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new implementation of pathfinding. Works, but need clean up

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gus 2014-01-26 21:26:19 +01:00
parent 707e579dfe
commit 7cb47aa635
2 changed files with 108 additions and 7 deletions
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5
apps/openmw/mwmechanics/aifollow.cpp
View file

@ -104,11 +104,6 @@ bool MWMechanics::AiFollow::execute (const MWWorld::Ptr& actor,float duration)
return false;
}
int MWMechanics::AiFollow::getTypeId() const
{
return 3;
}
std::string MWMechanics::AiFollow::getFollowedActor()
{
return mActorId;

110
apps/openmw/mwmechanics/pathfinding.cpp
View file

@ -6,6 +6,7 @@
#include "OgreMath.h"
#include <boost/graph/dijkstra_shortest_paths.hpp>
#include <map>
namespace
{
@ -132,6 +133,111 @@ namespace
}
}
namespace
{
struct Edge
{
int destination;
float cost;
};
struct Node
{
int label;
std::vector<Edge> edges;
int parent;//used in pathfinding
};
std::list<ESM::Pathgrid::Point> reconstructPath(const std::vector<Node>& graph,const ESM::Pathgrid* pathgrid, int lastNode,float xCell, float yCell)
{
std::list<ESM::Pathgrid::Point> path;
while(graph[lastNode].parent != -1)
{
//std::cout << "not empty" << xCell;
ESM::Pathgrid::Point pt = pathgrid->mPoints[lastNode];
pt.mX += xCell;
pt.mY += yCell;
path.push_front(pt);
lastNode = graph[lastNode].parent;
}
return path;
}
std::list<ESM::Pathgrid::Point> buildPath2(const ESM::Pathgrid* pathgrid,int start,int goal,float xCell = 0, float yCell = 0)
{
std::vector<Node> graph;
for(unsigned int i = 0; i < pathgrid->mPoints.size(); i++)
{
Node node;
node.label = i;
node.parent = -1;
graph.push_back(node);
}
for(unsigned int i = 0; i < pathgrid->mEdges.size(); i++)
{
Edge edge;
edge.destination = pathgrid->mEdges[i].mV1;
edge.cost = distance(pathgrid->mPoints[pathgrid->mEdges[i].mV0],pathgrid->mPoints[pathgrid->mEdges[i].mV1]);
graph[pathgrid->mEdges[i].mV0].edges.push_back(edge);
edge.destination = pathgrid->mEdges[i].mV0;
graph[pathgrid->mEdges[i].mV1].edges.push_back(edge);
}
std::vector<float> g_score(pathgrid->mPoints.size(),-1.);
std::vector<float> f_score(pathgrid->mPoints.size(),-1.);
g_score[start] = 0;
f_score[start] = distance(pathgrid->mPoints[start],pathgrid->mPoints[goal]);
std::list<int> openset;
std::list<int> closedset;
openset.push_back(start);
int current = -1;
while(!openset.empty())
{
current = openset.front();
openset.pop_front();
if(current == goal) break;
closedset.push_back(current);
for(int j = 0;j<graph[current].edges.size();j++)
{
//int next = graph[current].edges[j].destination
if(std::find(closedset.begin(),closedset.end(),graph[current].edges[j].destination) == closedset.end())
{
int dest = graph[current].edges[j].destination;
float tentative_g = g_score[current] + graph[current].edges[j].cost;
bool isInOpenSet = std::find(openset.begin(),openset.end(),dest) != openset.end();
if(!isInOpenSet
|| tentative_g < g_score[dest] )
{
graph[dest].parent = current;
g_score[dest] = tentative_g;
f_score[dest] = tentative_g + distance(pathgrid->mPoints[dest],pathgrid->mPoints[goal]);
if(!isInOpenSet)
{
std::list<int>::iterator it = openset.begin();
for(it = openset.begin();it!= openset.end();it++)
{
if(g_score[*it]>g_score[dest])
break;
}
openset.insert(it,dest);
}
}
}
}
}
return reconstructPath(graph,pathgrid,current,xCell,yCell);
}
}
namespace MWMechanics
{
PathFinder::PathFinder()
@ -183,9 +289,9 @@ namespace MWMechanics
if(startNode != -1 && endNode != -1)
{
if(!mIsGraphConstructed) buildPathgridGraph(pathGrid, xCell, yCell);
//if(!mIsGraphConstructed) buildPathgridGraph(pathGrid, xCell, yCell);
mPath = findPath(startNode, endNode, mGraph);
mPath = buildPath2(pathGrid,startNode,endNode,xCell,yCell);//findPath(startNode, endNode, mGraph);
if(!mPath.empty())
{