310 lines
9.4 KiB
C#
310 lines
9.4 KiB
C#
using System;
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using System.Collections;
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using Server.Mobiles;
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using CalcMoves = Server.Movement.Movement;
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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 class FastAStarAlgorithm : PathAlgorithm
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{
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public static PathAlgorithm Instance = new FastAStarAlgorithm();
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private static readonly Direction[] m_Path = new Direction[AreaSize * AreaSize];
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private static readonly PathNode[] m_Nodes = new PathNode[NodeCount];
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private static readonly BitArray m_Touched = new BitArray(NodeCount);
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private static readonly BitArray m_OnOpen = new BitArray(NodeCount);
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private static readonly 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 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 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 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 -= this.m_Goal.X - m_xOffset;
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y -= this.m_Goal.Y - m_yOffset;
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z -= this.m_Goal.Z;
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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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public override bool CheckCondition(IPoint3D p, 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 Direction[] Find(IPoint3D p, 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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this.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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int fromNode = this.GetIndex(start.X, start.Y, start.Z);
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int destNode = this.GetIndex(goal.X, goal.Y, goal.Z);
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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 = this.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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BaseCreature bc = p as BaseCreature;
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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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while (m_OpenList != -1)
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{
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int bestNode = this.FindBest(m_OpenList);
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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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MoveImpl.Goal = goal;
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int[] vals = m_Successors;
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int count = this.GetSuccessors(bestNode, p, 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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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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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 + this.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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this.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++] = this.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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public int GetSuccessors(int p, IPoint3D pnt, 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;
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y = 1;
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break;
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case 6:
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x = -1;
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y = 0;
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break;
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case 7:
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x = -1;
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y = -1;
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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(pnt, map, p3D, (Direction)i, out z))
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{
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int idx = this.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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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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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 (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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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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this.RemoveFromChain(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_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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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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this.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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}
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} |