diff options
Diffstat (limited to 'pathfinding.c')
| -rw-r--r-- | pathfinding.c | 57 |
1 files changed, 34 insertions, 23 deletions
diff --git a/pathfinding.c b/pathfinding.c index b69d420..7196b2c 100644 --- a/pathfinding.c +++ b/pathfinding.c @@ -17,6 +17,9 @@ bool can_walk_at(float x, float y) bool find_path_to(vec2f start_pos, vec2f end_pos, array *to_fill, pathfinding_request* request) { + uint64_t timestamp = platform_get_time(TIME_PROCESS, TIME_MS); + allocator al = create_allocator(500000); + struct path_node { struct path_node *parent; vec2f position; @@ -25,10 +28,10 @@ bool find_path_to(vec2f start_pos, vec2f end_pos, array *to_fill, pathfinding_re s32 f; }; - list open_array = list_create(sizeof(struct path_node)); - list closed_array = list_create(sizeof(struct path_node)); + list open_array = list_create(sizeof(struct path_node), &al); + list closed_array = list_create(sizeof(struct path_node), &al); - struct path_node *start_node = mem_alloc(sizeof(struct path_node)); + struct path_node *start_node = allocator_alloc(&al, sizeof(struct path_node)); start_node->g = 0; start_node->h = 0; start_node->f = 0; @@ -38,7 +41,7 @@ bool find_path_to(vec2f start_pos, vec2f end_pos, array *to_fill, pathfinding_re list_push(&open_array, (uint8_t*)start_node); struct path_node *current_node = 0; - while(open_array.count > 0 && !request->cancelled) + while(open_array.count > 0) { // Get the current node current_node = list_at(&open_array, 0); @@ -63,6 +66,8 @@ bool find_path_to(vec2f start_pos, vec2f end_pos, array *to_fill, pathfinding_re // Found the goal if (distance_between(current_node->position, end_pos) <= 0) { + mutex_lock(&request->mutex); + if (to_fill) to_fill->length = 0; struct path_node *current = current_node; @@ -79,23 +84,25 @@ bool find_path_to(vec2f start_pos, vec2f end_pos, array *to_fill, pathfinding_re struct path_node *prev = current; current = current->parent; - mem_free(prev); } if (to_fill) { array_remove_at(to_fill, to_fill->length-1); - request->done = true; + printf("PATHFINDING TOOK: %fms\n", (platform_get_time(TIME_PROCESS, TIME_MS)-timestamp)/1000.0f); } + mutex_unlock(&request->mutex); list_destroy(&open_array); list_destroy(&closed_array); - + + destroy_allocator(&al); + return true; } vec2 adjecent[8] = { {0, -1}, {0, 1}, {-1, 0}, {1, 0}, {-1, -1}, {-1, 1}, {1, -1}, {1, 1} }; - list children = list_create(sizeof(struct path_node)); + list children = list_create(sizeof(struct path_node), &al); // Generate children for (s32 i = 0; i < 8; i++) @@ -133,7 +140,7 @@ bool find_path_to(vec2f start_pos, vec2f end_pos, array *to_fill, pathfinding_re } // Create new node - struct path_node *new_node = mem_alloc(sizeof(struct path_node)); + struct path_node *new_node = allocator_alloc(&al, sizeof(struct path_node)); new_node->g = 0; new_node->h = 0; new_node->f = 0; @@ -204,7 +211,8 @@ bool find_path_to(vec2f start_pos, vec2f end_pos, array *to_fill, pathfinding_re list_remove_at(&open_array, current_index); } - + + destroy_allocator(&al); return false; } @@ -262,19 +270,13 @@ void* pathfinding_thread(void *args) { while(1) { - pathfinding_request request; - mutex_lock(&global_pathfinding_queue.mutex); if (global_pathfinding_queue.length) { pathfinding_request* request = *(pathfinding_request**)array_at(&global_pathfinding_queue, 0); array_remove_at(&global_pathfinding_queue, 0); mutex_unlock(&global_pathfinding_queue.mutex); - - request->cancelled = false; find_path_to(request->start, request->end, request->to_fill, request); - - continue; } else { @@ -282,7 +284,7 @@ void* pathfinding_thread(void *args) continue; } - thread_sleep(100); + //thread_sleep(100); } return 0; @@ -290,19 +292,28 @@ void* pathfinding_thread(void *args) void make_pathfinding_request(vec2f start, vec2f end, array *to_fill, pathfinding_request *request) { - mutex_lock(&global_pathfinding_queue.mutex); - - request->cancelled = true; - start.x = (int)start.x; start.y = (int)start.y; end.x = (int)end.x; end.y = (int)end.y; - + + mutex_lock(&global_pathfinding_queue.mutex); + for (int i = 0; i < global_pathfinding_queue.length; i++) { + pathfinding_request* ereq = *(pathfinding_request**)array_at(&global_pathfinding_queue, i); + if (request == ereq) { + ereq->start = start; + ereq->end = end; + ereq->timestamp = platform_get_time(TIME_PROCESS, TIME_MS); + mutex_unlock(&global_pathfinding_queue.mutex); + return; + } + } + request->start = start; request->end = end; request->to_fill = to_fill; - request->done = false; + + request->timestamp = 0; array_push(&global_pathfinding_queue, (uint8_t*)&request); mutex_unlock(&global_pathfinding_queue.mutex); }
\ No newline at end of file |