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Reduce memory usage.

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frossi 2000-04-17 08:59:57 +00:00
parent b41a39f56a
commit e18421581b
1 changed files with 25 additions and 29 deletions
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54
pathfinder/astar.cpp
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@ -33,7 +33,6 @@ typedef struct _node_ {
short Direction; /// Direction for trace back
short InGoal; /// is this point in the goal
int CostFromStart; /// Real costs to reach this point
int CostToGoal; /// Aproximated costs until goal
} Node;
typedef struct _open_ {
@ -291,11 +290,12 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
int ey;
int dx,dy;
int eo,gx,gy,cx,cy,sx;
int b_x,b_y,b_d,b_c;
int best_x,best_y,best_cost_to_goal,best_cost_from_start;
int r;
int shortest;
int counter;
int new_cost;
int cost_to_goal;
//int last_dir;
int path_length;
int num_in_close=0;
@ -356,19 +356,18 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
}
if(i) {
eo=x*TheMap.Width+y;
AStarMatrix[eo].CostToGoal=AStarCosts(x,y,gx,gy);
// 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,AStarMatrix[eo].CostFromStart+1);
AStarAddNode(x,y,eo,best_cost_to_goal+1);
if(num_in_close<Threshold) {
CloseSet[num_in_close++]=OpenSet[0].O;
}
b_c=1;
b_d=AStarMatrix[eo].CostToGoal;
b_x=x;
b_y=y;
} else {
AStarCleanUp(num_in_close);
return -2;
@ -383,6 +382,7 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
x=OpenSet[shortest].X;
y=OpenSet[shortest].Y;
o=OpenSet[shortest].O;
cost_to_goal=OpenSet[shortest].Costs-AStarMatrix[o].CostFromStart;
AStarRemoveMinimum(shortest);
@ -403,22 +403,23 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
// Select a "good" point from the open set.
// Nearest point to goal.
DebugLevel0(__FUNCTION__": %Zd way too long\n",UnitNumber(unit));
ex=b_x;
ey=b_y;
ex=best_x;
ey=best_y;
}
// update best point so far
if(cost_to_goal<best_cost_to_goal
|| (cost_to_goal==best_cost_to_goal
&& AStarMatrix[o].CostFromStart<best_cost_from_start)) {
best_cost_to_goal=cost_to_goal;
best_cost_from_start=AStarMatrix[o].CostFromStart;
best_x=x;
best_y=y;
}
DebugLevel3("Best point in Open Set: %d %d (%d)\n",x,y,OpenSetSize);
//
// Generate successors of this node.
//
if(AStarMatrix[o].CostToGoal<b_d
|| (AStarMatrix[o].CostToGoal==b_d
&& AStarMatrix[o].CostFromStart<b_c)) {
b_d=AStarMatrix[o].CostToGoal;
b_c=AStarMatrix[o].CostFromStart;
b_x=x;
b_y=y;
}
DebugLevel3("Best point in Open Set: %d %d (%d)\n",x,y,OpenSetSize);
for( i=0; i<8; ++i ) {
ex=x+xoffset[i];
ey=y+yoffset[i];
@ -445,11 +446,9 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
if(AStarMatrix[eo].CostFromStart==0) {
// we are sure the current node has not been already visited
AStarMatrix[eo].CostFromStart=new_cost;
AStarMatrix[eo].CostToGoal=AStarCosts(ex,ey,gx,gy);
AStarMatrix[eo].Direction=i;
AStarAddNode(ex,ey,eo,
AStarMatrix[eo].CostFromStart+
AStarMatrix[eo].CostToGoal);
AStarMatrix[eo].CostFromStart+AStarCosts(ex,ey,gx,gy));
// we add the point to the close set
if(num_in_close<Threshold) {
CloseSet[num_in_close++]=eo;
@ -458,27 +457,24 @@ local int AStarFindPath(Unit* unit,int* pxd,int* pyd)
// Already visited node, but we have here a better path
// I know, it's redundant (but simpler like this)
AStarMatrix[eo].CostFromStart=new_cost;
// CostToGoal has not to be updated has it depends only on the
// position, not on the path
// AStarMatrix[eo].CostToGoal=AStarCosts(ex,ey,gx,gy);
AStarMatrix[eo].Direction=i;
// this point might be already in the OpenSet
j=AStarFindNode(eo);
if(j==-1) {
AStarAddNode(ex,ey,eo,
AStarMatrix[eo].CostFromStart+
AStarMatrix[eo].CostToGoal);
AStarCosts(ex,ey,gx,gy));
} else {
AStarReplaceNode(j,AStarMatrix[eo].CostFromStart+
AStarMatrix[eo].CostToGoal);
AStarCosts(ex,ey,gx,gy));
}
// we don't have to add this point to the close set
}
}
if( OpenSetSize<=0 ) { // no new nodes generated
// we go to the best node
ex=b_x;
ey=b_y;
ex=best_x;
ey=best_y;
if(ex==x && ey==y) {
DebugLevel3(__FUNCTION__": %Zd unreachable\n",UnitNumber(unit));
AStarCleanUp(num_in_close);