bool SP_Node_CH::ACKHandler(SP_Msg& inMsg)
{
if(!(inMsg.type == SP_MsgType::ACK))
return false;
//Always deque the current outMessage (the one we were waiting on)
SP_Msg* existingMsg = GetOutMsg(0);
if(existingMsg != 0 && existingMsg->type == SP_MsgType::ADD && this->state == SP_CommState::CONNECTED)
{
RemoveFirstOutMsg();
//Adds slave neighbor
SP_Node::SP_Node_Info* newNeighbor = new SP_Node::SP_Node_Info();
newNeighbor->addr = inMsg.from;
newNeighbor->type = inMsg.fromNodeType;
AddNeighbor(newNeighbor);
return true;
}
//Or if we sent data to someone
if(existingMsg != 0 && existingMsg->type == SP_MsgType::DATA && this->state == SP_CommState::CONNECTED)
{
RemoveFirstOutMsg();
return true;
}
return false;
}
void Node::AddMutualNeighborIfInRange(Node &n) {
double dist = DistanceToNode(n);
if(dist <= SquaredRange)
AddNeighbor(n.Name, dist);
if(dist <= n.SquaredRange)
n.AddNeighbor(Name, dist);
}
void SpatialGraph::ComputeNeighbors( SpatialGraphKDNode* node )
{
if( node->HasChildren() )
{
ComputeNeighbors(node->LHC);
ComputeNeighbors(node->RHC);
return;
}
Vector2 checkN = Vector2::UnitY * _smallestDimensions.Y;
Vector2 checkS = Vector2::UnitY * -_smallestDimensions.Y;
Vector2 checkE = Vector2::UnitX * _smallestDimensions.X;
Vector2 checkW = Vector2::UnitX * -_smallestDimensions.X;
/* Vector2 centroid = */ node->BBox.Centroid();
Vector2List gridPoints;
int xPoints, yPoints;
node->GetGridPoints(gridPoints, xPoints, yPoints );
//Check north neighbors
for( int i = 0; i < xPoints; i++ )
{
AddNeighbor( node, gridPoints[GetColumnMajorIndex(i,0,xPoints)] + checkN );
}
//Check south neighbors
for( int i = 0; i < xPoints; i++ )
{
AddNeighbor( node, gridPoints[GetColumnMajorIndex(i,yPoints-1,xPoints)] + checkS );
}
//Check east neighbors
for( int i = 0; i < yPoints; i++ )
{
AddNeighbor( node, gridPoints[GetColumnMajorIndex(xPoints-1,i,xPoints)] + checkE );
}
//Check west neighbors
for( int i = 0; i < yPoints; i++ )
{
AddNeighbor( node, gridPoints[GetColumnMajorIndex(0,i,xPoints)] + checkW );
}
}
bool SP_Node_CH::ConnectedHandler(SP_Msg& inMsg)
{
//Only respond to ADD messages directly to us
if(!(
inMsg.type == SP_MsgType::ADD))
return false;
bool shouldRespond = false;
//Respond if we have an existing NEW out message and no neighbors
SP_Msg* existingMsg = GetOutMsg(0);
if(existingMsg != 0 && existingMsg->type == SP_MsgType::NEW && neighborCount == 0)
{
//Remove message
RemoveFirstOutMsg();
shouldRespond = true;
//Add neighbor
SP_Node::SP_Node_Info* newNeighbor = new SP_Node::SP_Node_Info();
newNeighbor->addr = inMsg.from;
newNeighbor->type = inMsg.fromNodeType;
AddNeighbor(newNeighbor);
state = SP_CommState::CONNECTED;
}
//Or if responding to node that's our upstream neighbor
else if(neighbors[0] != 0 && neighbors[0]->addr == inMsg.from)
{
shouldRespond = true;
}
if(!shouldRespond) //Don't continue if no response
return false;
//Respond with ACK
existingMsg = GetFirstOutMsgOfType(SP_MsgType::ACK);
if(existingMsg == 0)
{
//Add new ACK if none exists
SP_Msg* outMsg = new SP_Msg();
outMsg->reliable = false;
outMsg->to = inMsg.from;
outMsg->from = this->addr;
outMsg->fromNodeType = GetNodeType();
outMsg->type = SP_MsgType::ACK;
outMsg->dataLen = 0;
outMsg->data = 0;
//Set this message as pending
this->PendMsg(outMsg);
}
return true;
}
void GmGridMapView::GetNeighbors(int node, FastVector<AStar::EdgeInfo<int,float>>& neighbors)
{
neighbors.clear();
neighbors.resize(8);
float cost = GetCellCost(node);
float step1 = 1 * cost;
float stepD = SQRT_2 * cost;
AddNeighbor( GetNodeDxDy(node, 1, 0) , step1, neighbors);
AddNeighbor( GetNodeDxDy(node, - 1, 0) , step1, neighbors);
AddNeighbor( GetNodeDxDy(node, 0, 1) , step1, neighbors);
AddNeighbor( GetNodeDxDy(node, 0, -1) , step1, neighbors);
AddNeighbor( GetNodeDxDy(node, 1, 1), stepD, neighbors);
AddNeighbor( GetNodeDxDy(node, 1, -1), stepD, neighbors);
AddNeighbor( GetNodeDxDy(node, -1, 1), stepD, neighbors);
AddNeighbor( GetNodeDxDy(node, -1, -1), stepD, neighbors);
}
// This function is symmetric wrt pMain and pOther. It sets up valid neighboring data for
// the relationship between both of them.
static void SetupEdgeNeighbors(
const CCoreDispInfo *pListBase,
CCoreDispInfo *pMain,
CCoreDispInfo *pOther )
{
// Initialize..
for( int iEdge=0; iEdge < 4; iEdge++ )
{
// Setup the edge points and the midpoint.
Vector pt[2], mid;
pMain->GetSurface()->GetPoint( iEdge, pt[0] );
pMain->GetSurface()->GetPoint( (iEdge + 1) & 3, pt[1] );
mid = (pt[0] + pt[1]) * 0.5f;
// Find neighbors.
int iNBEdge;
if( FindEdge( pOther, pt[1], pt[0], iNBEdge ) )
{
AddNeighbor(
pListBase,
pMain, iEdge, 0, CORNER_TO_CORNER,
pOther, iNBEdge, CORNER_TO_CORNER );
}
else
{
// Look for one that takes up our whole side.
if( FindEdge( pOther, pt[1], pt[0]*2 - pt[1], iNBEdge ) )
{
AddNeighbor(
pListBase,
pMain, iEdge, 0, CORNER_TO_CORNER,
pOther, iNBEdge, CORNER_TO_MIDPOINT );
}
else if( FindEdge( pOther, pt[1]*2 - pt[0], pt[0], iNBEdge ) )
{
AddNeighbor(
pListBase,
pMain, iEdge, 0, CORNER_TO_CORNER,
pOther, iNBEdge, MIDPOINT_TO_CORNER );
}
else
{
// Ok, look for 1 or two that abut this side.
if( FindEdge( pOther, mid, pt[0], iNBEdge ) )
{
AddNeighbor(
pListBase,
pMain, iEdge, g_bEdgeNeighborFlip[iEdge], CORNER_TO_MIDPOINT,
pOther, iNBEdge, CORNER_TO_CORNER );
}
if( FindEdge( pOther, pt[1], mid, iNBEdge ) )
{
AddNeighbor(
pListBase,
pMain, iEdge, !g_bEdgeNeighborFlip[iEdge], MIDPOINT_TO_CORNER,
pOther, iNBEdge, CORNER_TO_CORNER );
}
}
}
}
}
