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@ -26,6 +26,7 @@
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#include "aystar.h"
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#include "../../safeguards.h"
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#include "core/mem_func.hpp"
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/**
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* This looks in the hash whether a node exists in the closed list.
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@ -34,7 +35,9 @@
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*/
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PathNode *AyStar::ClosedListIsInList(const AyStarNode *node)
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{
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return (PathNode*)this->closedlist_hash.Get(node->tile, node->direction);
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const auto result = this->closedlist_hash.find(std::make_pair(node->tile, node->direction));
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return (result == this->closedlist_hash.end()) ? nullptr : result->second;
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}
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/**
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@ -45,9 +48,10 @@ PathNode *AyStar::ClosedListIsInList(const AyStarNode *node)
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void AyStar::ClosedListAdd(const PathNode *node)
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{
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/* Add a node to the ClosedList */
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PathNode *new_node = MallocT<PathNode>(1);
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const auto new_node = MallocT<PathNode>(1);
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*new_node = *node;
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this->closedlist_hash.Set(node->node.tile, node->node.direction, new_node);
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this->closedlist_hash[std::make_pair(node->node.tile, node->node.direction)] = new_node;
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}
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/**
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@ -57,7 +61,9 @@ void AyStar::ClosedListAdd(const PathNode *node)
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*/
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OpenListNode *AyStar::OpenListIsInList(const AyStarNode *node)
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{
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return (OpenListNode*)this->openlist_hash.Get(node->tile, node->direction);
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const auto result = this->openlist_hash.find(std::make_pair(node->tile, node->direction));
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return (result == this->openlist_hash.end()) ? nullptr : result->second;
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}
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/**
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@ -70,7 +76,7 @@ OpenListNode *AyStar::OpenListPop()
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/* Return the item the Queue returns.. the best next OpenList item. */
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OpenListNode *res = (OpenListNode*)this->openlist_queue.Pop();
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if (res != nullptr) {
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this->openlist_hash.DeleteValue(res->path.node.tile, res->path.node.direction);
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this->openlist_hash.erase(std::make_pair(res->path.node.tile, res->path.node.direction));
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}
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return res;
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@ -87,7 +93,7 @@ void AyStar::OpenListAdd(PathNode *parent, const AyStarNode *node, int f, int g)
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new_node->g = g;
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new_node->path.parent = parent;
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new_node->path.node = *node;
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this->openlist_hash.Set(node->tile, node->direction, new_node);
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this->openlist_hash[std::make_pair(node->tile, node->direction)] = new_node;
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/* Add it to the queue */
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this->openlist_queue.Push(new_node, f);
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@ -134,6 +140,7 @@ void AyStar::CheckTile(AyStarNode *current, OpenListNode *parent)
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/* Yes, check if this g value is lower.. */
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if (new_g > check->g) return;
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this->openlist_queue.Delete(check, 0);
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/* It is lower, so change it to this item */
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check->g = new_g;
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check->path.parent = closedlist_parent;
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@ -191,7 +198,7 @@ int AyStar::Loop()
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/* Free the node */
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free(current);
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if (this->max_search_nodes != 0 && this->closedlist_hash.GetSize() >= this->max_search_nodes) {
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if (this->max_search_nodes != 0 && this->closedlist_hash.size() >= this->max_search_nodes) {
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/* We've expanded enough nodes */
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return AYSTAR_LIMIT_REACHED;
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} else {
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@ -208,8 +215,14 @@ void AyStar::Free()
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this->openlist_queue.Free(false);
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/* 2nd argument above is false, below is true, to free the values only
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* once */
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this->openlist_hash.Delete(true);
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this->closedlist_hash.Delete(true);
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for (const auto& pair : this->openlist_hash) {
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free(pair.second);
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}
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this->openlist_hash.clear();
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for (const auto& pair : this->closedlist_hash) {
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free(pair.second);
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}
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this->closedlist_hash.clear();
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#ifdef AYSTAR_DEBUG
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printf("[AyStar] Memory free'd\n");
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#endif
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@ -225,8 +238,15 @@ void AyStar::Clear()
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* the hash. */
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this->openlist_queue.Clear(false);
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/* Clean the hashes */
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this->openlist_hash.Clear(true);
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this->closedlist_hash.Clear(true);
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for (const auto& pair : this->openlist_hash) {
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free(pair.second);
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}
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this->openlist_hash.clear();
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for (const auto& pair : this->closedlist_hash) {
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free(pair.second);
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}
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this->closedlist_hash.clear();
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#ifdef AYSTAR_DEBUG
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printf("[AyStar] Cleared AyStar\n");
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@ -292,9 +312,12 @@ void AyStar::AddStartNode(AyStarNode *start_node, uint g)
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*/
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void AyStar::Init(Hash_HashProc hash, uint num_buckets)
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{
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MemSetT(&neighbours, 0);
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MemSetT(&openlist_queue, 0);
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/* Allocated the Hash for the OpenList and ClosedList */
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this->openlist_hash.Init(hash, num_buckets);
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this->closedlist_hash.Init(hash, num_buckets);
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this->openlist_hash.reserve(num_buckets);
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this->closedlist_hash.reserve(num_buckets);
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/* Set up our sorting queue
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* BinaryHeap allocates a block of 1024 nodes
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