Fixes code according to modern code style. Fixes a few expression bugs.
This commit is contained in:
Kamron Batman
parent
89eea25e5f
commit
970fd563b2
3324 changed files with 441118 additions and 433755 deletions
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@ -5,288 +5,313 @@ using MoveImpl = Server.Movement.MovementImpl;
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namespace Server.PathAlgorithms.FastAStar
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{
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public struct PathNode
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{
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public int cost, total;
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public int parent, next, prev;
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public int z;
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}
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public struct PathNode
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{
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public int cost, total;
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public int parent, next, prev;
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public int z;
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}
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public class FastAStarAlgorithm : PathAlgorithm
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{
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public static PathAlgorithm Instance = new FastAStarAlgorithm();
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public class FastAStarAlgorithm : PathAlgorithm
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{
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private const int MaxDepth = 300;
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private const int AreaSize = 38;
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private const int MaxDepth = 300;
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private const int AreaSize = 38;
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private const int NodeCount = AreaSize * AreaSize * PlaneCount;
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private const int NodeCount = AreaSize * AreaSize * PlaneCount;
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private const int PlaneOffset = 128;
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private const int PlaneCount = 13;
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private const int PlaneHeight = 20;
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public static PathAlgorithm Instance = new FastAStarAlgorithm();
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private const int PlaneOffset = 128;
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private const int PlaneCount = 13;
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private const int PlaneHeight = 20;
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private static Direction[] m_Path = new Direction[AreaSize * AreaSize];
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private static PathNode[] m_Nodes = new PathNode[NodeCount];
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private static BitArray m_Touched = new BitArray(NodeCount);
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private static BitArray m_OnOpen = new BitArray(NodeCount);
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private static int[] m_Successors = new int[8];
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private static Direction[] m_Path = new Direction[AreaSize * AreaSize];
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private static PathNode[] m_Nodes = new PathNode[NodeCount];
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private static BitArray m_Touched = new BitArray( NodeCount );
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private static BitArray m_OnOpen = new BitArray( NodeCount );
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private static int[] m_Successors = new int[8];
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private static int m_xOffset, m_yOffset;
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private static int m_OpenList;
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private static int m_xOffset, m_yOffset;
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private static int m_OpenList;
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private Point3D m_Goal;
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private Point3D m_Goal;
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public int Heuristic(int x, int y, int z)
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{
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x -= m_Goal.X - m_xOffset;
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y -= m_Goal.Y - m_yOffset;
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z -= m_Goal.Z;
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public int Heuristic( int x, int y, int z )
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{
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x -= m_Goal.X - m_xOffset;
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y -= m_Goal.Y - m_yOffset;
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z -= m_Goal.Z;
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x *= 11;
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y *= 11;
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x *= 11;
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y *= 11;
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return x * x + y * y + z * z;
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}
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return (x*x)+(y*y)+(z*z);
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}
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public override bool CheckCondition(Mobile m, Map map, Point3D start, Point3D goal)
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{
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return Utility.InRange(start, goal, AreaSize);
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}
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public override bool CheckCondition( Mobile m, Map map, Point3D start, Point3D goal )
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{
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return Utility.InRange( start, goal, AreaSize );
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}
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private void RemoveFromChain(int node)
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{
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if (node < 0 || node >= NodeCount)
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return;
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private void RemoveFromChain( int node )
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{
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if ( node < 0 || node >= NodeCount )
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return;
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if (!m_Touched[node] || !m_OnOpen[node])
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return;
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if ( !m_Touched[node] || !m_OnOpen[node] )
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return;
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int prev = m_Nodes[node].prev;
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int next = m_Nodes[node].next;
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int prev = m_Nodes[node].prev;
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int next = m_Nodes[node].next;
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if (m_OpenList == node)
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m_OpenList = next;
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if ( m_OpenList == node )
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m_OpenList = next;
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if (prev != -1)
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m_Nodes[prev].next = next;
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if ( prev != -1 )
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m_Nodes[prev].next = next;
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if (next != -1)
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m_Nodes[next].prev = prev;
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if ( next != -1 )
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m_Nodes[next].prev = prev;
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m_Nodes[node].prev = -1;
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m_Nodes[node].next = -1;
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}
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m_Nodes[node].prev = -1;
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m_Nodes[node].next = -1;
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}
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private void AddToChain(int node)
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{
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if (node < 0 || node >= NodeCount)
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return;
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private void AddToChain( int node )
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{
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if ( node < 0 || node >= NodeCount )
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return;
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RemoveFromChain(node);
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RemoveFromChain( node );
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if (m_OpenList != -1)
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m_Nodes[m_OpenList].prev = node;
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if ( m_OpenList != -1 )
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m_Nodes[m_OpenList].prev = node;
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m_Nodes[node].next = m_OpenList;
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m_Nodes[node].prev = -1;
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m_Nodes[node].next = m_OpenList;
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m_Nodes[node].prev = -1;
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m_OpenList = node;
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m_OpenList = node;
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m_Touched[node] = true;
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m_OnOpen[node] = true;
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}
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m_Touched[node] = true;
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m_OnOpen[node] = true;
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}
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public override Direction[] Find(Mobile m, Map map, Point3D start, Point3D goal)
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{
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if (!Utility.InRange(start, goal, AreaSize))
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return null;
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public override Direction[] Find( Mobile m, Map map, Point3D start, Point3D goal )
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{
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if ( !Utility.InRange( start, goal, AreaSize ) )
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return null;
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m_Touched.SetAll(false);
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m_Touched.SetAll( false );
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m_Goal = goal;
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m_Goal = goal;
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m_xOffset = (start.X + goal.X - AreaSize) / 2;
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m_yOffset = (start.Y + goal.Y - AreaSize) / 2;
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m_xOffset = (start.X + goal.X - AreaSize) / 2;
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m_yOffset = (start.Y + goal.Y - AreaSize) / 2;
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int fromNode = GetIndex(start.X, start.Y, start.Z);
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int destNode = GetIndex(goal.X, goal.Y, goal.Z);
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int fromNode = GetIndex( start.X, start.Y, start.Z );
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int destNode = GetIndex( goal.X, goal.Y, goal.Z );
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m_OpenList = fromNode;
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m_OpenList = fromNode;
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m_Nodes[m_OpenList].cost = 0;
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m_Nodes[m_OpenList].total = Heuristic(start.X - m_xOffset, start.Y - m_yOffset, start.Z);
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m_Nodes[m_OpenList].parent = -1;
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m_Nodes[m_OpenList].next = -1;
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m_Nodes[m_OpenList].prev = -1;
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m_Nodes[m_OpenList].z = start.Z;
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m_Nodes[m_OpenList].cost = 0;
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m_Nodes[m_OpenList].total = Heuristic( start.X - m_xOffset, start.Y - m_yOffset, start.Z );
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m_Nodes[m_OpenList].parent = -1;
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m_Nodes[m_OpenList].next = -1;
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m_Nodes[m_OpenList].prev = -1;
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m_Nodes[m_OpenList].z = start.Z;
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m_OnOpen[m_OpenList] = true;
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m_Touched[m_OpenList] = true;
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m_OnOpen[m_OpenList] = true;
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m_Touched[m_OpenList] = true;
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BaseCreature bc = m as BaseCreature;
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BaseCreature bc = m as BaseCreature;
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int pathCount, parent;
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int backtrack = 0, depth = 0;
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int pathCount, parent;
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int backtrack = 0, depth = 0;
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Direction[] path = m_Path;
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Direction[] path = m_Path;
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while (m_OpenList != -1)
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{
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int bestNode = FindBest(m_OpenList);
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while ( m_OpenList != -1 )
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{
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int bestNode = FindBest( m_OpenList );
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if (++depth > MaxDepth)
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break;
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if ( ++depth > MaxDepth )
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break;
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if (bc != null)
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{
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MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
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MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
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}
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if ( bc != null )
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{
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MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
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MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
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}
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MoveImpl.Goal = goal;
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MoveImpl.Goal = goal;
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int[] vals = m_Successors;
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int count = GetSuccessors(bestNode, m, map);
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int[] vals = m_Successors;
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int count = GetSuccessors( bestNode, m, map );
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MoveImpl.AlwaysIgnoreDoors = false;
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MoveImpl.IgnoreMovableImpassables = false;
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MoveImpl.Goal = Point3D.Zero;
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MoveImpl.AlwaysIgnoreDoors = false;
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MoveImpl.IgnoreMovableImpassables = false;
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MoveImpl.Goal = Point3D.Zero;
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if (count == 0)
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break;
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if ( count == 0 )
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break;
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for (int i = 0; i < count; ++i)
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{
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int newNode = vals[i];
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for ( int i = 0; i < count; ++i )
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{
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int newNode = vals[i];
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bool wasTouched = m_Touched[newNode];
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bool wasTouched = m_Touched[newNode];
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if (!wasTouched)
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{
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int newCost = m_Nodes[bestNode].cost + 1;
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int newTotal = newCost + Heuristic(newNode % AreaSize, newNode / AreaSize % AreaSize,
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m_Nodes[newNode].z);
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if ( !wasTouched )
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{
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int newCost = m_Nodes[bestNode].cost + 1;
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int newTotal = newCost + Heuristic( newNode % AreaSize, (newNode / AreaSize) % AreaSize, m_Nodes[newNode].z );
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if ( !wasTouched || m_Nodes[newNode].total > newTotal )
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{
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m_Nodes[newNode].parent = bestNode;
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m_Nodes[newNode].cost = newCost;
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m_Nodes[newNode].total = newTotal;
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if ( !wasTouched || !m_OnOpen[newNode] )
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{
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AddToChain( newNode );
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if ( newNode == destNode )
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{
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pathCount = 0;
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parent = m_Nodes[newNode].parent;
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while ( parent != -1 )
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{
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path[pathCount++] = GetDirection( parent % AreaSize, (parent / AreaSize) % AreaSize, newNode % AreaSize, (newNode / AreaSize) % AreaSize );
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newNode = parent;
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parent = m_Nodes[newNode].parent;
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if ( newNode == fromNode )
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break;
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}
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Direction[] dirs = new Direction[pathCount];
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while ( pathCount > 0 )
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dirs[backtrack++] = path[--pathCount];
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return dirs;
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}
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}
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}
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}
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}
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}
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return null;
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}
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private int GetIndex( int x, int y, int z )
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{
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x -= m_xOffset;
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y -= m_yOffset;
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z += PlaneOffset;
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z /= PlaneHeight;
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return x + (y * AreaSize) + (z * AreaSize * AreaSize);
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}
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private int FindBest( int node )
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{
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int least = m_Nodes[node].total;
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int leastNode = node;
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while ( node != -1 )
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{
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if ( m_Nodes[node].total < least )
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{
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least = m_Nodes[node].total;
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leastNode = node;
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}
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node = m_Nodes[node].next;
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}
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RemoveFromChain( leastNode );
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m_Touched[leastNode] = true;
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m_OnOpen[leastNode] = false;
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return leastNode;
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}
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public int GetSuccessors( int p, Mobile m, Map map )
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{
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int px = p % AreaSize;
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int py = (p / AreaSize) % AreaSize;
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int pz = m_Nodes[p].z;
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int x, y, z;
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Point3D p3D = new Point3D( px + m_xOffset, py + m_yOffset, pz );
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int[] vals = m_Successors;
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int count = 0;
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for ( int i = 0; i < 8; ++i )
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{
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switch ( i )
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{
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default:
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case 0: x = 0; y = -1; break;
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case 1: x = 1; y = -1; break;
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case 2: x = 1; y = 0; break;
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case 3: x = 1; y = 1; break;
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case 4: x = 0; y = 1; break;
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case 5: x = -1; y = 1; break;
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case 6: x = -1; y = 0; break;
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case 7: x = -1; y = -1; break;
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}
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x += px;
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y += py;
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if ( x < 0 || x >= AreaSize || y < 0 || y >= AreaSize )
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continue;
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if ( CalcMoves.CheckMovement( m, map, p3D, (Direction)i, out z ) )
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{
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int idx = GetIndex( x + m_xOffset, y + m_yOffset, z );
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if ( idx >= 0 && idx < NodeCount )
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{
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m_Nodes[idx].z = z;
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vals[count++] = idx;
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}
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}
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}
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return count;
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}
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}
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}
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if (!wasTouched || m_Nodes[newNode].total > newTotal)
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{
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m_Nodes[newNode].parent = bestNode;
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m_Nodes[newNode].cost = newCost;
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m_Nodes[newNode].total = newTotal;
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if (!wasTouched || !m_OnOpen[newNode])
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{
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AddToChain(newNode);
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if (newNode == destNode)
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{
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pathCount = 0;
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parent = m_Nodes[newNode].parent;
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while (parent != -1)
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{
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path[pathCount++] = GetDirection(parent % AreaSize, parent / AreaSize % AreaSize,
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newNode % AreaSize, newNode / AreaSize % AreaSize);
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newNode = parent;
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parent = m_Nodes[newNode].parent;
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if (newNode == fromNode)
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break;
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}
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Direction[] dirs = new Direction[pathCount];
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while (pathCount > 0)
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dirs[backtrack++] = path[--pathCount];
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return dirs;
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}
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}
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}
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}
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}
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}
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return null;
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}
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private int GetIndex(int x, int y, int z)
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{
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x -= m_xOffset;
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y -= m_yOffset;
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z += PlaneOffset;
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z /= PlaneHeight;
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return x + y * AreaSize + z * AreaSize * AreaSize;
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}
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private int FindBest(int node)
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{
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int least = m_Nodes[node].total;
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int leastNode = node;
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while (node != -1)
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{
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if (m_Nodes[node].total < least)
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{
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least = m_Nodes[node].total;
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leastNode = node;
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}
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node = m_Nodes[node].next;
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}
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RemoveFromChain(leastNode);
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m_Touched[leastNode] = true;
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m_OnOpen[leastNode] = false;
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return leastNode;
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}
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public int GetSuccessors(int p, Mobile m, Map map)
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{
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int px = p % AreaSize;
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int py = p / AreaSize % AreaSize;
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int pz = m_Nodes[p].z;
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int x, y, z;
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Point3D p3D = new Point3D(px + m_xOffset, py + m_yOffset, pz);
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int[] vals = m_Successors;
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int count = 0;
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for (int i = 0; i < 8; ++i)
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{
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switch (i)
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{
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default:
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case 0:
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x = 0;
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y = -1;
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break;
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case 1:
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x = 1;
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y = -1;
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break;
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case 2:
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x = 1;
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y = 0;
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break;
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case 3:
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x = 1;
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y = 1;
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break;
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case 4:
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x = 0;
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y = 1;
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break;
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case 5:
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||||
x = -1;
|
||||
y = 1;
|
||||
break;
|
||||
case 6:
|
||||
x = -1;
|
||||
y = 0;
|
||||
break;
|
||||
case 7:
|
||||
x = -1;
|
||||
y = -1;
|
||||
break;
|
||||
}
|
||||
|
||||
x += px;
|
||||
y += py;
|
||||
|
||||
if (x < 0 || x >= AreaSize || y < 0 || y >= AreaSize)
|
||||
continue;
|
||||
|
||||
if (CalcMoves.CheckMovement(m, map, p3D, (Direction)i, out z))
|
||||
{
|
||||
int idx = GetIndex(x + m_xOffset, y + m_yOffset, z);
|
||||
|
||||
if (idx >= 0 && idx < NodeCount)
|
||||
{
|
||||
m_Nodes[idx].z = z;
|
||||
vals[count++] = idx;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return count;
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue