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git-svn-id: svn://svn.ijw.co.nz/svn/OpenRa@1315 993157c7-ee19-0410-b2c4-bb4e9862e678

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(no author)
2007-07-21 03:00:34 +00:00
parent 434ec200c9
commit c4267e2241
9 changed files with 54 additions and 41 deletions
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33
OpenRa.Game/PathFinder.cs
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@@ -26,11 +26,12 @@ namespace OpenRa.Game
: double.PositiveInfinity;
}
public List<int2> FindUnitPath( World world, Unit unit, int2 destination )
// returns estimate to destination, 0.0 is cell is dest
public delegate double DestinationFunc( int2 cell );
public List<int2> FindUnitPath( World world, Unit unit, DestinationFunc estimator )
{
int2 offset = new int2( map.XOffset, map.YOffset );
destination += offset;
int2 startLocation = unit.Location + offset;
CellInfo[ , ] cellInfo = new CellInfo[ 128, 128 ];
@@ -39,9 +40,14 @@ namespace OpenRa.Game
for( int y = 0 ; y < 128 ; y++ )
cellInfo[ x, y ] = new CellInfo( double.PositiveInfinity, new int2( x, y ), false );
return FindUnitPath( startLocation, estimator, offset, cellInfo );
}
List<int2> FindUnitPath( int2 startLocation, DestinationFunc estimator, int2 offset, CellInfo[,] cellInfo )
{
PriorityQueue<PathDistance> queue = new PriorityQueue<PathDistance>();
queue.Add( new PathDistance( Estimate( startLocation, destination ), startLocation ) );
queue.Add( new PathDistance( estimator( startLocation - offset ), startLocation ) );
cellInfo[ startLocation.X, startLocation.Y ].MinCost = 0;
int seenCount = 0;
@@ -53,10 +59,10 @@ namespace OpenRa.Game
int2 here = p.Location;
cellInfo[ here.X, here.Y ].Seen = true;
if( p.Location == destination )
if( estimator( here - offset ) == 0.0 )
{
Log.Write( "{0}, {1}", seenCount, impassableCount );
return MakePath( cellInfo, destination, offset );
return MakePath( cellInfo, here, offset );
}
foreach( int2 d in directions )
@@ -83,7 +89,7 @@ namespace OpenRa.Game
cellInfo[ newHere.X, newHere.Y ].Path = here;
cellInfo[ newHere.X, newHere.Y ].MinCost = newCost;
queue.Add( new PathDistance( newCost + Estimate( newHere, destination ), newHere ) );
queue.Add( new PathDistance( newCost + estimator( newHere - offset ), newHere ) );
}
}
@@ -118,12 +124,15 @@ namespace OpenRa.Game
new int2( 1, 1 ),
};
double Estimate( int2 here, int2 destination )
public static DestinationFunc DefaultEstimator( int2 destination )
{
int2 d = ( here - destination ).Abs();
int diag = Math.Min( d.X, d.Y );
int straight = Math.Abs( d.X - d.Y );
return 1.5 * diag + straight;
return delegate( int2 here )
{
int2 d = ( here - destination ).Abs();
int diag = Math.Min( d.X, d.Y );
int straight = Math.Abs( d.X - d.Y );
return 1.5 * diag + straight;
};
}
}