1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
|
#ifndef CPATHFINDER_H
#define CPATHFINDER_H
#include <map>
#include <vector>
#include <iostream>
#include "headers/HEngine.h"
#include "headers/Defines.h"
#include "ARegistrar.h"
#include "AAStar.h"
#define MOVE_BUFFER 2
#define CACHE_VERSION "CACHEv02"
class CGroup;
class AIClasses;
class CPathfinder: public AAStar, public ARegistrar {
public:
CPathfinder(AIClasses *ai);
~CPathfinder();
class Node : public ANode {
public:
Node(unsigned short int id, unsigned char x, unsigned char z, float w) : ANode(id, w) {
this->x = x;
this->z = z;
}
std::map<int, std::vector<unsigned short int> > neighbours;
unsigned char x, z;
float3 toFloat3() const {
float fx = x * HEIGHT2REAL * HEIGHT2SLOPE * I_MAP_RES;
float fy = 0.0f;
float fz = z * HEIGHT2REAL * HEIGHT2SLOPE * I_MAP_RES;
return float3(fx, fy, fz);
}
void serialize(std::ostream &os);
static Node* unserialize(std::istream &is) {
unsigned char x, z;
unsigned short int m, id;
char N, M, K;
is.read((char*)&id, sizeof(unsigned short int));
is.read((char*)&x, sizeof(unsigned char));
is.read((char*)&z, sizeof(unsigned char));
Node *n = new Node(id, x, z, 1.0f);
is.read((char*)&N, sizeof(char));
for (unsigned int i = 0; i < N; i++) {
is.read((char*)&K, sizeof(char));
std::vector<unsigned short int> V;
n->neighbours[(int)K] = V;
is.read((char*)&M, sizeof(char));
for (unsigned int j = 0; j < M; j++) {
is.read((char*)&m, sizeof(unsigned short int));
n->neighbours[(int)K].push_back(m);
}
}
return n;
}
};
/* Get estimated time of arrival */
float getETA(CGroup&, float3&, float radius = 0.0f);
/* Update groups following paths */
void updateFollowers();
/* update the path itself NOTE: should always be called after
* updateFollowers()
*/
void updatePaths();
/* Add a group to the pathfinder */
bool addGroup(CGroup &group);
/* Overload */
void remove(ARegistrar &obj);
/* NOTE: slopemap 1:2 heightmap 1:8 realmap, GetMapWidth() and
* GetMapHeight() give map dimensions in heightmap resolution
*/
int X,Z,XX,ZZ;
float REAL;
private:
AIClasses *ai;
char buf[1024];
/* Node Graph */
static std::vector<Node*> graph;
/* Number of threads */
size_t nrThreads;
/* group to receive repathing event next updatePaths() call */
int repathGroup;
/* Active map (graph[activeMap]), CRUCIAL to A* */
int activeMap;
/* controls which path may be updated, (round robin-ish) */
unsigned update;
/* The paths <group, path> */
std::map<int, std::vector<float3> > paths;
/* The groups */
std::map<int, CGroup*> groups;
/* Regrouping */
std::map<int, bool> regrouping;
/* draw the path ? */
bool draw;
unsigned int graphSize;
const float *sm;
const float *hm;
/* overload */
void successors(ANode *an, std::queue<ANode*> &succ);
Node* getClosestNodeId(float3 &f);
/* overload */
float heuristic(ANode *an1, ANode *an2);
/* Add a path to a unit or group */
bool addPath(int group, float3 &start, float3 &goal);
/* Reset the map nodes */
void resetMap(int thread);
/* Calculate the nodes */
void calcNodes();
/* x and z in slopemap resolution */
bool isBlocked(int x, int z, int movetype);
/* Determine the nodes their neighbours */
void calcGraph();
/* Start pathfinding */
bool getPath(float3 &s, float3 &g, std::vector<float3> &path, int group, float radius = EPSILON);
/* Draw the map */
//void drawMap(int map);
void drawGraph(int map);
void drawNode(Node *n);
};
#endif
|
