Added AStar pathfinding.

It can be removed easily by undefing USE_ASTAR_PATHS. See AStar thread in mod discussion forum for changes. git-svn-id: https://ja2svn.mooo.com/source/ja2/trunk/GameSource/ja2_v1.13/Build@1331 3b4a5df2-a311-0410-b5c6-a8a6f20db521
2026-07-22 13:40:22 +02:00 · 2007-09-08 03:18:32 +00:00
parent 10208ca5af
commit c099151b37
3 changed files with 1699 additions and 1 deletions
@@ -10,6 +10,176 @@
 #define _PATHAI_H
 #include "isometric utils.h"

+
+#define USE_ASTAR_PATHS
+
+#ifdef USE_ASTAR_PATHS
+
+namespace ASTAR {
+#include "BinaryHeap.hpp"
+#include <vector>
+
+enum eAStar
+{
+	AStar_Init,
+	AStar_Open,
+	AStar_Closed
+};
+
+class AStar_Data
+{
+public:
+	AStar_Data()
+	{
+		cost = f = APCost = direction = prevCost = 0;
+		extraGCoverCost = -1;//-1 means we have not stopped at this node
+		wasBackwards = false;
+		status = AStar_Init;
+		parent = GridNode(-1,-1);
+	};
+	//no H
+	int			cost;//G
+	int			f;//F
+	int			APCost;//the APs spent to get here
+	int			extraGCoverCost;//an extra cost that makes stopping in midpath at a node with little cover worse
+	GridNode	parent;
+	eAStar		status;
+	int			prevCost;
+	bool		wasBackwards;
+	int			direction;
+};
+
+typedef HEAP<int, GridNode>		AStarHeap;
+
+class AStarPathfinder
+{
+public:
+	AStarPathfinder			();
+	static AStarPathfinder&	GetInstance();
+	int				GetPath	(SOLDIERTYPE *s ,
+							INT16 dest,
+							INT8 ubLevel,
+							INT16 usMovementMode,
+							INT8 bCopy,
+							UINT8 fFlags );
+
+private:
+	static	AStarPathfinder* pThis;
+	std::vector<GridNode>		ClosedList;
+	CBinaryHeap<int, GridNode>	OpenHeap;
+
+	int		direction;//current direction
+	int		startDir;
+	int		endDir;
+	int		lastDir;
+	bool	startingLoop;
+
+	SOLDIERTYPE*	pSoldier;
+	INT8	onRooftop;//aka ubLevel, not sure if this bool is logically reversed yet
+	bool	fNonFenceJumper;
+	bool	fNonSwimmer;
+	bool	fPathingForPlayer;
+	bool	fPathAroundPeople;
+	bool	fGoingThroughDoor;
+	int		bOKToAddStructID;
+	int		bLoopState;
+	bool	bWaterToWater;
+	bool	fVisitSpotsOnlyOnce;
+	bool	fCheckedBehind;
+	bool	fTurnBased;
+	bool	fCloseGoodEnough;
+	bool	fContinuousTurnNeeded;
+	bool	fConsiderPersonAtDestAsObstacle;
+	bool	fCopyReachable;
+	bool	fCopyPathCosts;
+
+	int		maxAPBudget;//the gubNPCAPBudget
+	int		mercsMaxAPs;//the merc only has so many points to move with
+	int		movementMode;
+	int		sClosePathLimit;
+
+	int		PATHAI_VISIBLE_DEBUG_Counter;
+
+	//vehicle defined in cpp
+	//#ifdef VEHICLE
+		BOOLEAN fMultiTile;
+		STRUCTURE_FILE_REF * pStructureFileRef;
+	//#endif
+
+	// member variables to prevent passing them around
+	GridNode	StartNode;
+	GridNode	DestNode;
+	GridNode	CurrentNode;
+	GridNode	ParentNode;
+	INT16	ParentNodeIndex;
+	INT16	CurrentNodeIndex;
+
+	AStar_Data	AStarData[WORLD_COLS][WORLD_ROWS];
+
+
+
+
+
+	AStarHeap		AStar	();
+
+	void	ExecuteAStarLogic();
+
+	void	ResetAStarList	();
+
+	int		TerrainCostToAStarG(int const terrainCost);
+	int		CalcG			(int* pPrevCost);
+	int		CalcAP			(int const terrainCost);
+	int		CalcH			();
+	int		CalcGCover		(int const NodeIndex,
+							int const APCost);
+	int		CalcStartingAP	();
+
+			//including THREATTYPE was a pain, so pass by value
+	int		CalcCoverValue	(INT16 sMyGridNo, INT32 iMyThreat, INT32 iMyAPsLeft,
+							INT32 myThreatsiOrigRange, INT16 myThreatssGridNo, SOLDIERTYPE* myThreatspOpponent,
+							INT32 myThreatsiValue, INT32 myThreatsiAPs, INT32 myThreatsiCertainty);
+
+	eAStar	GetAStarStatus	(const GridNode node) const {return AStarData[node.x][node.y].status;};
+	GridNode	GetAStarParent	(const GridNode node) const {return AStarData[node.x][node.y].parent;};
+	int		GetAStarG		(const GridNode node) const {return AStarData[node.x][node.y].cost;};
+	int		GetExtraGCover	(const GridNode node) const {return AStarData[node.x][node.y].extraGCoverCost;};
+	int		GetAStarF		(const GridNode node) const {return AStarData[node.x][node.y].f;};
+	int		GetActionPoints	(const GridNode node) const {return AStarData[node.x][node.y].APCost;};
+	bool	GetLoopState	(const GridNode node) const {return AStarData[node.x][node.y].wasBackwards;};
+	int		GetPrevCost		(const GridNode node) const {return AStarData[node.x][node.y].prevCost;};
+	int		GetDirection	(const GridNode node) const {return AStarData[node.x][node.y].direction;};
+
+	void	SetAStarStatus	(const GridNode node, const eAStar status) {AStarData[node.x][node.y].status = status;};
+	void	SetAStarParent	(const GridNode node, const GridNode parent) {AStarData[node.x][node.y].parent = parent;};
+	void	SetAStarG		(const GridNode node, const int cost) {AStarData[node.x][node.y].cost = cost;};
+	void	SetExtraGCover	(const GridNode node, const int extraGCoverCost) {AStarData[node.x][node.y].extraGCoverCost = extraGCoverCost;};
+	void	SetAStarF		(const GridNode node, const int f) {AStarData[node.x][node.y].f = f;};
+	void	SetActionPoints	(const GridNode node, const int APCost) {AStarData[node.x][node.y].APCost = APCost;};
+	void	SetLoopState	(const GridNode node, const int loopState);
+	void	SetPrevCost		(const GridNode node, const int prevCost) {AStarData[node.x][node.y].prevCost = prevCost;};
+	void	SetDirection	(const GridNode node, const int direction) {AStarData[node.x][node.y].direction = direction;};
+
+	INT16	PythSpacesAway	(GridNode const node1,
+							GridNode const node2);
+	INT16	SpacesAway		(GridNode const node1,
+							GridNode const node2);
+	//bool	IsDiagonal		(GridNode const node1,
+	//						GridNode const node2) {return (abs(node1.x - node2.x) && abs(node1.y - node2.y));};
+	bool	IsDiagonal		(int const direction) {return (direction & 1);};
+	void	InitVehicle		();
+	int		VehicleObstacleCheck();
+	bool	CanTraverse		();
+	bool	IsSomeoneInTheWay();
+	void	IncrementLoop	();
+	void	InitLoop		();
+	bool	ContinueLoop	();
+};
+
+};//end namespace ASTAR
+
+#endif//end #ifdef USE_ASTAR_PATHS
+
+
 BOOLEAN InitPathAI( void );
 void ShutDownPathAI( void );
 INT16 PlotPath( SOLDIERTYPE *pSold, INT16 sDestGridno, INT8 bCopyRoute, INT8 bPlot, INT8 bStayOn, UINT16 usMovementMode, INT8 bStealth, INT8 bReverse , INT16 sAPBudget);
@@ -19,7 +19,30 @@

 #define WORLD_BASE_HEIGHT			0
 #define WORLD_CLIFF_HEIGHT		80
- 
+
+
+ //ADB I'm tired of seeing a 5 digit number when looking at something's gridno.
+//I need to see an x and y.	I created this class for the AStar,
+//but moved it here as you can convert a regular INT16 gridno to a GridNode then print it out for debugging.
+//Don't switch between the 2 types too often, IntToGridNode is especially slow
+class GridNode
+{
+public:
+	GridNode	() {x = -1; y = -1;};
+	GridNode	(INT16 const loc) {this->x = loc % WORLD_COLS; this->y = loc / WORLD_COLS;};
+	GridNode	(int x, int y) {GridNode::x = x; GridNode::y = y;};
+	GridNode	operator + (const GridNode& point) const {return GridNode(this->x + point.x, this->y + point.y);};
+	bool		operator == (const GridNode& point) const {return this->x == point.x && this->y == point.y;};
+	bool		operator != (const GridNode& point) const {return !(*this == point);};
+	INT16		GridNodeToInt() {return (this->x + this->y * WORLD_COLS);};
+	void		IntToGridNode(INT16 const loc) {this->x = loc % WORLD_COLS; this->y = loc / WORLD_COLS;};
+	bool		isInWorld() {return (this->x < WORLD_COLS && this->x >= 0 &&
+									this->y < WORLD_ROWS && this->y >= 0);};
+	int			x;
+	int			y;
+};
+
+
 //A macro that actually memcpy's over data and increments the pointer automatically
 //based on the size.  Works like a FileRead except with a buffer instead of a file pointer.
 //Used by LoadWorld() and child functions.