Exemple #1
0
 bool AddSubWayPointsToOpenList(CLayerPart pActor, CWayPointMap pWayPointMap, CAStarNode pParentNode,
                              CPathWayPoint pFinalDestWayPoint, CCollideProcessingState pCollideProcessingState)
 {
     throw new NotImplementedException();
 }
Exemple #2
0
        bool FindPath(CLayerPart pActor, CWayPointMap pWayPointMap, uint StartWayPointIndex, uint EndWayPointIndex,
                      CPointList pFinalList, CCollideProcessingState pCollideProcessingState)
        {
            // here's the way it works
            // first we set the open and closed lists to nothing
            ReturnAllNodesToUnusedList(m_OpenNodes);
            ReturnAllNodesToUnusedList(m_ClosedNodes);

            //AssertNoLostNodes;

            // we add the StartWayPointIndex to the Open list
            CPathWayPoint pStartWayPoint     = pWayPointMap.GetpWayPoint(StartWayPointIndex);
            CPathWayPoint pFinalDestWayPoint = pWayPointMap.GetpWayPoint(EndWayPointIndex);
            CAStarNode    pNewNode           = GetUnusedNode();

            pNewNode.Initialize(null, null, pStartWayPoint, StartWayPointIndex, pFinalDestWayPoint, 0, SegmentLengthFunc, CCollideOutputs::MIN_COST_RATIO_TO_TREAT_AS_IMPASSABLE, UclidianDistFunc);
            // put our first point in the open list
            m_OpenNodes.SetpNext(pNewNode);
            //AssertNoLostNodes;

            // we processe the open list until we fill up the open list, the closed list, or we find the end
            // if we found the end we return true, else we return false
            double RadiusOfDestPosSqr = pCollideProcessingState.GetRadiusOfDestPos();

            RadiusOfDestPosSqr = RadiusOfDestPosSqr * RadiusOfDestPosSqr;
            double OneOverYToXAspectRatioOfDestPosRadius = 1.f / pCollideProcessingState.GetYToXAspectRatioOfDestPosRadius();

            CAStarNode pBestNode = null;
            bool       Done      = false;

            while (!Done)
            {
                // we look in the open list and find the node that has the lowest m_TotalCostForThisNodeF
                pBestNode = FindBestNode();
                if (pBestNode != null)
                {
                    //AssertNoLostNodes;
                    CPathWayPoint pCurBestWayPoint = pBestNode.GetpCurWayPoint();
                    bool          CloseEnough      = false;
                    if (RadiusOfDestPosSqr > 0.f)
                    {
                        CFPoint FFinalDestPos, FCurBestPos;
                        FFinalDestPos.Set(pFinalDestWayPoint.GetPosition());
                        FCurBestPos.Set(pCurBestWayPoint.GetPosition());
                        double DistSqrd = GetDistSqrd(FFinalDestPos, FCurBestPos, OneOverYToXAspectRatioOfDestPosRadius);

                        if (DistSqrd < RadiusOfDestPosSqr)
                        {
                            CloseEnough = true;
                        }
                    }

                    // now that we have the best node lets see if it's the end
                    if (pCurBestWayPoint == pFinalDestWayPoint || CloseEnough)
                    {
                        Done = true;
                    }
                    else
                    {
                        // Process all the nodes that we can get to from this node (the best one).
                        // We will look at all the sub-waypoints of this one and check each
                        // against the open list and the closed list.
                        // If we find the node in the open list we check its m_TotalCostForThisNodeF if this one
                        // is lower than this path is better and we hook that node back to this one if not we move on.
                        // If we find it in the closed list we will not do anything with it.
                        // If we don't find it in either then we will add it to the open list and move on to the next one.
                        //AssertNoLostNodes;
                        if (!AddSubWayPointsToOpenList(pActor, pWayPointMap, pBestNode, pFinalDestWayPoint, pCollideProcessingState))
                        {
                            // put the node we just tried on the closed list
                            AddNodeToClosedList(pBestNode);
                            // We ran out of space on the open list.  We are done, there is no more space in the open list

                            //Show something on screen to indicate we failed
                            // to find a path due to running out of points (search went on to long)
                            // Commented out by JCS 6-30-01 because it shows up all the time even in non-bad cases
                            //pTheGame.ShowWarningMessage("CPathAStar::FindPath() failed to find a path (Ran out of points)... This is probably what is slowing things down...");

                            return(false);
                        }

                        // We have arrived at this way point through a minimum path and
                        // added all its possible paths to the open list, it is done, add it to the closed list.
                        //AssertNoLostNodes;
                        AddNodeToClosedList(pBestNode);
                        //AssertNoLostNodes;
                    }
                }
                else
                {
                    // we could not find a best node because there are no more open points
                    // the path has no solution
                    return(false);
                }
            }

            // So we are done and found a path to the dest.
            // Add all the positions to the pFinalList and return true
            // the list goes from the end to the start, so we need to add the list in the reverse order.
            NodeList.Clear();

            // store each pointer
            do
            {
                NodeList.Add(pBestNode);
                pBestNode = pBestNode.GetpParentNode();
            } while (pBestNode != null);

            // and add them from start to end (they were backwards)
            uint NumNodes = NodeList.GetNumItems();

            for (int i = NumNodes - 1; i >= 0; i--)
            {
                pFinalList.AddByVal(NodeList.GetItem(i).GetpCurWayPoint().GetPosition());
            }

            return(true);
        }
Exemple #3
0
        bool FindPath(CLayerPart pActor, CWayPointMap pWayPointMap, uint StartWayPointIndex, uint EndWayPointIndex,
                 CPointList pFinalList, CCollideProcessingState pCollideProcessingState)
        {
            // here's the way it works
            // first we set the open and closed lists to nothing
            ReturnAllNodesToUnusedList(m_OpenNodes);
            ReturnAllNodesToUnusedList(m_ClosedNodes);

            //AssertNoLostNodes;

            // we add the StartWayPointIndex to the Open list
            CPathWayPoint pStartWayPoint = pWayPointMap.GetpWayPoint(StartWayPointIndex);
            CPathWayPoint pFinalDestWayPoint = pWayPointMap.GetpWayPoint(EndWayPointIndex);
            CAStarNode pNewNode = GetUnusedNode();
            pNewNode.Initialize(null, null, pStartWayPoint, StartWayPointIndex, pFinalDestWayPoint, 0, SegmentLengthFunc, CCollideOutputs::MIN_COST_RATIO_TO_TREAT_AS_IMPASSABLE, UclidianDistFunc);
            // put our first point in the open list
            m_OpenNodes.SetpNext(pNewNode);
            //AssertNoLostNodes;

            // we processe the open list until we fill up the open list, the closed list, or we find the end
            // if we found the end we return true, else we return false
            double RadiusOfDestPosSqr = pCollideProcessingState.GetRadiusOfDestPos();
            RadiusOfDestPosSqr = RadiusOfDestPosSqr * RadiusOfDestPosSqr;
            double OneOverYToXAspectRatioOfDestPosRadius = 1.f / pCollideProcessingState.GetYToXAspectRatioOfDestPosRadius();

            CAStarNode pBestNode = null;
            bool Done = false;
            while (!Done)
            {
                // we look in the open list and find the node that has the lowest m_TotalCostForThisNodeF
                pBestNode = FindBestNode();
                if (pBestNode != null)
                {
                    //AssertNoLostNodes;
                    CPathWayPoint pCurBestWayPoint = pBestNode.GetpCurWayPoint();
                    bool CloseEnough = false;
                    if (RadiusOfDestPosSqr > 0.f)
                    {
                        CFPoint FFinalDestPos, FCurBestPos;
                        FFinalDestPos.Set(pFinalDestWayPoint.GetPosition());
                        FCurBestPos.Set(pCurBestWayPoint.GetPosition());
                        double DistSqrd = GetDistSqrd(FFinalDestPos, FCurBestPos, OneOverYToXAspectRatioOfDestPosRadius);

                        if (DistSqrd < RadiusOfDestPosSqr)
                        {
                            CloseEnough = true;
                        }
                    }

                    // now that we have the best node lets see if it's the end
                    if (pCurBestWayPoint == pFinalDestWayPoint || CloseEnough)
                    {
                        Done = true;
                    }
                    else
                    {
                        // Process all the nodes that we can get to from this node (the best one).
                        // We will look at all the sub-waypoints of this one and check each
                        // against the open list and the closed list.
                        // If we find the node in the open list we check its m_TotalCostForThisNodeF if this one
                        // is lower than this path is better and we hook that node back to this one if not we move on.
                        // If we find it in the closed list we will not do anything with it.
                        // If we don't find it in either then we will add it to the open list and move on to the next one.
                        //AssertNoLostNodes;
                        if (!AddSubWayPointsToOpenList(pActor, pWayPointMap, pBestNode, pFinalDestWayPoint, pCollideProcessingState))
                        {
                            // put the node we just tried on the closed list
                            AddNodeToClosedList(pBestNode);
                            // We ran out of space on the open list.  We are done, there is no more space in the open list

                            //Show something on screen to indicate we failed 
                            // to find a path due to running out of points (search went on to long)					
                            // Commented out by JCS 6-30-01 because it shows up all the time even in non-bad cases
                            //pTheGame.ShowWarningMessage("CPathAStar::FindPath() failed to find a path (Ran out of points)... This is probably what is slowing things down...");

                            return false;
                        }

                        // We have arrived at this way point through a minimum path and
                        // added all its possible paths to the open list, it is done, add it to the closed list.
                        //AssertNoLostNodes;
                        AddNodeToClosedList(pBestNode);
                        //AssertNoLostNodes;
                    }
                }
                else
                {
                    // we could not find a best node because there are no more open points
                    // the path has no solution
                    return false;
                }
            }

            // So we are done and found a path to the dest.
            // Add all the positions to the pFinalList and return true
            // the list goes from the end to the start, so we need to add the list in the reverse order.
            NodeList.Clear();

            // store each pointer
            do
            {
                NodeList.Add(pBestNode);
                pBestNode = pBestNode.GetpParentNode();
            } while (pBestNode != null);

            // and add them from start to end (they were backwards)
            uint NumNodes = NodeList.GetNumItems();
            for (int i = NumNodes - 1; i >= 0; i--)
            {
                pFinalList.AddByVal(NodeList.GetItem(i).GetpCurWayPoint().GetPosition());
            }

            return true;
        }