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authorrubidium <rubidium@openttd.org>2009-12-01 22:45:39 +0000
committerrubidium <rubidium@openttd.org>2009-12-01 22:45:39 +0000
commitf52e27c688b00fd2b44887f0694717cd8449d31d (patch)
tree1268b38bfce0d85fd3868c19fb1454460ef135e7 /src/aystar.h
parenta7beae873310c67c8761994269627ebeabf08996 (diff)
downloadopenttd-f52e27c688b00fd2b44887f0694717cd8449d31d.tar.xz
(svn r18364) -Codechange: move the pathfinders and their related files into a separate directory
Diffstat (limited to 'src/aystar.h')
-rw-r--r--src/aystar.h181
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diff --git a/src/aystar.h b/src/aystar.h
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-/* $Id$ */
-
-/*
- * This file is part of OpenTTD.
- * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2.
- * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see <http://www.gnu.org/licenses/>.
- */
-
-/** @file aystar.h
- * This file has the header 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
- */
-
-#ifndef AYSTAR_H
-#define AYSTAR_H
-
-#include "queue.h"
-#include "tile_type.h"
-#include "track_type.h"
-
-//#define AYSTAR_DEBUG
-enum {
- AYSTAR_FOUND_END_NODE,
- AYSTAR_EMPTY_OPENLIST,
- AYSTAR_STILL_BUSY,
- AYSTAR_NO_PATH,
- AYSTAR_LIMIT_REACHED,
- AYSTAR_DONE
-};
-
-enum{
- AYSTAR_INVALID_NODE = -1,
-};
-
-struct AyStarNode {
- TileIndex tile;
- Trackdir direction;
- uint user_data[2];
-};
-
-/* The resulting path has nodes looking like this. */
-struct PathNode {
- AyStarNode node;
- /* The parent of this item */
- PathNode *parent;
-};
-
-/* For internal use only
- * We do not save the h-value, because it is only needed to calculate the f-value.
- * h-value should _always_ be the distance left to the end-tile. */
-struct OpenListNode {
- int g;
- PathNode path;
-};
-
-struct AyStar;
-/*
- * This function is called to check if the end-tile is found
- * return values can be:
- * AYSTAR_FOUND_END_NODE : indicates this is the end tile
- * AYSTAR_DONE : indicates this is not the end tile (or direction was wrong)
- */
-/*
- * The 2nd parameter should be OpenListNode, and NOT AyStarNode. AyStarNode is
- * part of OpenListNode and so it could be accessed without any problems.
- * The good part about OpenListNode is, and how AIs use it, that you can
- * access the parent of the current node, and so check if you, for example
- * don't try to enter the file tile with a 90-degree curve. So please, leave
- * this an OpenListNode, it works just fine -- TrueLight
- */
-typedef int32 AyStar_EndNodeCheck(AyStar *aystar, OpenListNode *current);
-
-/*
- * This function is called to calculate the G-value for AyStar Algorithm.
- * return values can be:
- * AYSTAR_INVALID_NODE : indicates an item is not valid (e.g.: unwalkable)
- * Any value >= 0 : the g-value for this tile
- */
-typedef int32 AyStar_CalculateG(AyStar *aystar, AyStarNode *current, OpenListNode *parent);
-
-/*
- * This function is called to calculate the H-value for AyStar Algorithm.
- * Mostly, this must result the distance (Manhattan way) between the
- * current point and the end point
- * return values can be:
- * Any value >= 0 : the h-value for this tile
- */
-typedef int32 AyStar_CalculateH(AyStar *aystar, AyStarNode *current, OpenListNode *parent);
-
-/*
- * This function request the tiles around the current tile and put them in tiles_around
- * tiles_around is never resetted, so if you are not using directions, just leave it alone.
- * Warning: never add more tiles_around than memory allocated for it.
- */
-typedef void AyStar_GetNeighbours(AyStar *aystar, OpenListNode *current);
-
-/*
- * If the End Node is found, this function is called.
- * It can do, for example, calculate the route and put that in an array
- */
-typedef void AyStar_FoundEndNode(AyStar *aystar, OpenListNode *current);
-
-/* For internal use, see aystar.cpp */
-typedef void AyStar_AddStartNode(AyStar *aystar, AyStarNode *start_node, uint g);
-typedef int AyStar_Main(AyStar *aystar);
-typedef int AyStar_Loop(AyStar *aystar);
-typedef int AyStar_CheckTile(AyStar *aystar, AyStarNode *current, OpenListNode *parent);
-typedef void AyStar_Free(AyStar *aystar);
-typedef void AyStar_Clear(AyStar *aystar);
-
-struct AyStar {
-/* These fields should be filled before initting the AyStar, but not changed
- * afterwards (except for user_data and user_path)! (free and init again to change them) */
-
- /* These should point to the application specific routines that do the
- * actual work */
- AyStar_CalculateG *CalculateG;
- AyStar_CalculateH *CalculateH;
- AyStar_GetNeighbours *GetNeighbours;
- AyStar_EndNodeCheck *EndNodeCheck;
- AyStar_FoundEndNode *FoundEndNode;
-
- /* These are completely untouched by AyStar, they can be accesed by
- * the application specific routines to input and output data.
- * user_path should typically contain data about the resulting path
- * afterwards, user_target should typically contain information about
- * what where looking for, and user_data can contain just about
- * everything */
- void *user_path;
- void *user_target;
- uint user_data[10];
-
- /* How many loops are there called before AyStarMain_Main gives
- * control back to the caller. 0 = until done */
- byte loops_per_tick;
- /* If the g-value goes over this number, it stops searching
- * 0 = infinite */
- uint max_path_cost;
- /* The maximum amount of nodes that will be expanded, 0 = infinite */
- uint max_search_nodes;
-
- /* These should be filled with the neighbours of a tile by
- * GetNeighbours */
- AyStarNode neighbours[12];
- byte num_neighbours;
-
- /* These will contain the methods for manipulating the AyStar. Only
- * main() should be called externally */
- AyStar_AddStartNode *addstart;
- AyStar_Main *main;
- AyStar_Loop *loop;
- AyStar_Free *free;
- AyStar_Clear *clear;
- AyStar_CheckTile *checktile;
-
- /* These will contain the open and closed lists */
-
- /* The actual closed list */
- Hash ClosedListHash;
- /* The open queue */
- Queue OpenListQueue;
- /* An extra hash to speed up the process of looking up an element in
- * the open list */
- Hash OpenListHash;
-};
-
-
-int AyStarMain_Main(AyStar *aystar);
-void AyStarMain_Clear(AyStar *aystar);
-
-/* Initialize an AyStar. You should fill all appropriate fields before
- * callling init_AyStar (see the declaration of AyStar for which fields are
- * internal */
-void init_AyStar(AyStar *aystar, Hash_HashProc hash, uint num_buckets);
-
-
-#endif /* AYSTAR_H */