Direction::Enum OnThinkPacman3(const Pawn& in_ourPawn, const World& in_ourWorld, float in_deltaTime, float in_totalTime)
{
std::vector<PointObj*> pointObjects;
in_ourWorld.GetPointObjects(pointObjects);
Vector2 avgBestLocation = Vector2(0, 0);
for(auto obj : pointObjects)
{
avgBestLocation = avgBestLocation + obj->GetPosition();
}
PointObj* closestObject = nullptr;
float closestSqr = FLT_MAX;
for (auto obj : pointObjects)
{
float distanceSqr = (obj->GetPosition() - avgBestLocation).MagnitudeSqr();
if(distanceSqr < closestSqr)
{
closestSqr = distanceSqr;
closestObject = obj;
}
}
if (!closestObject)
return Direction::Invalid;
PathNode* start = in_ourWorld.GetNode(in_ourPawn.GetClosestNode());
PathNode* destination = in_ourWorld.GetNode(closestObject->GetNode());
return aStar(in_ourWorld, start, destination);
}
// expands the current node in all four directions. Adds valid expansions to the frontier list
void Expand(const World& in_world,
std::shared_ptr<ScoredNode> in_curNode,
const PathNode& in_targetNode,
std::vector<const Pawn* const> in_ghosts,
std::priority_queue<std::shared_ptr<ScoredNode>, std::vector<std::shared_ptr<ScoredNode>>, std::function<bool(std::shared_ptr<ScoredNode>, std::shared_ptr<ScoredNode>)>>& inout_frontier,
std::map<PathNode*, std::shared_ptr<ScoredNode>>& inout_frontierMap,
const std::map<PathNode*, std::shared_ptr<ScoredNode>>& in_processedNodes)
{
for (int i = 0; i < 4; i++)
{
const PathNodeConnection& connection = in_curNode->node->GetConnection(static_cast<Direction::Enum>(i));
if (connection.IsValid())
{
//Gather the information on this next connection
PathNode* connectedNode = in_world.GetNode(connection.GetOtherNodeId());
//If the node has already been processed then by definition of A* we must be back tracking and we can ignore this connection
auto foundInProcessed = in_processedNodes.find(connectedNode);
if (foundInProcessed != in_processedNodes.end())
continue;
float cost = in_curNode->totalScore + connection.GetCost();
float h = huristic(*connectedNode, in_targetNode) + CalculateGhostEffect(*connectedNode, in_ghosts) + CalculatePointBonus(*connectedNode);
float totalCost = cost + h;
//check if the frontier already contains this node, if it does keep the larger of the two
auto foundInFrontier = inout_frontierMap.find(connectedNode);
if (foundInFrontier != inout_frontierMap.end())
{
//if we are worse than the node already in the frontier then we should skip further processing
if (foundInFrontier->second->totalScore < totalCost)
continue;
else
inout_frontierMap.erase(foundInFrontier);
}
std::shared_ptr<ScoredNode> newNode = std::make_shared<ScoredNode>(connectedNode, cost, h, static_cast<Direction::Enum>(i), in_curNode);
inout_frontier.push(newNode);
inout_frontierMap.insert(std::pair<PathNode*, std::shared_ptr<ScoredNode>>(connectedNode, newNode));
}
}
}