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/* $Id$ */
/** @file nodelist.hpp List of nodes used for the A-star pathfinder. */
#ifndef NODELIST_HPP
#define NODELIST_HPP
#include "../misc/array.hpp"
#include "../misc/hashtable.hpp"
#include "../misc/binaryheap.hpp"
/** Hash table based node list multi-container class.
* Implements open list, closed list and priority queue for A-star
* path finder. */
template <class Titem_, int Thash_bits_open_, int Thash_bits_closed_>
class CNodeList_HashTableT {
public:
/** make Titem_ visible from outside of class */
typedef Titem_ Titem;
/** make Titem_::Key a property of HashTable */
typedef typename Titem_::Key Key;
/** type that we will use as item container */
typedef CArrayT<Titem_, 65536, 256> CItemArray;
/** how pointers to open nodes will be stored */
typedef CHashTableT<Titem_, Thash_bits_open_ > COpenList;
/** how pointers to closed nodes will be stored */
typedef CHashTableT<Titem_, Thash_bits_closed_> CClosedList;
/** how the priority queue will be managed */
typedef CBinaryHeapT<Titem_> CPriorityQueue;
protected:
/** here we store full item data (Titem_) */
CItemArray m_arr;
/** hash table of pointers to open item data */
COpenList m_open;
/** hash table of pointers to closed item data */
CClosedList m_closed;
/** priority queue of pointers to open item data */
CPriorityQueue m_open_queue;
/** new open node under construction */
Titem *m_new_node;
public:
/** default constructor */
CNodeList_HashTableT()
: m_open_queue(204800)
{
m_new_node = NULL;
}
/** destructor */
~CNodeList_HashTableT()
{
}
/** return number of open nodes */
FORCEINLINE int OpenCount()
{
return m_open.Count();
}
/** return number of closed nodes */
FORCEINLINE int ClosedCount()
{
return m_closed.Count();
}
/** allocate new data item from m_arr */
FORCEINLINE Titem_ *CreateNewNode()
{
if (m_new_node == NULL) m_new_node = &m_arr.Add();
return m_new_node;
}
/** notify the nodelist, that we don't want to discard the given node */
FORCEINLINE void FoundBestNode(Titem_& item)
{
// for now it is enough to invalidate m_new_node if it is our given node
if (&item == m_new_node) {
m_new_node = NULL;
}
// TODO: do we need to store best nodes found in some extra list/array? Probably not now.
}
/** insert given item as open node (into m_open and m_open_queue) */
FORCEINLINE void InsertOpenNode(Titem_& item)
{
assert(m_closed.Find(item.GetKey()) == NULL);
m_open.Push(item);
// TODO: check if m_open_queue is not full
assert(!m_open_queue.IsFull());
m_open_queue.Push(item);
if (&item == m_new_node) {
m_new_node = NULL;
}
}
/** return the best open node */
FORCEINLINE Titem_ *GetBestOpenNode()
{
if (!m_open_queue.IsEmpty()) {
Titem_& item = m_open_queue.GetHead();
return &item;
}
return NULL;
}
/** remove and return the best open node */
FORCEINLINE Titem_ *PopBestOpenNode()
{
if (!m_open_queue.IsEmpty()) {
Titem_& item = m_open_queue.PopHead();
m_open.Pop(item);
return &item;
}
return NULL;
}
/** return the open node specified by a key or NULL if not found */
FORCEINLINE Titem_ *FindOpenNode(const Key& key)
{
Titem_ *item = m_open.Find(key);
return item;
}
/** remove and return the open node specified by a key */
FORCEINLINE Titem_& PopOpenNode(const Key& key)
{
Titem_& item = m_open.Pop(key);
int idxPop = m_open_queue.FindLinear(item);
m_open_queue.RemoveByIdx(idxPop);
return item;
}
/** close node */
FORCEINLINE void InsertClosedNode(Titem_& item)
{
assert(m_open.Find(item.GetKey()) == NULL);
m_closed.Push(item);
}
/** return the closed node specified by a key or NULL if not found */
FORCEINLINE Titem_ *FindClosedNode(const Key& key)
{
Titem_ *item = m_closed.Find(key);
return item;
}
FORCEINLINE int TotalCount() {return m_arr.Size();}
FORCEINLINE Titem_& ItemAt(int idx) {return m_arr[idx];}
template <class D> void Dump(D &dmp) const
{
dmp.WriteStructT("m_arr", &m_arr);
}
};
#endif /* NODELIST_HPP */
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