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Updated to reach the closest point to the goal when it is not reachable.

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frossi 2000-07-04 18:33:36 +00:00
parent a9b6bb58b3
commit a0369d30a6
1 changed files with 30 additions and 19 deletions
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49
src/pathfinder/astar.cpp
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@ -301,6 +301,7 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
int path_length;
int num_in_close=0;
int mask=UnitMovementMask(unit);
int goal_reachable;
//int base_mask=mask&~(MapFieldLandUnit|MapFieldAirUnit|MapFieldSeaUnit);
Unit* goal;
static int xoffset[]={ 0,-1,+1, 0, -1,+1,-1,+1 };
@ -316,7 +317,7 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
x=unit->X;
y=unit->Y;
r=unit->Command.Data.Move.Range;
i=0;
goal_reachable=0;
// Let's first mark goal
if(unit->Command.Data.Move.Goal) {
goal=unit->Command.Data.Move.Goal;
@ -351,28 +352,31 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
if(num_in_close<Threshold) {
CloseSet[num_in_close++]=eo;
}
i=1;
goal_reachable=1;
}
}
}
if(i) {
eo=x*TheMap.Width+y;
// it is quite important to start from 1 rather than 0, because we use
// 0 as a way to represent nodes that we have not visited yet.
AStarMatrix[eo].CostFromStart=1;
best_cost_from_start=1;
best_cost_to_goal=AStarCosts(x,y,gx,gy);
best_x=x;
best_y=y;
// place start point in open
AStarAddNode(x,y,eo,best_cost_to_goal+1);
if(num_in_close<Threshold) {
CloseSet[num_in_close++]=OpenSet[0].O;
}
} else {
AStarCleanUp(num_in_close);
return -2;
// the following test is removed, we path find even if the goal is not
// directly reachable.
// if(goal_reachable) {
eo=x*TheMap.Width+y;
// it is quite important to start from 1 rather than 0, because we use
// 0 as a way to represent nodes that we have not visited yet.
AStarMatrix[eo].CostFromStart=1;
best_cost_from_start=1;
best_cost_to_goal=AStarCosts(x,y,gx,gy);
best_x=x;
best_y=y;
// place start point in open
AStarAddNode(x,y,eo,best_cost_to_goal+1);
if(num_in_close<Threshold) {
CloseSet[num_in_close++]=OpenSet[0].O;
}
// } else {
// AStarCleanUp(num_in_close);
// return -2;
// }
counter=TheMap.Width*TheMap.Height; // how many tries
for( ;; ) {
@ -485,6 +489,13 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
break;
}
}
// if the goal was not reachable, we replace it by the best point
// this will speed up next path finding
if(!goal_reachable) {
unit->Command.Data.Move.Goal=0;
unit->Command.Data.Move.DX=ex;
unit->Command.Data.Move.DY=ey;
}
// now we need to backtrack
path_length=0;
x=unit->X;