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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 AystarStatus {
AYSTAR_FOUND_END_NODE,
AYSTAR_EMPTY_OPENLIST,
AYSTAR_STILL_BUSY,
AYSTAR_NO_PATH,
AYSTAR_LIMIT_REACHED,
AYSTAR_DONE
};
static const int 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);
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 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;
void Init(Hash_HashProc hash, uint num_buckets);
/* These will contain the methods for manipulating the AyStar. Only
* Main() should be called externally */
void AddStartNode(AyStarNode *start_node, uint g);
int Main();
int Loop();
void Free();
void Clear();
void CheckTile(AyStarNode *current, OpenListNode *parent);
/* These will contain the open and closed lists */
/* The actual closed list */
Hash ClosedListHash;
/* The open queue */
BinaryHeap OpenListQueue;
/* An extra hash to speed up the process of looking up an element in
* the open list */
Hash OpenListHash;
void OpenListAdd(PathNode *parent, const AyStarNode *node, int f, int g);
OpenListNode *OpenListPop();
};
#endif /* AYSTAR_H */
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