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/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/
#ifndef __dgPathFinder__
#define __dgPathFinder__
#include "dgStdafx.h"
#include "dgTree.h"
#include "dgHeap.h"
template<class NODEID, class COST> class dgPathFinder;
#define DG_MAX_PATH_ENUMERATION_CHILDREN 128
template<class NODEID, class COST>
class dgPathNode {
friend class dgPathFinder<NODEID, COST>;
NODEID m_Id;
COST m_NodeCostToGoal;
COST m_NodeCostFromSource;
dgPathNode *m_Next;
public:
dgPathNode();
NODEID GetId() const;
const dgPathNode *GetNext() const;
const dgPathNode *GetParent() const;
};
template<class NODEID, class COST>
class dgPathCloseList: public dgTree<dgPathNode<NODEID, COST>, NODEID> {
protected:
dgPathCloseList(): dgTree<dgPathNode<NODEID, COST>, NODEID>() {}
};
template<class NODEID, class COST>
class dgPathOpenHeap: public dgUpHeap<typename dgPathCloseList<NODEID, COST>::dgTreeNode *, COST> {
protected:
dgPathOpenHeap(dgInt32 maxElements)
: dgUpHeap<typename dgPathCloseList<NODEID, COST>::dgTreeNode *, COST>(maxElements) {
}
friend class dgPathFinder<NODEID, COST>;
};
template<class NODEID, class COST>
class dgPathFinder: public dgPathCloseList<NODEID, COST> {
dgInt32 maxChildren;
public:
dgPathFinder(dgInt32 maxElementsInOpenList, dgInt32 nodeMaxChildren);
virtual ~dgPathFinder();
virtual const dgPathNode<NODEID, COST> *CalCulatePath(NODEID source, NODEID goal);
// this funtions must be overloaded by the user
virtual COST GetCostFromParent(const dgPathNode<NODEID, COST> &node) const;
virtual COST GetEstimatedCostToGoal(NODEID id) const;
virtual dgInt32 EnumerateChildren(NODEID parent, NODEID array[]) const;
dgPathOpenHeap<NODEID, COST> m_openList;
};
template<class NODEID, class COST>
dgPathNode<NODEID, COST>::dgPathNode() {
}
template<class NODEID, class COST>
NODEID dgPathNode<NODEID, COST>::GetId() const {
return m_Id;
}
template<class NODEID, class COST>
const dgPathNode<NODEID, COST> *dgPathNode<NODEID, COST>::GetNext() const {
return m_Next;
}
template<class NODEID, class COST>
const dgPathNode<NODEID, COST> *dgPathNode<NODEID, COST>::GetParent() const {
return m_Next;
}
template<class NODEID, class COST>
dgPathFinder<NODEID, COST>::dgPathFinder(
dgInt32 maxElementsInOpenList,
dgInt32 nodeMaxChildren)
: dgPathCloseList<NODEID, COST>(),
m_openList(maxElementsInOpenList) {
maxChildren = nodeMaxChildren;
}
template<class NODEID, class COST>
dgPathFinder<NODEID, COST>::~dgPathFinder() {
}
template<class NODEID, class COST>
const dgPathNode<NODEID, COST> *dgPathFinder<NODEID, COST>::CalCulatePath(NODEID source, NODEID goal) {
dgInt32 count;
dgInt32 heapMaxCount;
dgPathNode<NODEID, COST> cell;
dgPathNode<NODEID, COST> *next;
dgPathNode<NODEID, COST> *prev;
dgPathNode<NODEID, COST> *link;
typename dgPathCloseList<NODEID, COST>::dgTreeNode *node;
NODEID idArray[DG_MAX_PATH_ENUMERATION_CHILDREN];
dgPathCloseList<NODEID, COST> &close = *this;
m_openList.Flush();
close.RemoveAll();
cell.m_Id = source;
cell.m_Next = NULL;
cell.m_NodeCostFromSource = COST(0);
cell.m_NodeCostToGoal = GetEstimatedCostToGoal(cell.m_Id);
node = close.Insert(cell, source);
heapMaxCount = m_openList.GetMaxCount();
m_openList.Push(node, cell.m_NodeCostFromSource + cell.m_NodeCostToGoal);
while (m_openList.GetCount()) {
node = m_openList[0];
dgPathNode<NODEID, COST> &parent = node->GetInfo();
if (parent.m_Id == goal) {
link = &parent;
next = NULL;
do {
prev = link->m_Next;
link->m_Next = next;
next = link;
link = prev;
} while (link);
return next;
}
m_openList.Pop();
count = EnumerateChildren(node->GetKey(), idArray);
cell.m_Next = &parent;
for (int i = 0; i < count; i ++) {
bool state;
cell.m_Id = idArray[i];
COST newCostFromSource(GetCostFromParent(cell) + parent.m_NodeCostFromSource);
node = close.Insert(cell, cell.m_Id, state);
dgPathNode<NODEID, COST> &newCell = node->GetInfo();
if (state) {
if (newCell.m_NodeCostFromSource <= newCostFromSource) {
continue;
}
//newCell.m_Next = cell.m_Next;
}
newCell.m_NodeCostFromSource = newCostFromSource;
newCell.m_NodeCostToGoal = GetEstimatedCostToGoal(newCell.m_Id);
if (m_openList.GetCount() >= heapMaxCount) {
m_openList.Remove(heapMaxCount);
}
m_openList.Push(node, newCell.m_NodeCostFromSource + newCell.m_NodeCostToGoal);
}
}
return NULL;
}
template<class NODEID, class COST>
COST dgPathFinder<NODEID, COST>::GetCostFromParent(const dgPathNode<NODEID, COST> &node) const {
return COST(1);
}
template<class NODEID, class COST>
COST dgPathFinder<NODEID, COST>::GetEstimatedCostToGoal(NODEID id) const {
return COST(1);
}
template<class NODEID, class COST>
dgInt32 dgPathFinder<NODEID, COST>::EnumerateChildren(NODEID parent, NODEID array[]) const {
return 0;
}
#endif
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