____                _       __
    / __ )____  _____   | |     / /___ ___________
   / __  / __ \/ ___/   | | /| / / __ `/ ___/ ___/
  / /_/ / /_/ (__  )    | |/ |/ / /_/ / /  (__  )
 /_____/\____/____/     |__/|__/\__,_/_/  /____/

       A futuristic real-time strategy game.
          This file is part of Bos Wars.
(C) Copyright 2001-2007 by the Bos Wars and Stratagus Project. Distributed under the "GNU General Public License"

pathfinder.h File Reference

The path finder headerfile. More...

Go to the source code of this file.

Defines

#define STDCALL
#define AstarDebugPrint(x)
#define NewResetPath(unit)   do { unit->Data.Move.Fast = 1; unit->Data.Move.Length = 0; } while (0)

Enumerations

enum  _move_return_ {
  PF_FAILED = -3, PF_UNREACHABLE = -2, PF_REACHED = -1, PF_WAIT = 0,
  PF_MOVE = 1
}

Functions

void InitPathfinder ()
 < Init the pathfinder
void FreePathfinder ()
 Create a matrix for the old pathfinder.
unsigned char * CreateMatrix (void)
 Allocate a new matrix and initialize.
unsigned char * MakeMatrix (void)
 Get next element of the way to goal.
int NewPath (CUnit *unit)
 Returns the next element of the path.
int NextPathElement (CUnit *unit, int *xdp, int *ydp)
 Return distance to unit.
int UnitReachable (const CUnit *unit, const CUnit *dst, int range)
 Can the unit 'src' reach the place x,y.
int PlaceReachable (const CUnit *src, int x, int y, int w, int h, int minrange, int maxrange)
void InitAStar (int mapWidth, int mapHeight, int(STDCALL *costMoveTo)(int x, int y, void *data))
 < Init the a* data structures
void FreeAStar (void)
 Find and a* path for a unit.
int AStarFindPath (int sx, int sy, int gx, int gy, int gw, int gh, int tilesizex, int tilesizey, int minrange, int maxrange, char *path, int pathlen, void *data)
void SetAStarFixedUnitCrossingCost (int cost)
int GetAStarFixedUnitCrossingCost ()
void SetAStarMovingUnitCrossingCost (int cost)
int GetAStarMovingUnitCrossingCost ()
void SetAStarUnknownTerrainCost (int cost)
int GetAStarUnknownTerrainCost ()

Variables

int AStarFixedUnitCrossingCost
 < cost associated to move on a tile occupied by a fixed unit
int AStarMovingUnitCrossingCost
 Whether to have knowledge of terrain that we haven't visited yet.
bool AStarKnowUnseenTerrain
 Cost of using a square we haven't seen before.
int AStarUnknownTerrainCost
const int Heading2X [9]
const int Heading2Y [9]
const int XY2Heading [3][3]

Detailed Description

The path finder headerfile.

Definition in file pathfinder.h.

Define Documentation

#define AstarDebugPrint ( x   ) 

Definition at line 42 of file pathfinder.h.

Referenced by AStarFindPath(), and NextPathElement().

#define NewResetPath ( unit   )     do { unit->Data.Move.Fast = 1; unit->Data.Move.Length = 0; } while (0)

To remove pathfinder internals. Called if path destination changed.

Definition at line 69 of file pathfinder.h.

Referenced by AttackTarget(), CheckForDeadGoal(), CheckForTargetInRange(), HandleActionAttack(), HandleActionBoard(), HandleActionFollow(), HandleActionMove(), HandleActionPatrol(), HandleActionResource(), HandleActionSpellCast(), HandleActionUnload(), MoveToLocation(), MoveToTarget(), MoveToTransporter(), RepairUnit(), RestoreSavedOrder(), and SwapPatrolPoints().

#define STDCALL

Definition at line 36 of file pathfinder.h.

Enumeration Type Documentation

enum _move_return_

Result codes of the pathfinder.

Todo:
Another idea is SINT_MAX as reached, SINT_MIN as unreachable stop others how far to goal.
Enumerator:
PF_FAILED  This Pathfinder failed, try another.
PF_UNREACHABLE  Unreachable stop.
PF_REACHED  Reached goal stop.
PF_WAIT  Wait, no time or blocked.
PF_MOVE  On the way moving.

Definition at line 58 of file pathfinder.h.

Function Documentation

int AStarFindPath ( int  sx,
int  sy,
int  gx,
int  gy,
int  gw,
int  gh,
int  tilesizex,
int  tilesizey,
int  minrange,
int  maxrange,
char *  path,
int  pathlen,
void *  data 
)

Find path.

Definition at line 823 of file astar.cpp.

References AStarAddNode(), AStarAddToClose(), AStarCleanUp(), AStarCosts, AstarDebugPrint, AStarFindMinimum, AStarFindNode(), AStarFindSimplePath(), AStarGoalX, AStarGoalY, AStarMapHeight, AStarMapWidth, AStarMarkGoal(), AStarRemoveMinimum(), AStarReplaceNode(), AStarSavePath(), CacheNotSet, CloseSetSize, Node::CostFromStart, CostMoveTo(), CostMoveToCache, Node::CostToGoal, Node::Direction, Heading2X, Heading2Y, int(), Open::O, OpenSetSize, PF_FAILED, PF_REACHED, PF_UNREACHABLE, ProfileBegin, ProfileEnd, Open::X, Open::Y, and y.

Referenced by NewPath(), and PlaceReachable().

unsigned char* CreateMatrix ( void   ) 

Allocate a new matrix and initialize.

Create empty movement matrix.

Definition at line 115 of file pathfinder.cpp.

References InitMatrix(), and Matrix.

Referenced by AiFindBuildingPlace2(), AiPlanAttack(), and UnitFindResource().

void FreeAStar ( void   ) 

Find and a* path for a unit.

Free A* data structure

Definition at line 329 of file astar.cpp.

References CloseSet, CloseSetSize, CostMoveToCache, OpenSetSize, ProfilePrint, VisionLookup, and VisionTable.

Referenced by FreePathfinder().

void FreePathfinder (  ) 

Create a matrix for the old pathfinder.

Free the pathfinder

Definition at line 74 of file pathfinder.cpp.

References FreeAStar().

Referenced by CleanGame(), and CleanModules().

int GetAStarFixedUnitCrossingCost (  ) 

Definition at line 1075 of file astar.cpp.

References AStarFixedUnitCrossingCost.

Referenced by tolua_get_AStarFixedUnitCrossingCost().

int GetAStarMovingUnitCrossingCost (  ) 

Definition at line 1085 of file astar.cpp.

References AStarMovingUnitCrossingCost.

Referenced by tolua_get_AStarMovingUnitCrossingCost().

int GetAStarUnknownTerrainCost (  ) 

Definition at line 1097 of file astar.cpp.

References AStarUnknownTerrainCost.

Referenced by tolua_get_AStarUnknownTerrainCost().

void InitAStar ( int  mapWidth,
int  mapHeight,
int(STDCALL *costMoveTo)(int x, int y, void *data)   
)

< Init the a* data structures

free the a* data structures

Init A* data structures

Definition at line 301 of file astar.cpp.

References Assert, AStarMapHeight, AStarMapWidth, AStarMatrixSize, CloseSet, CostMoveToCache, InitVisionTable(), MAX_CLOSE_SET_RATIO, MAX_OPEN_SET_RATIO, OpenSetMaxSize, ProfileInit, and Threshold.

Referenced by InitPathfinder().

void InitPathfinder (  ) 

< Init the pathfinder

Free the pathfinder

Init the pathfinder

Definition at line 66 of file pathfinder.cpp.

References CostMoveTo(), CMap::Info, InitAStar(), Map, CMapInfo::MapHeight, and CMapInfo::MapWidth.

Referenced by CreateGame(), and LoadModules().

unsigned char* MakeMatrix ( void   ) 

Get next element of the way to goal.

Allocate a new matrix and initialize

Definition at line 124 of file pathfinder.cpp.

References CMap::Info, InitMatrix(), Map, CMapInfo::MapHeight, and CMapInfo::MapWidth.

int NewPath ( CUnit *  unit  ) 

Returns the next element of the path.

Find new path.

The destination could be a unit or a field. Range gives how far we must reach the goal.

Note:
The destination could become negative coordinates!
Parameters:
unit Path for this unit.
Returns:
>0 remaining path length, 0 wait for path, -1 reached goal, -2 can't reach the goal.

Definition at line 282 of file pathfinder.cpp.

References AStarFindPath(), CUnit::Data, CMap::Info, CUnit::_order_data_::_order_move_::Length, Map, CMapInfo::MapHeight, CMapInfo::MapWidth, MAX_PATH_LENGTH, CUnit::_order_data_::Move, CUnit::Orders, CUnit::_order_data_::_order_move_::Path, PF_FAILED, PF_UNREACHABLE, CUnitType::TileHeight, CUnitType::TileWidth, CUnit::Type, CUnit::X, and CUnit::Y.

Referenced by NextPathElement().

int NextPathElement ( CUnit *  unit,
int *  pxd,
int *  pyd 
)

Return distance to unit.

Returns the next element of a path.

Parameters:
unit Unit that wants the path element.
pxd Pointer for the x direction.
pyd Pointer for the y direction.
Returns:
>0 remaining path length, 0 wait for path, -1 reached goal, -2 can't reach the goal.

Definition at line 351 of file pathfinder.cpp.

References _C_, AstarDebugPrint, CUnit::Data, CUnit::_order_data_::_order_move_::Fast, CUnit::Goal, Heading2X, Heading2Y, int(), CUnit::_order_data_::_order_move_::Length, CUnit::_order_data_::Move, NewPath(), CUnit::Orders, CUnit::_order_data_::_order_move_::Path, PF_REACHED, PF_UNREACHABLE, PF_WAIT, UnitCanBeAt(), CUnit::X, and CUnit::Y.

Referenced by DoActionMove().

int PlaceReachable ( const CUnit *  src,
int  x,
int  y,
int  w,
int  h,
int  minrange,
int  range 
)

Can the unit 'src' reach the place x,y.

Parameters:
src Unit for the path.
x Map X tile position.
y Map Y tile position.
w Width of Goal
h Height of Goal
minrange min range to the tile
range Range to the tile.
Returns:
Distance to place.

Definition at line 151 of file pathfinder.cpp.

References Assert, AStarFindPath(), PF_FAILED, PF_MOVE, PF_REACHED, PF_UNREACHABLE, PF_WAIT, CUnitType::TileHeight, CUnitType::TileWidth, CUnit::Type, CUnit::X, and CUnit::Y.

Referenced by AiCanNotMove(), and UnitReachable().

void SetAStarFixedUnitCrossingCost ( int  cost  ) 

Definition at line 1070 of file astar.cpp.

Referenced by tolua_set_AStarFixedUnitCrossingCost().

void SetAStarMovingUnitCrossingCost ( int  cost  ) 

Definition at line 1080 of file astar.cpp.

Referenced by tolua_set_AStarMovingUnitCrossingCost().

void SetAStarUnknownTerrainCost ( int  cost  ) 

Definition at line 1090 of file astar.cpp.

References AStarUnknownTerrainCost.

Referenced by tolua_set_AStarUnknownTerrainCost().

int UnitReachable ( const CUnit *  src,
const CUnit *  dst,
int  range 
)

Can the unit 'src' reach the place x,y.

Can the unit 'src' reach the unit 'dst'.

Parameters:
src Unit for the path.
dst Unit to be reached.
range Range to unit.
Returns:
Distance to place.

Definition at line 184 of file pathfinder.cpp.

References PlaceReachable(), CUnitType::TileHeight, CUnitType::TileWidth, CUnit::Type, CUnit::X, and CUnit::Y.

Referenced by AiRepairBuilding(), AttackUnitsInDistance(), and FindRangeAttack().

Variable Documentation

int AStarFixedUnitCrossingCost

< cost associated to move on a tile occupied by a fixed unit

cost associated to move on a tile occupied by a moving unit

Definition at line 86 of file astar.cpp.

Referenced by GetAStarFixedUnitCrossingCost().

bool AStarKnowUnseenTerrain

Cost of using a square we haven't seen before.

Definition at line 88 of file astar.cpp.

Referenced by CostMoveTo(), tolua_get_AStarKnowUnseenTerrain(), and tolua_set_AStarKnowUnseenTerrain().

int AStarMovingUnitCrossingCost

Whether to have knowledge of terrain that we haven't visited yet.

Definition at line 87 of file astar.cpp.

Referenced by CostMoveTo(), and GetAStarMovingUnitCrossingCost().

int AStarUnknownTerrainCost

Definition at line 89 of file astar.cpp.

Referenced by CostMoveTo(), GetAStarUnknownTerrainCost(), and SetAStarUnknownTerrainCost().

const int Heading2X[9]

Definition at line 69 of file astar.cpp.

Referenced by AStarFindPath(), AStarSavePath(), DoActionMove(), and NextPathElement().

const int Heading2Y[9]

Definition at line 70 of file astar.cpp.

Referenced by AStarFindPath(), AStarSavePath(), DoActionMove(), and NextPathElement().

const int XY2Heading[3][3]

Definition at line 71 of file astar.cpp.

Referenced by AStarFindSimplePath().

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