X-Git-Url: https://pd.if.org/git/?p=hexagon;a=blobdiff_plain;f=astar.c;fp=astar.c;h=67889c24b0e29402054ea4aa604712e2d1c28eb1;hp=fd92bfcc8ddc24f611ff3d7b71980a119fead6c4;hb=06868ef42497f1cbc480831029f5f69b395dfdd2;hpb=c5a7aa5029146b2bcea5daae53c6aa3e5e33ed04

diff --git a/astar.c b/astar.c
index fd92bfc..67889c2 100644
--- a/astar.c
+++ b/astar.c
@@ -17,11 +17,11 @@
 #define DEBUG_ASTAR 1 
 #endif
 
-static double default_metric(int a, int b) {
+static double default_metric(struct HL_hex a, struct HL_hex b) {
 	return 1.0;
 }
 
-static double default_heuristic(int a, int b) {
+static double default_heuristic(struct HL_hex a, struct HL_hex b) {
 	return (double)HL_distance(a, b);
 }
 
@@ -42,7 +42,7 @@ struct HL_astar *HL_astar_init(struct HL_astar *state) {
 
 	state->metric = default_metric;
 	state->heuristic = default_heuristic;
-	state->neighbor = HL_adjacent_hex;
+	state->neighbor = HL_adjhexp;
 
 	return state;
 }
@@ -91,10 +91,10 @@ void HL_astar_free(struct HL_astar *s) {
 	}
 }
 
-static struct HL_astar_hex *add_open(struct HL_astar *s, int hex) {
+static struct HL_astar_hex *add_open(struct HL_astar *s, struct HL_hex hex) {
 	struct HL_astar_hex *node;
 #ifdef DEBUG_ASTAR
-		fprintf(stderr, "add to open %d\n", hex);
+		fprintf(stderr, "add to open %d\n", HL_cantor(hex));
 #endif
 
 	if (!s || s->error) {
@@ -111,7 +111,7 @@ static struct HL_astar_hex *add_open(struct HL_astar *s, int hex) {
 	/* TODO check in open or closed */
 	node = malloc(sizeof *node);
 #ifdef DEBUG_ASTAR
-		fprintf(stderr, "add to open %d = %p\n", hex, node);
+		fprintf(stderr, "add to open %d = %p\n", HL_cantor(hex), node);
 #endif
 
 	node->hex = hex;
@@ -138,7 +138,7 @@ static struct HL_astar_hex *closehex(struct HL_astar *s, struct HL_astar_hex *h)
 	}
 
 #ifdef DEBUG_ASTAR
-	fprintf(stderr, "Closing hex: (%d,%d)\n",  HL_cantor_x(h->hex), HL_cantor_y(h->hex));
+	fprintf(stderr, "Closing hex: (%d,%d)\n",  h->hex.x, h->hex.y);
 #endif
 	h->open = 0;
 	if (h->prev) h->prev->next = h->next;
@@ -152,22 +152,22 @@ static struct HL_astar_hex *closehex(struct HL_astar *s, struct HL_astar_hex *h)
 	return h;
 }
 
-struct HL_astar_hex *in_closed(struct HL_astar *s, int hex) {
+struct HL_astar_hex *in_closed(struct HL_astar *s, struct HL_hex hex) {
 	struct HL_astar_hex *h;
 	if (!s) return 0;
 
 	for (h = s->closed; h; h = h->next) {
-		if (h->hex == hex) return h;
+		if (h->hex.x == hex.x && h->hex.y == hex.y) return h;
 	}
 	return NULL;
 }
 
-struct HL_astar_hex *in_open(struct HL_astar *s, int hex) {
+struct HL_astar_hex *in_open(struct HL_astar *s, struct HL_hex hex) {
 	struct HL_astar_hex *h;
 	if (!s) return 0;
 
 	for (h = s->open; h; h = h->next) {
-		if (h->hex == hex) return h;
+		if (h->hex.x == hex.x && h->hex.y == hex.y) return h;
 	}
 	return NULL;
 }
@@ -191,7 +191,7 @@ static struct HL_astar_hex *lowrank(struct HL_astar *s) {
 void dump_list(char *name, struct HL_astar_hex *x) {
 	fprintf(stderr, "%s list: ", name);
 	for(; x; x = x->next) {
-		fprintf(stderr, "(%d,%d)",  HL_cantor_x(x->hex), HL_cantor_y(x->hex));
+		fprintf(stderr, "(%d,%d)",  x->hex.x, x->hex.y);
 	}
 	fprintf(stderr, "\n");
 }
@@ -201,14 +201,15 @@ void dump_list(char *name, struct HL_astar_hex *x) {
  * find a path from start to end.  we use A*
  */
 int HL_findpath(struct HL_astar *s, int loops) {
-	int dir, y;
+	int dir;
+	struct HL_hex y;
 	struct HL_astar_hex *node, *x, *yopen;
 	int tent_better;
 	double cost;
 
 	s->error = 0;
 
-	if (s->start == s->goal) return 0;
+	if (HL_distance(s->start, s->goal) == 0) return 0;
 
 	node = add_open(s, s->start);
 	node->g = 0.0;
@@ -217,9 +218,9 @@ int HL_findpath(struct HL_astar *s, int loops) {
 
 #ifdef DEBUG_ASTAR
 	fprintf(stderr, "A* findpath: ");
-	fprintf(stderr, "(%d,%d)",  HL_cantor_x(s->start), HL_cantor_y(s->start));
+	fprintf(stderr, "(%d,%d)",  s->start.x, s->start.y);
 	fprintf(stderr, " -> ");
-	fprintf(stderr, "(%d,%d)",  HL_cantor_x(s->goal), HL_cantor_y(s->goal));
+	fprintf(stderr, "(%d,%d)",  s->goal.x, s->goal.y);
 	fprintf(stderr, "\n");
 #endif
 
@@ -233,23 +234,24 @@ int HL_findpath(struct HL_astar *s, int loops) {
 		x = lowrank(s);
 #ifdef DEBUG_ASTAR
 		fprintf(stderr, "checking lowest f hex = (%d,%d) f = %f, g = %f, h = %f\n",
-			HL_cantor_x(x->hex), HL_cantor_y(x->hex),
+			x->hex.x, x->hex.y,
 				x->f, x->g, x->h
 				);
 #endif
-		if (x->hex == s->goal) {
+		if (HL_distance(x->hex, s->goal) == 0) {
 			break;
 		}
 		closehex(s, x);
 
-		for (dir = 0; y = s->neighbor(x->hex, dir),dir<6; dir++) {
-			if (y == 0) continue; /* no hex in that direction */
+		int n;
+		for (dir = 0; n = s->neighbor(x->hex, dir, &y),dir<6; dir++) {
+			if (n == 0) continue; /* no hex in that direction */
 			if (in_closed(s, y)) {
 				continue;
 			}
 #ifdef DEBUG_ASTAR
 			fprintf(stderr, "checking dir %d, hex (%d, %d)\n", dir,
-					HL_cantor_x(y), HL_cantor_y(y));
+					y.x, y.y);
 #endif
 
 			cost = x->g + s->metric(x->hex, y);
@@ -280,7 +282,7 @@ int HL_findpath(struct HL_astar *s, int loops) {
 				yopen->f = yopen->g + yopen->h;
 #ifdef DEBUG_ASTAR
 		fprintf(stderr, "maybe better hex = (%d,%d) f = %f, g = %f, h = %f\n",
-			HL_cantor_x(yopen->hex), HL_cantor_y(yopen->hex),
+			yopen->hex.x, yopen->hex.y,
 				yopen->f, yopen->g, yopen->h
 				);
 #endif
@@ -290,7 +292,7 @@ int HL_findpath(struct HL_astar *s, int loops) {
 	}
 
 	/* error no path ? */
-	if (x->hex != s->goal) {
+	if (HL_distance(x->hex, s->goal) != 0) {
 		s->error = 1;
 		return 0;
 	}
@@ -306,12 +308,12 @@ int HL_findpath(struct HL_astar *s, int loops) {
 		if (yopen->parent) {
 			yopen->parent->next = yopen;
 		}
-		if (yopen->hex == s->start) s->from = yopen;
+		if (HL_distance(yopen->hex, s->start) == 0) s->from = yopen;
 #ifdef DEBUG_ASTAR
 		fprintf(stderr, "(%p %d %d,%d)",
 				yopen, yopen->hex,
-				HL_cantor_x(yopen->hex),
-				HL_cantor_y(yopen->hex)
+				yopen->hex.x,
+				yopen->hex.y
 				);
 #endif
 		s->pathlen++;