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[Supertuxkart-commit] SF.net SVN: supertuxkart:[9165] main/trunk/src/tracks
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From: <hik...@us...> - 2011-07-05 01:35:54
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Revision: 9165
http://supertuxkart.svn.sourceforge.net/supertuxkart/?rev=9165&view=rev
Author: hikerstk
Date: 2011-07-05 01:35:45 +0000 (Tue, 05 Jul 2011)
Log Message:
-----------
Added support for storing a predecessor for each node in the
quad graph (needed for rescueing).
Modified Paths:
--------------
main/trunk/src/tracks/graph_node.cpp
main/trunk/src/tracks/graph_node.hpp
main/trunk/src/tracks/quad_graph.cpp
main/trunk/src/tracks/track.cpp
Modified: main/trunk/src/tracks/graph_node.cpp
===================================================================
--- main/trunk/src/tracks/graph_node.cpp 2011-07-05 01:21:08 UTC (rev 9164)
+++ main/trunk/src/tracks/graph_node.cpp 2011-07-05 01:35:45 UTC (rev 9165)
@@ -39,12 +39,14 @@
/** Constructor. Saves the quad index which belongs to this graph node.
* \param index Index of the quad to use for this node (in m_all_quads).
*/
-GraphNode::GraphNode(unsigned int index)
+GraphNode::GraphNode(unsigned int quad_index, unsigned int node_index)
{
- assert(index<m_all_quads->getNumberOfQuads());
- m_index = index;
+ assert(quad_index<m_all_quads->getNumberOfQuads());
+ m_quad_index = quad_index;
+ m_node_index = node_index;
+ m_predecessor = -1;
m_distance_from_start = 0;
- const Quad &quad = m_all_quads->getQuad(m_index);
+ const Quad &quad = m_all_quads->getQuad(m_quad_index);
// FIXME: the following values should depend on the actual orientation
// of the quad. ATM we always assume that indices 0,1 are the lower end,
// and 2,3 are the upper end.
@@ -64,15 +66,20 @@
/** Adds a successor to a node. This function will also pre-compute certain
* values (like distance from this node to the successor, angle (in world)
* between this node and the successor.
- * \param to The index of the successor.
+ * \param to The index of the graph node of the successor.
*/
void GraphNode::addSuccessor(unsigned int to)
{
- m_vertices.push_back(to);
- // m_index is the quad index, so we use m_all_quads
- const Quad &this_quad = m_all_quads->getQuad(m_index);
+ m_successor_node.push_back(to);
+ // m_quad_index is the quad index, so we use m_all_quads
+ const Quad &this_quad = m_all_quads->getQuad(m_quad_index);
// to is the graph node, so we have to use m_all_nodes to get the right quad
+ GraphNode &gn = m_all_nodes->getNode(to);
const Quad &next_quad = m_all_nodes->getQuad(to);
+
+ // Keep the first predecessor, which is usually the most 'natural' one.
+ if(gn.m_predecessor==-1)
+ gn.m_predecessor = m_node_index;
core::vector2df d2 = m_lower_center_2d
- m_all_nodes->getNode(to).m_lower_center_2d;
Modified: main/trunk/src/tracks/graph_node.hpp
===================================================================
--- main/trunk/src/tracks/graph_node.hpp 2011-07-05 01:21:08 UTC (rev 9164)
+++ main/trunk/src/tracks/graph_node.hpp 2011-07-05 01:35:45 UTC (rev 9165)
@@ -41,11 +41,22 @@
/** Index of this node in the set of quads. Several graph nodes can use
* the same quad, meaning it is possible to use a quad more than once,
* e.g. a figure 8 like track. */
- unsigned int m_index;
- /** The list of successors. */
- std::vector<int> m_vertices;
+ unsigned int m_quad_index;
+
+ /** Index of this graph node. */
+ unsigned int m_node_index;
+
+ /** The list of successor graph nodes. */
+ std::vector<int> m_successor_node;
+
+ /** The first predecessor. This is used in moving karts after a rescue.
+ * For this a node on the main driveline will be used (i.e. the first
+ * reported node which has this node as a successor). */
+ int m_predecessor;
+
/** The distance to each of the successors. */
std::vector<float> m_distance_to_next;
+
/** The angle of the line from this node to each neighbour. */
std::vector<float> m_angle_to_next;
@@ -76,6 +87,7 @@
* saves computation, and it is only needed to determine the distance
* from the center of the drivelines anyway. */
core::line2df m_line;
+
public:
/** Keep a shared pointer so that some asserts and tests can be
* done without adding additional parameters. */
@@ -84,32 +96,32 @@
* has access to the actual quad to which a node points. */
static QuadGraph *m_all_nodes;
- GraphNode(unsigned int index);
+ GraphNode(unsigned int quad_index, unsigned int node_index);
void addSuccessor (unsigned int to);
void getDistances(const Vec3 &xyz, Vec3 *result);
float getDistance2FromPoint(const Vec3 &xyz);
- /** Returns the i-th successor. */
+ /** Returns the i-th successor node. */
unsigned int getSuccessor(unsigned int i) const
- { return m_vertices[i]; }
+ { return m_successor_node[i]; }
// ------------------------------------------------------------------------
/** Returns the number of successors. */
unsigned int getNumberOfSuccessors() const
- { return (unsigned int)m_vertices.size(); }
+ { return (unsigned int)m_successor_node.size(); }
// ------------------------------------------------------------------------
- /** Returns the index in the quad_set of this node. */
- int getIndex() const { return m_index; }
+ /** Returns the quad_index in the quad_set of this node. */
+ int getIndex() const { return m_quad_index; }
// ------------------------------------------------------------------------
/** Returns the quad of this graph node. */
- const Quad& getQuad() const {return m_all_quads->getQuad(m_index);}
+ const Quad& getQuad() const {return m_all_quads->getQuad(m_quad_index);}
// ------------------------------------------------------------------------
/** Returns the i-th. point of a quad. ATM this just returns the vertices
* from the quads, but if necessary this method will also consider
* rotated quads. So index 0 will always be lower left point, then
* counterclockwise. */
const Vec3& operator[](int i) const
- {return m_all_quads->getQuad(m_index)[i];}
+ {return m_all_quads->getQuad(m_quad_index)[i];}
// ------------------------------------------------------------------------
/** Returns the distance to the j-th. successor. */
float getDistanceToSuccessor(unsigned int j) const
@@ -142,8 +154,12 @@
* \param index Index of the successor. */
bool ignoreSuccessorForAI(unsigned int i) const
{
- return m_all_quads->getQuad(m_vertices[i]).letAIIgnore();
+ return m_all_quads->getQuad(m_successor_node[i]).letAIIgnore();
};
+ // ------------------------------------------------------------------------
+ /** Returns a predecessor for this node. */
+ unsigned int getPredecessor() const {return m_predecessor; }
+ // ------------------------------------------------------------------------
}; // GraphNode
#endif
Modified: main/trunk/src/tracks/quad_graph.cpp
===================================================================
--- main/trunk/src/tracks/quad_graph.cpp 2011-07-05 01:21:08 UTC (rev 9164)
+++ main/trunk/src/tracks/quad_graph.cpp 2011-07-05 01:35:45 UTC (rev 9165)
@@ -78,7 +78,7 @@
// i.e. each quad is part of the graph exactly once.
// First create an empty graph node for each quad:
for(unsigned int i=0; i<m_all_quads->getNumberOfQuads(); i++)
- m_all_nodes.push_back(new GraphNode(i));
+ m_all_nodes.push_back(new GraphNode(i, m_all_nodes.size()));
// Then set the default loop:
setDefaultSuccessors();
@@ -111,7 +111,7 @@
xml_node->get("to-quad", &to);
for(unsigned int i=from; i<=to; i++)
{
- m_all_nodes.push_back(new GraphNode(i));
+ m_all_nodes.push_back(new GraphNode(i, m_all_nodes.size()));
}
}
else if(xml_node->getName()=="node")
@@ -119,7 +119,7 @@
// A single quad is connected to a single graph node.
unsigned int id;
xml_node->get("quad", &id);
- m_all_nodes.push_back(new GraphNode(id));
+ m_all_nodes.push_back(new GraphNode(id, m_all_nodes.size()));
}
// Then the definition of edges between the graph nodes:
Modified: main/trunk/src/tracks/track.cpp
===================================================================
--- main/trunk/src/tracks/track.cpp 2011-07-05 01:21:08 UTC (rev 9164)
+++ main/trunk/src/tracks/track.cpp 2011-07-05 01:35:45 UTC (rev 9165)
@@ -403,6 +403,13 @@
{
m_quad_graph = new QuadGraph(m_root+"/"+m_all_modes[mode_id].m_quad_name,
m_root+"/"+m_all_modes[mode_id].m_graph_name);
+#ifdef DEBUG
+ for(unsigned int i=0; i<m_quad_graph->getNumNodes(); i++)
+ {
+ assert(m_quad_graph->getNode(i).getPredecessor()!=-1);
+ }
+#endif
+
if(m_quad_graph->getNumNodes()==0)
{
fprintf(stderr, "[Track] WARNING: No graph nodes defined for track '%s'\n",
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