mirror of
https://github.com/CHOMPStation2/CHOMPStation2.git
synced 2025-12-12 03:02:54 +00:00
Merge pull request #7360 from SkyMarshal/astar-fix
Fix/Cleanup for A* implementation
This commit is contained in:
Zuhayr
@@ -38,148 +38,144 @@ length to avoid portals or something i guess?? Not that they're counted right no
|
|||||||
|
|
||||||
|
|
||||||
PriorityQueue
|
PriorityQueue
|
||||||
var/L[]
|
var/list/queue
|
||||||
var/cmp
|
var/proc/comparison_function
|
||||||
|
|
||||||
New(compare)
|
New(compare)
|
||||||
L = new()
|
queue = list()
|
||||||
cmp = compare
|
comparison_function = compare
|
||||||
proc
|
|
||||||
IsEmpty()
|
|
||||||
return !L.len
|
|
||||||
Enqueue(d)
|
|
||||||
var/i
|
|
||||||
var/j
|
|
||||||
L.Add(d)
|
|
||||||
i = L.len
|
|
||||||
j = i>>1
|
|
||||||
while(i > 1 && call(cmp)(L[j],L[i]) > 0)
|
|
||||||
L.Swap(i,j)
|
|
||||||
i = j
|
|
||||||
j >>= 1
|
|
||||||
|
|
||||||
Dequeue()
|
proc/IsEmpty()
|
||||||
if(!L.len) return 0
|
return !queue.len
|
||||||
. = L[1]
|
|
||||||
Remove(1)
|
|
||||||
|
|
||||||
Remove(i)
|
proc/Enqueue(var/data)
|
||||||
if(i > L.len) return 0
|
queue.Add(data)
|
||||||
L.Swap(i,L.len)
|
var/index = queue.len
|
||||||
L.Cut(L.len)
|
|
||||||
if(i < L.len)
|
|
||||||
_Fix(i)
|
|
||||||
_Fix(i)
|
|
||||||
var/child = i + i
|
|
||||||
var/item = L[i]
|
|
||||||
while(child <= L.len)
|
|
||||||
if(child + 1 <= L.len && call(cmp)(L[child],L[child + 1]) > 0)
|
|
||||||
child++
|
|
||||||
if(call(cmp)(item,L[child]) > 0)
|
|
||||||
L[i] = L[child]
|
|
||||||
i = child
|
|
||||||
else
|
|
||||||
break
|
|
||||||
child = i + i
|
|
||||||
L[i] = item
|
|
||||||
List()
|
|
||||||
var/ret[] = new()
|
|
||||||
var/copy = L.Copy()
|
|
||||||
while(!IsEmpty())
|
|
||||||
ret.Add(Dequeue())
|
|
||||||
L = copy
|
|
||||||
return ret
|
|
||||||
RemoveItem(i)
|
|
||||||
var/ind = L.Find(i)
|
|
||||||
if(ind)
|
|
||||||
Remove(ind)
|
|
||||||
PathNode
|
|
||||||
var/datum/source
|
|
||||||
var/PathNode/prevNode
|
|
||||||
var/f
|
|
||||||
var/g
|
|
||||||
var/h
|
|
||||||
var/nt // Nodes traversed
|
|
||||||
New(s,p,pg,ph,pnt)
|
|
||||||
source = s
|
|
||||||
prevNode = p
|
|
||||||
g = pg
|
|
||||||
h = ph
|
|
||||||
f = g + h
|
|
||||||
source.bestF = f
|
|
||||||
nt = pnt
|
|
||||||
|
|
||||||
datum
|
//From what I can tell, this automagically sorts the added data into the correct location.
|
||||||
var/bestF
|
while(index > 2 && call(comparison_function)(queue[index / 2], queue[index]) > 0)
|
||||||
proc
|
queue.Swap(index, index / 2)
|
||||||
PathWeightCompare(PathNode/a, PathNode/b)
|
index /= 2
|
||||||
return a.f - b.f
|
|
||||||
|
|
||||||
AStar(start,end,adjacent,dist,maxnodes,maxnodedepth = 30,mintargetdist,minnodedist,id=null, var/turf/exclude=null)
|
proc/Dequeue()
|
||||||
|
if(!queue.len)
|
||||||
|
return 0
|
||||||
|
return Remove(1)
|
||||||
|
|
||||||
// world << "A*: [start] [end] [adjacent] [dist] [maxnodes] [maxnodedepth] [mintargetdist], [minnodedist] [id]"
|
proc/Remove(var/index)
|
||||||
var/PriorityQueue/open = new /PriorityQueue(/proc/PathWeightCompare)
|
if(index > queue.len)
|
||||||
var/closed[] = new()
|
return 0
|
||||||
var/path[]
|
|
||||||
start = get_turf(start)
|
|
||||||
if(!start) return 0
|
|
||||||
|
|
||||||
open.Enqueue(new /PathNode(start,null,0,call(start,dist)(end)))
|
var/thing = queue[index]
|
||||||
|
queue.Swap(index, queue.len)
|
||||||
|
queue.Cut(queue.len)
|
||||||
|
if(index < queue.len)
|
||||||
|
FixQueue(index)
|
||||||
|
return thing
|
||||||
|
|
||||||
while(!open.IsEmpty() && !path)
|
proc/FixQueue(var/index)
|
||||||
{
|
var/child = 2 * index
|
||||||
var/PathNode/cur = open.Dequeue()
|
var/item = queue[index]
|
||||||
closed.Add(cur.source)
|
|
||||||
|
|
||||||
var/closeenough
|
while(child <= queue.len)
|
||||||
if(mintargetdist)
|
if(child < queue.len && call(comparison_function)(queue[child], queue[child + 1]) > 0)
|
||||||
closeenough = call(cur.source,dist)(end) <= mintargetdist
|
child++
|
||||||
|
if(call(comparison_function)(item, queue[child]) > 0)
|
||||||
if(cur.source == end || closeenough)
|
queue[index] = queue[child]
|
||||||
path = new()
|
index = child
|
||||||
path.Add(cur.source)
|
else
|
||||||
while(cur.prevNode)
|
|
||||||
cur = cur.prevNode
|
|
||||||
path.Add(cur.source)
|
|
||||||
break
|
break
|
||||||
|
child = 2 * index
|
||||||
|
queue[index] = item
|
||||||
|
|
||||||
var/L[] = call(cur.source,adjacent)(id)
|
proc/List()
|
||||||
if(minnodedist && maxnodedepth)
|
return queue.Copy()
|
||||||
if(call(cur.source,minnodedist)(end) + cur.nt >= maxnodedepth)
|
|
||||||
continue
|
|
||||||
else if(maxnodedepth)
|
|
||||||
if(cur.nt >= maxnodedepth)
|
|
||||||
continue
|
|
||||||
|
|
||||||
for(var/datum/d in L)
|
proc/Length()
|
||||||
if(d == exclude)
|
return queue.len
|
||||||
continue
|
|
||||||
var/ng = cur.g + call(cur.source,dist)(d)
|
proc/RemoveItem(data)
|
||||||
if(d.bestF)
|
var/index = queue.Find(data)
|
||||||
if(ng + call(d,dist)(end) < d.bestF)
|
if(index)
|
||||||
for(var/i = 1; i <= open.L.len; i++)
|
return Remove(index)
|
||||||
var/PathNode/n = open.L[i]
|
|
||||||
if(n.source == d)
|
PathNode
|
||||||
open.Remove(i)
|
var/datum/position
|
||||||
break
|
var/PathNode/previous_node
|
||||||
|
|
||||||
|
var/best_estimated_cost
|
||||||
|
var/estimated_cost
|
||||||
|
var/known_cost
|
||||||
|
var/cost
|
||||||
|
var/nodes_traversed
|
||||||
|
|
||||||
|
New(_position, _previous_node, _known_cost, _cost, _nodes_traversed)
|
||||||
|
position = _position
|
||||||
|
previous_node = _previous_node
|
||||||
|
|
||||||
|
known_cost = _known_cost
|
||||||
|
cost = _cost
|
||||||
|
estimated_cost = cost + known_cost
|
||||||
|
|
||||||
|
best_estimated_cost = estimated_cost
|
||||||
|
nodes_traversed = _nodes_traversed
|
||||||
|
|
||||||
|
proc/PathWeightCompare(PathNode/a, PathNode/b)
|
||||||
|
return a.estimated_cost - b.estimated_cost
|
||||||
|
|
||||||
|
proc/AStar(var/start, var/end, var/proc/adjacent, var/proc/dist, var/max_nodes, var/max_node_depth = 30, var/min_target_dist = 0, var/min_node_dist, var/id, var/datum/exclude)
|
||||||
|
var/PriorityQueue/open = new /PriorityQueue(/proc/PathWeightCompare)
|
||||||
|
var/list/closed = list()
|
||||||
|
var/list/path
|
||||||
|
var/list/path_node_by_position = list()
|
||||||
|
start = get_turf(start)
|
||||||
|
if(!start)
|
||||||
|
return 0
|
||||||
|
|
||||||
|
open.Enqueue(new /PathNode(start, null, 0, call(start, dist)(end), 0))
|
||||||
|
|
||||||
|
while(!open.IsEmpty() && !path)
|
||||||
|
var/PathNode/current = open.Dequeue()
|
||||||
|
closed.Add(current.position)
|
||||||
|
|
||||||
|
if(current.position == end || call(current.position, dist)(end) <= min_target_dist)
|
||||||
|
path = new /list(current.nodes_traversed + 1)
|
||||||
|
path[path.len] = current.position
|
||||||
|
var/index = path.len - 1
|
||||||
|
|
||||||
|
while(current.previous_node)
|
||||||
|
current = current.previous_node
|
||||||
|
path[index--] = current.position
|
||||||
|
break
|
||||||
|
|
||||||
|
if(min_node_dist && max_node_depth)
|
||||||
|
if(call(current.position, min_node_dist)(end) + current.nodes_traversed >= max_node_depth)
|
||||||
|
continue
|
||||||
|
|
||||||
|
if(max_node_depth)
|
||||||
|
if(current.nodes_traversed >= max_node_depth)
|
||||||
|
continue
|
||||||
|
|
||||||
|
for(var/datum/datum in call(current.position, adjacent)(id))
|
||||||
|
if(datum == exclude)
|
||||||
|
continue
|
||||||
|
|
||||||
|
var/best_estimated_cost = current.estimated_cost + call(current.position, dist)(datum)
|
||||||
|
|
||||||
|
//handle removal of sub-par positions
|
||||||
|
if(datum in path_node_by_position)
|
||||||
|
var/PathNode/target = path_node_by_position[datum]
|
||||||
|
if(target.best_estimated_cost)
|
||||||
|
if(best_estimated_cost + call(datum, dist)(end) < target.best_estimated_cost)
|
||||||
|
open.RemoveItem(target)
|
||||||
else
|
else
|
||||||
continue
|
continue
|
||||||
|
|
||||||
open.Enqueue(new /PathNode(d,cur,ng,call(d,dist)(end),cur.nt+1))
|
var/PathNode/next_node = new (datum, current, best_estimated_cost, call(datum, dist)(end), current.nodes_traversed + 1)
|
||||||
if(maxnodes && open.L.len > maxnodes)
|
path_node_by_position[datum] = next_node
|
||||||
open.L.Cut(open.L.len)
|
open.Enqueue(next_node)
|
||||||
}
|
|
||||||
|
|
||||||
var/PathNode/temp
|
if(max_nodes && open.Length() > max_nodes)
|
||||||
while(!open.IsEmpty())
|
open.Remove(open.Length())
|
||||||
temp = open.Dequeue()
|
|
||||||
temp.source.bestF = 0
|
|
||||||
while(closed.len)
|
|
||||||
temp = closed[closed.len]
|
|
||||||
temp.bestF = 0
|
|
||||||
closed.Cut(closed.len)
|
|
||||||
|
|
||||||
if(path)
|
return path
|
||||||
for(var/i = 1; i <= path.len/2; i++)
|
|
||||||
path.Swap(i,path.len-i+1)
|
|
||||||
|
|
||||||
return path
|
|
||||||
|
|||||||
Reference in New Issue
Block a user