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545 lines
18 KiB
C++
545 lines
18 KiB
C++
/// \file
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/// \brief \b [Internal] Weighted graph. I'm assuming the indices are complex map types, rather than sequential numbers (which could be implemented much more efficiently).
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///
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/// This file is part of RakNet Copyright 2003 Kevin Jenkins.
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///
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/// Usage of RakNet is subject to the appropriate license agreement.
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/// Creative Commons Licensees are subject to the
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/// license found at
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/// http://creativecommons.org/licenses/by-nc/2.5/
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/// Single application licensees are subject to the license found at
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/// http://www.jenkinssoftware.com/SingleApplicationLicense.html
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/// Custom license users are subject to the terms therein.
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/// GPL license users are subject to the GNU General Public
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/// License as published by the Free
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/// Software Foundation; either version 2 of the License, or (at your
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/// option) any later version.
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#ifndef __WEIGHTED_GRAPH_H
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#define __WEIGHTED_GRAPH_H
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#include "DS_OrderedList.h"
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#include "DS_Map.h"
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#include "DS_Heap.h"
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#include "DS_Queue.h"
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#include "DS_Tree.h"
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#include <assert.h>
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#include "RakMemoryOverride.h"
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#ifdef _DEBUG
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#include <stdio.h>
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#endif
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#ifdef _MSC_VER
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#pragma warning( push )
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#endif
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/// The namespace DataStructures was only added to avoid compiler errors for commonly named data structures
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/// As these data structures are stand-alone, you can use them outside of RakNet for your own projects if you wish.
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namespace DataStructures
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{
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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class RAK_DLL_EXPORT WeightedGraph : public RakNet::RakMemoryOverride
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{
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public:
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static void IMPLEMENT_DEFAULT_COMPARISON(void) {DataStructures::defaultMapKeyComparison<node_type>(node_type(),node_type());}
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WeightedGraph();
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~WeightedGraph();
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WeightedGraph( const WeightedGraph& original_copy );
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WeightedGraph& operator= ( const WeightedGraph& original_copy );
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void AddNode(const node_type &node);
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void RemoveNode(const node_type &node);
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void AddConnection(const node_type &node1, const node_type &node2, weight_type weight);
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void RemoveConnection(const node_type &node1, const node_type &node2);
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bool HasConnection(const node_type &node1, const node_type &node2);
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void Print(void);
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void Clear(void);
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bool GetShortestPath(DataStructures::List<node_type> &path, node_type startNode, node_type endNode, weight_type INFINITE_WEIGHT);
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bool GetSpanningTree(DataStructures::Tree<node_type> &outTree, DataStructures::List<node_type> *inputNodes, node_type startNode, weight_type INFINITE_WEIGHT );
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unsigned GetNodeCount(void) const;
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unsigned GetConnectionCount(unsigned nodeIndex) const;
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void GetConnectionAtIndex(unsigned nodeIndex, unsigned connectionIndex, node_type &outNode, weight_type &outWeight) const;
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node_type GetNodeAtIndex(unsigned nodeIndex) const;
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protected:
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void ClearDijkstra(void);
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void GenerateDisjktraMatrix(node_type startNode, weight_type INFINITE_WEIGHT);
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DataStructures::Map<node_type, DataStructures::Map<node_type, weight_type> *> adjacencyLists;
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// All these variables are for path finding with Dijkstra
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// 08/23/06 Won't compile as a DLL inside this struct
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// struct
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// {
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bool isValidPath;
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node_type rootNode;
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DataStructures::OrderedList<node_type, node_type> costMatrixIndices;
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weight_type *costMatrix;
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node_type *leastNodeArray;
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// } dijkstra;
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struct NodeAndParent
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{
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DataStructures::Tree<node_type>*node;
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DataStructures::Tree<node_type>*parent;
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};
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};
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::WeightedGraph()
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{
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isValidPath=false;
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costMatrix=0;
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::~WeightedGraph()
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{
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Clear();
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::WeightedGraph( const WeightedGraph& original_copy )
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{
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adjacencyLists=original_copy.adjacencyLists;
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isValidPath=original_copy.isValidPath;
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if (isValidPath)
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{
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rootNode=original_copy.rootNode;
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costMatrixIndices=original_copy.costMatrixIndices;
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costMatrix = new weight_type[costMatrixIndices.Size() * costMatrixIndices.Size()];
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leastNodeArray = new node_type[costMatrixIndices.Size()];
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memcpy(costMatrix, original_copy.costMatrix, costMatrixIndices.Size() * costMatrixIndices.Size() * sizeof(weight_type));
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memcpy(leastNodeArray, original_copy.leastNodeArray, costMatrixIndices.Size() * sizeof(weight_type));
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}
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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WeightedGraph<node_type, weight_type, allow_unlinkedNodes>& WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::operator=( const WeightedGraph& original_copy )
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{
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adjacencyLists=original_copy.adjacencyLists;
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isValidPath=original_copy.isValidPath;
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if (isValidPath)
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{
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rootNode=original_copy.rootNode;
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costMatrixIndices=original_copy.costMatrixIndices;
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costMatrix = new weight_type[costMatrixIndices.Size() * costMatrixIndices.Size()];
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leastNodeArray = new node_type[costMatrixIndices.Size()];
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memcpy(costMatrix, original_copy.costMatrix, costMatrixIndices.Size() * costMatrixIndices.Size() * sizeof(weight_type));
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memcpy(leastNodeArray, original_copy.leastNodeArray, costMatrixIndices.Size() * sizeof(weight_type));
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}
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return *this;
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::AddNode(const node_type &node)
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{
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adjacencyLists.SetNew(node, new DataStructures::Map<node_type, weight_type>);
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::RemoveNode(const node_type &node)
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{
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unsigned i;
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DataStructures::Queue<node_type> removeNodeQueue;
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removeNodeQueue.Push(node);
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while (removeNodeQueue.Size())
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{
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delete adjacencyLists.Pop(removeNodeQueue.Pop());
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// Remove this node from all of the other lists as well
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for (i=0; i < adjacencyLists.Size(); i++)
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{
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adjacencyLists[i]->Delete(node);
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#ifdef _MSC_VER
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#pragma warning( disable : 4127 ) // warning C4127: conditional expression is constant
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#endif
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if (allow_unlinkedNodes==false && adjacencyLists[i]->Size()==0)
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removeNodeQueue.Push(adjacencyLists.GetKeyAtIndex(i));
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}
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}
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ClearDijkstra();
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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bool WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::HasConnection(const node_type &node1, const node_type &node2)
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{
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if (node1==node2)
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return false;
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if (adjacencyLists.Has(node1)==false)
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return false;
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return adjacencyLists.Get(node1)->Has(node2);
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::AddConnection(const node_type &node1, const node_type &node2, weight_type weight)
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{
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if (node1==node2)
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return;
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if (adjacencyLists.Has(node1)==false)
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AddNode(node1);
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adjacencyLists.Get(node1)->Set(node2, weight);
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if (adjacencyLists.Has(node2)==false)
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AddNode(node2);
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adjacencyLists.Get(node2)->Set(node1, weight);
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::RemoveConnection(const node_type &node1, const node_type &node2)
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{
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adjacencyLists.Get(node2)->Delete(node1);
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adjacencyLists.Get(node1)->Delete(node2);
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#ifdef _MSC_VER
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#pragma warning( disable : 4127 ) // warning C4127: conditional expression is constant
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#endif
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if (allow_unlinkedNodes==false) // If we do not allow _unlinked nodes, then if there are no connections, remove the node
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{
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if (adjacencyLists.Get(node1)->Size()==0)
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RemoveNode(node1); // Will also remove node1 from the adjacency list of node2
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if (adjacencyLists.Has(node2) && adjacencyLists.Get(node2)->Size()==0)
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RemoveNode(node2);
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}
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ClearDijkstra();
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::Clear(void)
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{
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unsigned i;
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for (i=0; i < adjacencyLists.Size(); i++)
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delete adjacencyLists[i];
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adjacencyLists.Clear();
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ClearDijkstra();
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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bool WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::GetShortestPath(DataStructures::List<node_type> &path, node_type startNode, node_type endNode, weight_type INFINITE_WEIGHT)
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{
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path.Clear();
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if (startNode==endNode)
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{
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path.Insert(startNode);
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path.Insert(endNode);
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return true;
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}
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if (isValidPath==false || rootNode!=startNode)
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{
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ClearDijkstra();
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GenerateDisjktraMatrix(startNode, INFINITE_WEIGHT);
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}
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// return the results
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bool objectExists;
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unsigned col,row;
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weight_type currentWeight;
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DataStructures::Queue<node_type> outputQueue;
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col=costMatrixIndices.GetIndexFromKey(endNode, &objectExists);
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if (costMatrixIndices.Size()<2)
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{
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return false;
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}
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if (objectExists==false)
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{
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return false;
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}
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node_type vertex;
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row=costMatrixIndices.Size()-2;
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if (row==0)
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{
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path.Insert(startNode);
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path.Insert(endNode);
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return true;
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}
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currentWeight=costMatrix[row*adjacencyLists.Size() + col];
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if (currentWeight==INFINITE_WEIGHT)
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{
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// No path
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return true;
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}
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vertex=endNode;
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outputQueue.PushAtHead(vertex);
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row--;
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#ifdef _MSC_VER
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#pragma warning( disable : 4127 ) // warning C4127: conditional expression is constant
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#endif
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while (1)
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{
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while (costMatrix[row*adjacencyLists.Size() + col] == currentWeight)
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{
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if (row==0)
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{
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path.Insert(startNode);
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for (col=0; outputQueue.Size(); col++)
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path.Insert(outputQueue.Pop());
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return true;
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}
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--row;
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}
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vertex=leastNodeArray[row];
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outputQueue.PushAtHead(vertex);
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if (row==0)
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break;
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col=costMatrixIndices.GetIndexFromKey(vertex, &objectExists);
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currentWeight=costMatrix[row*adjacencyLists.Size() + col];
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}
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path.Insert(startNode);
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for (col=0; outputQueue.Size(); col++)
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path.Insert(outputQueue.Pop());
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return true;
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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node_type WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::GetNodeAtIndex(unsigned nodeIndex) const
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{
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return adjacencyLists.GetKeyAtIndex(nodeIndex);
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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unsigned WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::GetNodeCount(void) const
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{
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return adjacencyLists.Size();
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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unsigned WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::GetConnectionCount(unsigned nodeIndex) const
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{
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return adjacencyLists[nodeIndex]->Size();
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::GetConnectionAtIndex(unsigned nodeIndex, unsigned connectionIndex, node_type &outNode, weight_type &outWeight) const
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{
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outWeight=adjacencyLists[nodeIndex]->operator[](connectionIndex);
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outNode=adjacencyLists[nodeIndex]->GetKeyAtIndex(connectionIndex);
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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bool WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::GetSpanningTree(DataStructures::Tree<node_type> &outTree, DataStructures::List<node_type> *inputNodes, node_type startNode, weight_type INFINITE_WEIGHT )
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{
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// Find the shortest path from the start node to each of the input nodes. Add this path to a new WeightedGraph if the result is reachable
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DataStructures::List<node_type> path;
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DataStructures::WeightedGraph<node_type, weight_type, allow_unlinkedNodes> outGraph;
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bool res;
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unsigned i,j;
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for (i=0; i < inputNodes->Size(); i++)
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{
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res=GetShortestPath(path, startNode, (*inputNodes)[i], INFINITE_WEIGHT);
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if (res)
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{
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for (j=0; j < path.Size()-1; j++)
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{
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// Don't bother looking up the weight
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outGraph.AddConnection(path[j], path[j+1], INFINITE_WEIGHT);
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}
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}
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}
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// Copy the graph to a tree.
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DataStructures::Queue<NodeAndParent> nodesToProcess;
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DataStructures::Tree<node_type> *current;
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DataStructures::Map<node_type, weight_type> *adjacencyList;
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node_type key;
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NodeAndParent nap, nap2;
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outTree.DeleteDecendants();
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outTree.data=startNode;
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current=&outTree;
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if (outGraph.adjacencyLists.Has(startNode)==false)
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return false;
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adjacencyList = outGraph.adjacencyLists.Get(startNode);
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for (i=0; i < adjacencyList->Size(); i++)
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{
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nap2.node=new DataStructures::Tree<node_type>;
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nap2.node->data=adjacencyList->GetKeyAtIndex(i);
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nap2.parent=current;
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nodesToProcess.Push(nap2);
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current->children.Insert(nap2.node);
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}
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while (nodesToProcess.Size())
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{
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nap=nodesToProcess.Pop();
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current=nap.node;
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adjacencyList = outGraph.adjacencyLists.Get(nap.node->data);
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for (i=0; i < adjacencyList->Size(); i++)
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{
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key=adjacencyList->GetKeyAtIndex(i);
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if (key!=nap.parent->data)
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{
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nap2.node=new DataStructures::Tree<node_type>;
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nap2.node->data=key;
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nap2.parent=current;
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nodesToProcess.Push(nap2);
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current->children.Insert(nap2.node);
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}
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}
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}
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return true;
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}
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template <class node_type, class weight_type, bool allow_unlinkedNodes>
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void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::GenerateDisjktraMatrix(node_type startNode, weight_type INFINITE_WEIGHT)
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{
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if (adjacencyLists.Size()==0)
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return;
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costMatrix = new weight_type[adjacencyLists.Size() * adjacencyLists.Size()];
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leastNodeArray = new node_type[adjacencyLists.Size()];
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node_type currentNode;
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unsigned col, row, row2, openSetIndex;
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node_type adjacentKey;
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unsigned adjacentIndex;
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weight_type edgeWeight, currentNodeWeight, adjacentNodeWeight;
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DataStructures::Map<node_type, weight_type> *adjacencyList;
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DataStructures::Heap<weight_type, node_type, false> minHeap;
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DataStructures::Map<node_type, weight_type> openSet;
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for (col=0; col < adjacencyLists.Size(); col++)
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{
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// This should be already sorted, so it's a bit inefficient to do an insertion sort, but what the heck
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costMatrixIndices.Insert(adjacencyLists.GetKeyAtIndex(col),adjacencyLists.GetKeyAtIndex(col), true);
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}
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for (col=0; col < adjacencyLists.Size() * adjacencyLists.Size(); col++)
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costMatrix[col]=INFINITE_WEIGHT;
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currentNode=startNode;
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row=0;
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currentNodeWeight=0;
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rootNode=startNode;
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// Clear the starting node column
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if (adjacencyLists.Size())
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{
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adjacentIndex=adjacencyLists.GetIndexAtKey(startNode);
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for (row2=0; row2 < adjacencyLists.Size(); row2++)
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costMatrix[row2*adjacencyLists.Size() + adjacentIndex]=0;
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}
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while (row < adjacencyLists.Size()-1)
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{
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adjacencyList = adjacencyLists.Get(currentNode);
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// Go through all connections from the current node. If the new weight is less than the current weight, then update that weight.
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for (col=0; col < adjacencyList->Size(); col++)
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{
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edgeWeight=(*adjacencyList)[col];
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adjacentKey=adjacencyList->GetKeyAtIndex(col);
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adjacentIndex=adjacencyLists.GetIndexAtKey(adjacentKey);
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adjacentNodeWeight=costMatrix[row*adjacencyLists.Size() + adjacentIndex];
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if (currentNodeWeight + edgeWeight < adjacentNodeWeight)
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{
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// Update the weight for the adjacent node
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for (row2=row; row2 < adjacencyLists.Size(); row2++)
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costMatrix[row2*adjacencyLists.Size() + adjacentIndex]=currentNodeWeight + edgeWeight;
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openSet.Set(adjacentKey, currentNodeWeight + edgeWeight);
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}
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}
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// Find the lowest in the open set
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minHeap.Clear();
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for (openSetIndex=0; openSetIndex < openSet.Size(); openSetIndex++)
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minHeap.Push(openSet[openSetIndex], openSet.GetKeyAtIndex(openSetIndex));
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/*
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unsigned i,j;
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for (i=0; i < adjacencyLists.Size()-1; i++)
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{
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for (j=0; j < adjacencyLists.Size(); j++)
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{
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printf("%2i ", costMatrix[i*adjacencyLists.Size() + j]);
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}
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printf("Node=%i", leastNodeArray[i]);
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printf("\n");
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}
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*/
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if (minHeap.Size()==0)
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{
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// Unreachable nodes
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isValidPath=true;
|
|
return;
|
|
}
|
|
|
|
currentNodeWeight=minHeap.PeekWeight(0);
|
|
leastNodeArray[row]=minHeap.Pop(0);
|
|
currentNode=leastNodeArray[row];
|
|
openSet.Delete(currentNode);
|
|
row++;
|
|
}
|
|
|
|
/*
|
|
#ifdef _DEBUG
|
|
unsigned i,j;
|
|
for (i=0; i < adjacencyLists.Size()-1; i++)
|
|
{
|
|
for (j=0; j < adjacencyLists.Size(); j++)
|
|
{
|
|
printf("%2i ", costMatrix[i*adjacencyLists.Size() + j]);
|
|
}
|
|
printf("Node=%i", leastNodeArray[i]);
|
|
printf("\n");
|
|
}
|
|
#endif
|
|
*/
|
|
|
|
isValidPath=true;
|
|
}
|
|
|
|
template <class node_type, class weight_type, bool allow_unlinkedNodes>
|
|
void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::ClearDijkstra(void)
|
|
{
|
|
if (isValidPath)
|
|
{
|
|
isValidPath=false;
|
|
delete [] costMatrix;
|
|
delete [] leastNodeArray;
|
|
costMatrixIndices.Clear();
|
|
}
|
|
}
|
|
|
|
template <class node_type, class weight_type, bool allow_unlinkedNodes>
|
|
void WeightedGraph<node_type, weight_type, allow_unlinkedNodes>::Print(void)
|
|
{
|
|
#ifdef _DEBUG
|
|
unsigned i,j;
|
|
for (i=0; i < adjacencyLists.Size(); i++)
|
|
{
|
|
//printf("%i connected to ", i);
|
|
printf("%s connected to ", adjacencyLists.GetKeyAtIndex(i).systemAddress.ToString());
|
|
|
|
if (adjacencyLists[i]->Size()==0)
|
|
printf("<Empty>");
|
|
else
|
|
{
|
|
for (j=0; j < adjacencyLists[i]->Size(); j++)
|
|
// printf("%i (%.2f) ", adjacencyLists.GetIndexAtKey(adjacencyLists[i]->GetKeyAtIndex(j)), (float) adjacencyLists[i]->operator[](j) );
|
|
printf("%s (%.2f) ", adjacencyLists[i]->GetKeyAtIndex(j).systemAddress.ToString(), (float) adjacencyLists[i]->operator[](j) );
|
|
}
|
|
|
|
printf("\n");
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
#ifdef _MSC_VER
|
|
#pragma warning( pop )
|
|
#endif
|
|
|
|
#endif
|