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add feature for search closest path #7

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add feature for search closest path #7

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0f3d06b
add feature for search closest path
Jul 18, 2020
77c1574
fix case when start equal end
Jul 18, 2020
f103f05
fix types
Jul 20, 2020
c5095e0
skip calculation of closest point if full path is needed
Jul 20, 2020
642736f
generate path from last search
Jul 20, 2020
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43 changes: 40 additions & 3 deletions jps.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -283,6 +283,9 @@ enum JPS_Flags_

// Don't check whether end position is walkable.
JPS_Flag_NoEndCheck = 0x08,

// Find closest path
JPS_Flag_Closest = 0x16,
};

enum JPS_Result
Expand Down Expand Up @@ -896,6 +899,8 @@ public:
private:

const GRID& grid;
Position closestPosition;
ScoreType closestBestDistance;

Node *getNode(const Position& pos);
bool identifySuccessors(const Node& n);
Expand Down Expand Up @@ -1291,9 +1296,18 @@ template <typename GRID> template<typename PV> bool Searcher<GRID>::findPath(PV&
case JPS_EMPTY_PATH:
JPS_ASSERT(false); // can't happen
// fall through
case JPS_NO_PATH:
case JPS_OUT_OF_MEMORY:
return false;
case JPS_NO_PATH:
if(flags & JPS_Flag_Closest)
{
if (start != closestPosition)
{
endNodeIdx = storage.getindex(getNode(closestPosition));
return findPathFinish(path, step) == JPS_FOUND_PATH;
}
}
return false;
}
}
}
Expand All @@ -1305,6 +1319,8 @@ template <typename GRID> JPS_Result Searcher<GRID>::findPathInit(Position start,

this->flags = flags;
endPos = end;
closestBestDistance = UINT_MAX;
closestPosition = start;

// FIXME: check this
if(start == end && !(flags & (JPS_Flag_NoStartCheck|JPS_Flag_NoEndCheck)))
Expand All @@ -1318,11 +1334,15 @@ template <typename GRID> JPS_Result Searcher<GRID>::findPathInit(Position start,
if(!grid(start.x, start.y))
return JPS_NO_PATH;

if(!(flags & JPS_Flag_NoEndCheck))
if(!(flags & (JPS_Flag_NoEndCheck | JPS_Flag_Closest)))
if(!grid(end.x, end.y))
return JPS_NO_PATH;

Node *endNode = getNode(end); // this might realloc the internal storage...
Node *endNode = NULL;
if(flags & JPS_Flag_NoEndCheck)
endNode = nodemap(end.x, end.y);
else
endNode = getNode(end); // this might realloc the internal storage...
if(!endNode)
return JPS_OUT_OF_MEMORY;
endNodeIdx = storage.getindex(endNode); // .. so we keep this for later
Expand Down Expand Up @@ -1353,6 +1373,23 @@ template <typename GRID> JPS_Result Searcher<GRID>::findPathStep(int limit)
return JPS_NO_PATH;
Node& n = open.popNode();
n.setClosed();
if(flags & JPS_Flag_Closest)
{
if(closestBestDistance == M_MAX_UNSIGNED)
{
closestPosition = n.pos;
closestBestDistance = Heuristic::Manhattan(n.pos, endPos);
}
else
{
unsigned h = Heuristic::Manhattan(n.pos, endPos);
if(closestBestDistance > h)
{
closestBestDistance = h;
closestPosition = n.pos;
}
}
}
if(n.pos == endPos)
return JPS_FOUND_PATH;
if(!identifySuccessors(n))
Expand Down