?? bestfirst.cpp
字號(hào):
// this transfers the world map from Setup.cpp to the internal state here.
void BestFirst::UpdateWorld()
{
LARGE_INTEGER tmp1;
QueryPerformanceCounter(&tmp1);
//
for(int y=0;y<HEIGHT;y++)
{
for(int x=0;x<WIDTH;x++)
{
WORD yx=(y<<YSHIFT)+x;
world[yx].terrain_cost=vSetup->world[y][x].terrain_cost;
world[yx].state=(world[yx].terrain_cost==IMPASSABLE_TERRAIN_COST); //?IMPASSABLE:UNKNOWN;
}
}
//
LARGE_INTEGER tmp2;
QueryPerformanceCounter(&tmp2);
bigtick.QuadPart += tmp2.QuadPart - tmp1.QuadPart;
}
// this transfers the all the settings in Setup.cpp to here.
void BestFirst::UpdateSettings()
{
startyx=vSetup->starty*WIDTH+vSetup->startx;
endyx=vSetup->endy*WIDTH+vSetup->endx;
endx=endyx&XMASK;
endy=(endyx>>YSHIFT);
distance_method=vSetup->distance_method;
iterations_per_frame=vSetup->iterations_per_frame;
directions=vSetup->directions;
}
///////////////////////////////////////////////////////////////////////////
// TYPE B
void BestFirst::PackRoute()
{
if(pathing_state&NO_PATH)
{
airoute->count=0;
return;
}
//
memset(airoute->route,0,MAX_ROUTES); //clear routes
//
airoute->active=1;
airoute->compression=0;
//
WORD yx=endyx;
int start=MAX_ROUTES-1;
BYTE route=NO_ROUTE;
while(yx!=startyx)
{
// route=DXY[world[yx].route].route;
route=world[yx].route;
yx+=DXY[DXY[route].route].yx;
airoute->route[start]=route;
if(--start<0) start=MAX_ROUTES-1;
};
airoute->start=start+1;
airoute->count=MAX_ROUTES-airoute->start;
//
airoute->startyx=startyx;
airoute->endyx=endyx;
//
airoute->walk_point=airoute->start;
airoute->walk_runlength_step=0;
//
if(airoute->start==0) airoute->count=0;
}
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
/*
This is the function that paints the graphics to the screen.
Called by PathFinder.
Localized to respective Setup classes v1.6.
*/
//
void BestFirst::Paint(LPBYTE pwBits, HDC hdc,HWND hWnd)
{
if(pwBits)
{
//
RECT rt;
GetClientRect(hWnd, &rt);
int clientwidth = (rt.right-rt.left);
COLORREF background;
COLORREF foreground;
vSetup->get_colorscheme_colors(background,foreground);
HBRUSH hbrBkGnd = CreateSolidBrush(background);
FillRect(hdc, &rt, hbrBkGnd);
DeleteObject(hbrBkGnd);
SetBkColor(hdc,background);
SetTextColor(hdc,foreground);
//
int starty=startyx>>YSHIFT;
int startx=startyx&XMASK;
int endy=endyx>>YSHIFT;
int endx=endyx&XMASK;
TCHAR szStatusLine[1024];
_RGBA *p,*ppush;
_RGBA *pbegin=(_RGBA *)pwBits;
const int yxmax=WIDTH*HEIGHT;
int y,x;
int yx;
int node;
int count;
int n;
register _RGBA *tmp;
//
int used_nodes=0;
float smallest_h = 1048576.0f;
float largest_h = 0.0001f;
for(node=1;node<=free_node;node++)
{
if(nodes[node].h>largest_h) largest_h=nodes[node].h;
if(nodes[node].h<smallest_h) smallest_h=nodes[node].h;
used_nodes++;
}
//
int length=0;
p=pbegin;
yx=nodes[best_node].yx;
while(yx!=startyx && yx>0 && yx<yxmax)
{
yx+=DXY[DXY[world[yx].route].route].yx;
length++;
if(length>MAX_NODE) break;
}
// stats
GetClientRect(hWnd, &rt);
sprintf(szStatusLine,
"-- Best-First --\nh %f ... %f\n\nstruct size %d bytes\n(nodes %d B)\n(heap %d B)\n(world %d B)\n[used node %d B]\n[used heap %d B]\n\nMAX NODES %d\nBest Node %4d\nh %f\nClosed Node %4d\nh %f\n\npath found? %s\nlength= %d\n\nstart -> current\nh %f -> %f\n",
smallest_h, largest_h,
sizeof(nodes) + sizeof(world) + sizeof(heap),
sizeof(nodes),
sizeof(heap),
sizeof(world),
used_nodes*(sizeof(_NODES)),
last_heap_leaf*(sizeof(WORD)),
MAX_NODE,
best_node,
nodes[best_node].h,
closed_node,
nodes[closed_node].h,
pathing_state&NO_PATH?"NO PATH!":(pathing_state&PATH_FOUND?"YES!":"Not yet..."),
length,
nodes[1].h,nodes[closed_node].h
);
DrawText(hdc, szStatusLine, strlen(szStatusLine), &rt, DT_RIGHT);
//shortest-path w/ terrain
GetClientRect(hWnd, &rt);
rt.top=HEIGHT;
rt.right=WIDTH;
sprintf(szStatusLine,"shortest path w/terrain");
DrawText(hdc, szStatusLine, strlen(szStatusLine), &rt, DT_CENTER);
p=ppush=pbegin;
for(y=0;y<HEIGHT;y++)
{
for(x=0;x<WIDTH;x++)
{
BYTE b=(BYTE)(255-(world[y*WIDTH+x].terrain_cost<<4));
p->red=b; p->green=b; p->blue=b;
p++;
}
ppush+=clientwidth;
p=ppush;
}
for(y=-1;y<=1;y++) //starting point
{
for(x=-1;x<=1;x++)
{
tmp=(pbegin+(starty+y)*clientwidth+startx+x);
tmp->red=255;
tmp->green=0;
tmp->blue=0;
}
}
for(y=-1;y<=1;y++) //end/goal point
{
for(x=-1;x<=1;x++)
{
tmp=(pbegin+(endy+y)*clientwidth+endx+x);
tmp->red=0;
tmp->green=255;
tmp->blue=0;
}
}
p=pbegin;
yx=nodes[best_node].yx;
while(yx!=startyx && yx>0 && yx<yxmax)
{
tmp=(p+(yx>>YSHIFT)*clientwidth+(yx&XMASK));
tmp->red=255;
tmp->green=0;
tmp->blue=0;
yx+=DXY[DXY[world[yx].route].route].yx;
if(length>MAX_NODE) break;
}
// h
GetClientRect(hWnd, &rt);
rt.top=HEIGHT;
rt.left=WIDTH+4;
rt.right=WIDTH+4+WIDTH;
sprintf(szStatusLine,"h (red closed/blue open)");
DrawText(hdc, szStatusLine, strlen(szStatusLine), &rt, DT_CENTER);
p=pbegin+(WIDTH+4);
count=MAX_NODE;
for(node=1;node<=free_node;node++)
{
tmp=(p+(nodes[node].yx>>YSHIFT)*clientwidth+(nodes[node].yx&XMASK));
tmp->red=(BYTE)((nodes[node].h/largest_h)*255.0f);
tmp->green=0;
tmp->blue=0;
};
for(n=1;n<=last_heap_leaf;n++)
{
node=heap[n];
tmp=(p+(nodes[node].yx>>YSHIFT)*clientwidth+(nodes[node].yx&XMASK));
tmp->red=0;
tmp->green=0;
tmp->blue=(BYTE)((nodes[node].h/largest_h)*255.0f);
}
// open
int levels=0;
{
int b=1;
int sum=b;
while(b<=last_heap_leaf)
{
b=b<<1;
sum+=b;
levels++;
}
}
GetClientRect(hWnd, &rt);
rt.top=HEIGHT*2+16;
rt.left=0;
rt.right=WIDTH;
sprintf(szStatusLine,"open nodes %d (%d heap levels)",last_heap_leaf,levels);
DrawText(hdc, szStatusLine, strlen(szStatusLine), &rt, DT_CENTER);
p=pbegin+(HEIGHT+16)*clientwidth;
for(n=1;n<=last_heap_leaf;n++)
{
node=heap[n];
BYTE h=(BYTE)((nodes[node].h/largest_h)*255.0f);
tmp=(p+(nodes[node].yx>>YSHIFT)*clientwidth+(nodes[node].yx&XMASK));
tmp->red=h;
tmp->green=0;
tmp->blue=0;
}
// closed
GetClientRect(hWnd, &rt);
rt.top=HEIGHT*2+16;
rt.left=WIDTH+4;
rt.right=WIDTH+4+WIDTH;
sprintf(szStatusLine,"closed nodes %d",closed_nodes);
DrawText(hdc, szStatusLine, strlen(szStatusLine), &rt, DT_CENTER);
p=pbegin+WIDTH+4+(HEIGHT+16)*clientwidth;
for(node=1;node<=free_node;node++)
{
BYTE h=(BYTE)((nodes[node].h/largest_h)*255.0f);
tmp=(p+(nodes[node].yx>>YSHIFT)*clientwidth+(nodes[node].yx&XMASK));
tmp->red=h;
tmp->green=0;
tmp->blue=0;
}
for(n=1;n<=last_heap_leaf;n++) //erase
{
node=heap[n];
DWORD *tmp=((DWORD *)p+(nodes[node].yx>>YSHIFT)*clientwidth+(nodes[node].yx&XMASK));
*tmp=(DWORD)background;
}
// state
GetClientRect(hWnd, &rt);
rt.top=HEIGHT;
rt.left=(WIDTH+4)*2;
rt.right=(WIDTH+4)*2+WIDTH;
sprintf(szStatusLine,"state (g=open b=closed r=impass)");
DrawText(hdc, szStatusLine, strlen(szStatusLine), &rt, DT_CENTER);
p=pbegin+(WIDTH+4)*2;
for(y=0;y<HEIGHT;y++)
{
for(x=0;x<WIDTH;x++)
{
yx=y*WIDTH+x;
tmp=(p+y*clientwidth+x);
tmp->green=(BYTE)((world[yx].state==OPEN)?255:0);
tmp->blue=(BYTE)((world[yx].state==CLOSED)?255:0);
tmp->red=(BYTE)((world[yx].state==IMPASSABLE)?255:0);
}
}
//routing
GetClientRect(hWnd, &rt);
rt.top=HEIGHT*2+16;
rt.left=(WIDTH+4)*2;
rt.right=(WIDTH+4)*2+WIDTH;
sprintf(szStatusLine,"routes");
DrawText(hdc, szStatusLine, strlen(szStatusLine), &rt, DT_CENTER);
p=pbegin+(WIDTH+4)*2+(HEIGHT+16)*clientwidth;
for(y=0;y<HEIGHT;y++)
{
for(x=0;x<WIDTH;x++)
{
tmp=(p+y*clientwidth+x);
switch(world[(y<<YSHIFT)+x].route)
{
case 0: tmp->red=0; tmp->green=0; tmp->blue=255; break; // n
case 1: tmp->red=127; tmp->green=0; tmp->blue=255; break; // e
case 2: tmp->red=255; tmp->green=0; tmp->blue=0; break; // s
case 3: tmp->red=255; tmp->green=0; tmp->blue=127; break; // w pink
case 4: tmp->red=0; tmp->green=255; tmp->blue=255; break; // ne
case 5: tmp->red=127; tmp->green=255; tmp->blue=255; break; // se
case 6: tmp->red=255; tmp->green=255; tmp->blue=0; break; // sw
case 7: tmp->red=255; tmp->green=255; tmp->blue=127; break; // nw
};
}
}
}
}
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