/*
* (non-Javadoc)
*
* @see
* com.sun.electric.tool.routing.astar.t3.machine.AStarMachine#findPath(int,
* int, int, int, int, int)
*/
public List<AStarRegionNode> findPath(
int startX, int startY, int startZ, int goalX, int goalY, int goalZ) {
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.");
AStarRegionNode startRegion = map.nodeAt(startX, startY, startZ);
AStarRegionNode goalRegion = map.nodeAt(goalX, goalY, goalZ);
assert (startRegion != null);
assert (goalRegion != null);
this.goal.setGoalNode(goalRegion);
int goalDistance = this.goal.distanceToGoal(startX, startY, startZ);
goalRegion.initialize(null, goalDistance, 0, goalDistance, goalX, goalY, goalZ);
startRegion.initialize(null, 0, goalDistance, goalDistance, startX, startY, startZ);
// openList.clearOpenList();
// closedList.clearClosedList();
openList.addNodeToOpenList(startRegion);
return AStar.findPath(openList, closedList, map, this.goal, nodePool, this);
}
/*
* (non-Javadoc)
*
* @seecom.sun.electric.tool.routing.astar.t3.algorithm.AStarMapVisitorBase#
* visitNeighbour
* (com.sun.electric.tool.routing.astar.t3.algorithm.AStarNodeBase, int, int,
* int)
*/
public void visitNeighbour(AStarRegionNode origin, int x, int y, int z) {
// If there's no capacity into this direction, don't visit.
if (origin.getX() == x)
if ((!origin.isTerminalRegion() && origin.getVerticalCapacity() == 0)
|| (!map.nodeAt(x, y, z).isTerminalRegion()
&& map.nodeAt(x, y, z).getVerticalCapacity() == 0)) return;
if (origin.getY() == y)
if ((!origin.isTerminalRegion() && origin.getHorizontalCapacity() == 0)
|| (!map.nodeAt(x, y, z).isTerminalRegion()
&& map.nodeAt(x, y, z).getHorizontalCapacity() == 0)) return;
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.
AStarRegionNode foundNode = openList.findOpenNode(x, y, z);
AStarNode portal = null;
boolean foundCheaperPath = false;
if (foundNode != null) {
if (totalCost < foundNode.getTotalCost()) {
// If no portal can be found, don't visit.
portal = this.findPortal(origin, foundNode); // TODO: Do
// it!
if (portal != null) {
foundCheaperPath = true;
openList.removeNodeFromOpenList(foundNode);
}
}
} else {
foundNode = closedList.findClosedNode(x, y, z);
if (foundNode != null) {
if (totalCost < foundNode.getTotalCost()) {
// If no portal can be found, don't visit.
portal = this.findPortal(origin, foundNode); // TODO: Do
// it!
if (portal != null) {
foundCheaperPath = true;
closedList.removeNodeFromClosedList(foundNode);
}
}
} else {
foundNode = map.nodeAt(x, y, z);
// If no portal can be found, don't visit.
portal = this.findPortal(origin, foundNode);
if (portal != null) {
// Node not found in open and closed list, thus put a
// new one on the open list.
foundCheaperPath = true;
}
}
}
if (foundCheaperPath) {
foundNode.initialize(origin, costFromStart, costToGoal, totalCost, x, y, z);
foundNode.setEntryPoint(portal);
openList.addNodeToOpenList(foundNode);
}
}