Merge remote-tracking branch 'gus/AI'

apps/openmw/mwmechanics/pathfinding.cpp

@@ -1,5 +1,5 @@
 #include "pathfinding.hpp"
-#include <boost/graph/astar_search.hpp>
+#include <boost/graph/dijkstra_shortest_paths.hpp>
 #include <boost/graph/adjacency_list.hpp>
 #include "boost/tuple/tuple.hpp"
 #include "OgreMath.h"
@@ -55,7 +55,7 @@ namespace
 
     struct found_path {};
 
-    class goalVisited : public boost::default_astar_visitor
+    /*class goalVisited : public boost::default_astar_visitor
     {
     public:
         goalVisited(PointID goal) : mGoal(goal) {}
@@ -69,7 +69,7 @@ namespace
         PointID mGoal;
     };
 
-    class DistanceHeuristic : public boost::astar_heuristic <PathGridGraph, float>
+    class DistanceHeuristic : public boost::atasr_heuristic <PathGridGraph, float>
     {
     public:
         DistanceHeuristic(const PathGridGraph & l, PointID goal)
@@ -87,11 +87,23 @@ namespace
     private:
         const PathGridGraph & mGraph;
         PointID mGoal;
-    };
-}
+    };*/
+	
+	class goalVisited : public boost::default_dijkstra_visitor
+	{
+	public:
+		goalVisited(PointID goal) : mGoal(goal) {}
+
+		void examine_vertex(PointID u, const PathGridGraph g)
+		{
+			if(u == mGoal)
+				throw found_path();
+		}
+	private:
+		PointID mGoal;
+	};
+
 
-namespace MWMechanics
-{
     PathGridGraph buildGraph(const ESM::Pathgrid* pathgrid,float xCell = 0,float yCell = 0)
     {
         PathGridGraph graph;
@@ -126,13 +138,12 @@ namespace MWMechanics
         std::list<ESM::Pathgrid::Point> shortest_path;
 
         try {
-            boost::astar_search
+            boost::dijkstra_shortest_paths
                 (
                 graph,
                 start,
-                DistanceHeuristic(graph,end),
                 boost::predecessor_map(&p[0]).distance_map(&d[0]).visitor(goalVisited(end))//.weight_map(boost::get(&Edge::distance, graph))
-                );
+				);
 
         } catch(found_path fg) {
             for(PointID v = end;; v = p[v]) {
@@ -146,6 +157,10 @@ namespace MWMechanics
 
     //end of helpers functions
 
+}
+
+namespace MWMechanics
+{
     PathFinder::PathFinder()
     {
         mIsPathConstructed = false;