void IOServer::Run()
{
IOServerProcessor proc(*this);
if (!proc.CreateProcessor())
return;
for (; RunOneStep(proc); )
{
}
proc.DestroyProcessor();
}
//---------------------------------------------------------------------------------------------------------------------------
//PATHFIND
//---------------------------------------------------------------------------------------------------------------------------
std::vector<IntVector2> PathFinder::FindBestPathFromStartToGoal(IntVector2 start, IntVector2 goal, int movementProperties) {
if (start == goal)
return std::vector<IntVector2>();
m_start = start;
m_goal = goal;
CleanUpListsAndRestart();
PathNode* startNode = CreateNode(start, nullptr, 0.f, 0.f, 0.f);
startNode->h = MapProxy::ComputeHueristic(startNode->m_position, m_goal);
startNode->f = startNode->h;
AddNodeToOpenList(startNode);
while (!m_isFinished) {
if (!RunOneStep(movementProperties)) {
return std::vector<IntVector2>();
}
}
return m_currBestPath;
}
__HMATHLNGDLL__
int _solde( CDSR_VMEval *pOdeRTI,
CDSRArray<CDSRReal> *pInitials,
CDSRArray<CDSRReal> *pArg,
CDSRMatrix<CDSRReal > *pFunc,
CDSRReal rlPrec, unsigned long nMaxCount )
{
unsigned long i, j, nCount;
if ( pOdeRTI == 0 || pInitials == 0 || pArg == 0 || pFunc == 0 )
throw "Internal error";
pFunc->resize_matrix( pArg->size(), pInitials->size() );
CDSRReal value;
CDSRReal step;
CDSRReal rlError;
COdeOneStepParam param( -1.0, 2.0 );
CDSRArray<CDSRReal> func( *pInitials );
CDSRArray<CDSRReal> funcD( pInitials->size(), 0.0 );
CDSRArray<CDSRReal> funcBack( pInitials->size(), 0.0 );
CDSRArray<CDSRReal> funcBackD( pInitials->size(), 0.0 );
//
RunOneStep( pOdeRTI, (*pArg)[ 0 ], &func, &funcD );
for ( j = 0; j < pInitials->size(); j++ )
(*pFunc)( 0, j ) = func[ j ];
//
for ( i = 1; i < pArg->size(); i++ )
{
nCount = 0;
step = (*pArg)[ i ] - (*pArg)[ i - 1 ];
value = (*pArg)[ i - 1 ];
while ( ((step > 0.0) ? value < (*pArg)[ i ] : value > (*pArg)[ i ]) )
{
funcBack = func;
funcBackD = funcD;
param.setStep( step );
while ( !SoldeOneStep( pOdeRTI, value, &func, &funcD, param, rlError, rlPrec ) )
{
func = funcBack;
funcD = funcBackD;
step *= 0.5;
param.setStep( step );
}
value += step;
if ( rlError < rlPrec * ALMA_ODE_PREC_MUL )
step *= 2.0;
nCount++;
if ( nCount > nMaxCount )
{
for ( j = 0; j < pInitials->size(); j++ )
(*pFunc)( i, j ) = func[ j ];
return -int(i);
}
}
for ( j = 0; j < pInitials->size(); j++ )
(*pFunc)( i, j ) = func[ j ];
}
return 0;
}
__HMATHLNGDLL__
void _solde( CDSR_VMEval *pOdeRTI,
CDSRArray<CDSRReal> *pInitials,
CDSRArray<CDSRReal> *pArg,
CDSRArray<CDSRArray<CDSRReal>*> *pFunc,
CDSRArray<CDSRArray<CDSRReal>*> *pFuncD,
CDSRArray<CDSRArray<CDSRReal>*> *pFuncM,
CDSRReal rlPrec,
unsigned long nMaxCount )
{
unsigned long i, j, nCount;
pFunc->resize( pInitials->size() );
if ( pFuncD )
pFuncD->resize( pInitials->size() );
if ( pFuncM )
pFuncM->resize( pInitials->size() );
for ( j = 0; j < pInitials->size(); j++ )
(*pFunc)[ j ] = new CDSRArray<CDSRReal>( pArg->size() );
if ( pFuncD )
for ( j = 0; j < pInitials->size(); j++ )
(*pFuncD)[ j ] = new CDSRArray<CDSRReal>( pArg->size() );
if ( pFuncM )
for ( j = 0; j < pInitials->size(); j++ )
(*pFuncM)[ j ] = new CDSRArray<CDSRReal>( pArg->size() );
CDSRReal rlValue;
CDSRReal rlStep;
CDSRReal rlError;
COdeOneStepParam param( -1.0, 2.0 );
CDSRArray<CDSRReal> func( *pInitials );
CDSRArray<CDSRReal> funcD( pInitials->size(), 0.0 );
CDSRArray<CDSRReal> funcM( pInitials->size(), 0.0 );
CDSRArray<CDSRReal> funcBack( pInitials->size(), 0.0 );
CDSRArray<CDSRReal> funcBackD( pInitials->size(), 0.0 );
//
RunOneStep( pOdeRTI, (*pArg)[ 0 ], &func, &funcD );
for ( j = 0; j < pInitials->size(); j++ )
(*((*pFunc)[ j ]))[ 0 ] = func[ j ];
if ( pFuncD )
for ( j = 0; j < pInitials->size(); j++ )
(*((*pFuncD)[ j ]))[ 0 ] = funcD[ j ];
if ( pFuncM )
for ( j = 0; j < pInitials->size(); j++ )
(*((*pFuncM)[ j ]))[ 0 ] = 0.0;
//
for ( i = 1; i < pArg->size(); i++ )
{
nCount = 0;
rlStep = (*pArg)[ i ] - (*pArg)[ i - 1 ];
rlValue = (*pArg)[ i - 1 ];
while ( ((rlStep > 0.0) ? rlValue < (*pArg)[ i ] : rlValue > (*pArg)[ i ]) )
{
funcBack = func;
funcBackD = funcD;
param.setStep( rlStep );
while ( !SoldeOneStep( pOdeRTI, rlValue, &func, &funcD, param, rlError, rlPrec ) )
{
func = funcBack;
funcD = funcBackD;
rlStep *= 0.5;
param.setStep( rlStep );
}
rlValue += rlStep;
if ( rlError < rlPrec * ALMA_ODE_PREC_MUL )
rlStep *= 2.0;
nCount++;
if ( nCount > nMaxCount )
throw "Iteration counter limit exceeded";
}
for ( j = 0; j < pInitials->size(); j++ )
(*((*pFunc)[ j ]))[ i ] = func[ j ];
if ( pFuncD )
for ( j = 0; j < pInitials->size(); j++ )
(*((*pFuncD)[ j ]))[ i ] = funcD[ j ];
if ( pFuncM )
for ( j = 0; j < pInitials->size(); j++ )
(*((*pFuncM)[ j ]))[ i ] = funcM[ j ];
}
}
