// set up the starting point of the search
IPath::SearchResult CPathEstimator::InitSearch(const MoveData& moveData, const CPathFinderDef& peDef, bool synced) {
// is starting square inside goal area?
const int xSquare = blockStates[startBlocknr].nodeOffsets[moveData.pathType].x;
const int zSquare = blockStates[startBlocknr].nodeOffsets[moveData.pathType].y;
if (peDef.IsGoal(xSquare, zSquare))
return IPath::CantGetCloser;
// no, clean the system from last search
ResetSearch();
// mark and store the start-block
blockStates[startBlocknr].nodeMask |= PATHOPT_OPEN;
blockStates[startBlocknr].fCost = 0.0f;
blockStates[startBlocknr].gCost = 0.0f;
blockStates.SetMaxFCost(0.0f);
blockStates.SetMaxGCost(0.0f);
dirtyBlocks.push_back(startBlocknr);
openBlockBuffer.SetSize(0);
// add the starting block to the open-blocks-queue
PathNode* ob = openBlockBuffer.GetNode(openBlockBuffer.GetSize());
ob->fCost = 0.0f;
ob->gCost = 0.0f;
ob->nodePos = startBlock;
ob->nodeNum = startBlocknr;
openBlocks.push(ob);
// mark starting point as best found position
goalBlock = startBlock;
goalHeuristic = peDef.Heuristic(xSquare, zSquare);
// get the goal square offset
goalSqrOffset = peDef.GoalSquareOffset(BLOCK_SIZE);
// perform the search
IPath::SearchResult result = DoSearch(moveData, peDef, synced);
// if no improvements are found, then return CantGetCloser instead
if (goalBlock.x == startBlock.x && goalBlock.y == startBlock.y) {
return IPath::CantGetCloser;
}
return result;
}
/**
* Make some initial calculations and preparations
*/
IPath::SearchResult CPathEstimator::InitSearch(const MoveData& moveData, const CPathFinderDef& peDef) {
// is starting square inside goal area?
int xSquare = blockState[startBlocknr].sqrCenter[moveData.pathType].x;
int zSquare = blockState[startBlocknr].sqrCenter[moveData.pathType].y;
if (peDef.IsGoal(xSquare, zSquare))
return CantGetCloser;
// no, clean the system from last search
ResetSearch();
// mark and store the start-block
blockState[startBlocknr].options |= PATHOPT_OPEN;
blockState[startBlocknr].cost = 0;
dirtyBlocks.push_back(startBlocknr);
openBlockBufferIndex = 0;
// add the starting block to the open-blocks-queue
OpenBlock* ob = &openBlockBuffer[openBlockBufferIndex];
ob->cost = 0;
ob->currentCost = 0;
ob->block = startBlock;
ob->blocknr = startBlocknr;
openBlocks.push(ob);
// mark starting point as best found position
goalBlock = startBlock;
goalHeuristic = peDef.Heuristic(xSquare, zSquare);
// get the goal square offset
goalSqrOffset = peDef.GoalSquareOffset(BLOCK_SIZE);
// perform the search
SearchResult result = DoSearch(moveData, peDef);
// if no improvements are found, then return CantGetCloser instead
if (goalBlock.x == startBlock.x && goalBlock.y == startBlock.y)
return CantGetCloser;
else
return result;
}
/*
Making some initial calculations and preparations.
*/
IPath::SearchResult CPathEstimator::InitSearch(const MoveData& moveData, const CPathFinderDef& peDef) {
//Starting square is inside goal area?
int xSquare = blockState[startBlocknr].sqrCenter[moveData.pathType].x;
int zSquare = blockState[startBlocknr].sqrCenter[moveData.pathType].y;
if(peDef.IsGoal(xSquare, zSquare))
return CantGetCloser;
//Cleaning the system from last search.
ResetSearch();
//Marks and store the start-block.
blockState[startBlocknr].options |= PATHOPT_OPEN;
blockState[startBlocknr].cost = 0;
dirtyBlocks.push_back(startBlocknr);
//Adding the starting block to the open-blocks-queue.
OpenBlock* ob = openBlockBufferPointer = openBlockBuffer;
ob->cost = 0;
ob->currentCost = 0;
ob->block = startBlock;
ob->blocknr = startBlocknr;
openBlocks.push(ob);
//Mark starting point as best found position.
goalBlock = startBlock;
goalHeuristic = peDef.Heuristic(xSquare, zSquare);
//Gets goal square offset.
goalSqrOffset = peDef.GoalSquareOffset(BLOCK_SIZE);
//Performs the search.
SearchResult result = DoSearch(moveData, peDef);
//If no improvements are found, then return CantGetCloser instead.
if(goalBlock.x == startBlock.x && goalBlock.y == startBlock.y)
return CantGetCloser;
else
return result;
}
