diff options
Diffstat (limited to 'src/main')
| -rw-r--r-- | src/main/java/kr/syeyoung/dungeonsguide/pathfinding/JPSPathfinder.java | 45 |
1 files changed, 22 insertions, 23 deletions
diff --git a/src/main/java/kr/syeyoung/dungeonsguide/pathfinding/JPSPathfinder.java b/src/main/java/kr/syeyoung/dungeonsguide/pathfinding/JPSPathfinder.java index 8ee1251f..42595d2f 100644 --- a/src/main/java/kr/syeyoung/dungeonsguide/pathfinding/JPSPathfinder.java +++ b/src/main/java/kr/syeyoung/dungeonsguide/pathfinding/JPSPathfinder.java @@ -120,9 +120,9 @@ public class JPSPathfinder { start.g = 0; start.f = 0; start.h = (float) from.squareDistanceTo(to); Node end = null; float minDist = Float.MAX_VALUE; - long forceEnd = System.currentTimeMillis() + 3000; + long forceEnd = System.currentTimeMillis() + 5000; while(!open.isEmpty()) { -// if (forceEnd < System.currentTimeMillis()) break; + if (forceEnd < System.currentTimeMillis()) break; Node n = open.poll(); n.closed= true; if (minDist > n.h) { @@ -134,7 +134,10 @@ public class JPSPathfinder { } for (Node neighbor : getNeighbors(n.parent == null ? n : n.parent, n)) { - expand(n.x, n.y, n.z, neighbor.x - n.x, neighbor.y - n.y, neighbor.z - n.z, n); + Node jumpPT = expand(n.x, n.y, n.z, neighbor.x - n.x, neighbor.y - n.y, neighbor.z - n.z); + if (jumpPT == null || jumpPT.closed) continue; + + addNode(n, jumpPT, true); } } @@ -247,42 +250,38 @@ public class JPSPathfinder { return nexts; } - public Node expand(int x, int y, int z, int dx, int dy, int dz, Node parent) { + public Node expand(int x, int y, int z, int dx, int dy, int dz) { while(true) { int nx = x + dx, ny = y + dy, nz = z + dz; if (isBlocked(nx, ny, nz)) return null; - if (nx > destinationBB.minX && nx < destinationBB.maxX && ny > destinationBB.minY && ny < destinationBB.maxY && nz > destinationBB.minZ && nz < destinationBB.maxZ) return addNode(parent, openNode(nx,ny,nz), true); + if (nx > destinationBB.minX && nx < destinationBB.maxX && ny > destinationBB.minY && ny < destinationBB.maxY && nz > destinationBB.minZ && nz < destinationBB.maxZ) return openNode(nx,ny,nz); int determinant = Math.abs(dx) + Math.abs(dy) + Math.abs(dz); if (determinant == 1) { for (int i = -1; i<=1; i++) { for (int j = - 1; j<=1; j++) { if (i == 0 && j == 0) continue; - if (dx != 0 && isBlocked(nx, ny + i, nz + j) && !isBlocked(nx+dx, ny + i, nz + j)) return addNode(parent, openNode(nx,ny,nz), true); - if (dy != 0 && isBlocked(nx + i, ny, nz + j) && !isBlocked(nx + i, ny+dy, nz + j)) return addNode(parent, openNode(nx,ny,nz), true); - if (dz != 0 && isBlocked(nx + i, ny + j , nz) && !isBlocked(nx + i, ny + j , nz+dz)) return addNode(parent, openNode(nx,ny,nz), true); + if (dx != 0 && isBlocked(nx, ny + i, nz + j) && !isBlocked(nx+dx, ny + i, nz + j)) return openNode(nx,ny,nz); + if (dy != 0 && isBlocked(nx + i, ny, nz + j) && !isBlocked(nx + i, ny+dy, nz + j)) return openNode(nx,ny,nz); + if (dz != 0 && isBlocked(nx + i, ny + j , nz) && !isBlocked(nx + i, ny + j , nz+dz)) return openNode(nx,ny,nz); } } } else if (determinant == 2) { if ((dx != 0 && isBlocked(nx , y , z ) && !isBlocked(nx + dx, y , z)) || (dy != 0 && isBlocked(x , ny , z) && !isBlocked(x , ny+dy , z)) - || (dz != 0 && isBlocked(x , y , nz ) && !isBlocked(x , y , nz+dz))) return addNode(parent, openNode(nx,ny,nz), true); - Node co_parent = openNode(nx,ny,nz); - addNode(parent, co_parent,false); - if (dx != 0) expand(nx, ny, nz, dx, 0,0, co_parent); - if (dy != 0) expand(nx, ny, nz, 0, dy,0, co_parent); - if (dz != 0) expand(nx, ny, nz, 0, 0,dz, co_parent); + || (dz != 0 && isBlocked(x , y , nz ) && !isBlocked(x , y , nz+dz))) return openNode(nx,ny,nz); + if (dx != 0 && expand(nx, ny, nz, dx, 0,0) != null) return openNode(nx,ny,nz); + if (dy != 0 && expand(nx, ny, nz, 0, dy,0) != null) return openNode(nx,ny,nz); + if (dz != 0 && expand(nx, ny, nz, 0, 0,dz) != null) return openNode(nx,ny,nz); } else if (determinant == 3) { - if (isBlocked(x, ny, nz ) || isBlocked(nx, y , nz) || isBlocked(nx, ny, z)) return addNode(parent, openNode(nx,ny,nz), true); - Node co_parent = openNode(nx,ny,nz); - addNode(parent, co_parent,false); - expand(nx, ny, nz, dx, 0, 0, co_parent); - expand(nx, ny, nz, dx, dy, 0, co_parent); - expand(nx, ny, nz, dx, 0, dz, co_parent); - expand(nx, ny, nz, 0, dy, 0, co_parent); - expand(nx, ny, nz, 0, dy, dz, co_parent); - expand(nx, ny, nz, 0, 0, dz, co_parent); + if (isBlocked(x, ny, nz ) || isBlocked(nx, y , nz) || isBlocked(nx, ny, z)) return openNode(nx,ny,nz); + if (expand(nx, ny, nz, dx, 0, 0) != null || + expand(nx, ny, nz, dx, dy, 0) != null || + expand(nx, ny, nz, dx, 0, dz) != null || + expand(nx, ny, nz, 0, dy, 0) != null || + expand(nx, ny, nz, 0, dy, dz) != null || + expand(nx, ny, nz, 0, 0, dz) != null) return openNode(nx,ny,nz); } x = nx; y = ny; z = nz; } |