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;
}
