public void visitNeighbour(AStarNode origin, int x, int y, int z) {
int costFromStart = origin.getCostFromStart() + goal.getNodeCost(origin, x, y, z);
int costToGoal = goal.distanceToGoal(x, y, z);
int totalCost = costFromStart + costToGoal;
// Check if on open/closed list
// If yes, check if new path is more efficient (lower f value)
// and update path if so.
AStarNode foundNode = openList.findOpenNode(x, y, z);
boolean foundCheaperPath = false;
if (foundNode != null) {
if (totalCost < foundNode.getTotalCost()) {
foundCheaperPath = true;
openList.removeNodeFromOpenList(foundNode);
}
} else {
foundNode = closedList.findClosedNode(x, y, z);
if (foundNode != null) {
if (totalCost < foundNode.getTotalCost()) {
foundCheaperPath = true;
closedList.removeNodeFromClosedList(foundNode);
}
} else {
// Node not found in open and closed list, thus put a
// new one on the open list.
foundNode = map.nodeAt(x, y, z);
foundCheaperPath = true;
}
}
if (foundCheaperPath) {
foundNode.initialize(origin, costFromStart, costToGoal, totalCost, x, y, z);
openList.addNodeToOpenList(foundNode);
}
}
/**
* Returns if all regions are currently not occupied by another search.
*
* @return
*/
public boolean isBoundingBoxFree() {
for (int x = westernBound; x <= easternBound; x++)
for (int y = northernBound; y <= southernBound; y++)
for (int z = upperBound; z <= lowerBound; z++)
if (!isOutsideMap(x, y, z)) if (regionGrid.isTileBlocked(x, y, z)) return false;
return true;
}
/*
* (non-Javadoc)
*
* @see machine.AStarMachine#findPath()
*/
public List<AStarNode> findPath(
int startX, int startY, int startZ, int endX, int endY, int endZ) {
if (map == null)
throw new IllegalStateException(
"The searched map must be specified before path search can be done.");
if (this.goal == null)
throw new IllegalStateException(
"The goal object must be specified before path search can be done.");
AStarNode goalNode = map.nodeAt(endX, endY, endZ);
int goalDistance = this.goal.getNodeCost(goalNode, startX, startY, startZ);
goalNode.initialize(null, goalDistance, 0, goalDistance, endX, endY, endZ);
this.goal.setGoalNode(goalNode);
AStarNode startNode = map.nodeAt(startX, startY, startZ);
startNode.initialize(null, 0, goalDistance, goalDistance, startX, startY, startZ);
openList.addNodeToOpenList(startNode);
return AStar.findPath(openList, closedList, map, this.goal, nodePool, this);
}
private boolean isOutsideMap(int x, int y, int z) {
boolean outsideX = false;
boolean outsideY = false;
boolean outsideZ = false;
if (regionGrid.getMaxXNodes() != 0) outsideX = (x < 0) || (x >= regionGrid.getMaxXNodes());
if (regionGrid.getMaxYNodes() != 0) outsideY = (y < 0) || (y >= regionGrid.getMaxYNodes());
if (regionGrid.getMaxZNodes() != 0) outsideZ = (z < 0) || (z >= regionGrid.getMaxZNodes());
return (outsideX || outsideY || outsideZ);
}
/** Marks all AStarRegionNodes inside this bounding box as not occupied. */
public void releaseBoundingBox() {
for (int x = westernBound; x <= easternBound; x++)
for (int y = northernBound; y <= southernBound; y++)
for (int z = upperBound; z <= lowerBound; z++)
if (!isOutsideMap(x, y, z)) regionGrid.setTileBlocked(x, y, z, false);
}