128 lines
3.9 KiB
C
128 lines
3.9 KiB
C
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/*
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* 优化过的B*寻路的实现
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* 主要特色是不申请内存
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*/
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#pragma once
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#include "../include/VirturalMap.h"
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#include <_memchk.h>
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//#include "CommonDef.h"
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//#include <Windows.h>
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//#include <tchar.h>
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#include "_ast.h"
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#include "List.h"
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//点的坐标
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struct SMALLCPOINT
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{
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unsigned short x; //
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unsigned short y;
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unsigned short dir;
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//设置是否合法
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inline bool isInvalid() { return x== 0xFF && y== 0xFF;}
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//设置点非法
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inline void SetInvalid() {x= 0xFF;y=0xFF;}
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inline void MakePoint(int _x,int _y, int _dir = NULL) {x=(unsigned short)_x; y=(unsigned short)_y; dir=(unsigned short)_dir;}
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inline SMALLCPOINT &operator =(const SMALLCPOINT &cval) {x=cval.x; y=cval.y; dir=cval.dir; return *this;}
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inline bool operator ==(const SMALLCPOINT &cval) {return (x==cval.x && y==cval.y && dir==cval.dir);}
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inline bool operator !=(const SMALLCPOINT &cval) {return !(this->operator==(cval));}
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};
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enum tagAstarResultCode
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{
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enSearchTooManyPoint =-1, //太多的寻路点
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enSearchUnReach =-2, //目标掉不可达到
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enSearchParamError=-3, //参数错误
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enSearchCalError=-4, //内部计算错误
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enSearchTooLong =-5, //距离过远
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enSearchError =-6, //计算错误，进入了很大的循环
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};
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//优化过的A*寻路算法
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class CAdvanceAstar
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{
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public:
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CAdvanceAstar()
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{
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m_bHasInit =false;
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};
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const static int SIZE =64; //矩阵的一半大小
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const static int MATRIX_ARRAY_LENGTH = 2*SIZE +1;
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/*
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* Comments:从起点到终点的寻路,按目前的设置，起点到终点长、宽只能在64*64的范围里，超过了则不寻路了
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* Param VirturalMap * pMap:地图
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* Param int nMapWidth:地图的宽度
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* Param int nMapHeight:地图的高度
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* Param int nStartPosX:起始点x
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* Param int nStartPosY:起始点y
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* Param int nEndPosX:结束点x
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* Param int nEndPosY:结束点y
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* Param int nLoopTime:最大的循环次数
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* Param int nParam : 附加的参数，比如实体类型，用于查找是否能够寻路的点
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* Param int nParam2 : 附加的参数，比如实体类型，用于查找是否能够寻路的点
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* @Return int:0表示成功，<0 返回的是错误码，在tagAstarResultCode中定义
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*/
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int Search(VirturalMap * pMap, int nMapWidth, int nMapHeight,int nStartPosX, int nStartPosY, int nEndPosX,int nEndPosY,int nLoopTime=1000,int nParam=0,int nParam2=0,int nParam3=0,int nParam4=0);
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/*
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* Comments:获得寻路结果中一个点的父节点，
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* Param int x:该点的坐标x
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* Param int y:该点的坐标y
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* Param int& nParentX:父亲节点x
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* Param int& nParentY:父亲节点y
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* @Return bool:如果有父亲节点返回true，否则返回false
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*/
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bool GetParent(int x, int y, int &nParentX,int & nParentY);
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/*
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* Comments:成功寻路以后查找一个点的下一个节点
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* Param INT_PTR x:节点x
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* Param INT_PTR y:节点y
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* Param INT_PTR & nSonX:下一个节点
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* Param INT_PTR & nSonY:下一个节点
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* @Return bool:成功返回true，否则返回false
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*/
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bool GetSon(int x, int y, int &nSonX,int & nSonY);
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private:
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//初始化寻路参数
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void InitAstar();
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private:
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wylib::container::CBaseList<SMALLCPOINT> m_openList; //open列表
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char m_visitedTable[MATRIX_ARRAY_LENGTH][MATRIX_ARRAY_LENGTH]; //状态的表
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SMALLCPOINT m_parentTable[MATRIX_ARRAY_LENGTH][MATRIX_ARRAY_LENGTH]; //父亲节点的坐标
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int m_nOffsetX; //坐标变化的误差
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int m_nOffsetY; //坐标误差
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char m_dirDistance_x[8]; //8个方向x
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char m_dirDistance_y[8]; //8个方向y
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char m_dir[24]; //8个方向，为了加快方向的速度，保存起来查找
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char m_matrix_x[8]; //2方向查找矩阵
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char m_matrix_y[8];
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bool m_bHasInit; //是否初始化完毕了
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int m_nDesPosX; //目标点的位置x
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int m_nDesPosY; //目标点的位置y
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};
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