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Import of Empire 4.2.12

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Markus Armbruster 2003-08-23 12:23:04 +00:00
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src/lib/as/as.h Normal file
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/*
* A* Search - A search library used in Empire to determine paths between
* objects.
* Copyright (C) 1990-1998 Phil Lapsley
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
* A* definitions.
*
* @(#)as.h 1.9 11/13/90
*/
/*
* 11/09/98 - Steve McClure
* Added path list caching structures
*/
#include <stdio.h> /* for FILE */
#include "misc.h" /* for s_char */
/*
* Coordinate.
*/
struct as_coord {
int x, y;
};
/*
* Path, made up of a linked list of coordinates.
*/
struct as_path {
struct as_coord c;
struct as_path *next;
};
/*
* Basic node, used internally by A* algorithm.
*/
struct as_node {
struct as_coord c; /* our coordinate */
double knowncost; /* cost so far */
double lbcost; /* lower bound on cost to dest */
double inclbcost; /* incremental lower bound cost */
double seccost; /* used to break ties */
int step;
int flags;
struct as_node *back;
};
#define AS_TRIED 1 /* we've tried this node before */
/*
* Linked list of nodes, used internally by A* algorithm.
*/
struct as_queue {
struct as_node *np;
struct as_queue *next;
struct as_queue *prev;
};
/*
* Hash table entry, used to determine if we've seen a particular
* coordinate before.
*/
struct as_hash {
struct as_coord c;
struct as_queue *qp;
struct as_hash *next;
};
/*
* User's handle on A*, returned by as_init(). Some of the data here is
* used by A* internals.
*/
struct as_data {
int maxneighbors; /* max # of neighbors a cell can have */
int hashsize; /* size of internal hash table */
int (*hash)(struct as_coord); /* hash function (coord -> int) */
int (*neighbor)(struct as_coord, struct as_coord *, s_char *); /* function to find neighbors */
double (*lbcost)(struct as_coord, struct as_coord, s_char *); /* function to give lower bound cost */
double (*realcost)(struct as_coord, struct as_coord, s_char *); /* function to give real cost */
double (*seccost)(struct as_coord, struct as_coord, s_char *); /* function to secondary cost */
char *userdata; /* user's data, passed to callbacks */
struct as_coord from; /* from coordinate */
struct as_coord to; /* to coordinate */
struct as_path *path; /* solution */
/* below are "private" to as_ routines */
struct as_queue *head;
struct as_queue *tried;
struct as_hash **hashtab;
struct as_queue *subsumed;
struct as_coord *neighbor_coords;
struct as_node **neighbor_nodes;
};
/*
* Added these for caching of paths as we stumble across them
*/
struct as_topath {
coord x;
struct as_path *path; /* Path from holder of this list to here */
struct as_topath *next;
};
struct as_frompath {
coord x;
struct as_topath **tolist; /* List of nodes we have a path to */
struct as_frompath *next;
};
/*
* Some cheezy allocation macros.
*/
#define AS_NEW_ARRAY(p, type, n, err) \
(p) = (type *)calloc((n), sizeof (*(p))); \
if ((p) == NULL) \
return err; \
#define AS_NEW(p, type, err) \
AS_NEW_ARRAY((p), type, 1, err);
#define AS_NEW_MALLOC(p, type, err) \
(p) = (type *)malloc(sizeof(type)); \
if ((p) == NULL) \
return err; \
/* Functions that the user can call. */
extern struct as_data *
as_init(int maxneighbors, int hashsize,
int (*hashfunc) (struct as_coord),
int (*neighborfunc) (struct as_coord, struct as_coord *, s_char *),
double (*lbcostfunc) (struct as_coord, struct as_coord, s_char *),
double (*realcostfunc) (struct as_coord, struct as_coord, s_char *),
double (*seccostfunc) (struct as_coord, struct as_coord, s_char *),
s_char *userdata);
extern int as_search(struct as_data *adp);
extern void as_delete(struct as_data *adp);
extern void as_reset(struct as_data *adp);
extern void as_stats(struct as_data *adp, FILE *fp);
extern struct as_path *as_find_cachepath(coord fx,
coord fy,
coord tx,
coord ty);
/* Functions that are "private" to algorithm */
extern void as_add_cachepath(struct as_data *adp);
extern void as_clear_cachepath();
extern void as_enable_cachepath();
extern void as_disable_cachepath();
extern void as_makepath(struct as_data *adp);
extern void as_free_path(struct as_path *pp);
extern int as_costcomp(struct as_node **n1, struct as_node **n2);
extern struct as_queue *as_extend(struct as_data *adp);
extern struct as_queue *as_merge(struct as_data *adp,
struct as_queue *head,
struct as_node **neighbors);
extern struct as_queue *as_iscinq(struct as_data *adp, struct as_coord c);
extern void as_setcinq(struct as_data *adp,
struct as_coord c, struct as_queue *qp);
extern void as_free_hashtab(struct as_data *adp);
extern int as_winnow(struct as_data *adp,
struct as_coord *coords, int ncoords);