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1 | #include "core/CoreIncludes.h" |
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2 | #include "core/XMLPort.h" |
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3 | #include "PacmanGhost.h" |
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4 | |
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5 | #include "worldentities/ControllableEntity.h" |
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6 | using namespace std; |
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7 | |
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8 | namespace orxonox |
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9 | { |
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10 | |
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11 | class getShortestPath |
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12 | { |
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13 | |
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14 | public: |
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15 | |
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16 | //Check if there is a collision |
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17 | bool jeanfindpos(Vector3 one, Vector3 other){ |
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18 | if((abs(one.x - other.x)<0.5) && (abs(one.y - other.y)<0.5) && (abs(one.z - other.z)<0.5)) return true; |
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19 | return false; |
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20 | } |
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21 | |
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22 | |
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23 | private: |
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24 | |
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25 | struct graphVertex; |
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26 | |
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27 | void findNeighboorVertices(Vector3 actuelposition, graphVertex adjacentVertices[]); |
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28 | |
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29 | struct graphVertex { |
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30 | |
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31 | Vector3 position; |
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32 | graphVertex *adjacentVertices[4]; //neighbooring vertices |
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33 | |
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34 | //would a vector of vector storing the neighboors not be more suitable ? |
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35 | |
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36 | int shortestDistanceToStart; //actual shortest distance to start point |
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37 | graphVertex* actuelPredecessor; //the predecessor giving the for now shortest |
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38 | //path to start |
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39 | graphVertex* currentNearestNonVisitedNeighboor; |
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40 | bool alreadyVisited; |
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41 | graphVertex(){ //default constructor |
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42 | position=0; |
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43 | shortestDistanceToStart= std::numeric_limits<int>::max(); |
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44 | actuelPredecessor=NULL; |
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45 | alreadyVisited=false; |
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46 | for(int kl =0; kl <4;kl++){ |
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47 | adjacentVertices[kl]=NULL; //first put all position in array listing neighboors to 0 |
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48 | } |
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49 | } |
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50 | graphVertex(Vector3 wantedPosition){ //normal constructor |
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51 | position=wantedPosition; |
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52 | shortestDistanceToStart= std::numeric_limits<int>::max(); //default distance is infinity |
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53 | actuelPredecessor=NULL; |
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54 | alreadyVisited=false; |
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55 | for(int kl =0; kl <4;kl++){ |
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56 | adjacentVertices[kl]=NULL; //first put all position in array listing neighboors to 0 |
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57 | } |
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58 | } |
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59 | }; |
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60 | |
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61 | }; |
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62 | |
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63 | } |
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64 | |
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