void
test_coords_and_neighbors( const Triangul& T, const typename
Triangul::Geom_traits::Point_3& p,
const typename Triangul::Geom_traits::Vector_3& n,
const typename Triangul::Geom_traits::FT&
tolerance, const int& version )
{
CGAL::Set_ieee_double_precision pfr;
typedef std::pair<typename Triangul::Geom_traits::Point_3,
typename Triangul::Geom_traits::FT > Point_coord_pair;
std::vector<Point_coord_pair > coords;
typename Triangul::Geom_traits::FT norm;
norm = test_coords(T, p, n,version, std::back_inserter(coords)).second;
assert(test_norm( coords.begin(), coords.end(),norm));
assert(test_barycenter(coords.begin(), coords.end(),norm,p,
tolerance));
//All function testing surface neighbors are
// grouped together:
std::vector< typename Triangul::Geom_traits::Point_3 > neighbors;
test_neighbors(T, p, n,version, std::back_inserter(neighbors));
assert(compare_neighbors(coords.begin(),
coords.end(),neighbors.begin(),
neighbors.end(), T.geom_traits()));
//done
}
#include <vector>
#include "nuvieDefs.h"
#include "DirFinder.h"
#include "AStarPath.h"
AStarPath::AStarPath() : final_node(0)
{}void AStarPath::create_path()
{ astar_node *i = final_node; // iterator through steps, from back
delete_path();
std::vector<astar_node *> reverse_list;
while(i)
{
reverse_list.push_back(i);
i = i->parent;
}
while(!reverse_list.empty())
{
i = reverse_list.back();
add_step(i->loc);
reverse_list.pop_back();
}
set_path_size(step_count);
}/* Get a new neighbor to nnode and score it, returning true if it's usable. */
bool AStarPath::score_to_neighbor(sint8 dir, astar_node *nnode, astar_node *neighbor,
sint32 &nnode_to_neighbor)
{ sint8 sx = -1, sy = -1;
DirFinder::get_adjacent_dir(sx, sy, dir); // sx,sy = neighbor -1,-1 + dir
// get neighbor of nnode towards sx,sy, and cost to that neighbor
neighbor->loc = nnode->loc.abs_coords(sx, sy);
nnode_to_neighbor = step_cost(nnode->loc, neighbor->loc);
if(nnode_to_neighbor == -1)
{
delete neighbor; // this neighbor is blocked
return false;
}
return true;
}/* Compare a node's score to the start node to already scored neighbors. */
bool AStarPath::compare_neighbors(astar_node *nnode, astar_node *neighbor,
sint32 nnode_to_neighbor, astar_node *in_open,
astar_node *in_closed)
{ neighbor->to_start = nnode->to_start + nnode_to_neighbor;
// ignore this neighbor if already checked and closer to start
if((in_open && in_open->to_start <= neighbor->to_start)
|| (in_closed && in_closed->to_start <= neighbor->to_start))
{
delete neighbor;
return false;
}
return true;
}/* Check all neighbors of a node (location) and save them to the "seen" list. */
bool AStarPath::search_node_neighbors(astar_node *nnode, MapCoord &goal,
const uint32 max_score)
{ for(uint32 dir = 1; dir < 8; dir += 2)
{
astar_node *neighbor = new astar_node;
sint32 nnode_to_neighbor = -1;
if(!score_to_neighbor(dir, nnode, neighbor, nnode_to_neighbor))
continue; // this neighbor is blocked
astar_node *in_open = find_open_node(neighbor),
*in_closed = find_closed_node(neighbor);
if(!compare_neighbors(nnode, neighbor, nnode_to_neighbor, in_open, in_closed))
continue;
neighbor->parent = nnode;
neighbor->to_goal = path_cost_est(neighbor->loc, goal);
neighbor->score = neighbor->to_start + neighbor->to_goal;
neighbor->len = nnode->len + 1;
if(neighbor->score > max_score)
{
delete neighbor; // too far away
continue;
}
// take neighbor out of closed list and put into open list
if(in_closed)
remove_closed_node(in_closed);
if(!in_open)
push_open_node(neighbor);
}
return true;
}/* Do A* search of tiles to create a path from `start' to `goal'.
