public DStar(LocSet sources, int[] distances, MapLocation dest) {
this.sources = sources;
this.dest = dest;
for (int i = sources.size; --i >= 0; ) {
MapLocation source = sources.get(i);
int e = distances[i] + heuristic(source, dest);
queue.insert(e, source);
distance[source.x][source.y] = distances[i];
// estimate[source.x][source.y] = e;
// leave as null to cause exceptions if we accidentally try to use it?
from[source.x][source.y] = Direction.NONE;
}
}
public boolean compute(int bytecodes) {
// cache variables
int d, w, e, x, y;
int[] weight;
MapLocation next, nbr;
Direction dir;
final BucketQueue<MapLocation> queue = this.queue;
final int[][] distance = this.distance;
final Direction[][] from = this.from;
// int iters = 0;
// int bc = Clock.getBytecodeNum();
while (queue.size > 0) {
// iters++;
if (Clock.getBytecodeNum() >= bytecodes - 600) {
break;
}
// RC.setIndicatorString(0, Integer.toString(min));
// ALERT: queue.min is valid only after a call to deleteMin()!
next = queue.deleteMin();
x = next.x;
y = next.y;
d = distance[x][y];
// check if we have already visited this node
if (!visited[x][y]) {
visited[x][y] = true;
/*
* if (broadcast) {
* try {
* messagingSystem.writePathingDirection(next, from[x][y]);
* } catch (GameActionException ex) {
* ex.printStackTrace();
* }
* }
*/
weight = WEIGHT[RC.senseTerrainTile(next).ordinal()];
dir = from[x][y];
int i;
if (dir == Direction.NONE) {
dir = Direction.NORTH;
i = 8;
} else if (dir.isDiagonal()) {
dir = dir.rotateLeft().rotateLeft();
i = 5;
} else {
dir = dir.rotateLeft();
i = 3;
}
for (; --i >= 0; dir = dir.rotateRight()) {
nbr = next.add(dir);
if (RC.senseTerrainTile(nbr).isTraversableAtHeight(RobotLevel.ON_GROUND)) {
w = d + weight[dir.ordinal()];
e = w + heuristic(next, dest);
x = nbr.x;
y = nbr.y;
if (from[x][y] == null) {
queue.insert(e, nbr);
// if (RC.getRobot().getID() == 118)
// System.out.println("inserted " + nbr + ": " + w + " " + e);
distance[x][y] = w;
// estimate[x][y] = e;
from[x][y] = dir;
} else {
if (w < distance[x][y]) {
queue.insert(e, nbr);
distance[x][y] = w;
// estimate[x][y] = e;
from[x][y] = dir;
visited[x][y] = false;
}
}
}
}
}
}
// bc = Clock.getBytecodeNum() - bc;
// RC.setIndicatorString(2, "average DStar bytecodes: " + (iters > 0 ? bc / iters : bc));
return arrived(dest);
}
