1 #ifndef __ASTAR__H
2 #define __ASTAR__H
3
4 #include "AIDefine.h"
5 #include "../Common/PriorityQueue.h"
6
7 class AStar
8 {
9 private:
10 AStar();
11 public:
12 static bool find(const PointI &size, const PointI &start, const PointI &end, AI_VisitFun visitFun, Path **path = NULL,
13 EFindType findType = EFIND_TYPE8, AI_DitanceFun funH = AI_Ditance2, AI_DitanceFun funG = AI_Ditance1)
14 {
15 if(size.x <= 0 || size.y <= 0 || !AI_CheckRange(start, size) || !AI_CheckRange(end, size) ||
16 !visitFun(start.x, start.y), !visitFun(end.x, end.y))
17 {
18 if(NULL != path){*path = new Path(false, 0.0f);}
19 return false;
20 }
21 if(start.x == end.x && start.y == end.y)
22 {
23 if(NULL != path){*path = new Path(true, 0.0f);}
24 return true;
25 }
26
27 PriorityQueue<Info*, InfoCmp> visit;
28 Info *nodeArr = new Info[size.x * size.y];
29 Info *cur, *next;
30 PointI pos;
31
32 cur = &nodeArr[size.x * start.y + start.x];
33 cur->x = start.x; cur->y = start.y; cur->g = 0;
34 cur->h = funH(cur->x, cur->y, end.x, end.y); cur->f = cur->g + cur->h;
35 visit.push(cur);
36 float cost_g, cost_h;
37 while(!visit.empty())
38 {
39 cur = visit.top(); visit.pop(); cur->isopen = false; cur->closed = true;
40 if(cur->x == end.x && cur->y == end.y)
41 {
42 if(NULL != path)
43 {
44 *path = new Path(true, cur->f);
45 while (NULL != cur)
46 {
47 (*path)->push_front(PointI(cur->x, cur->y));
48 cur = cur->parent;
49 }
50 }
51 if(NULL != nodeArr){delete[] nodeArr;}
52 return true;
53 }
54 for(int i = 0; i < findType; ++i)
55 {
56 pos.x = cur->x + AI_FindHelpPoint[i].x;pos.y = cur->y + AI_FindHelpPoint[i].y;
57 if(AI_CheckRange(pos,size) && !nodeArr[size.x * pos.y + pos.x].closed && AI_CheckPass(cur->x, cur->y, pos.x, pos.y, visitFun))
58 {
59 next = &nodeArr[size.x * pos.y + pos.x];
60 next->x = pos.x; next->y = pos.y;
61 cost_g = funG(cur->x, cur->y, next->x, next->y);
62 cost_h = funH(next->x, next->y, end.x, end.y);
63 if(next->isopen)
64 {
65 if(next->f > cur->g + cost_g + cost_h)
66 {
67 visit.remove(next);
68 }else
69 {
70 continue;
71 }
72 }
73 next->g = cur->g + cost_g; next->h = cost_h;
74 next->f = next->g + next->h;
75 next->isopen = true;next->parent = cur;visit.push(next);
76 }
77 }
78 }
79 if(NULL != path){*path = new Path(false, 0.0f);}
80 if(NULL != nodeArr){delete[] nodeArr;}
81 return false;
82 }
83 private:
84 struct Info
85 {
86 Info()
87 {
88 x = y = 0;
89 g = h = f = 0.0f;
90 isopen = closed = false;
91 parent = NULL;
92 }
93 int x,y;
94 float g,h,f;
95 bool isopen,closed;
96 Info *parent;
97 };
98 struct InfoCmp
99 {
100 bool operator () (const Info *p1, const Info *p2)
101 {
102 return p1->f < p2->f;
103 }
104 };
105 };
106
107 #endif
