diff --git a/Assets/Models/Maps/222/222.lua b/Assets/Models/Maps/222/222.lua index e2d8b3e..be3015c 100644 --- a/Assets/Models/Maps/222/222.lua +++ b/Assets/Models/Maps/222/222.lua @@ -16,18 +16,19 @@ resourceDeposits = { {id = ResourceId.RESOURCE, pos = {x = 50, y = 0, z = 0}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, initAmmount = 30000}, }, units = { - {id = UnitId.TANK, pos = {x = -50.000000, y = 0.000000, z = -50.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, - --{id = UnitId.ENGINEER, pos = {x = -10.000000, y = 0.000000, z = -10.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + {id = UnitId.ENGINEER, pos = {x = -10.000000, y = 0.000000, z = -10.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.TANK, pos = {x = -50.000000, y = 0.000000, z = -50.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, --{id = UnitId.POINT_DEFENSE, pos = {x = 0.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, } }, { resourceDeposits = {}, units = { - {id = UnitId.WAR_MECH, pos = {x = 3.000000, y = 0.000000, z = 12.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, - {id = UnitId.TANK, pos = {x = 0.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, - {id = UnitId.POINT_DEFENSE, pos = {x = 0.000000, y = 0.000000, z = 20.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100}, - {id = UnitId.SCOUT_TRANSPORT, pos = {x = 40.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.WAR_MECH, pos = {x = 3.000000, y = 0.000000, z = 12.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.TANK, pos = {x = 0.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.POINT_DEFENSE, pos = {x = 0.000000, y = 0.000000, z = 20.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100}, + --{id = UnitId.SCOUT_TRANSPORT, pos = {x = 40.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + {id = UnitId.WAR_MECH, pos = {x = 45.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, {id = UnitId.ENGINEER, pos = {x = 45.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, --{id = UnitId.EXTRACTOR, pos = {x = 30.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100}, --{id = UnitId.LAB, pos = {x = 50.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100}, diff --git a/Assets/Models/Maps/aaa/aaa.lua 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a/Assets/Models/Maps/water/water.lua +++ b/Assets/Models/Maps/water/water.lua @@ -27,6 +27,19 @@ units = { units = { {id = UnitId.WAR_MECH, pos = {x = 300.000000, y = 0.000000, z = 450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, {id = UnitId.TANK, pos = {x = -300.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -275.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -250.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -225.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -200.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -175.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -150.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -125.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -100.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -75.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -50.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = -25.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = 0.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, + --{id = UnitId.ARTILLERY, pos = {x = 25.000000, y = 0.000000, z = -450.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, --{id = UnitId.TANK, pos = {x = 400.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, --{id = UnitId.POINT_DEFENSE, pos = {x = 400.000000, y = 0.000000, z = 20.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}, buildStatus = 100}, --{id = UnitId.SCOUT_TRANSPORT, pos = {x = 400.000000, y = 0.000000, z = 0.000000}, rot = {w = 1.000000, x = 0.000000, y = 0.000000, z = 0.000000}}, @@ -48,36428 +61,36428 @@ units = { }, numCells = 36422, cells = { -{type = 0, pos = {x = -490.000000, y = 0.000000, z = -490.000000}, numEdges = 3, edges = {{srcCellId = 0, destCellId = 1, weight = 10}, 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y = -7.362653, z = 161.000000}, numEdges = 10, edges = {{srcCellId = 36397, destCellId = 13282, weight = 2000}, {srcCellId = 36397, destCellId = 36398, weight = 2000}, {srcCellId = 36397, destCellId = 36393, weight = 2000}, {srcCellId = 36397, destCellId = 36400, weight = 2000}, {srcCellId = 36397, destCellId = 36351, weight = 2000}, {srcCellId = 36397, destCellId = 36420, weight = 2000}, {srcCellId = 36397, destCellId = 36345, weight = 2000}, {srcCellId = 36397, destCellId = 36356, weight = 2000}, {srcCellId = 36397, destCellId = 36418, weight = 2000}, {srcCellId = 36397, destCellId = 36421, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 42.000000, y = -14.362653, z = 161.000000}, numEdges = 8, edges = {{srcCellId = 36398, destCellId = 0, weight = 2000}, {srcCellId = 36398, destCellId = 36399, weight = 2000}, {srcCellId = 36398, destCellId = 36394, weight = 2000}, {srcCellId = 36398, destCellId = 36401, weight = 2000}, {srcCellId = 36398, destCellId = 36352, weight = 2000}, {srcCellId = 36398, destCellId = 36346, weight = 2000}, {srcCellId = 36398, destCellId = 36357, weight = 2000}, {srcCellId = 36398, destCellId = 36419, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 42.000000, y = -21.362652, z = 161.000000}, numEdges = 5, edges = {{srcCellId = 36399, destCellId = 1, weight = 2000}, {srcCellId = 36399, destCellId = 36395, weight = 2000}, {srcCellId = 36399, destCellId = 36353, weight = 2000}, {srcCellId = 36399, destCellId = 36347, weight = 2000}, {srcCellId = 36399, destCellId = 36358, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 49.000000, y = -7.362653, z = 161.000000}, numEdges = 9, edges = {{srcCellId = 36400, destCellId = 13283, weight = 2000}, {srcCellId = 36400, destCellId = 36401, weight = 2000}, {srcCellId = 36400, destCellId = 36397, weight = 2000}, {srcCellId = 36400, destCellId = 36402, weight = 2000}, {srcCellId = 36400, destCellId = 36356, weight = 2000}, {srcCellId = 36400, destCellId = 36421, weight = 2000}, {srcCellId = 36400, destCellId = 36351, weight = 2000}, {srcCellId = 36400, destCellId = 36359, weight = 2000}, {srcCellId = 36400, destCellId = 36420, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 49.000000, y = -14.362653, z = 161.000000}, numEdges = 5, edges = {{srcCellId = 36401, destCellId = 0, weight = 2000}, {srcCellId = 36401, destCellId = 36398, weight = 2000}, {srcCellId = 36401, destCellId = 36357, weight = 2000}, {srcCellId = 36401, destCellId = 36352, weight = 2000}, {srcCellId = 36401, destCellId = 36360, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 56.000000, y = -7.362653, z = 161.000000}, numEdges = 6, edges = {{srcCellId = 36402, destCellId = 13284, weight = 2000}, {srcCellId = 36402, destCellId = 36400, weight = 2000}, {srcCellId = 36402, destCellId = 36359, weight = 2000}, {srcCellId = 36402, destCellId = 36356, weight = 2000}, {srcCellId = 36402, destCellId = 36361, weight = 2000}, {srcCellId = 36402, destCellId = 36421, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = -14.000000, y = -7.362653, z = 168.000000}, numEdges = 5, edges = {{srcCellId = 36403, destCellId = 13416, weight = 2000}, {srcCellId = 36403, destCellId = 36404, weight = 2000}, {srcCellId = 36403, destCellId = 36364, weight = 2000}, {srcCellId = 36403, destCellId = 36363, weight = 2000}, {srcCellId = 36403, destCellId = 36366, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = -7.000000, y = -7.362653, z = 168.000000}, numEdges = 6, edges = {{srcCellId = 36404, destCellId = 13417, weight = 2000}, {srcCellId = 36404, destCellId = 36403, weight = 2000}, {srcCellId = 36404, destCellId = 36405, weight = 2000}, {srcCellId = 36404, destCellId = 36366, weight = 2000}, {srcCellId = 36404, destCellId = 36364, weight = 2000}, {srcCellId = 36404, destCellId = 36369, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 0.000000, y = -7.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36405, destCellId = 13418, weight = 2000}, {srcCellId = 36405, destCellId = 36406, weight = 2000}, {srcCellId = 36405, destCellId = 36404, weight = 2000}, {srcCellId = 36405, destCellId = 36407, weight = 2000}, {srcCellId = 36405, destCellId = 36369, weight = 2000}, {srcCellId = 36405, destCellId = 36366, weight = 2000}, {srcCellId = 36405, destCellId = 36373, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 0.000000, y = -14.362653, z = 168.000000}, numEdges = 5, edges = {{srcCellId = 36406, destCellId = 0, weight = 2000}, {srcCellId = 36406, destCellId = 36408, weight = 2000}, {srcCellId = 36406, destCellId = 36370, weight = 2000}, {srcCellId = 36406, destCellId = 36367, weight = 2000}, {srcCellId = 36406, destCellId = 36374, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 7.000000, y = -7.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36407, destCellId = 13419, weight = 2000}, {srcCellId = 36407, destCellId = 36408, weight = 2000}, {srcCellId = 36407, destCellId = 36405, weight = 2000}, {srcCellId = 36407, destCellId = 36410, weight = 2000}, {srcCellId = 36407, destCellId = 36373, weight = 2000}, {srcCellId = 36407, destCellId = 36369, weight = 2000}, {srcCellId = 36407, destCellId = 36378, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 7.000000, y = -14.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36408, destCellId = 0, weight = 2000}, {srcCellId = 36408, destCellId = 36409, weight = 2000}, {srcCellId = 36408, destCellId = 36406, weight = 2000}, {srcCellId = 36408, destCellId = 36411, weight = 2000}, {srcCellId = 36408, destCellId = 36374, weight = 2000}, {srcCellId = 36408, destCellId = 36370, weight = 2000}, {srcCellId = 36408, destCellId = 36379, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 7.000000, y = -21.362652, z = 168.000000}, numEdges = 5, edges = {{srcCellId = 36409, destCellId = 1, weight = 2000}, {srcCellId = 36409, destCellId = 36412, weight = 2000}, {srcCellId = 36409, destCellId = 36375, weight = 2000}, {srcCellId = 36409, destCellId = 36371, weight = 2000}, {srcCellId = 36409, destCellId = 36380, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 14.000000, y = -7.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36410, destCellId = 13420, weight = 2000}, {srcCellId = 36410, destCellId = 36411, weight = 2000}, {srcCellId = 36410, destCellId = 36407, weight = 2000}, {srcCellId = 36410, destCellId = 36413, weight = 2000}, {srcCellId = 36410, destCellId = 36378, weight = 2000}, {srcCellId = 36410, destCellId = 36373, weight = 2000}, {srcCellId = 36410, destCellId = 36383, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 14.000000, y = -14.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36411, destCellId = 0, weight = 2000}, {srcCellId = 36411, destCellId = 36412, weight = 2000}, {srcCellId = 36411, destCellId = 36408, weight = 2000}, {srcCellId = 36411, destCellId = 36414, weight = 2000}, {srcCellId = 36411, destCellId = 36379, weight = 2000}, {srcCellId = 36411, destCellId = 36374, weight = 2000}, {srcCellId = 36411, destCellId = 36384, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 14.000000, y = -21.362652, z = 168.000000}, numEdges = 6, edges = {{srcCellId = 36412, destCellId = 1, weight = 2000}, {srcCellId = 36412, destCellId = 36409, weight = 2000}, {srcCellId = 36412, destCellId = 36415, weight = 2000}, {srcCellId = 36412, destCellId = 36380, weight = 2000}, {srcCellId = 36412, destCellId = 36375, weight = 2000}, {srcCellId = 36412, destCellId = 36385, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 21.000000, y = -7.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36413, destCellId = 13421, weight = 2000}, {srcCellId = 36413, destCellId = 36414, weight = 2000}, {srcCellId = 36413, destCellId = 36410, weight = 2000}, {srcCellId = 36413, destCellId = 36416, weight = 2000}, {srcCellId = 36413, destCellId = 36383, weight = 2000}, {srcCellId = 36413, destCellId = 36378, weight = 2000}, {srcCellId = 36413, destCellId = 36388, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 21.000000, y = -14.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36414, destCellId = 0, weight = 2000}, {srcCellId = 36414, destCellId = 36415, weight = 2000}, {srcCellId = 36414, destCellId = 36411, weight = 2000}, {srcCellId = 36414, destCellId = 36417, weight = 2000}, {srcCellId = 36414, destCellId = 36384, weight = 2000}, {srcCellId = 36414, destCellId = 36379, weight = 2000}, {srcCellId = 36414, destCellId = 36389, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 21.000000, y = -21.362652, z = 168.000000}, numEdges = 5, edges = {{srcCellId = 36415, destCellId = 1, weight = 2000}, {srcCellId = 36415, destCellId = 36412, weight = 2000}, {srcCellId = 36415, destCellId = 36385, weight = 2000}, {srcCellId = 36415, destCellId = 36380, weight = 2000}, {srcCellId = 36415, destCellId = 36390, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 28.000000, y = -7.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36416, destCellId = 13422, weight = 2000}, {srcCellId = 36416, destCellId = 36417, weight = 2000}, {srcCellId = 36416, destCellId = 36413, weight = 2000}, {srcCellId = 36416, destCellId = 36418, weight = 2000}, {srcCellId = 36416, destCellId = 36388, weight = 2000}, {srcCellId = 36416, destCellId = 36383, weight = 2000}, {srcCellId = 36416, destCellId = 36393, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 28.000000, y = -14.362653, z = 168.000000}, numEdges = 6, edges = {{srcCellId = 36417, destCellId = 0, weight = 2000}, {srcCellId = 36417, destCellId = 36414, weight = 2000}, {srcCellId = 36417, destCellId = 36419, weight = 2000}, {srcCellId = 36417, destCellId = 36389, weight = 2000}, {srcCellId = 36417, destCellId = 36384, weight = 2000}, {srcCellId = 36417, destCellId = 36394, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 35.000000, y = -7.362653, z = 168.000000}, numEdges = 7, edges = {{srcCellId = 36418, destCellId = 13423, weight = 2000}, {srcCellId = 36418, destCellId = 36419, weight = 2000}, {srcCellId = 36418, destCellId = 36416, weight = 2000}, {srcCellId = 36418, destCellId = 36420, weight = 2000}, {srcCellId = 36418, destCellId = 36393, weight = 2000}, {srcCellId = 36418, destCellId = 36388, weight = 2000}, {srcCellId = 36418, destCellId = 36397, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 35.000000, y = -14.362653, z = 168.000000}, numEdges = 5, edges = {{srcCellId = 36419, destCellId = 0, weight = 2000}, {srcCellId = 36419, destCellId = 36417, weight = 2000}, {srcCellId = 36419, destCellId = 36394, weight = 2000}, {srcCellId = 36419, destCellId = 36389, weight = 2000}, {srcCellId = 36419, destCellId = 36398, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 42.000000, y = -7.362653, z = 168.000000}, numEdges = 6, edges = {{srcCellId = 36420, destCellId = 13424, weight = 2000}, {srcCellId = 36420, destCellId = 36418, weight = 2000}, {srcCellId = 36420, destCellId = 36421, weight = 2000}, {srcCellId = 36420, destCellId = 36397, weight = 2000}, {srcCellId = 36420, destCellId = 36393, weight = 2000}, {srcCellId = 36420, destCellId = 36400, weight = 2000}, }, numUnderWaterCells = 0,}, +{type = 1, pos = {x = 49.000000, y = -7.362653, z = 168.000000}, numEdges = 5, edges = {{srcCellId = 36421, destCellId = 13425, weight = 2000}, {srcCellId = 36421, destCellId = 36420, weight = 2000}, {srcCellId = 36421, destCellId = 36400, weight = 2000}, {srcCellId = 36421, destCellId = 36397, weight = 2000}, {srcCellId = 36421, destCellId = 36402, weight = 2000}, }, numUnderWaterCells = 0,}, }, skybox = "Skybox1", terrain = {model = "water.xml", albedo = "water.png"}, diff --git a/CMakeLists.txt b/CMakeLists.txt index d9efa87..92806cf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,7 +11,7 @@ endif() set(CMAKE_CXX_STANDART 17) set(CMAKE_BUILD_TYPE Debug) -set(BUILD_TESTS OFF) +set(BUILD_TESTS ON) set(BUILD_SHARED_LIBS OFF CACHE BOOL FORCED) cmake_policy(SET CMP0015 NEW) diff --git a/map.cpp b/map.cpp index 79a94af..9872e6c 100755 --- a/map.cpp +++ b/map.cpp @@ -520,7 +520,7 @@ namespace battleship{ void Map::load(string mapName){ this->mapName = mapName; - Pathfinder::getSingleton()->setImpassibleNodeVal(u16(0 - 1)); + Pathfinder::getSingleton()->setImpassibleNodeVal(u32(0 - 1)); string path = GameManager::getSingleton()->getPath(); AssetManager::getSingleton()->load(path + "Textures/", true); diff --git a/pathfinder.cpp b/pathfinder.cpp index eeb2ad2..df64892 100644 --- a/pathfinder.cpp +++ b/pathfinder.cpp @@ -16,55 +16,64 @@ namespace battleship{ return pathfinder; } - int Pathfinder::findMinDistVert(vector> &cells, u32 distances[]){ - int numCells = cells.size(), minDistVert; - - for(int i = 0; i < numCells; i++) - if(!cells[i].second){ - minDistVert = i; - break; - } - - for(int i = 0; i < numCells; i++){ - bool checked = cells[i].second; - - if(!checked && distances[i] < distances[minDistVert]) - minDistVert = i; - } - - return minDistVert; - } - - vector Pathfinder::findPath(vector &cells, int source, int dest, int unitType){ + vector Pathfinder::findPath(vector &cells, vector &heuristics, int source, int dest, int unitType){ const int size = cells.size(); u32 *distances = new u32[size]; vector *paths = new vector[size]; paths[source].push_back(source); + vector> cellsByCheck; + vector cellChecked; + for(int i = 0; i < size; i++){ cellsByCheck.push_back(pair(i, false)); distances[i] = (i == source ? 0 : impassibleNodeVal); + cellChecked.push_back(false); } + bool useHeur = !heuristics.empty(); + vector possibleMinCells = vector{source}; + cellChecked[source] = true; + while(!cellsByCheck[dest].second){ - int vertStrich = findMinDistVert(cellsByCheck, distances); + int vertStrich = possibleMinCells[0], vsId = 0; + + for(int i = 0; i < possibleMinCells.size(); i++){ + float sum1 = distances[possibleMinCells[i]] + (useHeur ? heuristics[possibleMinCells[i]] : 0); + float sum2 = distances[possibleMinCells[vsId]] + (useHeur ? heuristics[possibleMinCells[vsId]] : 0); + + if(sum1 < sum2 || (useHeur && sum1 == sum2 && heuristics[i] < heuristics[vertStrich])){ + vertStrich = possibleMinCells[i]; + vsId = i; + } + } + + cellChecked[possibleMinCells[vsId]] = false; + possibleMinCells.erase(possibleMinCells.begin() + vsId); + cellsByCheck[vertStrich].second = true; int numEdges = cells[vertStrich].edges.size(); for(int i = 0; i < numEdges; i++){ + int edgeNode = cells[vertStrich].edges[i].destCellId; + + if(cellsByCheck[edgeNode].second) continue; + + if(!cellChecked[edgeNode]){ + cellChecked[edgeNode] = true; + possibleMinCells.push_back(edgeNode); + } + bool canMoveToStrichCell = true; bool ship = ((UnitType)unitType == UnitType::UNDERWATER || (UnitType)unitType == UnitType::SEA_LEVEL); if((ship && cells[vertStrich].type != Map::Cell::WATER) || ((UnitType)unitType == UnitType::LAND && cells[vertStrich].type != Map::Cell::LAND)) - canMoveToStrichCell = false; + continue; - int edgeNode = cells[vertStrich].edges[i].destCellId, cellTypeFactor = (canMoveToStrichCell ? 1 : 100); - bool isChecked = cellsByCheck[edgeNode].second; - - if(!isChecked && (distances[vertStrich] + cells[vertStrich].edges[i].weight * cellTypeFactor < distances[edgeNode])){ - distances[edgeNode] = distances[vertStrich] + cells[vertStrich].edges[i].weight * cellTypeFactor; + if(distances[vertStrich] + cells[vertStrich].edges[i].weight < distances[edgeNode]){ + distances[edgeNode] = distances[vertStrich] + cells[vertStrich].edges[i].weight; paths[edgeNode] = paths[vertStrich]; paths[edgeNode].push_back(edgeNode); } diff --git a/pathfinder.h b/pathfinder.h index a91d64b..b071db5 100644 --- a/pathfinder.h +++ b/pathfinder.h @@ -11,12 +11,11 @@ namespace battleship{ class Pathfinder{ public: static Pathfinder* getSingleton(); - std::vector findPath(std::vector&, int, int, int = -1); + std::vector findPath(std::vector&, std::vector&, int, int, int = -1); inline vb01::u32 getImpassibleNodeVal(){return impassibleNodeVal;} inline void setImpassibleNodeVal(vb01::u32 val){this->impassibleNodeVal = val;} private: Pathfinder(){} - int findMinDistVert(std::vector>&, vb01::u32[]); vb01::u32 impassibleNodeVal; }; diff --git a/pathfinderTest.cpp b/pathfinderTest.cpp index ab46c25..cd116a3 100644 --- a/pathfinderTest.cpp +++ b/pathfinderTest.cpp @@ -1,6 +1,7 @@ #include "pathfinderTest.h" #include "pathfinder.h" +#include #include #include @@ -11,11 +12,12 @@ namespace battleship{ vector PathfinderTest::generateCellGraph(int numCellsOnSide){ vector cells; + float cellSize = 2; for(int i = 0; i < numCellsOnSide; i++) for(int j = 0; j < numCellsOnSide; j++){ - vector edges = Map::generateAdjacentNodeEdges(numCellsOnSide, i, numCellsOnSide, j, 1); - cells.push_back(Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, edges)); + vector edges = Map::generateAdjacentNodeEdges(numCellsOnSide, i, numCellsOnSide, j, 1000); + cells.push_back(Map::Cell(Vector3(j * cellSize, 0, i * cellSize), Map::Cell::Type::LAND, edges)); } return cells; @@ -32,6 +34,22 @@ namespace battleship{ return sumPathWeights; } + vector PathfinderTest::generateHeuristics(vector &cells, int dest, int type){ + vector heur; + int numSideCells = sqrt(cells.size()); + + if(type == 0) + for(Map::Cell &cell : cells) + heur.push_back(145 * cells[dest].pos.getDistanceFrom(cell.pos)); + else if(type == 1) + for(int i = 0; i < cells.size(); i++){ + int x = i % numSideCells, y = i / numSideCells; + heur.push_back(2 * (numSideCells - 1) - (x + y)); + } + + return heur; + } + void PathfinderTest::testFindPath(){ cells = vector{ Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector{Map::Edge(0, 0, 0), Map::Edge(2, 0, 1), Map::Edge(4, 0, 2)}), @@ -46,7 +64,9 @@ namespace battleship{ const u16 INF = u16(0 - 1); pathfinder->setImpassibleNodeVal(INF); - vector path = pathfinder->findPath(cells, 0, cells.size() - 1); + int src = 0, dest = cells.size() - 1; + vector heur; + vector path = pathfinder->findPath(cells, heur, src, dest, 3); CPPUNIT_ASSERT(path == vector({0, 1, 2, 4, 3, 6})); int sumPathWeights = calcPathLength(path); @@ -54,13 +74,15 @@ namespace battleship{ } void PathfinderTest::testFindBigPath(){ - int numIterations = 1; - cells = generateCellGraph(60); + cells = generateCellGraph(250); + int numIterations = 1, src = 0, dest = cells.size() - 1; + vector heur; + heur = generateHeuristics(cells, dest, 0); s64 sumTime = 0; for(int i = 0; i < numIterations; i++){ s64 t0 = getTime(); - pathfinder->findPath(cells, 0, cells.size() - 1); + pathfinder->findPath(cells, heur, src, dest, 3); s64 t1 = getTime(); sumTime += t1 - t0; } diff --git a/pathfinderTest.h b/pathfinderTest.h index 7a35ee1..0e67730 100644 --- a/pathfinderTest.h +++ b/pathfinderTest.h @@ -26,6 +26,7 @@ namespace battleship{ std::vector cells; std::vector generateCellGraph(int); + std::vector generateHeuristics(std::vector&, int, int = 0); int calcPathLength(std::vector&); }; } diff --git a/vehicle.cpp b/vehicle.cpp index e370f60..56b3b32 100644 --- a/vehicle.cpp +++ b/vehicle.cpp @@ -259,9 +259,14 @@ namespace battleship{ if(type != UnitType::HOVER && !(waterVehCanMove || landVehCanMove)) return; - Pathfinder *pathfinder = Pathfinder::getSingleton(); int dest = map->getCellId(destPos); - vector path = pathfinder->findPath(cells, source, dest, (int)type); + + vector heuristics; + + for(Map::Cell &cell : cells) + heuristics.push_back(145 * (cells[dest].pos.getDistanceFrom(cell.pos))); + + vector path = Pathfinder::getSingleton()->findPath(cells, heuristics, source, dest, (int)type); bool pathTruncated = false; for(int i = 0; i < path.size(); i++){