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Update Graph.h #2

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84 changes: 41 additions & 43 deletions HierarchicalPathfinding/Include/Graph.h
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Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
#ifndef __GRAPH_H__
#define __GRAPH_H__
#ifndef GRAPH_H
#define GRAPH_H

#include "DetourCommon.h"
#include "DetourAlloc.h"
#include <vector>
#include <map>
#include <cstring>


const int maxInternalPath = 256;
Expand All @@ -16,68 +17,66 @@ class Graph{

typedef unsigned int dtPolyRef;

public:

struct IntraEdge
{
int startPosId;
int endPosId;
int nPath;
float cost;
dtPolyRef path[maxInternalPath];
};

struct Edge
{
dtPolyRef targetNodeId;
int idPos;
int idPoly;
float pos[3];
};

struct Node
{
dtPolyRef idNode;
dtPolyRef idParent;

Edge *edges;
unsigned int numEdges;

IntraEdge *intraEdges;
unsigned int numIntraEdges;

public:
struct IntraEdge
{
int startPosId;
int endPosId;
int nPath;
float cost;
dtPolyRef path[maxInternalPath];
};
struct Edge
{
dtPolyRef targetNodeId;
int idPos;
int idPoly;
float pos[3];
};
struct Node
{
dtPolyRef idNode;
dtPolyRef idParent;
Edge *edges;
unsigned int numEdges;
IntraEdge *intraEdges;
unsigned int numIntraEdges;
void InitEdge(int maxEdgesPerNode)
{
numEdges = 0;
edges = 0;
edges = (Edge*)dtAlloc(sizeof(Edge)*maxEdgesPerNode, DT_ALLOC_PERM);
memset(edges, 0, sizeof(Edge)*maxEdgesPerNode);
}

}
void DestroyEdge()
{
dtFree(edges);
numEdges = 0;
}

}
void InitIntraEdge()
{
int maxIntraEdgesPerNode = numEdges * numEdges;

if(maxIntraEdgesPerNode > 0)
{
numIntraEdges = 0;
intraEdges = 0;
intraEdges = (IntraEdge*)dtAlloc(sizeof(IntraEdge)*maxIntraEdgesPerNode, DT_ALLOC_PERM);
memset(intraEdges, 0, sizeof(IntraEdge)*maxIntraEdgesPerNode);
}
}

}
void DestroyIntraEdge()
{
dtFree(intraEdges);
numIntraEdges = 0;
}
}
};

Node* nodes;
Expand Down Expand Up @@ -125,7 +124,6 @@ typedef unsigned int dtPolyRef;
void Init(int numMaxNodes)
{
numNodes = 0;
nodes = 0;
nodes = (Node*)dtAlloc(sizeof(Node)*numMaxNodes, DT_ALLOC_PERM);
memset(nodes, 0, sizeof(Node)*numMaxNodes);
}
Expand All @@ -143,4 +141,4 @@ typedef unsigned int dtPolyRef;
}
};

#endif // __GRAPH_H__
#endif // GRAPH_H