void
AStarSearch::pathToPoint(
PointsCollection& _path
, const ILandscape& _landscape
, const GameObject& _forObject
, const QPoint& _targetPoint )
{
IPathFinder::PointsCollection targetPoints;
targetPoints.push_back( _targetPoint );
AStarSearch().findPath( _path, _landscape, _forObject, targetPoints );
} // AStarSearch::pathToPoint
void MoveChild() {
UpdateObjectType *msg;
ObjectType temp;
int newx, newy;
int block;
while(!childPath) {
do {
newx = lrand48() % (HOUSE_WIDTH - 4) + 2;
newy = lrand48() % (HOUSE_HEIGHT - 4) + 2;
pthread_mutex_lock(&mapMutex);
block = map[newy][newx].type;
pthread_mutex_unlock(&mapMutex);
} while(block != TYPE_FLOOR);
childPath = AStarSearch(newx, newy, child.x, child.y);
}
msg = Dequeue(&childPath);
pthread_mutex_lock(&mapMutex);
temp = map[msg->newy][msg->newx];
pthread_mutex_unlock(&mapMutex);
if(temp.type == TYPE_DOOR && temp.locked) {
while(childPath) {
free(Dequeue(&childPath));
}
} else {
pthread_mutex_lock(&mapMutex);
map[msg->newy][msg->newx] = map[msg->oldy][msg->oldx];
map[msg->oldy][msg->oldx] = childBlock;
msg->oldObject = map[msg->oldy][msg->oldx];
msg->newObject = map[msg->newy][msg->newx];
pthread_mutex_unlock(&mapMutex);
childBlock = temp;
child.x = msg->newx;
child.y = msg->newy;
ActivateObject(child.x, child.y);
pthread_mutex_lock(&updateMutex);
if(!updateQueue) {
CreateQueue(&updateQueue);
}
Enqueue(&updateQueue, msg);
pthread_mutex_unlock(&updateMutex);
}
}
void
AStarSearch::pathToObject(
PointsCollection& _path
, const ILandscape& _landscape
, const GameObject& _forObject
, const GameObject& _targetObject
, const int _distance )
{
IPathFinder::PointsCollection targetPoints;
fillTargetPoints( _targetObject, _landscape, _distance, targetPoints );
AStarSearch().findPath( _path, _landscape, _forObject, targetPoints );
} // AStarSearch::pathToObject
boost::shared_ptr< GameObject >
AStarSearch::nearestObject(
const ILandscape& _landscape
, const GameObject& _forObject
, const ILandscape::ObjectsCollection& _targetObjects
, const int _distance )
{
IPathFinder::PointsCollection targetPoints;
ILandscape::ObjectsCollectionConstIterator
begin = _targetObjects.begin()
, end = _targetObjects.end();
for ( ; begin != end; ++begin )
fillTargetPoints( **begin, _landscape, _distance, targetPoints );
PointsCollection path;
AStarSearch().findPath( path, _landscape, _forObject, targetPoints );
if ( path.empty() )
return boost::shared_ptr< GameObject >();
begin = _targetObjects.begin();
for ( ; begin != end; ++begin )
{
if ( Geometry::checkDistance(
path.back()
, LocateComponent::getRect( *( *begin )->getMemberObject( LocateComponent::Name ) )
, _distance ) )
{
return *begin;
}
}
return boost::shared_ptr< GameObject >();
} // AStarSearch::nearestObject
int main()
{
MakeMap();
AStarSearch("Arad", "Bucharest");
return 0;
}
bool ompl::LTLVis::VRVPlanner::GraphSearch(const ompl::base::PlannerTerminationCondition &ptc, ompl::geometric::PathGeometric &solution, bool useAStar)
{
return (useAStar)?(AStarSearch(ptc, solution)):(DijkstraSearch(ptc, solution));
}
