HAAStarResult RoutePlanner::setupHierarchicalOpenList(Unit *unit, const Vec2i &target) {
// get Transitions for start cluster
Transitions transitions;
Vec2i startCluster = ClusterMap::cellToCluster(unit->getPos());
ClusterMap *clusterMap = world->getCartographer()->getClusterMap();
clusterMap->getTransitions(startCluster, unit->getCurrField(), transitions);
DiagonalDistance dd(target);
nsgSearchEngine->getNeighbourFunc().setSearchCluster(startCluster);
bool startTrap = true;
// attempt quick path from unit->pos to each transition,
// if successful add transition to open list
AnnotatedMap *aMap = world->getCartographer()->getMasterMap();
aMap->annotateLocal(unit);
for (Transitions::iterator it = transitions.begin(); it != transitions.end(); ++it) {
float cost = quickSearch(unit->getCurrField(), unit->getSize(), unit->getPos(), (*it)->nwPos);
if (cost != numeric_limits<float>::infinity()) {
tSearchEngine->setOpen(*it, dd((*it)->nwPos), cost);
startTrap = false;
}
}
aMap->clearLocalAnnotations(unit);
if (startTrap) {
// do again, without annnotations, return TRAPPED if all else goes well
bool locked = true;
for (Transitions::iterator it = transitions.begin(); it != transitions.end(); ++it) {
float cost = quickSearch(unit->getCurrField(), unit->getSize(), unit->getPos(), (*it)->nwPos);
if (cost != numeric_limits<float>::infinity()) {
tSearchEngine->setOpen(*it, dd((*it)->nwPos), cost);
locked = false;
}
}
if (locked) {
return HAAStarResult::FAILURE;
}
}
if (startTrap) {
return HAAStarResult::START_TRAP;
}
return HAAStarResult::COMPLETE;
}
/** Determine legality of a proposed move for a unit. This function is the absolute last say
* in such matters.
* @param unit the unit attempting to move
* @param pos2 the position unit desires to move to
* @return true if move may proceed, false if not legal.
*/
bool RoutePlanner::isLegalMove(Unit *unit, const Vec2i &pos2) const {
assert(world->getMap()->isInside(pos2));
assert(unit->getPos().dist(pos2) < 1.5);
if (unit->getPos().dist(pos2) > 1.5) {
unit->clearPath();
return false;
}
const Vec2i &pos1 = unit->getPos();
const int &size = unit->getSize();
const Field &field = unit->getCurrField();
Zone zone = field == Field::AIR ? Zone::AIR : Zone::LAND;
AnnotatedMap *annotatedMap = world->getCartographer()->getMasterMap();
if (!annotatedMap->canOccupy(pos2, size, field)) {
return false; // obstruction in field
}
if ( pos1.x != pos2.x && pos1.y != pos2.y ) {
// Proposed move is diagonal, check if cells either 'side' are free.
// eg.. XXXX
// X1FX The Cells marked 'F' must both be free
// XF2X for the move 1->2 to be legit
// XXXX
Vec2i diag1, diag2;
getDiags(pos1, pos2, size, diag1, diag2);
if (!annotatedMap->canOccupy(diag1, 1, field) || !annotatedMap->canOccupy(diag2, 1, field)
|| !world->getMap()->getCell(diag1)->isFree(zone)
|| !world->getMap()->getCell(diag2)->isFree(zone)) {
return false; // obstruction, can not move to pos2
}
}
for (int i = pos2.x; i < unit->getSize() + pos2.x; ++i) {
for (int j = pos2.y; j < unit->getSize() + pos2.y; ++j) {
if (world->getMap()->getCell(i,j)->getUnit(zone) != unit
&& !world->getMap()->isFreeCell(Vec2i(i, j), field)) {
return false; // blocked by another unit
}
}
}
// pos2 is free, and nothing is in the way
return true;
}
bool RoutePlanner::isLegalMove(Unit *unit, const Vec2i &pos2) const {
assert(world->getMap()->isInside(pos2));
assert(unit->getPos().dist(pos2) < 1.5);
if (unit->getPos().dist(pos2) > 1.5) {
unit->clearPath();
return false;
}
const Vec2i &pos1 = unit->getPos();
const int &size = unit->getSize();
const Field &field = unit->getCurrField();
Zone zone;
if (field == Field::AIR) {
zone = Zone::AIR;
} else if (field == Field::LAND) {
zone = Zone::LAND;
} else if (field == Field::WALL || field == Field::STAIR) {
zone = Zone::WALL;
}
AnnotatedMap *annotatedMap = world->getCartographer()->getMasterMap();
if (!annotatedMap->canOccupy(pos2, size, field)) {
return false;
}
if ( pos1.x != pos2.x && pos1.y != pos2.y ) {
Vec2i diag1, diag2;
getDiags(pos1, pos2, size, diag1, diag2);
if (!annotatedMap->canOccupy(diag1, 1, field) || !annotatedMap->canOccupy(diag2, 1, field)
|| !world->getMap()->getCell(diag1)->isFree(zone)
|| !world->getMap()->getCell(diag2)->isFree(zone)) {
return false;
}
}
for (int i = pos2.x; i < unit->getSize() + pos2.x; ++i) {
for (int j = pos2.y; j < unit->getSize() + pos2.y; ++j) {
if (world->getMap()->getCell(i,j)->getUnit(zone) != unit
&& !world->getMap()->isFreeCell(Vec2i(i, j), field)) {
return false;
}
}
}
return true;
}
