tAINodeList *apNodeList);
/**
* Set max number of times the algorithm is iterated.
* \param alX -1 = until OpenList is empty
*/
void SetMaxIterations(int alX) { mlMaxIterations = alX; }
void SetCallback(iAStarCallback *apCallback) { mpCallback = apCallback; }
private:
void IterateAlgorithm();
void AddOpenNode(cAINode *apAINode, cAStarNode *apParent, float afDistance);
cAStarNode *GetBestNode();
float Cost(float afDistance, cAINode *apAINode, cAStarNode *apParent);
float Heuristic(const cVector3f &avStart, const cVector3f &avGoal);
bool IsGoalNode(cAINode *apAINode);
cVector3f mvGoal;
cAStarNode *mpGoalNode;
tAINodeSet m_setGoalNodes;
cAINodeContainer *mpContainer;
int mlMaxIterations;
iAStarCallback *mpCallback;
tAStarNodeSet m_setOpenList;
tAStarNodeSet m_setClosedList;
};
} // namespace hpl
#endif // HPL_A_STAR_H
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