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map.cpp
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map.cpp
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#include "map.h"
using namespace tinyxml2;
Map::Map()
{
height = 0;
width = 0;
}
Map::~Map()
{
Grid.clear();
}
bool Map::getMap(const char* FileName)
{
XMLDocument doc;
if(doc.LoadFile(FileName) != XMLError::XML_SUCCESS)
{
std::cout << "Error openning input XML file."<<std::endl;
return false;
}
XMLElement *root = nullptr;
root = doc.FirstChildElement(CNS_TAG_ROOT);
if (!root)
{
std::cout << "No '"<<CNS_TAG_ROOT<<"' element found in XML map-file."<<std::endl;
return false;
}
XMLElement *map = root->FirstChildElement(CNS_TAG_MAP);
if (!map)
{
std::cout << "No '"<<CNS_TAG_MAP<<"' element found in XML file."<<std::endl;
return false;
}
XMLElement *grid = map->FirstChildElement(CNS_TAG_GRID);
if (!grid)
{
std::cout << "No '"<<CNS_TAG_GRID<<"' element found in XML file."<<std::endl;
return false;
}
height = grid->IntAttribute(CNS_TAG_ATTR_HEIGHT);
if(height <= 0)
{
std::cout<<"Wrong value of "<<CNS_TAG_ATTR_HEIGHT<<" attribute. It should be >0.\n";
return false;
}
width = grid->IntAttribute(CNS_TAG_ATTR_WIDTH);
if(width <= 0)
{
std::cout<<"Wrong value of "<<CNS_TAG_ATTR_WIDTH<<" attribute. It should be >0.\n";
return false;
}
XMLElement *row = grid->FirstChildElement(CNS_TAG_ROW);
Grid.resize(height);
for(int i = 0; i < height; i++)
Grid[i].resize(width, 0);
std::string value;
const char* rowtext;
std::stringstream stream;
for(int i = 0; i < height; i++)
{
if (!row)
{
std::cout << "Not enough '" << CNS_TAG_ROW << "' in '" << CNS_TAG_GRID << "' given." << std::endl;
return false;
}
rowtext = row->GetText();
unsigned int k = 0;
value = "";
int j = 0;
for(k = 0; k < strlen(rowtext); k++)
{
if (rowtext[k] == ' ')
{
stream << value;
stream >> Grid[i][j];
stream.clear();
stream.str("");
value = "";
j++;
}
else
{
value += rowtext[k];
}
}
stream << value;
stream >> Grid[i][j];
stream.clear();
stream.str("");
if (j < width-1)
{
std::cout << "Not enough cells in '" << CNS_TAG_ROW << "' " << i << " given." << std::endl;
return false;
}
row = row->NextSiblingElement(CNS_TAG_ROW);
}
return true;
}
bool Map::CellIsTraversable(int i, int j) const
{
return (Grid[i][j] == 0);
}
bool Map::CellIsObstacle(int i, int j) const
{
return (Grid[i][j] != 0);
}
bool Map::CellOnGrid(int i, int j) const
{
return (i < height && i >= 0 && j < width && j >= 0);
}
int Map::getValue(int i, int j) const
{
if(i < 0 || i >= height)
return -1;
if(j < 0 || j >= width)
return -1;
return Grid[i][j];
}
std::vector<Node> Map::getValidMoves(int i, int j, int k, double size) const
{
LineOfSight los;
los.setSize(size);
std::vector<Node> moves;
if(k == 2)
moves = {Node(0,1,1.0), Node(1,0,1.0), Node(-1,0,1.0), Node(0,-1,1.0)};
else if(k == 3)
moves = {Node(0,1,1.0), Node(1,1,sqrt(2.0)), Node(1,0,1.0), Node(1,-1,sqrt(2.0)),
Node(0,-1,1.0), Node(-1,-1,sqrt(2.0)), Node(-1,0,1.0), Node(-1,1,sqrt(2.0))};
else if(k == 4)
moves = {Node(0,1,1.0), Node(1,1,sqrt(2.0)), Node(1,0,1.0), Node(1,-1,sqrt(2.0)),
Node(0,-1,1.0), Node(-1,-1,sqrt(2.0)), Node(-1,0,1.0), Node(-1,1,sqrt(2.0)),
Node(1,2,sqrt(5.0)), Node(2,1,sqrt(5.0)), Node(2,-1,sqrt(5.0)), Node(1,-2,sqrt(5.0)),
Node(-1,-2,sqrt(5.0)), Node(-2,-1,sqrt(5.0)), Node(-2,1,sqrt(5.0)), Node(-1,2,sqrt(5.0))};
else
moves = {Node(0,1,1.0), Node(1,1,sqrt(2.0)), Node(1,0,1.0), Node(1,-1,sqrt(2.0)),
Node(0,-1,1.0), Node(-1,-1,sqrt(2.0)), Node(-1,0,1.0), Node(-1,1,sqrt(2.0)),
Node(1,2,sqrt(5.0)), Node(2,1,sqrt(5.0)), Node(2,-1,sqrt(5.0)), Node(1,-2,sqrt(5.0)),
Node(-1,-2,sqrt(5.0)), Node(-2,-1,sqrt(5.0)), Node(-2,1,sqrt(5.0)), Node(-1,2,sqrt(5.0)),
Node(1,3,sqrt(10.0)), Node(2,3,sqrt(13.0)), Node(3,2,sqrt(13.0)), Node(3,1,sqrt(10.0)),
Node(3,-1,sqrt(10.0)), Node(3,-2,sqrt(13.0)), Node(2,-3,sqrt(13.0)), Node(1,-3,sqrt(10.0)),
Node(-1,-3,sqrt(10.0)), Node(-2,-3,sqrt(13.0)), Node(-3,-2,sqrt(13.0)), Node(-3,-1,sqrt(10.0)),
Node(-3,1,sqrt(10.0)), Node(-3,2,sqrt(13.0)), Node(-2,3,sqrt(13.0)), Node(-1,3,sqrt(10.0))};
std::vector<bool> valid(moves.size(), true);
for(int k = 0; k < moves.size(); k++)
if(!CellOnGrid(i + moves[k].i, j + moves[k].j) || CellIsObstacle(i + moves[k].i, j + moves[k].j)
|| !los.checkLine(i, j, i + moves[k].i, j + moves[k].j, *this))
valid[k] = false;
std::vector<Node> v_moves = {};
for(int k = 0; k < valid.size(); k++)
if(valid[k])
v_moves.push_back(moves[k]);
return v_moves;
}