/*
* calculate requested vertex
*/
void CPathEstimator::CalculateVertex(const MoveData& moveData, int parentBlockX, int parentBlockZ, unsigned int direction, int threadID) {
// initial calculations
int parentBlocknr = parentBlockZ * nbrOfBlocksX + parentBlockX;
int childBlockX = parentBlockX + directionVector[direction].x;
int childBlockZ = parentBlockZ + directionVector[direction].y;
int vertexNbr = moveData.pathType * nbrOfBlocks * PATH_DIRECTION_VERTICES + parentBlocknr * PATH_DIRECTION_VERTICES + direction;
// outside map?
if (childBlockX < 0 || childBlockZ < 0 ||
childBlockX >= nbrOfBlocksX || childBlockZ >= nbrOfBlocksZ) {
vertex[vertexNbr] = PATHCOST_INFINITY;
return;
}
// start position
int parentXSquare = blockState[parentBlocknr].sqrCenter[moveData.pathType].x;
int parentZSquare = blockState[parentBlocknr].sqrCenter[moveData.pathType].y;
float3 startPos = SquareToFloat3(parentXSquare, parentZSquare);
// goal position
int childBlocknr = childBlockZ * nbrOfBlocksX + childBlockX;
int childXSquare = blockState[childBlocknr].sqrCenter[moveData.pathType].x;
int childZSquare = blockState[childBlocknr].sqrCenter[moveData.pathType].y;
float3 goalPos = SquareToFloat3(childXSquare, childZSquare);
// PathFinder definition
CRangedGoalWithCircularConstraint pfDef(startPos, goalPos, 0, 1.1f, 2);
// the path to find
Path path;
SearchResult result;
if (threadID >= 0) {
// since CPathFinder::GetPath() is not thread-safe,
// use this thread's "private" CPathFinder instance
// (rather than locking pathFinder->GetPath()) if we
// are in one
result = pathFinders[threadID]->GetPath(moveData, startPos, pfDef, path, false, true, 10000, false);
} else {
// otherwise use the pathFinder instance passed to
// the constructor of this CPathEstimator object
result = pathFinder->GetPath(moveData, startPos, pfDef, path, false, true, 10000, false);
}
// store the result
if (result == Ok) {
vertex[vertexNbr] = path.pathCost;
} else {
vertex[vertexNbr] = PATHCOST_INFINITY;
}
}
/**
* Calculate requested vertex
*/
void CPathEstimator::CalculateVertex(const MoveData& moveData, int parentBlockX, int parentBlockZ, unsigned int direction, int thread) {
// initial calculations
const int parentBlocknr = parentBlockZ * nbrOfBlocksX + parentBlockX;
const int childBlockX = parentBlockX + directionVector[direction].x;
const int childBlockZ = parentBlockZ + directionVector[direction].y;
const int vertexNbr = moveData.pathType * blockStates.GetSize() * PATH_DIRECTION_VERTICES + parentBlocknr * PATH_DIRECTION_VERTICES + direction;
// outside map?
if (childBlockX < 0 || childBlockZ < 0 ||
childBlockX >= nbrOfBlocksX || childBlockZ >= nbrOfBlocksZ) {
vertices[vertexNbr] = PATHCOST_INFINITY;
return;
}
// start position
const int parentXSquare = blockStates[parentBlocknr].nodeOffsets[moveData.pathType].x;
const int parentZSquare = blockStates[parentBlocknr].nodeOffsets[moveData.pathType].y;
const float3 startPos = SquareToFloat3(parentXSquare, parentZSquare);
// goal position
const int childBlocknr = childBlockZ * nbrOfBlocksX + childBlockX;
const int childXSquare = blockStates[childBlocknr].nodeOffsets[moveData.pathType].x;
const int childZSquare = blockStates[childBlocknr].nodeOffsets[moveData.pathType].y;
const float3 goalPos = SquareToFloat3(childXSquare, childZSquare);
// PathFinder definition
CRangedGoalWithCircularConstraint pfDef(startPos, goalPos, 0, 1.1f, 2);
// the path to find
IPath::Path path;
IPath::SearchResult result;
// since CPathFinder::GetPath() is not thread-safe,
// use this thread's "private" CPathFinder instance
// (rather than locking pathFinder->GetPath()) if we
// are in one
result = pathFinders[thread]->GetPath(moveData, startPos, pfDef, path, false, true, MAX_SEARCHED_NODES_PE, false, 0, true);
// store the result
if (result == IPath::Ok)
vertices[vertexNbr] = path.pathCost;
else
vertices[vertexNbr] = PATHCOST_INFINITY;
}
/*
Calculate requested vertex.
*/
void CPathEstimator::CalculateVertex(const MoveData& moveData, int parentBlockX, int parentBlockZ, unsigned int direction) {
//Initial calculations.
int parentBlocknr = parentBlockZ * nbrOfBlocksX + parentBlockX;
int childBlockX = parentBlockX + directionVector[direction].x;
int childBlockZ = parentBlockZ + directionVector[direction].y;
int vertexNbr = moveData.pathType * nbrOfBlocks * PATH_DIRECTION_VERTICES + parentBlocknr * PATH_DIRECTION_VERTICES + direction;
//Outside map?
if(childBlockX < 0 || childBlockZ < 0
|| childBlockX >= nbrOfBlocksX || childBlockZ >= nbrOfBlocksZ) {
vertex[vertexNbr] = PATHCOST_INFINITY;
return;
}
//Starting position.
int parentXSquare = blockState[parentBlocknr].sqrCenter[moveData.pathType].x;
int parentZSquare = blockState[parentBlocknr].sqrCenter[moveData.pathType].y;
float3 startPos = SquareToFloat3(parentXSquare, parentZSquare);
//Goal position.
int childBlocknr = childBlockZ * nbrOfBlocksX + childBlockX;
int childXSquare = blockState[childBlocknr].sqrCenter[moveData.pathType].x;
int childZSquare = blockState[childBlocknr].sqrCenter[moveData.pathType].y;
float3 goalPos = SquareToFloat3(childXSquare, childZSquare);
//PathFinder definiton.
CRangedGoalWithCircularConstraint pfDef(startPos, goalPos, 0, 1.1f,2);
//Path
Path path;
//Performs the search.
SearchResult result = pathFinder->GetPath(moveData, startPos, pfDef, path, false, true,10000,false);
//Store the result.
if(result == Ok) {
vertex[vertexNbr] = path.pathCost;
} else {
vertex[vertexNbr] = PATHCOST_INFINITY;
}
}
