157 lines
3.4 KiB
C++
157 lines
3.4 KiB
C++
//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURNODE_H
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#define DETOURNODE_H
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#include "DetourNavMesh.h"
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enum dtNodeFlags
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{
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DT_NODE_OPEN = 0x01,
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DT_NODE_CLOSED = 0x02,
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};
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static const unsigned short DT_NULL_IDX = 0xffff;
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struct dtNode
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{
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float pos[3]; // Position of the node.
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float cost; // Cost from previous node to current node.
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float total; // Cost up to the node.
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unsigned int pidx : 30; // Index to parent node.
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unsigned int flags : 2; // Node flags 0/open/closed.
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dtPolyRef id; // Polygon ref the node corresponds to.
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};
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class dtNodePool
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{
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public:
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dtNodePool(int maxNodes, int hashSize);
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~dtNodePool();
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inline void operator=(const dtNodePool&) {}
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void clear();
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dtNode* getNode(dtPolyRef id);
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const dtNode* findNode(dtPolyRef id) const;
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inline unsigned int getNodeIdx(const dtNode* node) const
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{
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if (!node) return 0;
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return (unsigned int)(node - m_nodes)+1;
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}
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inline dtNode* getNodeAtIdx(unsigned int idx)
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{
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if (!idx) return 0;
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return &m_nodes[idx-1];
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}
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inline const dtNode* getNodeAtIdx(unsigned int idx) const
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{
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if (!idx) return 0;
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return &m_nodes[idx-1];
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}
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inline int getMemUsed() const
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{
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return sizeof(*this) +
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sizeof(dtNode)*m_maxNodes +
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sizeof(unsigned short)*m_maxNodes +
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sizeof(unsigned short)*m_hashSize;
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}
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inline int getMaxNodes() const { return m_maxNodes; }
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inline int getHashSize() const { return m_hashSize; }
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inline unsigned short getFirst(int bucket) const { return m_first[bucket]; }
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inline unsigned short getNext(int i) const { return m_next[i]; }
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private:
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dtNode* m_nodes;
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unsigned short* m_first;
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unsigned short* m_next;
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const int m_maxNodes;
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const int m_hashSize;
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int m_nodeCount;
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};
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class dtNodeQueue
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{
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public:
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dtNodeQueue(int n);
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~dtNodeQueue();
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inline void operator=(dtNodeQueue&) {}
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inline void clear()
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{
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m_size = 0;
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}
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inline dtNode* top()
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{
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return m_heap[0];
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}
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inline dtNode* pop()
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{
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dtNode* result = m_heap[0];
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m_size--;
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trickleDown(0, m_heap[m_size]);
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return result;
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}
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inline void push(dtNode* node)
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{
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m_size++;
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bubbleUp(m_size-1, node);
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}
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inline void modify(dtNode* node)
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{
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for (int i = 0; i < m_size; ++i)
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{
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if (m_heap[i] == node)
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{
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bubbleUp(i, node);
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return;
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}
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}
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}
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inline bool empty() const { return m_size == 0; }
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inline int getMemUsed() const
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{
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return sizeof(*this) +
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sizeof(dtNode*)*(m_capacity+1);
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}
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inline int getCapacity() const { return m_capacity; }
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private:
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void bubbleUp(int i, dtNode* node);
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void trickleDown(int i, dtNode* node);
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dtNode** m_heap;
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const int m_capacity;
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int m_size;
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};
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#endif // DETOURNODE_H
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