Method AStar

source/src/bot/bot_waypoint.cpp:2322–2595

return true when done calculating

// return true when done calculating
bool CBot::AStar()
{
     if (!m_pCurrentGoalWaypoint || !m_pCurrentWaypoint)
     {
          if (m_bCalculatingAStarPath)
          {
               m_bCalculatingAStarPath = false;
               BotManager.m_sUsingAStarBotsCount--;
          }
          return true;
     }

     // Ideas by PMB :
     // * Make locals static to speed up a bit
     // * MaxCycles per frame and make it fps dependent

     static int iMaxCycles;
     static int iCurrentCycles;
     static short newg;
     static waypoint_s *n, *n2;
     static TLinkedList<node_s *>::node_s *pPath = NULL;
     static bool bPathFailed;

     iMaxCycles = BotManager.m_iFrameTime / 10;
     if (iMaxCycles < 10) iMaxCycles = 10;
     //condebug("MaxCycles: %d", iMaxCycles);
     iCurrentCycles = 0;
     bPathFailed = false;

     if (!m_bCalculatingAStarPath)
     {
          if ((BotManager.m_sUsingAStarBotsCount+1) > BotManager.m_sMaxAStarBots)
          {
               return true;
          }

          BotManager.m_sUsingAStarBotsCount++;

          CleanAStarLists(false);

          m_pCurrentWaypoint->g[0] = m_pCurrentWaypoint->g[1] = 0;
          m_pCurrentWaypoint->pParent[0] = m_pCurrentWaypoint->pParent[1] = NULL;
          m_pCurrentGoalWaypoint->g[0] = m_pCurrentGoalWaypoint->g[1] = 0;
          m_pCurrentGoalWaypoint->pParent[0] = m_pCurrentGoalWaypoint->pParent[1] = NULL;

          m_AStarNodeList.DeleteAllNodes();

          m_AStarOpenList[0].Clear();
          m_AStarOpenList[1].Clear();
          m_AStarClosedList[0].DeleteAllNodes();
          m_AStarClosedList[1].DeleteAllNodes();

          m_AStarOpenList[0].AddEntry(m_pCurrentWaypoint,
                                      GetDistance(m_pCurrentGoalWaypoint->pNode->v_origin));
          m_AStarOpenList[1].AddEntry(m_pCurrentGoalWaypoint,
                                      GetDistance(m_pCurrentGoalWaypoint->pNode->v_origin));

          m_pCurrentWaypoint->bIsOpen[0] = m_pCurrentGoalWaypoint->bIsOpen[1] = true;