void MainWindow::createMenu()
{
QMenu *menuFile = new QMenu("File");
menuFile->addAction( "Open base", this, SLOT( openBS() ) );
menuFile->addAction( "Create base", this, SLOT( createBS() ) );
menuFile->addSeparator();
menuFile->addAction( "Close base", this, SLOT( closeBS() ) );
menuFile->addAction( "Clear base", this, SLOT( clearBS() ) );
menuFile->addSeparator();
menuFile->addAction( "Quit", this, SLOT( close() ) );
QMenu *menuEdit = new QMenu("Edit");
menuEdit->addAction( "Add record", this, SLOT( addRS() ) );
menuEdit->addAction( "Edit record", this, SLOT( editRS() ) );
menuEdit->addAction( "Show record", this, SLOT( showRS() ) );
menuEdit->addAction( "Select records", this, SLOT( selectRS() ) );
menuEdit->addSeparator();
menuEdit->addAction( "Delete record", this, SLOT( delRS() ) );
QMenu *menuDraw = new QMenu("Draw");
menuDraw->addAction( "Diagram", this, SLOT( diagramS() ) );
menuDraw->addAction( "Fun", this, SLOT( funS() ) );
menuBar()->addMenu(menuFile);
menuBar()->addMenu(menuEdit);
menuBar()->addMenu(menuDraw);
menuBar()->addAction( "Help", this, SLOT( helpS() ) );
}
void MainWindow::setConnect()
{
QObject::connect( openBase, SIGNAL( pressed() ), this, SLOT( openBS() ) );
QObject::connect( closeBase, SIGNAL( pressed() ), this, SLOT( closeBS() ) );
QObject::connect( createBase, SIGNAL( pressed() ), this, SLOT( createBS() ) );
QObject::connect( clearBase, SIGNAL( pressed() ), this, SLOT( clearBS() ) );
QObject::connect( addRecord, SIGNAL( pressed() ), this, SLOT( addRS() ) );
QObject::connect( deleteRecord, SIGNAL( pressed() ), this, SLOT( delRS() ) );
QObject::connect( editRecord, SIGNAL( pressed() ), this, SLOT( editRS() ) );
QObject::connect( showRecord, SIGNAL( pressed() ), this, SLOT( showRS() ) );
QObject::connect( selectRecord, SIGNAL( pressed() ), this, SLOT( selectRS() ) );
QObject::connect( diagram, SIGNAL( pressed() ), this, SLOT( diagramS() ) );
}
AI_Waypoint_t *CAI_Pathfinder::FindBestPath(int startID, int endID)
{
if ( !GetNetwork()->NumNodes() )
return NULL;
int nNodes = GetNetwork()->NumNodes();
CAI_Node **pAInode = GetNetwork()->AccessNodes();
CVarBitVec openBS(nNodes);
CVarBitVec closeBS(nNodes);
// ------------- INITIALIZE ------------------------
float* nodeG = (float *)stackalloc( nNodes * sizeof(float) );
float* nodeH = (float *)stackalloc( nNodes * sizeof(float) );
float* nodeF = (float *)stackalloc( nNodes * sizeof(float) );
int* nodeP = (int *)stackalloc( nNodes * sizeof(int) ); // Node parent
for (int node=0;node<nNodes;node++)
{
nodeG[node] = FLT_MAX;
nodeP[node] = -1;
}
nodeG[startID] = 0;
nodeH[startID] = 0.1*(pAInode[startID]->GetPosition(GetHullType())-pAInode[endID]->GetPosition(GetHullType())).Length(); // Don't want to over estimate
nodeF[startID] = nodeG[startID] + nodeH[startID];
openBS.Set(startID);
closeBS.Set( startID );
// --------------- FIND BEST PATH ------------------
while (!openBS.IsAllClear())
{
int smallestID = CAI_Network::FindBSSmallest(&openBS,nodeF,nNodes);
openBS.Clear(smallestID);
CAI_Node *pSmallestNode = pAInode[smallestID];
if (GetOuter()->IsUnusableNode(smallestID, pSmallestNode->m_pHint))
continue;
if (smallestID == endID)
{
AI_Waypoint_t* route = MakeRouteFromParents(&nodeP[0], endID);
return route;
}
// Check this if the node is immediately in the path after the startNode
// that it isn't blocked
for (int link=0; link < pSmallestNode->NumLinks();link++)
{
CAI_Link *nodeLink = pSmallestNode->GetLinkByIndex(link);
if (!IsLinkUsable(nodeLink,smallestID))
continue;
// FIXME: the cost function should take into account Node costs (danger, flanking, etc).
int moveType = nodeLink->m_iAcceptedMoveTypes[GetHullType()] & CapabilitiesGet();
int testID = nodeLink->DestNodeID(smallestID);
Vector r1 = pSmallestNode->GetPosition(GetHullType());
Vector r2 = pAInode[testID]->GetPosition(GetHullType());
float dist = GetOuter()->GetNavigator()->MovementCost( moveType, r1, r2 ); // MovementCost takes ref parameters!!
if ( dist == FLT_MAX )
continue;
float new_g = nodeG[smallestID] + dist;
if ( !closeBS.IsBitSet(testID) || (new_g < nodeG[testID]) )
{
nodeP[testID] = smallestID;
nodeG[testID] = new_g;
nodeH[testID] = (pAInode[testID]->GetPosition(GetHullType())-pAInode[endID]->GetPosition(GetHullType())).Length();
nodeF[testID] = nodeG[testID] + nodeH[testID];
closeBS.Set( testID );
openBS.Set( testID );
}
}
}
return NULL;
}
