OpenTTD Source: src/pathfinder/npf/aystar.h Source File

OpenTTD Source 14.1

aystar.h
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1 /*
2 * This file is part of OpenTTD.
3 * OpenTTD is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, version 2.
4 * OpenTTD is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
5 * See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with OpenTTD. If not, see <http://www.gnu.org/licenses/>.
6 */
7
16 #ifndef AYSTAR_H
17 #define AYSTAR_H
18
19 #include "queue.h"
20 #include "../../tile_type.h"
21 #include "../../track_type.h"
22
23 static const int AYSTAR_DEF_MAX_SEARCH_NODES = 10000;
24
26 enum AystarStatus {
27 AYSTAR_FOUND_END_NODE,
28 AYSTAR_EMPTY_OPENLIST,
29 AYSTAR_STILL_BUSY,
30 AYSTAR_NO_PATH,
31 AYSTAR_LIMIT_REACHED,
32 AYSTAR_DONE,
33 };
34
35 static const int AYSTAR_INVALID_NODE = -1;
36
38 struct AyStarNode {
39 TileIndex tile;
40 Trackdir direction;
41 uint user_data[2];
42 };
43
45 struct PathNode {
46 AyStarNode node;
47 PathNode *parent;
48 };
49
55 struct OpenListNode {
56 int g;
57 PathNode path;
58 };
59
60 bool CheckIgnoreFirstTile(const PathNode *node);
61
62 struct AyStar;
63
78 typedef int32_t AyStar_EndNodeCheck(const AyStar *aystar, const OpenListNode *current);
79
86 typedef int32_t AyStar_CalculateG(AyStar *aystar, AyStarNode *current, OpenListNode *parent);
87
93 typedef int32_t AyStar_CalculateH(AyStar *aystar, AyStarNode *current, OpenListNode *parent);
94
100 typedef void AyStar_GetNeighbours(AyStar *aystar, OpenListNode *current);
101
106 typedef void AyStar_FoundEndNode(AyStar *aystar, OpenListNode *current);
107
116 struct AyStar {
117 /* These fields should be filled before initing the AyStar, but not changed
118 * afterwards (except for user_data and user_path)! (free and init again to change them) */
119
120 /* These should point to the application specific routines that do the
121 * actual work */
122 AyStar_CalculateG *CalculateG;
123 AyStar_CalculateH *CalculateH;
124 AyStar_GetNeighbours *GetNeighbours;
125 AyStar_EndNodeCheck *EndNodeCheck;
126 AyStar_FoundEndNode *FoundEndNode;
127
128 /* These are completely untouched by AyStar, they can be accessed by
129 * the application specific routines to input and output data.
130 * user_path should typically contain data about the resulting path
131 * afterwards, user_target should typically contain information about
132 * what you where looking for, and user_data can contain just about
133 * everything */
134 void *user_path;
135 void *user_target;
136 void *user_data;
137
138 byte loops_per_tick;
139 uint max_path_cost;
140 uint max_search_nodes;
141
142 /* These should be filled with the neighbours of a tile by
143 * GetNeighbours */
144 AyStarNode neighbours[12];
145 byte num_neighbours;
146
147 void Init(Hash_HashProc hash, uint num_buckets);
148
149 /* These will contain the methods for manipulating the AyStar. Only
150 * Main() should be called externally */
151 void AddStartNode(AyStarNode *start_node, uint g);
152 int Main();
153 int Loop();
154 void Free();
155 void Clear();
156 void CheckTile(AyStarNode *current, OpenListNode *parent);
157
158 protected:
159 Hash closedlist_hash;
160 BinaryHeap openlist_queue;
161 Hash openlist_hash;
162
163 void OpenListAdd(PathNode *parent, const AyStarNode *node, int f, int g);
164 OpenListNode *OpenListIsInList(const AyStarNode *node);
165 OpenListNode *OpenListPop();
166
167 void ClosedListAdd(const PathNode *node);
168 PathNode *ClosedListIsInList(const AyStarNode *node);
169 };
170
171 #endif /* AYSTAR_H */
AyStar::openlist_queue
BinaryHeap openlist_queue
The open queue.
Definition: aystar.h:160
AYSTAR_DONE
@ AYSTAR_DONE
Not an end-tile, or wrong direction.
Definition: aystar.h:32
AYSTAR_LIMIT_REACHED
@ AYSTAR_LIMIT_REACHED
The AyStar::max_search_nodes limit has been reached, aborting search.
Definition: aystar.h:31
AyStar::closedlist_hash
Hash closedlist_hash
The actual closed list.
Definition: aystar.h:159
AYSTAR_EMPTY_OPENLIST
@ AYSTAR_EMPTY_OPENLIST
All items are tested, and no path has been found.
Definition: aystar.h:28
AyStar::ClosedListIsInList
PathNode * ClosedListIsInList(const AyStarNode *node)
This looks in the hash whether a node exists in the closed list.
Definition: aystar.cpp:35
StrongType::Typedef< uint32_t, struct TileIndexTag, StrongType::Compare, StrongType::Integer, StrongType::Compatible< int32_t >, StrongType::Compatible< int64_t > >
BinaryHeap
Binary Heap.
Definition: queue.h:29
AyStar::Main
int Main()
This is the function you call to run AyStar.
Definition: aystar.cpp:245
AyStar::OpenListPop
OpenListNode * OpenListPop()
Gets the best node from the open list.
Definition: aystar.cpp:68
AyStar::Init
void Init(Hash_HashProc hash, uint num_buckets)
Initialize an AyStar.
Definition: aystar.cpp:293
AYSTAR_NO_PATH
@ AYSTAR_NO_PATH
No path to the goal was found.
Definition: aystar.h:30
AyStar_CalculateH
int32_t AyStar_CalculateH(AyStar *aystar, AyStarNode *current, OpenListNode *parent)
Calculate the H-value for the AyStar algorithm.
Definition: aystar.h:93
AyStar_GetNeighbours
void AyStar_GetNeighbours(AyStar *aystar, OpenListNode *current)
This function requests the tiles around the current tile and put them in #neighbours.
Definition: aystar.h:100
AyStar::ClosedListAdd
void ClosedListAdd(const PathNode *node)
This adds a node to the closed list.
Definition: aystar.cpp:45
AyStar::Free
void Free()
This function frees the memory it allocated.
Definition: aystar.cpp:206
AyStar::openlist_hash
Hash openlist_hash
An extra hash to speed up the process of looking up an element in the open list.
Definition: aystar.h:161
PathNode
A path of nodes.
Definition: aystar.h:45
AyStar::loops_per_tick
byte loops_per_tick
How many loops are there called before Main() gives control back to the caller. 0 = until done.
Definition: aystar.h:138
AystarStatus
AystarStatus
Return status of AyStar methods.
Definition: aystar.h:26
AYSTAR_DEF_MAX_SEARCH_NODES
static const int AYSTAR_DEF_MAX_SEARCH_NODES
Reference limit for AyStar::max_search_nodes.
Definition: aystar.h:23
AYSTAR_STILL_BUSY
@ AYSTAR_STILL_BUSY
Some checking was done, but no path found yet, and there are still items left to try.
Definition: aystar.h:29
AyStar::OpenListIsInList
OpenListNode * OpenListIsInList(const AyStarNode *node)
Check whether a node is in the open list.
Definition: aystar.cpp:58
AyStarNode
Node in the search.
Definition: aystar.h:38
queue.h
OpenListNode
Internal node.
Definition: aystar.h:55
AyStar::Clear
void Clear()
This function make the memory go back to zero.
Definition: aystar.cpp:222
AyStar_EndNodeCheck
int32_t AyStar_EndNodeCheck(const AyStar *aystar, const OpenListNode *current)
Check whether the end-tile is found.
Definition: aystar.h:78
AYSTAR_FOUND_END_NODE
@ AYSTAR_FOUND_END_NODE
An end node was found.
Definition: aystar.h:27
AyStar::Loop
int Loop()
This function is the core of AyStar.
Definition: aystar.cpp:161
AyStar
AyStar search algorithm struct.
Definition: aystar.h:116
PathNode::parent
PathNode * parent
The parent of this item.
Definition: aystar.h:47
AyStar::OpenListAdd
void OpenListAdd(PathNode *parent, const AyStarNode *node, int f, int g)
Adds a node to the open list.
Definition: aystar.cpp:83
AyStar_FoundEndNode
void AyStar_FoundEndNode(AyStar *aystar, OpenListNode *current)
If the End Node is found, this function is called.
Definition: aystar.h:106
AYSTAR_INVALID_NODE
static const int AYSTAR_INVALID_NODE
Item is not valid (for example, not walkable).
Definition: aystar.h:35
Hash_HashProc
uint Hash_HashProc(TileIndex tile, Trackdir dir)
Generates a hash code from the given key pair.
Definition: queue.h:73
AyStar::max_path_cost
uint max_path_cost
If the g-value goes over this number, it stops searching, 0 = infinite.
Definition: aystar.h:139
Trackdir
Trackdir
Enumeration for tracks and directions.
Definition: track_type.h:67
AyStar::AddStartNode
void AddStartNode(AyStarNode *start_node, uint g)
Adds a node from where to start an algorithm.
Definition: aystar.cpp:280
Hash
Definition: queue.h:74
AyStar_CalculateG
int32_t AyStar_CalculateG(AyStar *aystar, AyStarNode *current, OpenListNode *parent)
Calculate the G-value for the AyStar algorithm.
Definition: aystar.h:86
AyStar::max_search_nodes
uint max_search_nodes
The maximum number of nodes that will be expanded, 0 = infinite.
Definition: aystar.h:140
AyStar::CheckTile
void CheckTile(AyStarNode *current, OpenListNode *parent)
Checks one tile and calculate its f-value.
Definition: aystar.cpp:99