/*implements A* algorithm*/
tree astar(int x, int y, int d, int heuristic){
char a = 'X';//X simbolize that no action was taken to get there
tree t, t1, t2;
char **mat1, **mat2;
int i, j;
int level;
double f;
queue_vector aux;
int k;
//copy the starting matrix
mat1 = newMatrix();
for(i = 0; i < n; i++){
for(j = 0; j < m; j++)
mat1[i][j] = w[i][j];
}
t1 = insertTree(NULL, d, x, y, mat1, a, 0);
t = t1;
//compute the f value according to the heuristic
f = computeHeuristic(x, y, 0, heuristic);
insertQueue(t1, f);
while(n_queue > 0){
//remove the first element of the queue
removeQueue(&aux.t, &aux.f);
t1 = aux.t;
d = t1 -> dirt;
mat1 = t1 -> mat;
a = t1 -> action;
x = t1 -> x;
y = t1 -> y;
level = t1 -> level;
//increments the number of nodes expanded
expanded++;
//adds into the queue
if(y != 0 && mat1[y-1][x] != '#'){
mat2 = newMatrix();
copyMatrix(mat1, mat2);
a = mat1[y-1][x];
mat2[y-1][x] = '@';
mat2[y][x] = '_';
if(a == '*')
k = d-1;
else
k = d;
if(checkDuplicate(t, mat2, hashFunction(x, y-1), k) == 0){
//inserts in lowercase if there is dirt
if(a == '*'){
removeListDirt(x, y-1);
t2 = insertTree(t1, d-1, x, y-1, mat2, 'n', level + 1);
if(d-1 == 0)
return t2;
}
else
t2 = insertTree(t1, d, x, y-1, mat2, 'N', level + 1);
t1 -> N = t2;
//compute the f value according to the heuristic
f = computeHeuristic(x, y-1, level+1, heuristic);
insertQueue(t2, f);
generated++;
}
}
if(y != n - 1 && mat1[y+1][x] != '#'){
mat2 = newMatrix();
copyMatrix(mat1, mat2);
a = mat1[y+1][x];
mat2[y+1][x] = '@';
mat2[y][x] = '_';
if(a == '*')
k = d-1;
else
k = d;
if(checkDuplicate(t, mat2, hashFunction(x, y+1), k) == 0){
//inserts in lowercase if there is dirt
if(a == '*'){
removeListDirt(x, y+1);
t2 = insertTree(t1, d-1, x, y+1, mat2, 's', level + 1);
if(d-1 == 0)
return t2;
}
else
t2 = insertTree(t1, d, x, y+1, mat2, 'S', level + 1);
t1 -> S = t2;
//compute the f value according to the heuristic
f = computeHeuristic(x, y-1, level+1, heuristic);
insertQueue(t2, f);
generated++;
}
}
if(x != 0 && mat1[y][x-1] != '#'){
mat2 = newMatrix();
copyMatrix(mat1, mat2);
a = mat1[y][x-1];
mat2[y][x-1] = '@';
mat2[y][x] = '_';
if(a == '*')
k = d-1;
else
k = d;
if(checkDuplicate(t, mat2, hashFunction(x - 1, y), k) == 0){
//inserts in lowercase if there is dirt
if(a == '*'){
removeListDirt(x-1, y);
t2 = insertTree(t1, d-1, x-1, y, mat2, 'w', level + 1);
if(d-1 == 0)
return t2;
}
else
t2 = insertTree(t1, d, x-1, y, mat2, 'W', level + 1);
t1 -> W = t2;
//compute the f value according to the heuristic
f = computeHeuristic(x, y-1, level+1, heuristic);
insertQueue(t2, f);
generated++;
}
}
if(x != m - 1 && mat1[y][x+1] != '#'){
mat2 = newMatrix();
copyMatrix(mat1, mat2);
a = mat1[y][x+1];
mat2[y][x+1] = '@';
mat2[y][x] = '_';
if(a == '*')
k = d-1;
else
k = d;
if(checkDuplicate(t, mat2, hashFunction(x + 1, y), k) == 0){
//inserts in lowercase if there is dirt
if(a == '*'){
removeListDirt(x+1, y);
t2 = insertTree(t1, d-1, x+1, y, mat2, 'e', level + 1);
if(d-1 == 0)
return t2;
}
else
t2 = insertTree(t1, d, x+1, y, mat2, 'E', level + 1);
t1 -> E = t2;
//compute the f value according to the heuristic
f = computeHeuristic(x, y-1, level+1, heuristic);
insertQueue(t2, f);
generated++;
}
}
orderQueue();
}
return NULL;
}
void REV_process(tMapQ3 * map)
{
//Variables
f32 preWait = 0, postWait = 0;
static u8 firstFrame = 1;
TRACKER * auxT;
setUp3D();
//Wait just before drawing (instead of after), this should enhance performance
VIDEO_Flush();
preWait = (f32)(ticks_to_millisecs(gettime()));
VIDEO_WaitVSync();
postWait = (f32)(ticks_to_millisecs(gettime()));
GPUWaitTime = 0.001f * (postWait - preWait);
//Update physics
updatePhysics();
setBGColor(SC_BLUE);
//Clasify objects into solid or transparent queues
//This is done before everything else because this clasification is the same for every viewport
clasify3D(mainRoot->rootNode);
//Now we use the clasified queues to render shadows
//if(mainRoot->shadowCaster)
//mainRoot->shadowScene();
//Render each Viewport into it's texture
GX_SetBlendMode(GX_BM_BLEND, GX_BL_SRCALPHA, GX_BL_INVSRCALPHA, GX_LO_CLEAR);
//GX_SetZMode (GX_TRUE, GX_LEQUAL, GX_TRUE);
std::multimap<CAMERA*, TRender2Texture*>::iterator iter = mainRoot->m_Render2Textures.begin();
for(;iter != mainRoot->m_Render2Textures.end(); ++iter)
{
(*iter).second->setForRender(perspective);
(*iter).second->getCamera()->setForRender(view);
//Before rendering the scene, render the skyBox
GX_SetZMode (GX_FALSE, GX_LEQUAL, GX_TRUE);
mainRoot->skyBox.render((*iter).second->getCamera());
GX_SetZMode (GX_TRUE, GX_LEQUAL, GX_TRUE);
//Now render the map
//GX_LoadPosMtxImm(view, GX_PNMTX0);
//if(map)
//renderQ3Map(tTex->cam->getPos(), map);
//Now render objects
GX_SetCullMode(GX_CULL_NONE);
auxT = solidQueue;
while(auxT)
{
render(auxT->target, (*iter).second->getCamera()->getPos());
auxT = auxT->next;
}
orderQueue((*iter).second->getCamera());
auxT = transQueue;
while(auxT)
{
render(auxT->target, (*iter).second->getCamera()->getPos());
auxT = auxT->next;
}
//Copy the embeded frame buffer to the texture
(*iter).second->copyTexture();
}
while(solidQueue)
{
auxT = solidQueue;
solidQueue = solidQueue->next;
free(auxT);
}
while(transQueue)
{
auxT = transQueue;
transQueue = transQueue->next;
free(auxT);
}
setBGColor(SC_WHITE);
//2D System
//GX_SetZMode (GX_FALSE, GX_LEQUAL, GX_TRUE);
GX_SetCopyFilter(rMode->aa,rMode->sample_pattern,GX_TRUE,rMode->vfilter);
GX_SetViewport(0,0, w, h,0,1);
GX_SetScissor(0,0, w, h);
guOrtho(perspective,0,h,0,w, 1.0,100.0);
GX_LoadProjectionMtx(perspective, GX_ORTHOGRAPHIC);
GX_SetCullMode(GX_CULL_NONE);
setUp2D();
parse2D(mainRoot->rootN2D);
order2D();
render2D();
GX_DrawDone();
GX_CopyDisp(frameBuffer[fb],GX_TRUE);
VIDEO_SetNextFramebuffer(frameBuffer[fb]);
//Set out black screen after first frame
if(firstFrame)
{
firstFrame = 0;
VIDEO_SetBlack(FALSE);
}
fb ^= 1;
}
