void algo_path(t_rooms *start, t_open *open_list, t_close *close_list)
{
t_rooms *current;
int weight;
t_rooms *connection;
int i;
weight = 1;
while (open_list->room)
{
i = 0;
current = get_current(open_list);
close_list = add_to_close(close_list, current);
open_list = remove_from_open(open_list, current);
while (current->nb_of_connections && current->connections[i] &&
(connection = get_room_from_name(current->connections[i], start)))
{
if (is_in_close(close_list, connection) && (i = i + 1))
continue ;
if (!(is_in_open(open_list, connection)))
open_list = add_to_open(open_list, connection);
if (weight < connection->weight)
connection->weight = weight;
i++;
}
weight++;
}
}
void Do_Astar(ZPath_Finding_Response *response)
{
const int ticks_until_pause = 90;
int total_ticks;
int pause_ticks;
double start_time, end_time;
//vector<pf_point> open_list;
//vector<pf_point> closed_list;
pf_point_array open_list;
pf_point_array closed_list;
pf_point cp;
//check
if(!response) return;
int start_x = response->start_x / 16;
int start_y = response->start_y / 16;
int end_x = response->end_x / 16;
int end_y = response->end_y / 16;
//start and end ok?
if(!tile_ok(start_x, start_y, start_x, start_y, response) ||
!tile_ok(end_x, end_y, end_x, end_y, response))
{
response->pf_point_list.push_back(pf_point(response->end_x, response->end_y));
return;
}
//printf("Do_Astar::start:[%d,%d]\n", response->start_x, response->start_y);
//printf("Do_Astar::end:[%d,%d]\n", response->end_x, response->end_y);
//init lists
{
int size;
open_list.alloc_size = 1000;
open_list.list = (pf_point*)malloc(open_list.alloc_size * sizeof(pf_point));
open_list.size = 0;
open_list.InitPointIndex(response->w, response->h);
closed_list.alloc_size = 1000;
closed_list.list = (pf_point*)malloc(closed_list.alloc_size * sizeof(pf_point));
closed_list.size = 0;
closed_list.InitPointIndex(response->w, response->h);
}
//open_list.push_back(pf_point(start_x, start_y));
pf_point sp = pf_point(start_x, start_y);
open_list.AddPoint(sp);
//open_list.list[open_list.size++] = pf_point(start_x, start_y);
//start_time = current_time();
total_ticks = 0;
pause_ticks = 0;
while(open_list.size)
{
cp = lowest_f_cost(open_list);
if(response->kill_thread)
{
open_list.FreeList();
open_list.FreePointIndex();
closed_list.FreeList();
closed_list.FreePointIndex();
return;
}
if(cp.x == end_x && cp.y == end_y)
{
//printf("end found\n");
break;
}
remove_from_open(cp, open_list, closed_list);
if(response->kill_thread)
{
open_list.FreeList();
open_list.FreePointIndex();
closed_list.FreeList();
closed_list.FreePointIndex();
return;
}
push_in_neighbors(cp, open_list, closed_list, response);
//printf("current_point:[%d,%d]\n", cp.x, cp.y);
if(response->kill_thread)
{
open_list.FreeList();
open_list.FreePointIndex();
closed_list.FreeList();
closed_list.FreePointIndex();
return;
}
total_ticks++;
pause_ticks++;
if(pause_ticks >= ticks_until_pause)
{
pause_ticks = 0;
SDL_Delay(10 + (ZPath_Finding_Response::existing_responses * 4));
}
if(response->kill_thread)
{
open_list.FreeList();
open_list.FreePointIndex();
closed_list.FreeList();
closed_list.FreePointIndex();
return;
}
}
//end_time = current_time();
vector<pf_point> final_path;
if(cp.x == end_x && cp.y == end_y)
while(1)
{
int i;
final_path.insert(final_path.begin(), cp);
//for(vector<pf_point>::iterator i=close_list.begin();;i++)
for(i=0;;i++)
{
pf_point &ip = closed_list.list[i];
if(i>=closed_list.size)
{
//printf("Do_Astar::could not reconstruct list\n");
break;
}
if(cp.px == ip.x && cp.py == ip.y)
{
//printf("inserted point:[%d,%d]\n", i->x, i->y);
cp = ip;
break;
}
}
if(i>=closed_list.size)
{
final_path.clear();
break;
}
if(cp.x == start_x && cp.y == start_y)
break;
}
//remove redundents
int previous_dir = -1;
int cur_dir;
for(vector<pf_point>::iterator i=final_path.begin();i!=final_path.end();)
{
if(i!=final_path.begin() && i+1!=final_path.end())
{
previous_dir = the_dir(*(i-1), *(i));
cur_dir = the_dir(*i, *(i+1));
if(previous_dir == cur_dir)
i = final_path.erase(i);
else
i++;
}
else
i++;
}
//convert list to actual x,y cords
for(vector<pf_point>::iterator i=final_path.begin();i!=final_path.end();i++)
{
i->x *= 16;
i->y *= 16;
if(response->is_robot)
{
i->x += 8;
i->y += 8;
}
else
{
i->x += 16;
i->y += 16;
}
//printf("Do_Astar::found point:[%d,%d]\n", i->x, i->y);
}
final_path.push_back(pf_point(response->end_x, response->end_y));
response->pf_point_list = final_path;
//return final_path;
//printf("Do_Astar::finished, ticks:%d time:%lf ... [%d,%d] to [%d,%d]\n", total_ticks, end_time - start_time, response->start_x, response->start_y, response->end_x, response->end_y);
//dealloc
{
open_list.FreeList();
open_list.FreePointIndex();
closed_list.FreeList();
closed_list.FreePointIndex();
}
}
