bool Problem::FindSuccessors(const ai::Search::State * const state_in, std::vector<ai::Search::ActionStatePair> &results_out) const
{
#if VERBOSE
std::cout << "Problem::FindSuccessors()" << std::endl;
#endif
const State * pwstate_in = dynamic_cast<const State *>(state_in);
for(ai::Scavenger::Location::Direction direction = ai::Scavenger::Location::NORTH; direction <= ai::Scavenger::Location::WEST; direction++)
{
Interface interface = model->getCell(pwstate_in->location).interface[direction];
#if DEBUG
std::cout << "From: " << pwstate_in <<" passable: " << interface << std::endl;
#endif
if(passable(interface))
{
State * next = pwstate_in->move(direction);
next->charge = next->charge - pathCost(model, pwstate_in, direction);
if(next->charge > 0)
{
results_out.push_back(
ai::Search::ActionStatePair(
next,
new Action(getActionFromDirection(direction))
)
);
}
}
}
#if VERBOSE
std::cout << "results_out.size() = " << results_out.size() << std::endl;
#endif
return true;
}
double Problem::StepCost(const ai::Search::State * const state1_in, const ai::Search::Action * const action_in, const ai::Search::State * const state2_in) const
{
const Action * pwaction_in = dynamic_cast<const Action *>(action_in);
const State * pwstate1_in = dynamic_cast<const State *>(state1_in);
const State * pwstate2_in = dynamic_cast<const State *>(state2_in);
#if DEBUG
std::cout <<"stepcost() action: state1: " << pwstate1_in << " , action: " << pwaction_in << " , state2: " << pwstate2_in << std::endl;
#endif
return pathCost(model, pwstate1_in, getDirectionFromAction(pwaction_in->action));
}
// Compute shortest path to goal position via A* algorithm
// If 'goalArea' is NULL, path will get as close as it can.
bool CCSBot::ComputePath(CNavArea *goalArea, const Vector *goal, RouteType route)
{
// Throttle re-pathing
if (!m_repathTimer.IsElapsed())
return false;
// randomize to distribute CPU load
m_repathTimer.Start(RANDOM_FLOAT(0.4f, 0.6f));
DestroyPath();
CNavArea *startArea = m_lastKnownArea;
if (!startArea)
return false;
// note final specific position
Vector pathEndPosition;
if (!goal && !goalArea)
return false;
if (!goal)
pathEndPosition = *goalArea->GetCenter();
else
pathEndPosition = *goal;
// make sure path end position is on the ground
if (goalArea)
pathEndPosition.z = goalArea->GetZ(&pathEndPosition);
else
GetGroundHeight(&pathEndPosition, &pathEndPosition.z);
// if we are already in the goal area, build trivial path
if (startArea == goalArea)
{
BuildTrivialPath(&pathEndPosition);
return true;
}
// Compute shortest path to goal
CNavArea *closestArea = nullptr;
PathCost pathCost(this, route);
bool pathToGoalExists = NavAreaBuildPath(startArea, goalArea, goal, pathCost, &closestArea);
CNavArea *effectiveGoalArea = (pathToGoalExists) ? goalArea : closestArea;
// Build path by following parent links
// get count
int count = 0;
CNavArea *area;
for (area = effectiveGoalArea; area; area = area->GetParent())
{
count++;
}
// save room for endpoint
if (count > MAX_PATH_LENGTH - 1)
count = MAX_PATH_LENGTH - 1;
if (count == 0)
return false;
if (count == 1)
{
BuildTrivialPath(&pathEndPosition);
return true;
}
// build path
m_pathLength = count;
for (area = effectiveGoalArea; count && area; area = area->GetParent())
{
count--;
m_path[count].area = area;
m_path[count].how = area->GetParentHow();
}
// compute path positions
if (ComputePathPositions() == false)
{
PrintIfWatched("Error building path\n");
DestroyPath();
return false;
}
if (!goal)
{
switch (m_path[m_pathLength - 1].how)
{
case GO_NORTH:
case GO_SOUTH:
pathEndPosition.x = m_path[m_pathLength - 1].pos.x;
pathEndPosition.y = effectiveGoalArea->GetCenter()->y;
break;
case GO_EAST:
case GO_WEST:
pathEndPosition.x = effectiveGoalArea->GetCenter()->x;
pathEndPosition.y = m_path[m_pathLength - 1].pos.y;
break;
}
GetGroundHeight(&pathEndPosition, &pathEndPosition.z);
}
// append path end position
m_path[m_pathLength].area = effectiveGoalArea;
m_path[m_pathLength].pos = pathEndPosition;
m_path[m_pathLength].ladder = nullptr;
m_path[m_pathLength].how = NUM_TRAVERSE_TYPES;
m_pathLength++;
// do movement setup
m_pathIndex = 1;
m_areaEnteredTimestamp = gpGlobals->time;
m_spotEncounter = nullptr;
m_goalPosition = m_path[1].pos;
if (m_path[1].ladder)
SetupLadderMovement();
else
m_pathLadder = nullptr;
return true;
}
