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/*
* 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"
//#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,
};
typedef struct AyStarNode AyStarNode;
struct AyStarNode {
TileIndex tile;
uint direction;
uint user_data[2];
};
// The resulting path has nodes looking like this.
typedef struct PathNode PathNode;
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.
typedef struct OpenListNode OpenListNode;
struct OpenListNode {
int g;
PathNode path;
};
typedef struct AyStar 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.c
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;
};
void AyStarMain_AddStartNode(AyStar *aystar, AyStarNode *start_node, uint g);
int AyStarMain_Main(AyStar *aystar);
int AyStarMain_Loop(AyStar *aystar);
int AyStarMain_CheckTile(AyStar *aystar, AyStarNode *current, OpenListNode *parent);
void AyStarMain_Free(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
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