/**
* Performs the actual search.
*/
IPath::SearchResult CPathEstimator::DoSearch(const MoveData& moveData, const CPathFinderDef& peDef, bool synced) {
bool foundGoal = false;
while (!openBlocks.empty() && (openBlockBuffer.GetSize() < maxBlocksToBeSearched)) {
// get the open block with lowest cost
PathNode* ob = const_cast<PathNode*>(openBlocks.top());
openBlocks.pop();
// check if the block has been marked as unaccessible during its time in the queue
if (blockStates[ob->nodeNum].nodeMask & (PATHOPT_BLOCKED | PATHOPT_CLOSED | PATHOPT_FORBIDDEN))
continue;
// no, check if the goal is already reached
const int xBSquare = blockStates[ob->nodeNum].nodeOffsets[moveData.pathType].x;
const int zBSquare = blockStates[ob->nodeNum].nodeOffsets[moveData.pathType].y;
const int xGSquare = ob->nodePos.x * BLOCK_SIZE + goalSqrOffset.x;
const int zGSquare = ob->nodePos.y * BLOCK_SIZE + goalSqrOffset.y;
if (peDef.IsGoal(xBSquare, zBSquare) || peDef.IsGoal(xGSquare, zGSquare)) {
goalBlock = ob->nodePos;
goalHeuristic = 0;
foundGoal = true;
break;
}
// no, test the 8 surrounding blocks
// NOTE: each of these calls increments openBlockBuffer.idx by 1, so
// maxBlocksToBeSearched is always less than <MAX_SEARCHED_NODES_PE - 8>
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_UP, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_UP, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_UP, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_DOWN, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_DOWN, synced);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_DOWN, synced);
// mark this block as closed
blockStates[ob->nodeNum].nodeMask |= PATHOPT_CLOSED;
}
// we found our goal
if (foundGoal)
return IPath::Ok;
// we could not reach the goal
if (openBlockBuffer.GetSize() >= maxBlocksToBeSearched)
return IPath::GoalOutOfRange;
// search could not reach the goal due to the unit being locked in
if (openBlocks.empty())
return IPath::GoalOutOfRange;
// should never happen
LogObject() << "ERROR: CPathEstimator::DoSearch() - Unhandled end of search!\n";
return IPath::Error;
}
/**
* Performs the actual search.
*/
IPath::SearchResult CPathEstimator::DoSearch(const MoveData& moveData, const CPathFinderDef& peDef) {
bool foundGoal = false;
while (!openBlocks.empty() && (openBlockBufferIndex < maxBlocksToBeSearched)) {
// get the open block with lowest cost
OpenBlock* ob = openBlocks.top();
openBlocks.pop();
// check if the block has been marked as unaccessible during its time in the queue
if (blockState[ob->blocknr].options & (PATHOPT_BLOCKED | PATHOPT_CLOSED | PATHOPT_FORBIDDEN))
continue;
// no, check if the goal is already reached
int xBSquare = blockState[ob->blocknr].sqrCenter[moveData.pathType].x;
int zBSquare = blockState[ob->blocknr].sqrCenter[moveData.pathType].y;
int xGSquare = ob->block.x * BLOCK_SIZE + goalSqrOffset.x;
int zGSquare = ob->block.y * BLOCK_SIZE + goalSqrOffset.y;
if (peDef.IsGoal(xBSquare, zBSquare) || peDef.IsGoal(xGSquare, zGSquare)) {
goalBlock = ob->block;
goalHeuristic = 0;
foundGoal = true;
break;
}
// no, test the 8 surrounding blocks
// NOTE: each of these calls increments openBlockBufferIndex by 1, so
// maxBlocksToBeSearched is always less than <MAX_SEARCHED_BLOCKS - 8>
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_UP);
TestBlock(moveData, peDef, *ob, PATHDIR_UP);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_UP);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_DOWN);
TestBlock(moveData, peDef, *ob, PATHDIR_DOWN);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_DOWN);
// mark this block as closed
blockState[ob->blocknr].options |= PATHOPT_CLOSED;
}
// we found our goal
if (foundGoal)
return Ok;
// we could not reach the goal
if (openBlockBufferIndex >= maxBlocksToBeSearched)
return GoalOutOfRange;
// search could not reach the goal due to the unit being locked in
if (openBlocks.empty())
return GoalOutOfRange;
// should never happen
LogObject() << "ERROR: CPathEstimator::DoSearch() - Unhandled end of search!\n";
return Error;
}
/*
Performs the actual search.
*/
IPath::SearchResult CPathEstimator::DoSearch(const MoveData& moveData, const CPathFinderDef& peDef) {
bool foundGoal = false;
while(!openBlocks.empty() && (openBlockBufferPointer - openBlockBuffer) < (maxBlocksToBeSearched - 8)) {
//Get the open block with lowest cost.
OpenBlock* ob = openBlocks.top();
openBlocks.pop();
//Check if the block has been marked as unaccessable during it's time in queue.
if(blockState[ob->blocknr].options & (PATHOPT_BLOCKED | PATHOPT_CLOSED | PATHOPT_FORBIDDEN))
continue;
//Check if the goal is reached.
int xBSquare = blockState[ob->blocknr].sqrCenter[moveData.pathType].x;
int zBSquare = blockState[ob->blocknr].sqrCenter[moveData.pathType].y;
int xGSquare = ob->block.x * BLOCK_SIZE + goalSqrOffset.x;
int zGSquare = ob->block.y * BLOCK_SIZE + goalSqrOffset.y;
if(peDef.IsGoal(xBSquare, zBSquare) || peDef.IsGoal(xGSquare, zGSquare)) {
goalBlock = ob->block;
goalHeuristic = 0;
foundGoal = true;
break;
}
//Test the 8 surrounding blocks.
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_UP);
TestBlock(moveData, peDef, *ob, PATHDIR_UP);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_UP);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT);
TestBlock(moveData, peDef, *ob, PATHDIR_RIGHT_DOWN);
TestBlock(moveData, peDef, *ob, PATHDIR_DOWN);
TestBlock(moveData, peDef, *ob, PATHDIR_LEFT_DOWN);
//Mark this block as closed.
blockState[ob->blocknr].options |= PATHOPT_CLOSED;
}
//Returning search-result.
if(foundGoal)
return Ok;
//Could not reach the goal.
if(openBlockBufferPointer - openBlockBuffer >= (maxBlocksToBeSearched - 8))
return GoalOutOfRange;
//Search could not reach the goal, due to the unit being locked in.
if(openBlocks.empty())
return GoalOutOfRange;
//Below shall never be runned.
logOutput << "ERROR: CPathEstimator::DoSearch() - Unhandled end of search!\n";
return Error;
}
