string WED_PackageMgr::ReducePath(const string& package, const string& full_file) const
{
string prefix = ComputePath(package,string());
string partial(full_file);
#if IBM
if(prefix.size() >= 2 && partial.size() >= 2 &&
prefix[1] == ':' && partial[1] == ':' &&
prefix[0] != partial[0]) return full_file;
#endif
int n = 0;
do {
int p = prefix.find_first_of("\\/:", n);
if(p == prefix.npos) break;
++p;
if(p != prefix.npos && p <= prefix.size() && p <= partial.size() && strncmp(prefix.c_str(), partial.c_str(), p) == 0)
n = p;
else
break;
} while(1);
prefix.erase(0,n);
partial.erase(0,n);
while(!prefix.empty())
{
string::size_type chop = prefix.find_first_of("\\/:");
if (chop == prefix.npos) break;
prefix.erase(0,chop+1);
partial = string("../") + partial;
}
return partial;
}
void CNavigationPath::Create (CSystem *pSystem, CSovereign *pSovereign, CSpaceObject *pStart, CSpaceObject *pEnd, CNavigationPath **retpPath)
// Create
//
// Create a path from pStart to pEnd that avoids enemies of pSovereign
{
ASSERT(pStart);
ASSERT(pEnd);
CVector vStart = pStart->GetPos();
CVector vEnd = pEnd->GetPos();
CNavigationPath *pNewPath = new CNavigationPath;
pNewPath->m_dwID = g_pUniverse->CreateGlobalID();
pNewPath->m_pSovereign = pSovereign;
pNewPath->m_iStartIndex = pStart->GetID();
pNewPath->m_iEndIndex = pEnd->GetID();
// Compute the path
pNewPath->m_vStart = vStart;
pNewPath->m_iWaypointCount = ComputePath(pSystem, pSovereign, vStart, vEnd, 0, &pNewPath->m_Waypoints);
ASSERT(pNewPath->m_iWaypointCount > 0);
// Done
*retpPath = pNewPath;
}
void CCmpPathfinder::ProcessLongRequests(const std::vector<AsyncLongPathRequest>& longRequests)
{
for (size_t i = 0; i < longRequests.size(); ++i)
{
const AsyncLongPathRequest& req = longRequests[i];
Path path;
ComputePath(req.x0, req.z0, req.goal, req.passClass, req.costClass, path);
CMessagePathResult msg(req.ticket, path);
GetSimContext().GetComponentManager().PostMessage(req.notify, msg);
}
}
void CCmpPathfinder::SetDebugPath(entity_pos_t x0, entity_pos_t z0, const Goal& goal, pass_class_t passClass, cost_class_t costClass)
{
if (!m_DebugOverlay)
return;
delete m_DebugGrid;
m_DebugGrid = NULL;
delete m_DebugPath;
m_DebugPath = new Path();
ComputePath(x0, z0, goal, passClass, costClass, *m_DebugPath);
m_DebugPassClass = passClass;
}
GvPath *TreeDlg::PathOfItem(HTREEITEM hItemInQuestion)
{
GetDlgItems();
GvPath *path = new GvPath();
path->SetRoot(mpGeom);
if (hItemInQuestion == TVI_ROOT) return path;
HTREEITEM hTreeRootItem = mpTreeCtrl->GetRootItem();
if (ComputePath(path, hTreeRootItem, hItemInQuestion))
return path;
else
return NULL;
}
BOOL TreeDlg::ComputePath(GvPath *path,
HTREEITEM hCurrentItem,
HTREEITEM hItemInQuestion)
{
GetDlgItems();
if (hCurrentItem == hItemInQuestion) return TRUE;
if (mpTreeCtrl->ItemHasChildren(hCurrentItem))
{
int n = 0;
HTREEITEM hChild = mpTreeCtrl->GetChildItem(hCurrentItem);
while (hChild != NULL)
{
path->AppendIndex(n);
if (ComputePath(path, hChild, hItemInQuestion))
return TRUE;
path->RemoveLastIndex();
++n;
hChild = mpTreeCtrl->GetNextSiblingItem(hChild);
}
}
return FALSE;
}
bool ADPlanner::Search(ADSearchStateSpace_t* pSearchStateSpace, vector<int>& pathIds, int & PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs)
{
CKey key;
TimeStarted = clock();
searchexpands = 0;
#if DEBUG
fprintf(fDeb, "new search call (call number=%d)\n", pSearchStateSpace->callnumber);
#endif
if(pSearchStateSpace->bReinitializeSearchStateSpace == true){
//re-initialize state space
ReInitializeSearchStateSpace(pSearchStateSpace);
}
if(bOptimalSolution)
{
pSearchStateSpace->eps = 1;
MaxNumofSecs = INFINITECOST;
}
else if(bFirstSolution)
{
MaxNumofSecs = INFINITECOST;
}
//the main loop of AD*
int prevexpands = 0;
while(pSearchStateSpace->eps_satisfied > AD_FINAL_EPS &&
(clock()- TimeStarted) < MaxNumofSecs*(double)CLOCKS_PER_SEC)
{
//it will be a new search iteration
pSearchStateSpace->iteration++;
//decrease eps for all subsequent iterations
if(fabs(pSearchStateSpace->eps_satisfied - pSearchStateSpace->eps) < ERR_EPS)
{
pSearchStateSpace->eps = pSearchStateSpace->eps - AD_DECREASE_EPS;
if(pSearchStateSpace->eps < AD_FINAL_EPS)
pSearchStateSpace->eps = AD_FINAL_EPS;
pSearchStateSpace->bReevaluatefvals = true;
}
//build a new open list by merging it with incons one
BuildNewOPENList(pSearchStateSpace);
//re-compute f-values if necessary and reorder the heap
if(pSearchStateSpace->bReevaluatefvals)
Reevaluatefvals(pSearchStateSpace);
//improve or compute path
if(ComputePath(pSearchStateSpace, MaxNumofSecs) == 1){
pSearchStateSpace->eps_satisfied = pSearchStateSpace->eps;
}
//print the solution cost and eps bound
printf("eps=%f expands=%d g(sstart)=%d\n", pSearchStateSpace->eps_satisfied, searchexpands - prevexpands,
((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g);
#if DEBUG
fprintf(fDeb, "eps=%f eps_sat=%f expands=%d g(sstart)=%d\n", pSearchStateSpace->eps, pSearchStateSpace->eps_satisfied, searchexpands - prevexpands,
((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g);
#endif
prevexpands = searchexpands;
//if just the first solution then we are done
if(bFirstSolution)
break;
//no solution exists
if(((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g == INFINITECOST)
break;
}
#if DEBUG
fflush(fDeb);
#endif
PathCost = ((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g;
MaxMemoryCounter += environment_->StateID2IndexMapping.size()*sizeof(int);
printf("MaxMemoryCounter = %d\n", MaxMemoryCounter);
int solcost = INFINITECOST;
bool ret = false;
if(PathCost == INFINITECOST)
{
printf("could not find a solution\n");
ret = false;
}
else
{
printf("solution is found\n");
pathIds = GetSearchPath(pSearchStateSpace, solcost);
ret = true;
}
printf("total expands this call = %d, planning time = %.3f secs, solution cost=%d\n",
searchexpands, (clock()-TimeStarted)/((double)CLOCKS_PER_SEC), solcost);
//fprintf(fStat, "%d %d\n", searchexpands, solcost);
return true;
}
int CNavigationPath::ComputePath (CSystem *pSystem, CSovereign *pSovereign, const CVector &vFrom, const CVector &vTo, int iDepth, CVector **retpPoints)
// ComputePath
//
// This is a recursive function that returns a set of points that define a safe path
// between the two given points.
//
// We return an allocated array of CVectors in retpPoints
{
int i;
// If we're very close to our destination, then the best option is a direct path
// If the path is clear, then a direct path is also the best option.
CSpaceObject *pEnemy;
CVector vAway;
if (iDepth >= MAX_PATH_RECURSION
|| ((vTo - vFrom).Length2() <= MAX_SAFE_DIST2)
|| PathIsClear(pSystem, pSovereign, vFrom, vTo, &pEnemy, &vAway))
{
(*retpPoints) = new CVector;
(*retpPoints)[0] = vTo;
return 1;
}
// Otherwise, we deflect the path at the enemy base and recurse for the
// two path segments.
else
{
// Compute the mid-point
CVector vMidPoint = pEnemy->GetPos() + (AVOID_DIST * vAway);
// Recurse
CVector *pLeftPoints;
int iLeftCount = ComputePath(pSystem, pSovereign, vFrom, vMidPoint, iDepth+1, &pLeftPoints);
CVector *pRightPoints;
int iRightCount = ComputePath(pSystem, pSovereign, vMidPoint, vTo, iDepth+1, &pRightPoints);
// Compose the two paths together
int iCount = iLeftCount + iRightCount;
ASSERT(iCount > 0);
(*retpPoints) = new CVector [iCount];
int iPos = 0;
for (i = 0; i < iLeftCount; i++)
(*retpPoints)[iPos++] = pLeftPoints[i];
for (i = 0; i < iRightCount; i++)
(*retpPoints)[iPos++] = pRightPoints[i];
delete [] pLeftPoints;
delete [] pRightPoints;
return iCount;
}
}
