blob: 204282e93d543a04953fa4edb1ba9d5e5552024e (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
|
/* $Id$ */
#ifndef NODELIST_HPP
#define NODELIST_HPP
#include "array.hpp"
#include "hashtable.hpp"
#include "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 *(Titem_*)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 *(Titem_*)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);
if (&item != NULL) {
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];}
};
#endif /* NODELIST_HPP */
|
