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finding paths between water and land cells

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devZoGok
2026-03-15 20:06:41 +02:00
parent 445e9b6230
commit c9d53f21a0
5 changed files with 67 additions and 30 deletions
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pathfinder.cpp
+41 -21
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@@ -25,44 +25,55 @@ namespace battleship{
return heuristics;
}
vector<int> Pathfinder::findPath(vector<Map::Cell> &cells, vector<float> &heuristics, int source, int dest, Vehicle *vehicle){
vector<int> Pathfinder::findPath(vector<Map::Cell> &cells, vector<float> &heuristics, int source, int dest, int vehicleType){
if(heuristics.empty() || (heuristics.size() == 1 && heuristics[0] == 0.0))
heuristics = calcHeuristics(cells, dest);
bool useHeur = !heuristics.empty();
const int size = cells.size();
u32 *distances = new u32[size];
vector<int> *paths = new vector<int>[size];
paths[source].push_back(source);
vector<pair<int, bool>> cellsByCheck;
vector<bool> cellChecked;
vector<bool> posMinCellChecked;
vector<int> possibleMinCells = vector<int>{source};
for(int i = 0; i < size; i++){
cellsByCheck.push_back(pair(i, false));
distances[i] = (i == source ? 0 : impassibleNodeVal);
cellChecked.push_back(false);
distances[i] = impassibleNodeVal;
posMinCellChecked.push_back(false);
}
bool useHeur = !heuristics.empty();
vector<int> possibleMinCells = vector<int>{source};
cellChecked[source] = true;
paths[source].push_back(source);
distances[source] = 0;
posMinCellChecked[source] = true;
int lastVertStrich = -1;
while(!cellsByCheck[dest].second){
int vertStrich = possibleMinCells[0], vsId = 0;
int posMinCellId = 0, vertStrich = possibleMinCells[posMinCellId];
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);
float sum2 = distances[possibleMinCells[posMinCellId]] + (useHeur ? heuristics[possibleMinCells[posMinCellId]] : 0);
if(sum1 < sum2 || (useHeur && sum1 == sum2 && heuristics[i] < heuristics[vertStrich])){
posMinCellId = i;
vertStrich = possibleMinCells[i];
vsId = i;
}
}
cellChecked[possibleMinCells[vsId]] = false;
possibleMinCells.erase(possibleMinCells.begin() + vsId);
if(distances[vertStrich] == impassibleNodeVal){
vector<int> path = paths[lastVertStrich];
delete[] paths;
delete[] distances;
return path;
}
posMinCellChecked[possibleMinCells[posMinCellId]] = false;
possibleMinCells.erase(possibleMinCells.begin() + posMinCellId);
cellsByCheck[vertStrich].second = true;
@@ -73,14 +84,20 @@ namespace battleship{
if(cellsByCheck[edgeNode].second) continue;
if(!cellChecked[edgeNode]){
cellChecked[edgeNode] = true;
if(!posMinCellChecked[edgeNode]){
posMinCellChecked[edgeNode] = true;
possibleMinCells.push_back(edgeNode);
}
bool canMoveToStrichCell = true;
UnitType ut = (UnitType)vehicleType;
Map::Cell::Type ct = cells[edgeNode].type;
bool ship = (ut == UnitType::UNDERWATER || ut == UnitType::SEA_LEVEL);
int weightMult = 1;
if(vehicle){
if((ut == UnitType::LAND && ct == Map::Cell::WATER) || (ship && ct == Map::Cell::LAND))
weightMult = 10;
/*
if(vehicleType != -1){
UnitType unitType = vehicle->getType();
bool ship = (unitType == UnitType::UNDERWATER || unitType == UnitType::SEA_LEVEL);
Unit *blockingUnit = cells[vertStrich].blockedBy;
@@ -106,13 +123,16 @@ namespace battleship{
continue;
}
}
*/
if(distances[vertStrich] + cells[vertStrich].edges[i].weight < distances[edgeNode]){
distances[edgeNode] = distances[vertStrich] + cells[vertStrich].edges[i].weight;
if(distances[vertStrich] + weightMult * cells[vertStrich].edges[i].weight < distances[edgeNode]){
distances[edgeNode] = distances[vertStrich] + weightMult * cells[vertStrich].edges[i].weight;
paths[edgeNode] = paths[vertStrich];
paths[edgeNode].push_back(edgeNode);
}
}
lastVertStrich = vertStrich;
}
vector<int> path = paths[dest];
pathfinder.h
+1 -1
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@@ -14,7 +14,7 @@ namespace battleship{
public:
static Pathfinder* getSingleton();
std::vector<float> calcHeuristics(std::vector<Map::Cell>&, int);
std::vector<int> findPath(std::vector<Map::Cell>&, std::vector<float>&, int, int, Vehicle* = nullptr);
std::vector<int> findPath(std::vector<Map::Cell>&, std::vector<float>&, int, int, int = -1);
inline vb01::u32 getImpassibleNodeVal(){return impassibleNodeVal;}
inline void setImpassibleNodeVal(vb01::u32 val){this->impassibleNodeVal = val;}
private:
pathfinderTest.cpp
+20 -3
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@@ -1,5 +1,6 @@
#include "pathfinderTest.h"
#include "pathfinder.h"
#include "unit.h"
#include <vector.h>
#include <util.h>
@@ -61,9 +62,6 @@ namespace battleship{
Map::Cell(Vector3::VEC_ZERO, Map::Cell::Type::LAND, vector<Map::Edge>{Map::Edge(0, 6, 6)})
};
const u16 INF = u16(0 - 1);
pathfinder->setImpassibleNodeVal(INF);
int src = 0, dest = cells.size() - 1;
vector<float> heur;
vector<int> path = pathfinder->findPath(cells, heur, src, dest);
@@ -93,8 +91,27 @@ namespace battleship{
CPPUNIT_ASSERT(sumTime <= threshold);
}
void PathfinderTest::testFindShorePath(){
int numSideCells = 25;
cells = generateCellGraph(numSideCells);
for(int i = 0; i < numSideCells; i++)
cells[numSideCells * i + int(.5 * numSideCells)].type = Map::Cell::WATER;
vector<float> heur = vector<float>{};
vector<int> p1 = pathfinder->findPath(cells, heur, 0, 4, (int)UnitType::LAND);
int numEdges = cells[p1[p1.size() - 1]].edges.size();
//for(int i = 0; i < numEdges; i++){}
vector<int> p2 = pathfinder->findPath(cells, heur, 2, 4, (int)UnitType::SEA_LEVEL);
CPPUNIT_ASSERT(cells[p2[p2.size() - 1]].type == Map::Cell::WATER);
}
void PathfinderTest::setUp(){
pathfinder = Pathfinder::getSingleton();
const u16 INF = u16(0 - 1);
pathfinder->setImpassibleNodeVal(INF);
}
void PathfinderTest::tearDown(){}
pathfinderTest.h
+2
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@@ -13,12 +13,14 @@ namespace battleship{
CPPUNIT_TEST_SUITE(PathfinderTest);
CPPUNIT_TEST(testFindPath);
CPPUNIT_TEST(testFindBigPath);
CPPUNIT_TEST(testFindShorePath);
CPPUNIT_TEST_SUITE_END();
public:
PathfinderTest(){}
void testFindPath();
void testFindBigPath();
void testFindShorePath();
void setUp();
void tearDown();
private:
vehicle.cpp
+3 -5
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@@ -371,7 +371,7 @@ namespace battleship{
bool ship = (type == UnitType::UNDERWATER || type == UnitType::SEA_LEVEL);
vector<Map::Cell> &cells = Map::getSingleton()->getCells();
for(int i = 0; i < path.size(); i++){
for(int i = 1; i < path.size(); i++){
if((ship && cells[path[i]].type != Map::Cell::WATER) || (order.type != Order::TYPE::GARRISON && type == UnitType::LAND && cells[path[i]].type != Map::Cell::LAND)){
path = vector<int>(path.begin(), path.begin() + i);
order.targets[0].unit = nullptr;
@@ -443,13 +443,11 @@ namespace battleship{
vector<float> heurs;
Pathfinder *pf = Pathfinder::getSingleton();
vector<int> path = pf->findPath(cells, heurs, source, dest, this);
vector<int> path = pf->findPath(cells, heurs, source, dest, (int)type);
if(path.empty()) return;
if(path.empty() || !truncatePath(order, path, destPos, appendDestPos)) return;
path.erase(path.begin());
if(!truncatePath(order, path, destPos, appendDestPos)) return;
}
void Vehicle::removePathpoint(int i){