author | truelight |
Thu, 24 Mar 2005 14:43:40 +0000 | |
changeset 1540 | 6eef12dab5bf |
parent 1459 | 19333d7f99b3 |
child 1617 | c3d3caad6d1e |
permissions | -rw-r--r-- |
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/* |
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* This file has the header for AyStar |
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* AyStar is a fast pathfinding routine and is used for things like |
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* AI_pathfinding and Train_pathfinding. |
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* For more information about AyStar (A* Algorithm), you can look at |
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* http://en.wikipedia.org/wiki/A-star_search_algorithm |
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*/ |
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#ifndef AYSTAR_H |
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#define AYSTAR_H |
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#include "queue.h" |
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//#define AYSTAR_DEBUG |
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enum { |
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AYSTAR_FOUND_END_NODE, |
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AYSTAR_EMPTY_OPENLIST, |
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AYSTAR_STILL_BUSY, |
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AYSTAR_NO_PATH, |
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AYSTAR_LIMIT_REACHED, |
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AYSTAR_DONE |
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}; |
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enum{ |
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AYSTAR_INVALID_NODE = -1, |
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}; |
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typedef struct AyStarNode AyStarNode; |
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struct AyStarNode { |
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uint tile; |
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uint direction; |
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uint user_data[2]; |
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}; |
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// The resulting path has nodes looking like this. |
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typedef struct PathNode PathNode; |
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struct PathNode { |
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AyStarNode node; |
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// The parent of this item |
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PathNode *parent; |
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}; |
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// For internal use only |
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// We do not save the h-value, because it is only needed to calculate the f-value. |
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// h-value should _always_ be the distance left to the end-tile. |
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typedef struct OpenListNode OpenListNode; |
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struct OpenListNode { |
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int g; |
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PathNode path; |
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}; |
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typedef struct AyStar AyStar; |
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/* |
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* This function is called to check if the end-tile is found |
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* return values can be: |
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* AYSTAR_FOUND_END_NODE : indicates this is the end tile |
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* AYSTAR_DONE : indicates this is not the end tile (or direction was wrong) |
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*/ |
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typedef int32 AyStar_EndNodeCheck(AyStar *aystar, AyStarNode *node); |
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/* |
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* This function is called to calculate the G-value for AyStar Algorithm. |
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* return values can be: |
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* AYSTAR_INVALID_NODE : indicates an item is not valid (e.g.: unwalkable) |
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* Any value >= 0 : the g-value for this tile |
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*/ |
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typedef int32 AyStar_CalculateG(AyStar *aystar, AyStarNode *current, OpenListNode *parent); |
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/* |
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* This function is called to calculate the H-value for AyStar Algorithm. |
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* Mostly, this must result the distance (Manhattan way) between the |
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* current point and the end point |
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* return values can be: |
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* Any value >= 0 : the h-value for this tile |
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*/ |
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typedef int32 AyStar_CalculateH(AyStar *aystar, AyStarNode *current, OpenListNode *parent); |
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/* |
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* This function request the tiles around the current tile and put them in tiles_around |
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* tiles_around is never resetted, so if you are not using directions, just leave it alone. |
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* Warning: never add more tiles_around than memory allocated for it. |
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*/ |
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typedef void AyStar_GetNeighbours(AyStar *aystar, OpenListNode *current); |
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/* |
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* If the End Node is found, this function is called. |
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* It can do, for example, calculate the route and put that in an array |
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*/ |
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typedef void AyStar_FoundEndNode(AyStar *aystar, OpenListNode *current); |
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// For internal use, see aystar.c |
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typedef void AyStar_AddStartNode(AyStar *aystar, AyStarNode* start_node); |
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typedef int AyStar_Main(AyStar *aystar); |
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typedef int AyStar_Loop(AyStar *aystar); |
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typedef int AyStar_CheckTile(AyStar *aystar, AyStarNode *current, OpenListNode *parent); |
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typedef void AyStar_Free(AyStar *aystar); |
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typedef void AyStar_Clear(AyStar *aystar); |
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struct AyStar { |
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/* These fields should be filled before initting the AyStar, but not changed |
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* afterwards (except for user_data and user_path)! (free and init again to change them) */ |
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/* These should point to the application specific routines that do the |
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* actual work */ |
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AyStar_CalculateG* CalculateG; |
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AyStar_CalculateH* CalculateH; |
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AyStar_GetNeighbours* GetNeighbours; |
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AyStar_EndNodeCheck* EndNodeCheck; |
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AyStar_FoundEndNode* FoundEndNode; |
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/* These are completely untouched by AyStar, they can be accesed by |
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* the application specific routines to input and output data. |
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* user_path should typically contain data about the resulting path |
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* afterwards, user_target should typically contain information about |
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* what where looking for, and user_data can contain just about |
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* everything */ |
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void *user_path; |
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void *user_target; |
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uint user_data[10]; |
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/* How many loops are there called before AyStarMain_Main gives |
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* control back to the caller. 0 = until done */ |
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byte loops_per_tick; |
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/* If the g-value goes over this number, it stops searching |
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* 0 = infinite */ |
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uint max_path_cost; |
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/* The maximum amount of nodes that will be expanded, 0 = infinite */ |
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uint max_search_nodes; |
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/* These should be filled with the neighbours of a tile by |
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* GetNeighbours */ |
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AyStarNode neighbours[12]; |
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byte num_neighbours; |
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/* These will contain the methods for manipulating the AyStar. Only |
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* main() should be called externally */ |
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AyStar_AddStartNode* addstart; |
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AyStar_Main* main; |
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AyStar_Loop* loop; |
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AyStar_Free* free; |
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AyStar_Clear* clear; |
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AyStar_CheckTile* checktile; |
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/* These will contain the open and closed lists */ |
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/* The actual closed list */ |
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Hash ClosedListHash; |
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/* The open queue */ |
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Queue OpenListQueue; |
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/* An extra hash to speed up the process of looking up an element in |
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* the open list */ |
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Hash OpenListHash; |
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}; |
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void AyStarMain_AddStartNode(AyStar *aystar, AyStarNode *start_node); |
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int AyStarMain_Main(AyStar *aystar); |
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int AyStarMain_Loop(AyStar *aystar); |
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int AyStarMain_CheckTile(AyStar *aystar, AyStarNode *current, OpenListNode *parent); |
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void AyStarMain_Free(AyStar *aystar); |
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void AyStarMain_Clear(AyStar *aystar); |
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/* Initialize an AyStar. You should fill all appropriate fields before |
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* callling init_AyStar (see the declaration of AyStar for which fields are |
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* internal */ |
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void init_AyStar(AyStar* aystar, Hash_HashProc hash, uint num_buckets); |
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#endif |