IPath::SearchResult CPathFinder::InitSearch(const MoveDef& moveDef, const CPathFinderDef& pfDef, const CSolidObject* owner, bool synced) {
// If exact path is reqired and the goal is blocked, then no search is needed.
if (exactPath && pfDef.GoalIsBlocked(moveDef, CMoveMath::BLOCK_STRUCTURE, owner))
return IPath::CantGetCloser;
// Clamp the start position
if (startxSqr >= gs->mapx) {
startxSqr = gs->mapxm1;
}
if (startzSqr >= gs->mapy) {
startzSqr = gs->mapym1;
}
const bool isStartGoal = pfDef.IsGoal(startxSqr, startzSqr);
// although our starting square may be inside the goal radius, the starting coordinate may be outside.
// in this case we do not want to return CantGetCloser, but instead a path to our starting square.
if (isStartGoal && pfDef.startInGoalRadius)
return IPath::CantGetCloser;
// Clear the system from last search.
ResetSearch();
// Marks and store the start-square.
squareStates.nodeMask[mStartSquareIdx] = (PATHOPT_START | PATHOPT_OPEN);
squareStates.fCost[mStartSquareIdx] = 0.0f;
squareStates.gCost[mStartSquareIdx] = 0.0f;
squareStates.SetMaxCost(NODE_COST_F, 0.0f);
squareStates.SetMaxCost(NODE_COST_G, 0.0f);
dirtySquares.push_back(mStartSquareIdx);
// Make the beginning the fest square found.
mGoalSquareIdx = mStartSquareIdx;
mGoalHeuristic = pfDef.Heuristic(startxSqr, startzSqr);
// Adding the start-square to the queue.
openSquareBuffer.SetSize(0);
PathNode* os = openSquareBuffer.GetNode(openSquareBuffer.GetSize());
os->fCost = 0.0f;
os->gCost = 0.0f;
os->nodePos.x = startxSqr;
os->nodePos.y = startzSqr;
os->nodeNum = mStartSquareIdx;
openSquares.push(os);
// perform the search
IPath::SearchResult result = DoSearch(moveDef, pfDef, owner, synced);
// if no improvements are found, then return CantGetCloser instead
if ((mGoalSquareIdx == mStartSquareIdx && (!isStartGoal || pfDef.startInGoalRadius)) || mGoalSquareIdx == 0) {
return IPath::CantGetCloser;
}
return result;
}
// set up the starting point of the search
IPath::SearchResult CPathFinder::InitSearch(const MoveData& moveData, const CPathFinderDef& pfDef, int ownerId, bool synced) {
// If exact path is reqired and the goal is blocked, then no search is needed.
if (exactPath && pfDef.GoalIsBlocked(moveData, (CMoveMath::BLOCK_STRUCTURE | CMoveMath::BLOCK_TERRAIN)))
return IPath::CantGetCloser;
// Clamp the start position
if (startxSqr < 0) { startxSqr = 0; }
if (startxSqr >= gs->mapx) { startxSqr = gs->mapx - 1; }
if (startzSqr < 0) { startzSqr = 0; }
if (startzSqr >= gs->mapy) { startzSqr = gs->mapy - 1; }
// If the starting position is a goal position, then no search need to be performed.
if (pfDef.IsGoal(startxSqr, startzSqr))
return IPath::CantGetCloser;
// Clear the system from last search.
ResetSearch();
// Marks and store the start-square.
squareStates[startSquare].nodeMask = (PATHOPT_START | PATHOPT_OPEN);
squareStates[startSquare].fCost = 0.0f;
squareStates[startSquare].gCost = 0.0f;
squareStates.SetMaxFCost(0.0f);
squareStates.SetMaxGCost(0.0f);
dirtySquares.push_back(startSquare);
// Make the beginning the fest square found.
goalSquare = startSquare;
goalHeuristic = pfDef.Heuristic(startxSqr, startzSqr);
// Adding the start-square to the queue.
openSquareBuffer.SetSize(0);
PathNode* os = openSquareBuffer.GetNode(openSquareBuffer.GetSize());
os->fCost = 0.0f;
os->gCost = 0.0f;
os->nodePos.x = startxSqr;
os->nodePos.y = startzSqr;
os->nodeNum = startSquare;
openSquares.push(os);
// perform the search
IPath::SearchResult result = DoSearch(moveData, pfDef, ownerId, synced);
// if no improvements are found, then return CantGetCloser instead
if (goalSquare == startSquare || goalSquare == 0) {
return IPath::CantGetCloser;
}
return result;
}
/*
Setting up the starting point of the search.
*/
IPath::SearchResult CPathFinder::InitSearch(const MoveData& moveData, const CPathFinderDef& pfDef) {
//If exact path is reqired and the goal is blocked, then no search is needed.
if(exactPath && pfDef.GoalIsBlocked(moveData, (CMoveMath::BLOCK_STRUCTURE | CMoveMath::BLOCK_TERRAIN)))
return CantGetCloser;
//Clamp the start position
if (startxSqr < 0) startxSqr=0;
if (startxSqr >= gs->mapx) startxSqr = gs->mapx-1;
if (startzSqr < 0) startzSqr =0;
if (startzSqr >= gs->mapy) startzSqr = gs->mapy-1;
//If the starting position is a goal position, then no search need to be performed.
if(pfDef.IsGoal(startxSqr, startzSqr))
return CantGetCloser;
//Clearing the system from last search.
ResetSearch();
//Marks and store the start-square.
squareState[startSquare].status = (PATHOPT_START | PATHOPT_OPEN);
squareState[startSquare].cost = 0;
dirtySquares.push_back(startSquare);
//Make the beginning the fest square found.
goalSquare = startSquare;
goalHeuristic = pfDef.Heuristic(startxSqr, startzSqr);
//Adding the start-square to the queue.
openSquareBufferPointer = &openSquareBuffer[0];
OpenSquare *os = openSquareBufferPointer; //Taking first OpenSquare in buffer.
os->currentCost = 0;
os->cost = 0;
os->square.x = startxSqr;
os->square.y = startzSqr;
os->sqr = startSquare;
openSquares.push(os);
//Performs the search.
SearchResult result = DoSearch(moveData, pfDef);
//If no improvement has been found then return CantGetCloser instead.
if(goalSquare == startSquare || goalSquare == 0) {
return CantGetCloser;
} else
return result;
}
/**
* Search with several start positions
*/
IPath::SearchResult CPathFinder::GetPath(
const MoveData& moveData,
const std::vector<float3>& startPos,
const CPathFinderDef& pfDef,
IPath::Path& path,
int ownerId,
bool synced
) {
// Clear the given path.
path.path.clear();
path.squares.clear();
path.pathCost = PATHCOST_INFINITY;
// Store som basic data.
maxSquaresToBeSearched = MAX_SEARCHED_NODES_PF - 8U;
testMobile = false;
exactPath = true;
needPath = true;
// If exact path is reqired and the goal is blocked, then no search is needed.
if (exactPath && pfDef.GoalIsBlocked(moveData, (CMoveMath::BLOCK_STRUCTURE | CMoveMath::BLOCK_TERRAIN)))
return IPath::CantGetCloser;
// If the starting position is a goal position, then no search need to be performed.
if (pfDef.IsGoal(startxSqr, startzSqr))
return IPath::CantGetCloser;
// Clearing the system from last search.
ResetSearch();
openSquareBuffer.SetSize(0);
for (std::vector<float3>::const_iterator si = startPos.begin(); si != startPos.end(); ++si) {
start = *si;
startxSqr = (int(start.x) / SQUARE_SIZE) | 1;
startzSqr = (int(start.z) / SQUARE_SIZE) | 1;
startSquare = startxSqr + startzSqr * gs->mapx;
goalSquare = startSquare;
squareStates[startSquare].nodeMask = (PATHOPT_START | PATHOPT_OPEN);
squareStates[startSquare].fCost = 0.0f;
squareStates[startSquare].gCost = 0.0f;
dirtySquares.push_back(startSquare);
if (openSquareBuffer.GetSize() >= MAX_SEARCHED_NODES_PF) {
continue;
}
PathNode* os = openSquareBuffer.GetNode(openSquareBuffer.GetSize());
os->fCost = 0.0f;
os->gCost = 0.0f;
os->nodePos.x = startxSqr;
os->nodePos.y = startzSqr;
os->nodeNum = startSquare;
openSquareBuffer.SetSize(openSquareBuffer.GetSize() + 1);
openSquares.push(os);
}
// note: DoSearch, not InitSearch
IPath::SearchResult result = DoSearch(moveData, pfDef, ownerId, synced);
// Respond to the success of the search.
if (result == IPath::Ok) {
FinishSearch(moveData, path);
if (PATHDEBUG) {
LogObject() << "Path found.\n";
LogObject() << "Nodes tested: " << testedNodes << "\n";
LogObject() << "Open squares: " << openSquareBuffer.GetSize() << "\n";
LogObject() << "Path nodes: " << path.path.size() << "\n";
LogObject() << "Path cost: " << path.pathCost << "\n";
}
} else {
if (PATHDEBUG) {
LogObject() << "No path found!\n";
LogObject() << "Nodes tested: " << testedNodes << "\n";
LogObject() << "Open squares: " << openSquareBuffer.GetSize() << "\n";
}
}
return result;
}
/*
Search with several start positions
*/
IPath::SearchResult CPathFinder::GetPath(const MoveData& moveData, std::vector<float3> startPos, const CPathFinderDef& pfDef, Path& path) {
//Clear the given path.
path.path.clear();
path.pathCost = PATHCOST_INFINITY;
//Store som basic data.
maxNodesToBeSearched = MAX_SEARCHED_SQARES;
testMobile=false;
exactPath = true;
needPath=true;
//If exact path is reqired and the goal is blocked, then no search is needed.
if(exactPath && pfDef.GoalIsBlocked(moveData, (CMoveMath::BLOCK_STRUCTURE | CMoveMath::BLOCK_TERRAIN)))
return CantGetCloser;
//If the starting position is a goal position, then no search need to be performed.
if(pfDef.IsGoal(startxSqr, startzSqr))
return CantGetCloser;
//Clearing the system from last search.
ResetSearch();
openSquareBufferPointer = &openSquareBuffer[0];
for(std::vector<float3>::iterator si=startPos.begin(); si!=startPos.end(); ++si) {
start = *si;
startxSqr = (int(start.x) / SQUARE_SIZE)|1;
startzSqr = (int(start.z) / SQUARE_SIZE)|1;
startSquare = startxSqr + startzSqr * gs->mapx;
squareState[startSquare].status = (PATHOPT_START | PATHOPT_OPEN);
squareState[startSquare].cost = 0;
dirtySquares.push_back(startSquare);
goalSquare = startSquare;
OpenSquare *os = ++openSquareBufferPointer; //Taking first OpenSquare in buffer.
os->currentCost = 0;
os->cost = 0;
os->square.x = startxSqr;
os->square.y = startzSqr;
os->sqr = startSquare;
openSquares.push(os);
}
//Performs the search.
SearchResult result = DoSearch(moveData, pfDef);
//Respond to the success of the search.
if(result == Ok) {
FinishSearch(moveData, path);
if(PATHDEBUG) {
*info << "Path found.\n";
*info << "Nodes tested: " << (int)testedNodes << "\n";
*info << "Open squares: " << (openSquareBufferPointer - openSquareBuffer) << "\n";
*info << "Path steps: " << (int)(path.path.size()) << "\n";
*info << "Path cost: " << path.pathCost << "\n";
}
} else {
if(PATHDEBUG) {
*info << "Path not found!\n";
*info << "Nodes tested: " << (int)testedNodes << "\n";
*info << "Open squares: " << (openSquareBufferPointer - openSquareBuffer) << "\n";
}
}
return result;
}
