Después de depurar durante unas horas, el algoritmo parece estar funcionando. Ahora mismo para verificar si funciona, estoy comprobando la posición del nodo final a la posición actualNodo cuando el ciclo while se cierra. Hasta ahora, los valores parecen correctos. El problema es que cuanto más me alejo del NPC, que está estacionario, peor es el rendimiento. Llega a un punto en el que el juego no se puede jugar a menos de 10 fps. Mi PathGraph actual es de 2500 nodos, que creo que es bastante pequeño, ¿no? ¿Alguna idea sobre cómo mejorar el rendimiento?A * PathFinding Poor Performance
struct Node
{
bool walkable; //Whether this node is blocked or open
vect2 position; //The tile's position on the map in pixels
int xIndex, yIndex; //The index values of the tile in the array
Node*[4] connections; //An array of pointers to nodes this current node connects to
Node* parent;
int gScore;
int hScore;
int fScore;
}
class AStar
{
private:
SList!Node openList; //List of nodes who have been visited, with F scores but not processed
SList!Node closedList; //List of nodes who have had their connections processed
//Node*[4] connections; //The connections of the current node;
Node currentNode; //The current node being processed
Node[] Path; //The path found;
const int connectionCost = 10;
Node start, end;
//////////////////////////////////////////////////////////
void AddToList(ref SList!Node list, ref Node node)
{
list.insert(node);
}
void RemoveFrom(ref SList!Node list, ref Node node)
{
foreach(elem; list)
{
if(node.xIndex == elem.xIndex && node.yIndex == elem.yIndex)
{
auto a = find(list[] , elem);
list.linearRemove(take(a, 1));
}
}
}
bool IsInList(SList!Node list, ref Node node)
{
foreach(elem; list)
{
if(node.xIndex == elem.xIndex && node.yIndex == elem.yIndex)
return true;
}
return false;
}
void ClearList(SList!Node list)
{
list.clear;
}
void SetParentNode(ref Node parent, ref Node child)
{
child.parent = &parent;
}
void SetStartAndEndNode(vect2 vStart, vect2 vEnd, Node[] PathGraph)
{
int startXIndex, startYIndex;
int endXIndex, endYIndex;
startXIndex = cast(int)(vStart.x/32);
startYIndex = cast(int)(vStart.y/32);
endXIndex = cast(int)(vEnd.x/32);
endYIndex = cast(int)(vEnd.y/32);
foreach(node; PathGraph)
{
if(node.xIndex == startXIndex && node.yIndex == startYIndex)
{
start = node;
}
if(node.xIndex == endXIndex && node.yIndex == endYIndex)
{
end = node;
}
}
}
void SetStartScores(ref Node start)
{
start.gScore = 0;
start.hScore = CalculateHScore(start, end);
start.fScore = CalculateFScore(start);
}
Node GetLowestFScore()
{
Node lowest;
lowest.fScore = 10000;
foreach(elem; openList)
{
if(elem.fScore < lowest.fScore)
lowest = elem;
}
return lowest;
}
//This function current sets the program into an infinite loop
//I still need to debug to figure out why the parent nodes aren't correct
void GeneratePath()
{
while(currentNode.position != start.position)
{
Path ~= currentNode;
currentNode = *currentNode.parent;
}
}
void ReversePath()
{
Node[] temp;
for(int i = Path.length - 1; i >= 0; i--)
{
temp ~= Path[i];
}
Path = temp.dup;
}
public:
//@FIXME It seems to find the path, but now performance is terrible
void FindPath(vect2 vStart, vect2 vEnd, Node[] PathGraph)
{
openList.clear;
closedList.clear;
SetStartAndEndNode(vStart, vEnd, PathGraph);
SetStartScores(start);
AddToList(openList, start);
while(currentNode.position != end.position)
{
currentNode = GetLowestFScore();
if(currentNode.position == end.position)
break;
else
{
RemoveFrom(openList, currentNode);
AddToList(closedList, currentNode);
for(int i = 0; i < currentNode.connections.length; i++)
{
if(currentNode.connections[i] is null)
continue;
else
{
if(IsInList(closedList, *currentNode.connections[i])
&& currentNode.gScore < currentNode.connections[i].gScore)
{
currentNode.connections[i].gScore = currentNode.gScore + connectionCost;
currentNode.connections[i].hScore = abs(currentNode.connections[i].xIndex - end.xIndex)
+ abs( currentNode.connections[i].yIndex - end.yIndex);
currentNode.connections[i].fScore = currentNode.connections[i].gScore + currentNode.connections[i].hScore;
currentNode.connections[i].parent = ¤tNode;
}
else if(IsInList(openList, *currentNode.connections[i])
&& currentNode.gScore < currentNode.connections[i].gScore)
{
currentNode.connections[i].gScore = currentNode.gScore + connectionCost;
currentNode.connections[i].hScore = abs(currentNode.connections[i].xIndex - end.xIndex)
+ abs( currentNode.connections[i].yIndex - end.yIndex);
currentNode.connections[i].fScore = currentNode.connections[i].gScore + currentNode.connections[i].hScore;
currentNode.connections[i].parent = ¤tNode;
}
else
{
currentNode.connections[i].gScore = currentNode.gScore + connectionCost;
currentNode.connections[i].hScore = abs(currentNode.connections[i].xIndex - end.xIndex)
+ abs(currentNode.connections[i].yIndex - end.yIndex);
currentNode.connections[i].fScore = currentNode.connections[i].gScore + currentNode.connections[i].hScore;
currentNode.connections[i].parent = ¤tNode;
AddToList(openList, *currentNode.connections[i]);
}
}
}
}
}
writeln("Current Node Position: ", currentNode.position);
writeln("End Node Position: ", end.position);
if(currentNode.position == end.position)
{
writeln("Current Node Parent: ", currentNode.parent);
//GeneratePath();
//ReversePath();
}
}
Node[] GetPath()
{
return Path;
}
}
¿por qué usa Node para las listas en lugar de Node *? – Trass3r