예제 #1
0
void IDAStar::generateMovements(GameState* currentState,GameState* tempState,const BoxMovement& movement, std::priority_queue<GameState*,std::vector<GameState*>,GameStateComparator>& queue){
	unsigned int numComponents =0;
	field components[4];
	point evasionFields[4];
	unsigned int numEvasionFields = 0;
	std::unordered_set<point, PointHasher, PointEqual> nodes;

	tempState->findAdjacentComponents(movement.dest(),numComponents,components);

	currentState->bfs(movement.bot == RPUSHER? currentState->pusher:currentState->puller,movement.srcBot(),nodes);

	nodes.insert(movement.destBot());
	nodes.insert(movement.dest());
	nodes.insert(movement.src());

	currentState->findEvasionFields(movement.bot == RPUSHER? currentState->puller: currentState->pusher,numComponents, components, nodes, tempState,numEvasionFields,evasionFields);

	for(unsigned int i = 0; i< numEvasionFields; i++){
		nodes.clear();
		RobotMovement* rMove = currentState->path(movement.bot == RPUSHER?RPULLER:RPUSHER,evasionFields[i],nodes,MAXELEMENTS);

		if(rMove != NULL){
			GameState* newState = currentState->copy();
			newState->apply(rMove);

			//MapUtils::printMap(*newState,std::cout);

			nodes.insert(movement.dest());
			nodes.insert(movement.destBot());

			rMove = newState->path(movement.bot,movement.srcBot(),nodes,MAXELEMENTS);

			if(rMove == NULL){
				delete newState;
				continue;
			}

			newState->apply(rMove);
			//MapUtils::printMap(*newState,std::cout);
			newState->apply(new BoxMovement(movement));

			insertState(currentState,newState,queue);
		}
	}
}