bool Algorithm::PathFind(std::list<Route::Step> *result, const s32 from, const s32 to, const u16 limit, const Heroes *hero)
{
const u8 pathfinding = (hero ? hero->GetLevelSkill(Skill::Secondary::PATHFINDING) : Skill::Level::NONE);
s32 cur = from;
s32 alt = 0;
s32 tmp = 0;
std::map<s32, cell_t> list;
std::map<s32, cell_t>::iterator it1 = list.begin();
std::map<s32, cell_t>::iterator it2 = list.end();
Direction::vector_t direct = Direction::CENTER;
list[cur].cost_g = 0;
list[cur].cost_t = 0;
list[cur].parent = -1;
list[cur].open = false;
while(cur != to)
{
LocalEvent::Get().HandleEvents(false);
for(direct = Direction::TOP_LEFT; direct != Direction::CENTER; ++direct)
{
if(Maps::isValidDirection(cur, direct))
{
tmp = Maps::GetDirectionIndex(cur, direct);
if(list[tmp].open)
{
// new
if(-1 == list[tmp].parent)
{
const u16 costg = Maps::Ground::GetPenalty(tmp, direct, pathfinding);
if(MAXU16 == costg) continue;
if((list[cur].passbl & direct) ||
PassableFromToTile(hero, cur, tmp, direct, to))
{
list[cur].passbl |= direct;
cell_t & cell = list[tmp];
cell.cost_g = costg;
cell.parent = cur;
cell.open = true;
cell.cost_t = cell.cost_g + list[cur].cost_t;
cell.cost_d = 50 * Maps::GetApproximateDistance(tmp, to);
}
}
// check alt
else
{
alt = Maps::Ground::GetPenalty(cur, direct, pathfinding);
if(list[tmp].cost_t > list[cur].cost_t + alt &&
((list[cur].passbl & direct) ||
PassableFromToTile(hero, cur, tmp, direct, to)))
{
list[cur].passbl |= direct;
list[tmp].parent = cur;
list[tmp].cost_g = alt;
list[tmp].cost_t = list[cur].cost_t + alt;
}
}
}
}
}
list[cur].open = false;
it1 = list.begin();
alt = -1;
tmp = MAXU16;
DEBUG(DBG_OTHER, DBG_TRACE, "route, from: " << cur);
// find minimal cost
for(; it1 != it2; ++it1) if((*it1).second.open)
{
const cell_t & cell2 = (*it1).second;
#ifdef WITH_DEBUG
if(IS_DEBUG(DBG_OTHER, DBG_TRACE) && cell2.cost_g != MAXU16)
{
direct = Direction::Get(cur, (*it1).first);
if(Direction::UNKNOWN != direct)
{
VERBOSE("\t\tdirect: " << Direction::String(direct) <<
", index: " << (*it1).first <<
", cost g: " << cell2.cost_g <<
", cost t: " << cell2.cost_t <<
", cost d: " << cell2.cost_d);
}
}
#endif
if(cell2.cost_t + cell2.cost_d < tmp)
{
tmp = cell2.cost_t + cell2.cost_d;
alt = (*it1).first;
}
}
// not found, and exception
if(MAXU16 == tmp || -1 == alt || (limit && GetCurrentLength(list, cur) > limit)) break;
#ifdef WITH_DEBUG
else
DEBUG(DBG_OTHER, DBG_TRACE, "select: " << alt);
#endif
cur = alt;
}
// save path
if(cur == to)
{
while(cur != from)
{
if(-1 == list[cur].parent) break;
alt = cur;
cur = list[alt].parent;
if(result) result->push_front(Route::Step(cur, Direction::Get(cur, alt), list[alt].cost_g));
}
return true;
}
DEBUG(DBG_OTHER, DBG_TRACE, "not found" << ", from:" << from << ", to: " << to);
list.clear();
return false;
}
bool Route::Path::Find(s32 to, int limit)
{
const int pathfinding = hero->GetLevelSkill(Skill::Secondary::PATHFINDING);
const s32 from = hero->GetIndex();
s32 cur = from;
s32 alt = 0;
s32 tmp = 0;
std::map<s32, cell_t> list;
std::map<s32, cell_t>::iterator it1 = list.begin();
std::map<s32, cell_t>::iterator it2 = list.end();
list[cur].cost_g = 0;
list[cur].cost_t = 0;
list[cur].parent = -1;
list[cur].open = 0;
const Directions directions = Direction::All();
clear();
while(cur != to)
{
LocalEvent::Get().HandleEvents(false);
for(Directions::const_iterator
it = directions.begin(); it != directions.end(); ++it)
{
if(Maps::isValidDirection(cur, *it))
{
tmp = Maps::GetDirectionIndex(cur, *it);
if(list[tmp].open)
{
const u32 costg = GetPenaltyFromTo(cur, tmp, *it, pathfinding);
// new
if(-1 == list[tmp].parent)
{
if((list[cur].passbl & *it) ||
PassableFromToTile(*hero, cur, tmp, *it, to))
{
list[cur].passbl |= *it;
list[tmp].direct = *it;
list[tmp].cost_g = costg;
list[tmp].parent = cur;
list[tmp].open = 1;
list[tmp].cost_d = 50 * Maps::GetApproximateDistance(tmp, to);
list[tmp].cost_t = list[cur].cost_t + costg;
}
}
// check alt
else
{
if(list[tmp].cost_t > list[cur].cost_t + costg &&
((list[cur].passbl & *it) || PassableFromToTile(*hero, cur, tmp, *it, to)))
{
list[cur].passbl |= *it;
list[tmp].direct = *it;
list[tmp].parent = cur;
list[tmp].cost_g = costg;
list[tmp].cost_t = list[cur].cost_t + costg;
}
}
}
}
}
list[cur].open = 0;
it1 = list.begin();
alt = -1;
tmp = MAXU16;
DEBUG(DBG_OTHER, DBG_TRACE, "route, from: " << cur);
// find minimal cost
for(; it1 != it2; ++it1) if((*it1).second.open)
{
const cell_t & cell2 = (*it1).second;
#ifdef WITH_DEBUG
if(IS_DEBUG(DBG_OTHER, DBG_TRACE) && cell2.cost_g != MAXU16)
{
int direct = Direction::Get(cur, (*it1).first);
if(Direction::UNKNOWN != direct)
{
VERBOSE("\t\tdirect: " << Direction::String(direct) <<
", index: " << (*it1).first <<
", cost g: " << cell2.cost_g <<
", cost t: " << cell2.cost_t <<
", cost d: " << cell2.cost_d);
}
}
#endif
if(cell2.cost_t + cell2.cost_d < tmp)
{
tmp = cell2.cost_t + cell2.cost_d;
alt = (*it1).first;
}
}
// not found, and exception
if(MAXU16 == tmp || -1 == alt) break;
#ifdef WITH_DEBUG
else
DEBUG(DBG_OTHER, DBG_TRACE, "select: " << alt);
#endif
cur = alt;
if(0 < limit && GetCurrentLength(list, cur) > limit) break;
}
// save path
if(cur == to)
{
while(cur != from)
{
push_front(Route::Step(list[cur].parent, list[cur].direct, list[cur].cost_g));
cur = list[cur].parent;
}
}
else
{
DEBUG(DBG_OTHER, DBG_TRACE, "not found" << ", from:" << from << ", to: " << to);
}
return !empty();
}
