/**Reset and clear the paths.*/ public void resetPaths(){ for(SpawnPoint point : Vars.control.getSpawnPoints()){ point.finder = new OptimizedPathFinder<>(graph); point.path.clear(); point.pathTiles = null; point.request = new PathFinderRequest<>(point.start, Vars.control.getCore(), Vars.control.getDifficulty().heuristic, point.path); point.request.statusChanged = true; //IMPORTANT! } }
@Override public boolean handleMessage (Telegram telegram) { switch (telegram.message) { case PF_RESPONSE: // PathFinderQueue will call us directly, no need to register for this message if (PathFinderRequestControl.DEBUG) { @SuppressWarnings("unchecked") PathFinderQueue<HierarchicalTiledNode> pfQueue = (PathFinderQueue<HierarchicalTiledNode>)telegram.sender; System.out.println("pfQueue.size = " + pfQueue.size()); } MyPathFinderRequest pfr = (MyPathFinderRequest)telegram.extraInfo; TiledSmoothableGraphPath<HierarchicalTiledNode> path = paths[pfr.pathIndex]; int n = path.getCount(); if (n > 0 && pfr.pathFound && pfr.endNode != path.get(n - 1)) { pfr.startNode = path.get(n - 1); if(pfr.pathIndex + 1 < paths.length) { pfr.pathIndex++; } pfr.resultPath = paths[pfr.pathIndex]; pfr.changeStatus(PathFinderRequest.SEARCH_NEW); numPaths = pfr.pathIndex; } else { requestPool.free(pfr); numPaths = pfr.pathIndex + 1; } break; } return true; }
@Override public boolean search (PathFinderRequest<N> request, long timeToRun) { long lastTime = TimeUtils.nanoTime(); // We have to initialize the search if the status has just changed if (request.statusChanged) { initSearch(request.startNode, request.endNode, request.heuristic); request.statusChanged = false; } // Iterate through processing each node do { // Check the available time long currentTime = TimeUtils.nanoTime(); timeToRun -= currentTime - lastTime; if (timeToRun <= PathFinderQueue.TIME_TOLERANCE) return false; // Retrieve the node with smallest estimated total cost from the open list current = openList.pop(); current.category = CLOSED; // Terminate if we reached the goal node; we've found a path. if (current.node == request.endNode) { request.pathFound = true; generateNodePath(request.startNode, request.resultPath); return true; } // Visit current node's children visitChildren(request.endNode, request.heuristic); // Store the current time lastTime = currentTime; } while (openList.size > 0); // The open list is empty and we've not found a path. request.pathFound = false; return true; }
@Override public void run() { if (!finished) { if (request == null) { if (!a.isActive() || !b.isActive()) { finished=true; return; } // offset to center on the image, and convert to pathing space. // @todo cleanup the space difference. final Pos posA = mPos.get(a); final Pos posB = mPos.get(b); Bounds boundsA = mBounds.get(a); Bounds boundsB = mBounds.get(b); int aX = (int) (posA.x + boundsA.cx()) / LayerManager.CELL_SIZE; int aY = (int) (posA.y + boundsA.cy()) / LayerManager.CELL_SIZE; final GridNode cellA = graph.get(aX, aY); int bX = (int) (posB.x + boundsB.cx()) / LayerManager.CELL_SIZE; int bY = (int) (posB.y + boundsB.cy()) / LayerManager.CELL_SIZE; final GridNode cellB = graph.get(bX, bY); entityA().setX(aX); entityA().setY(aY); entityB().setX(bX); entityB().setY(bY); if ( cellA == null || cellB == null ) { finished=true; return; } request = new PathFinderRequest<GridNode>(cellA, cellB, new GridNodeEuclideanHeuristic(), new DefaultGraphPath<GridNode>(128)); request.changeStatus(PathFinderRequest.SEARCH_INITIALIZED); } if ( finder.search(request, TimeUtils.millisToNanos(MAX_RUNTIME_MS))) { finished = true; if (request.pathFound) { generatePath(request.resultPath); request = null; } } if ( request != null ) request.statusChanged = false; } }
