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authorrubidium <rubidium@openttd.org>2007-01-02 19:19:48 +0000
committerrubidium <rubidium@openttd.org>2007-01-02 19:19:48 +0000
commit66bbf336c6af7353ef0aeed58002c46543b30635 (patch)
treead4a63860df2626b22f77e7dac712e958bea54cb /aystar.c
parentccc0a3f4dbf58c005b22341ac8874252924690cd (diff)
downloadopenttd-66bbf336c6af7353ef0aeed58002c46543b30635.tar.xz
(svn r7759) -Merge: makefile rewrite. This merge features:
- A proper ./configure, so everything needs to be configured only once, not for every make. - Usage of makedepend when available. This greatly reduces the time needed for generating the dependencies. - A generator for all project files. There is a single file with sources, which is used to generate Makefiles and the project files for MSVC. - Proper support for OSX universal binaries. - Object files for non-MSVC compiles are also placed in separate directories, making is faster to switch between debug and release compiles and it does not touch the directory with the source files. - Functionality to make a bundle of all needed files for for example a nightly or distribution of a binary with all needed GRFs and language files. Note: as this merge moves almost all files, it is recommended to make a backup of your working copy before updating your working copy.
Diffstat (limited to 'aystar.c')
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-/* $Id$ */
-
-/*
- * This file has the core function for AyStar
- * AyStar is a fast pathfinding routine and is used for things like
- * AI_pathfinding and Train_pathfinding.
- * For more information about AyStar (A* Algorithm), you can look at
- * http://en.wikipedia.org/wiki/A-star_search_algorithm
- */
-
-/*
- * Friendly reminder:
- * Call (AyStar).free() when you are done with Aystar. It reserves a lot of memory
- * And when not free'd, it can cause system-crashes.
- * Also remember that when you stop an algorithm before it is finished, your
- * should call clear() yourself!
- */
-
-#include "stdafx.h"
-#include "openttd.h"
-#include "aystar.h"
-
-int _aystar_stats_open_size;
-int _aystar_stats_closed_size;
-
-// This looks in the Hash if a node exists in ClosedList
-// If so, it returns the PathNode, else NULL
-static PathNode* AyStarMain_ClosedList_IsInList(AyStar *aystar, const AyStarNode *node)
-{
- return (PathNode*)Hash_Get(&aystar->ClosedListHash, node->tile, node->direction);
-}
-
-// This adds a node to the ClosedList
-// It makes a copy of the data
-static void AyStarMain_ClosedList_Add(AyStar *aystar, const PathNode *node)
-{
- // Add a node to the ClosedList
- PathNode *new_node = malloc(sizeof(*new_node));
- *new_node = *node;
- Hash_Set(&aystar->ClosedListHash, node->node.tile, node->node.direction, new_node);
-}
-
-// Checks if a node is in the OpenList
-// If so, it returns the OpenListNode, else NULL
-static OpenListNode *AyStarMain_OpenList_IsInList(AyStar *aystar, const AyStarNode *node)
-{
- return (OpenListNode*)Hash_Get(&aystar->OpenListHash, node->tile, node->direction);
-}
-
-// Gets the best node from OpenList
-// returns the best node, or NULL of none is found
-// Also it deletes the node from the OpenList
-static OpenListNode *AyStarMain_OpenList_Pop(AyStar *aystar)
-{
- // Return the item the Queue returns.. the best next OpenList item.
- OpenListNode *res = (OpenListNode*)aystar->OpenListQueue.pop(&aystar->OpenListQueue);
- if (res != NULL) {
- Hash_Delete(&aystar->OpenListHash, res->path.node.tile, res->path.node.direction);
- }
-
- return res;
-}
-
-// Adds a node to the OpenList
-// It makes a copy of node, and puts the pointer of parent in the struct
-static void AyStarMain_OpenList_Add(AyStar *aystar, PathNode *parent, const AyStarNode *node, int f, int g)
-{
- // Add a new Node to the OpenList
- OpenListNode *new_node = malloc(sizeof(*new_node));
- new_node->g = g;
- new_node->path.parent = parent;
- new_node->path.node = *node;
- Hash_Set(&aystar->OpenListHash, node->tile, node->direction, new_node);
-
- // Add it to the queue
- aystar->OpenListQueue.push(&aystar->OpenListQueue, new_node, f);
-}
-
-/*
- * Checks one tile and calculate his f-value
- * return values:
- * AYSTAR_DONE : indicates we are done
- */
-int AyStarMain_CheckTile(AyStar *aystar, AyStarNode *current, OpenListNode *parent)
-{
- int new_f, new_g, new_h;
- PathNode *closedlist_parent;
- OpenListNode *check;
-
- // Check the new node against the ClosedList
- if (AyStarMain_ClosedList_IsInList(aystar, current) != NULL) return AYSTAR_DONE;
-
- // Calculate the G-value for this node
- new_g = aystar->CalculateG(aystar, current, parent);
- // If the value was INVALID_NODE, we don't do anything with this node
- if (new_g == AYSTAR_INVALID_NODE) return AYSTAR_DONE;
-
- // There should not be given any other error-code..
- assert(new_g >= 0);
- // Add the parent g-value to the new g-value
- new_g += parent->g;
- if (aystar->max_path_cost != 0 && (uint)new_g > aystar->max_path_cost) return AYSTAR_DONE;
-
- // Calculate the h-value
- new_h = aystar->CalculateH(aystar, current, parent);
- // There should not be given any error-code..
- assert(new_h >= 0);
-
- // The f-value if g + h
- new_f = new_g + new_h;
-
- // Get the pointer to the parent in the ClosedList (the currentone is to a copy of the one in the OpenList)
- closedlist_parent = AyStarMain_ClosedList_IsInList(aystar, &parent->path.node);
-
- // Check if this item is already in the OpenList
- check = AyStarMain_OpenList_IsInList(aystar, current);
- if (check != NULL) {
- uint i;
- // Yes, check if this g value is lower..
- if (new_g > check->g) return AYSTAR_DONE;
- aystar->OpenListQueue.del(&aystar->OpenListQueue, check, 0);
- // It is lower, so change it to this item
- check->g = new_g;
- check->path.parent = closedlist_parent;
- /* Copy user data, will probably have changed */
- for (i = 0; i < lengthof(current->user_data); i++) {
- check->path.node.user_data[i] = current->user_data[i];
- }
- // Readd him in the OpenListQueue
- aystar->OpenListQueue.push(&aystar->OpenListQueue, check, new_f);
- } else {
- // A new node, add him to the OpenList
- AyStarMain_OpenList_Add(aystar, closedlist_parent, current, new_f, new_g);
- }
-
- return AYSTAR_DONE;
-}
-
-/*
- * This function is the core of AyStar. It handles one item and checks
- * his neighbour items. If they are valid, they are added to be checked too.
- * return values:
- * AYSTAR_EMPTY_OPENLIST : indicates all items are tested, and no path
- * has been found.
- * AYSTAR_LIMIT_REACHED : Indicates that the max_nodes limit has been
- * reached.
- * AYSTAR_FOUND_END_NODE : indicates we found the end. Path_found now is true, and in path is the path found.
- * AYSTAR_STILL_BUSY : indicates we have done this tile, did not found the path yet, and have items left to try.
- */
-int AyStarMain_Loop(AyStar *aystar)
-{
- int i, r;
-
- // Get the best node from OpenList
- OpenListNode *current = AyStarMain_OpenList_Pop(aystar);
- // If empty, drop an error
- if (current == NULL) return AYSTAR_EMPTY_OPENLIST;
-
- // Check for end node and if found, return that code
- if (aystar->EndNodeCheck(aystar, current) == AYSTAR_FOUND_END_NODE) {
- if (aystar->FoundEndNode != NULL)
- aystar->FoundEndNode(aystar, current);
- free(current);
- return AYSTAR_FOUND_END_NODE;
- }
-
- // Add the node to the ClosedList
- AyStarMain_ClosedList_Add(aystar, &current->path);
-
- // Load the neighbours
- aystar->GetNeighbours(aystar, current);
-
- // Go through all neighbours
- for (i = 0; i < aystar->num_neighbours; i++) {
- // Check and add them to the OpenList if needed
- r = aystar->checktile(aystar, &aystar->neighbours[i], current);
- }
-
- // Free the node
- free(current);
-
- if (aystar->max_search_nodes != 0 && Hash_Size(&aystar->ClosedListHash) >= aystar->max_search_nodes) {
- /* We've expanded enough nodes */
- return AYSTAR_LIMIT_REACHED;
- } else {
- // Return that we are still busy
- return AYSTAR_STILL_BUSY;
- }
-}
-
-/*
- * This function frees the memory it allocated
- */
-void AyStarMain_Free(AyStar *aystar)
-{
- aystar->OpenListQueue.free(&aystar->OpenListQueue, false);
- /* 2nd argument above is false, below is true, to free the values only
- * once */
- delete_Hash(&aystar->OpenListHash, true);
- delete_Hash(&aystar->ClosedListHash, true);
-#ifdef AYSTAR_DEBUG
- printf("[AyStar] Memory free'd\n");
-#endif
-}
-
-/*
- * This function make the memory go back to zero
- * This function should be called when you are using the same instance again.
- */
-void AyStarMain_Clear(AyStar *aystar)
-{
- // Clean the Queue, but not the elements within. That will be done by
- // the hash.
- aystar->OpenListQueue.clear(&aystar->OpenListQueue, false);
- // Clean the hashes
- clear_Hash(&aystar->OpenListHash, true);
- clear_Hash(&aystar->ClosedListHash, true);
-
-#ifdef AYSTAR_DEBUG
- printf("[AyStar] Cleared AyStar\n");
-#endif
-}
-
-/*
- * This is the function you call to run AyStar.
- * return values:
- * AYSTAR_FOUND_END_NODE : indicates we found an end node.
- * AYSTAR_NO_PATH : indicates that there was no path found.
- * AYSTAR_STILL_BUSY : indicates we have done some checked, that we did not found the path yet, and that we still have items left to try.
- * When the algorithm is done (when the return value is not AYSTAR_STILL_BUSY)
- * aystar->clear() is called. Note that when you stop the algorithm halfway,
- * you should still call clear() yourself!
- */
-int AyStarMain_Main(AyStar *aystar) {
- int r, i = 0;
- // Loop through the OpenList
- // Quit if result is no AYSTAR_STILL_BUSY or is more than loops_per_tick
- while ((r = aystar->loop(aystar)) == AYSTAR_STILL_BUSY && (aystar->loops_per_tick == 0 || ++i < aystar->loops_per_tick)) { }
-#ifdef AYSTAR_DEBUG
- switch (r) {
- case AYSTAR_FOUND_END_NODE: printf("[AyStar] Found path!\n"); break;
- case AYSTAR_EMPTY_OPENLIST: printf("[AyStar] OpenList run dry, no path found\n"); break;
- case AYSTAR_LIMIT_REACHED: printf("[AyStar] Exceeded search_nodes, no path found\n"); break;
- default: break;
- }
-#endif
- if (r != AYSTAR_STILL_BUSY) {
- /* We're done, clean up */
- _aystar_stats_open_size = aystar->OpenListHash.size;
- _aystar_stats_closed_size = aystar->ClosedListHash.size;
- aystar->clear(aystar);
- }
-
- switch (r) {
- case AYSTAR_FOUND_END_NODE: return AYSTAR_FOUND_END_NODE;
- case AYSTAR_EMPTY_OPENLIST:
- case AYSTAR_LIMIT_REACHED: return AYSTAR_NO_PATH;
- default: return AYSTAR_STILL_BUSY;
- }
-}
-
-/*
- * Adds a node from where to start an algorithm. Multiple nodes can be added
- * if wanted. You should make sure that clear() is called before adding nodes
- * if the AyStar has been used before (though the normal main loop calls
- * clear() automatically when the algorithm finishes
- * g is the cost for starting with this node.
- */
-void AyStarMain_AddStartNode(AyStar *aystar, AyStarNode *start_node, uint g)
-{
-#ifdef AYSTAR_DEBUG
- printf("[AyStar] Starting A* Algorithm from node (%d, %d, %d)\n",
- TileX(start_node->tile), TileY(start_node->tile), start_node->direction);
-#endif
- AyStarMain_OpenList_Add(aystar, NULL, start_node, 0, g);
-}
-
-void init_AyStar(AyStar *aystar, Hash_HashProc hash, uint num_buckets)
-{
- // Allocated the Hash for the OpenList and ClosedList
- init_Hash(&aystar->OpenListHash, hash, num_buckets);
- init_Hash(&aystar->ClosedListHash, hash, num_buckets);
-
- // Set up our sorting queue
- // BinaryHeap allocates a block of 1024 nodes
- // When thatone gets full it reserves an otherone, till this number
- // That is why it can stay this high
- init_BinaryHeap(&aystar->OpenListQueue, 102400);
-
- aystar->addstart = AyStarMain_AddStartNode;
- aystar->main = AyStarMain_Main;
- aystar->loop = AyStarMain_Loop;
- aystar->free = AyStarMain_Free;
- aystar->clear = AyStarMain_Clear;
- aystar->checktile = AyStarMain_CheckTile;
-}