/** Generate a new node
*/
static inline void fpathNewNode(PathfindContext &context, PathCoord dest, PathCoord pos, unsigned prevDist, PathCoord prevPos)
{
ASSERT((unsigned)pos.x < (unsigned)mapWidth && (unsigned)pos.y < (unsigned)mapHeight, "X (%d) or Y (%d) coordinate for path finding node is out of range!", pos.x, pos.y);
// Create the node.
PathNode node;
unsigned costFactor = context.isDangerous(pos.x, pos.y) ? 5 : 1;
node.p = pos;
node.dist = prevDist + fpathEstimate(prevPos, pos)*costFactor;
node.est = node.dist + fpathEstimate(pos, dest);
PathExploredTile &expl = context.map[pos.x + pos.y*mapWidth];
if (expl.iteration == context.iteration && (expl.visited || expl.dist <= node.dist))
{
return; // Already visited this tile. Do nothing.
}
// Remember where we have been, and remember the way back.
expl.iteration = context.iteration;
expl.dx = pos.x - prevPos.x;
expl.dy = pos.y - prevPos.y;
expl.dist = node.dist;
expl.visited = false;
// Add the node to the node heap.
context.nodes.push_back(node); // Add the new node to nodes.
std::push_heap(context.nodes.begin(), context.nodes.end()); // Move the new node to the right place in the heap.
}
/// Recalculates estimates to new tileF tile.
static void fpathAStarReestimate(PathfindContext &context, PathCoord tileF)
{
for (std::vector<PathNode>::iterator node = context.nodes.begin(); node != context.nodes.end(); ++node)
{
node->est = node->dist + fpathEstimate(node->p, tileF);
}
// Changing the estimates breaks the heap ordering. Fix the heap ordering.
std::make_heap(context.nodes.begin(), context.nodes.end());
}
{
// Cost of moving horizontal/vertical = 70*2, cost of moving diagonal = 99*2, 99/70 = 1.41428571... ≈ √2 = 1.41421356...
return iHypot((s.x - f.x)*140, (s.y - f.y)*140);
}
/** Generate a new node
*/
static inline void fpathNewNode(PathfindContext &context, PathCoord dest, PathCoord pos, unsigned prevDist, PathCoord prevPos)
{
ASSERT_OR_RETURN(, (unsigned)pos.x < (unsigned)mapWidth && (unsigned)pos.y < (unsigned)mapHeight, "X (%d) or Y (%d) coordinate for path finding node is out of range!", pos.x, pos.y);
// Create the node.
PathNode node;
unsigned costFactor = context.isDangerous(pos.x, pos.y) ? 5 : context.blockingMap->map[pos.x + pos.y * mapWidth];
node.p = pos;
node.dist = prevDist + fpathEstimate(prevPos, pos)*costFactor;
node.est = node.dist + fpathGoodEstimate(pos, dest);
Vector2i delta = Vector2i(pos.x - prevPos.x, pos.y - prevPos.y)*64;
bool isDiagonal = delta.x && delta.y;
PathExploredTile &expl = context.map[pos.x + pos.y*mapWidth];
if (expl.iteration == context.iteration)
{
if (expl.visited)
{
return; // Already visited this tile. Do nothing.
}
Vector2i deltaA = delta;
Vector2i deltaB = Vector2i(expl.dx, expl.dy);
Vector2i deltaDelta = deltaA - deltaB; // Vector pointing from current considered source tile leading to pos, to the previously considered source tile leading to pos.
