Moved AStarPathfinder code from Thermite to PolyVox.

library/PolyVoxCore/include/PolyVoxImpl/AStarPathfinderImpl.h

@@ -0,0 +1,218 @@
+/*******************************************************************************
+Copyright (c) 2005-2009 David Williams
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+    1. The origin of this software must not be misrepresented; you must not
+    claim that you wrote the original software. If you use this software
+    in a product, an acknowledgment in the product documentation would be
+    appreciated but is not required.
+
+    2. Altered source versions must be plainly marked as such, and must not be
+    misrepresented as being the original software.
+
+    3. This notice may not be removed or altered from any source
+    distribution.
+*******************************************************************************/
+
+#ifndef __PolyVox_AStarPathfinderImpl_H__
+#define __PolyVox_AStarPathfinderImpl_H__
+
+#include "Vector.h"
+
+#include <set>
+#include <vector>
+
+namespace PolyVox
+{
+	class OpenNodesContainer;
+	class ClosedNodesContainer;
+	class ThermiteGameLogic;
+
+	enum Connectivity
+	{
+		SixConnected,
+		EighteenConnected,
+		TwentySixConnected
+	};
+
+	struct Node
+	{
+		Node(int x, int y, int z)
+			:gVal(std::numeric_limits<float>::quiet_NaN()) //Initilise with NaNs so that we will
+			,hVal(std::numeric_limits<float>::quiet_NaN()) //know if we forget to set these properly.
+			,parent(0)
+		{
+			position.setX(x);
+			position.setY(y);
+			position.setZ(z);
+		}
+
+		bool operator==(const Node& rhs) const
+		{
+			return position == rhs.position;
+		}
+
+		bool operator<(const Node& rhs) const
+		{
+			if (position.getX() < rhs.position.getX())
+				return true;
+			if (rhs.position.getX() < position.getX())
+				return false;
+
+			if (position.getY() < rhs.position.getY())
+				return true;
+			if (rhs.position.getY() < position.getY())
+				return false;
+
+			if (position.getZ() < rhs.position.getZ())
+				return true;
+			if (rhs.position.getZ() < position.getZ())
+				return false;
+
+			return false;
+		}
+
+		PolyVox::Vector3DInt16 position;
+		Node* parent;
+		float gVal;
+		float hVal;
+
+		float f(void) const
+		{
+			float f = gVal + hVal;
+			return f;
+		}
+	};
+
+	typedef std::set<Node> AllNodesContainer;
+
+	class AllNodesContainerIteratorComparator
+	{
+	public:
+		bool operator() (const AllNodesContainer::iterator& lhs, const  AllNodesContainer::iterator& rhs) const
+		{
+			return (&(*lhs)) < (&(*rhs));
+		}
+	};
+
+	class NodeSort
+	{
+	public:
+		bool operator() (const AllNodesContainer::iterator& lhs, const AllNodesContainer::iterator& rhs) const
+		{
+			return lhs->f() > rhs->f();
+		}
+	};
+
+	class OpenNodesContainer
+	{
+	public:
+		typedef std::vector<AllNodesContainer::iterator>::iterator iterator;
+
+	public:
+		void clear(void)
+		{
+			open.clear();
+		}
+
+		bool empty(void) const
+		{
+			return open.empty();
+		}
+
+		void insert(AllNodesContainer::iterator node)
+		{
+			open.push_back(node);
+			push_heap(open.begin(), open.end(), NodeSort());
+		}
+
+		AllNodesContainer::iterator getFirst(void)
+		{
+			return open[0];
+		}
+
+		void removeFirst(void)
+		{
+			pop_heap(open.begin(), open.end(), NodeSort());
+			open.pop_back();
+		}
+
+		void remove(iterator iterToRemove)
+		{
+			open.erase(iterToRemove);
+			make_heap(open.begin(), open.end(), NodeSort());
+		}
+
+		iterator begin(void)
+		{
+			return open.begin();
+		}
+
+		iterator end(void)
+		{
+			return open.end();
+		}
+
+		iterator find(AllNodesContainer::iterator node)
+		{
+			std::vector<AllNodesContainer::iterator>::iterator openIter = std::find(open.begin(), open.end(), node);
+			return openIter;
+		}
+
+	private:
+		std::vector<AllNodesContainer::iterator> open;
+	};
+
+	class ClosedNodesContainer
+	{
+	public:
+		typedef std::set<AllNodesContainer::iterator, AllNodesContainerIteratorComparator>::iterator iterator;
+
+	public:
+		void clear(void)
+		{
+			closed.clear();
+		}
+
+		void insert(AllNodesContainer::iterator node)
+		{
+			closed.insert(node);
+		}
+
+		void remove(iterator iterToRemove)
+		{
+			closed.erase(iterToRemove);
+		}
+
+		iterator begin(void)
+		{
+			return closed.begin();
+		}
+
+		iterator end(void)
+		{
+			return closed.end();
+		}
+
+		iterator find(AllNodesContainer::iterator node)
+		{
+			iterator iter = std::find(closed.begin(), closed.end(), node);
+			return iter;
+		}
+
+	private:
+		std::set<AllNodesContainer::iterator, AllNodesContainerIteratorComparator> closed;
+	};
+
+
+	//bool operator<(const AllNodesContainer::iterator& lhs, const  AllNodesContainer::iterator& rhs);
+}
+
+#endif //__PolyVox_AStarPathfinderImpl_H__