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Merge pull request #1 from Carn/AstarReview

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Minor modifications to Yvar's A* fixes
This commit is contained in:
Yvar
2013-05-19 19:11:35 -07:00
parent 3443ee2319 e6c8e67c3f
commit e0d2e2746c
4 changed files with 45 additions and 68 deletions
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code/__HELPERS/lists.dm
+10 -6
View File
@@ -134,12 +134,16 @@ proc/listclearnulls(list/list)
L.Cut(picked,picked+1) //Cut is far more efficient that Remove()
//Returns the top(last) element from the list and removes it from the list (typical stack function)
/proc/pop(list/listfrom)
if (listfrom.len > 0)
var/picked = listfrom[listfrom.len]
listfrom.len--
return picked
return null
/proc/pop(list/L)
if(L.len)
. = L[L.len]
L.len--
/proc/sorted_insert(list/L, thing, comparator)
var/pos = L.len
while(pos > 0 && call(comparator)(thing, L[pos]) > 0)
pos--
L.Insert(pos+1, thing)
/*
* Sorting
code/controllers/lighting_controller.dm
+1 -1
View File
@@ -117,7 +117,7 @@ datum/controller/lighting/proc/Recover()
var/msg = "## DEBUG: [time2text(world.timeofday)] lighting_controller restarted. Reports:\n"
for(var/varname in lighting_controller.vars)
switch(varname)
if("tag","bestF","type","parent_type","vars") continue
if("tag","type","parent_type","vars") continue
else
var/varval1 = lighting_controller.vars[varname]
var/varval2 = vars[varname]
code/controllers/master_controller.dm
+1 -1
View File
@@ -287,7 +287,7 @@ datum/controller/game_controller/proc/Recover() //Mostly a placeholder for now.
var/msg = "## DEBUG: [time2text(world.timeofday)] MC restarted. Reports:\n"
for(var/varname in master_controller.vars)
switch(varname)
if("tag","bestF","type","parent_type","vars") continue
if("tag","type","parent_type","vars") continue
else
var/varval = master_controller.vars[varname]
if(istype(varval,/datum))
code/defines/procs/AStar.dm
+33 -60
View File
@@ -1,25 +1,5 @@
priorityqueue
var/pathnode/nodes[] //list of pathnodes, sorted descending by f_score
New()
nodes = new()
priorityqueue/proc/insert(pathnode/n)
if (!nodes.len)
nodes.Add(n)
else
//linear search - slower than binary but guaranteed to work!
var/pos = nodes.len
while (pos > 0 && compare(n,nodes[pos]) > 0)
pos--
nodes.Insert(pos+1,n)
priorityqueue/proc/extract_last()
var/pathnode/t = nodes[nodes.len]
nodes.Cut(nodes.len)
return t
priorityqueue/proc/compare(pathnode/a, pathnode/b)
return (a.f_score - b.f_score)
/proc/cmp_pathnodes(pathnode/A, pathnode/B)
return (A.f_score - B.f_score)
pathnode
var/turf/me //turf
@@ -81,87 +61,80 @@ near a target, but not right to it - for an AI mob with a gun, for example."
length to avoid portals or something i guess?? Not that they're counted right now but w/e."
*********************/
proc/AStar(turf/start_turf, turf/dest_turf, adjacent_proc, distance_proc, maxnodes, max_length, id=null, var/turf/exclude=null)
set background=1 //don't hog the CPU
set background=1 //allows proc to sleep should it take more than a single frame to complete
var/const/DEPTH_BIAS = 0.5 //preference of discovered paths. decrease with extreme caution and don't set >1!
//var/evaluations = 0 //Total number of tiles examined, including discards and duplicates. Used for debugging
var/lpct = 0 //Loop counter - turfs properly examined. Debugging and infinite loop prevention.
var/pathnode/checked[] = new() //list of pathnodes already examined
var/priorityqueue/pq = new /priorityqueue() //list of pathnodes not yet examined, sorted descending by f_score
var/list/checked = list() //list of pathnodes already examined
var/list/priorityqueue = list() //list of pathnodes not yet examined, sorted descending by f_score
var/pathnode/current //current pathnode being examined
var/next_g //calculated g_score of a potential turf
var/next_f //calculated f_score of a potential turf
var/skip //used for internal logic branching, don't touch.
var/pathnode/temp //temporary pathnode used for comparison, don't touch.
var/list/path = list() //return value
//sanity check to avoid a huge waste of CPU time on impossible tasks
for(var/obj/O in dest_turf)
if (O.density && (!istype(O, /obj/machinery/door) || !(O.flags & ON_BORDER)))
var/list/path = new //something is blocking the destination
if(O.density && (!istype(O, /obj/machinery/door) || !(O.flags & ON_BORDER))) //something is blocking the destination
return path
priorityqueue += new /pathnode(start_turf, null, call(start_turf,distance_proc)(dest_turf), 0)//add the starting turf and manhattan distance to the queue!
pq.insert(new /pathnode(start_turf, null, call(start_turf,distance_proc)(dest_turf),0)) //add the starting turf and manhattan distance to the queue!
for(lpct=0, lpct<1800, lpct++) //maximum for DEPTH_BIAS=0.5 is 958 loops to Research Division (originally 2743)
if(!priorityqueue.len) break
for (lpct = 0; lpct < 1800; lpct++) //maximum for DEPTH_BIAS=0.5 is 958 loops to Research Division (originally 2743)
if (!pq.nodes.len) break
current = pq.extract_last()
current = pop(priorityqueue)
checked.Add(current)
next_g = current.g_score + DEPTH_BIAS
//if (maxnodes && next_g > (maxnodes*DEPTH_BIAS)) continue
//if(maxnodes && next_g > (maxnodes*DEPTH_BIAS)) continue
if (!current) //no more possibilities, or an unhandled error
if(!current) //no more possibilities, or an unhandled error
//world << "Impossible path"
var/list/path = new //returning 0 will get runtime errors
return path //FAILURE
if (current.me == dest_turf) //reached the destination
var/list/path = new()
path.Add(current.me)
while (current.parent) //recreate path by looping through parents
if(current.me == dest_turf) //reached the destination
while(current) //recreate path by looping through parents
path.Insert(1, current.me)
current = current.parent
path.Add(current.me)
//world << "Path found! ([path.len] steps, [lpct] loops, [evaluations] evaluations)"
for(var/i = 1; i <= path.len/2; i++) //reverse path
path.Swap(i,path.len-i+1)
if (path.len > max_length) //Truncate list at max_length (if necessary)
path.Cut(max_length,0)
path.len = min(path.len, max_length-1)
return path //SUCCESS
var/adjacent = call(current.me,adjacent_proc)(id)
for (var/next_turf in adjacent)
for(var/next_turf in adjacent)
//evaluations++
if (next_turf == exclude)
if(next_turf == exclude)
continue
skip = 0
next_f = next_g + call(next_turf,distance_proc)(dest_turf)
var/i = 0
while ( i < checked.len && !skip)
while(i < checked.len && !skip)
i++
temp = checked[i]
if (temp.me == next_turf) //if this turf has already been checked
if(temp.me == next_turf) //if this turf has already been checked
skip = 1
if (temp.f_score > next_f) //BUT the current path to it is better
if(temp.f_score > next_f) //BUT the current path to it is better
checked[i] = new /pathnode(next_turf, current, next_f, next_g)
//then update it
if (!skip) //if it hasn't been checked
if(!skip) //if it hasn't been checked
i = 0
while (i < pq.nodes.len && !skip)
while(i < priorityqueue.len && !skip)
i++
temp = pq.nodes[i]
if (temp.me == next_turf) //if this turf was already on the openlist
if (temp.f_score > next_f) //BUT the current path to it is better
pq.nodes.Cut(i,i+1) //then remove it
temp = priorityqueue[i]
if(temp.me == next_turf) //if this turf was already on the openlist
if(temp.f_score > next_f) //BUT the current path to it is better
priorityqueue.Cut(i,i+1) //then remove it
skip = 2
else
skip = 1 //otherwise leave it and don't add this version
if (!(skip % 2))
pq.insert(new /pathnode(next_turf, current, next_f, next_g))
if(!(skip % 2))
sorted_insert(priorityqueue, new /pathnode(next_turf, current, next_f, next_g), /proc/cmp_pathnodes)
//world << "Didn't find a path within [evaluations] evaluations and [lpct] loops."
var/list/path = new //prevents runtime errors
return path //FAILURE
//This return should only be reached if the path is too long, and the while loop gives up.