321 lines
9.9 KiB
C++
321 lines
9.9 KiB
C++
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#include "AStar.h"
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#include "stdafx.h"
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namespace Util
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{
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const int AStar::AS_MOVECOST[] = {AStar::DMOVECOST,AStar::RMOVECOST};
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const int AStar::NEIGHBORPOS_X_VALUES[] = {0, 1, 1, 1, 0, -1, -1, -1};
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const int AStar::NEIGHBORPOS_Y_VALUES[] = {-1, -1, 0, 1, 1, 1, 0, -1};
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//CObjectAllocator<ASMapCell> AStar::m_ASMapCellAllocator = CObjectAllocator<ASMapCell>(_T("ASMapCellAlloc"));
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void AStar::initFromMap(CAbstractMap* pMap)
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{
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this->m_nWidth = pMap->m_dwWidth;
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this->m_nHeight = pMap->m_dwHeight;
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// 调整网格地图格子列表
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int nOldCount = this->m_ASMapCells.size();
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int nNewCount = this->m_nWidth * this->m_nHeight;
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if (nOldCount < nNewCount)
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{
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this->m_ASMapCells.resize(nNewCount);
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for (int i = nOldCount; i < nNewCount; ++i)
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{
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this->m_ASMapCells[i] = m_ASMapCellAllocator.allocObjects();
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memset(this->m_ASMapCells[i], 0, sizeof(ASMapCell));
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}
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}
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//初始化每个坐标格子
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int x = 0, y = 0, idx = 0;
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ASMapCell* pCell;
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for (y = 0; y < this->m_nHeight; ++y)
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{
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for (x = 0; x < this->m_nWidth; ++x)
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{
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pCell = this->m_ASMapCells[idx];
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pCell->X = x;
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pCell->Y = y;
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pCell->CanNotMove = !pMap->canMove(x, y);
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idx++;
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}
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}
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}
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bool AStar::getPath(int fromX, int fromY, int targetX, int targetY, std::vector<SMALLCPOINT> &outPaths, CrossCheckFuncType& crossCheck,bool isLoopLimit)
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{
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int nLoopLimit = 2000;
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// 可行检测
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if (fromX == targetX && fromY == targetY)
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return false;
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if (fromX < 0 || fromX >= this->m_nWidth || fromY < 0 || fromY >= this->m_nHeight)
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return false;
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if (targetX < 0 || targetX >= this->m_nWidth || targetY < 0 || targetY >= this->m_nHeight)
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return false;
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// 获取目标格子数据
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try
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{
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ASMapCell* ac = this->m_ASMapCells.at(targetY * this->m_nWidth + targetX);
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if (ac->CanNotMove) return false;
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//if (!m_pScene->CanCross(nEntityType, targetX, targetY)) return false;
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this->reset(fromX, fromY);
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}
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catch(...)
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{
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return false;
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}
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// 初始化起始点
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ASMapCell* pCurCell = NULL;
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bool boPathFound = false;
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int nCurX = fromX, nCurY = fromY;
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try
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{
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pCurCell = this->m_ASMapCells.at(nCurY * this->m_nWidth + nCurX);
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pCurCell->GCost = 0;
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pCurCell->LastX = -1;
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pCurCell->LastY = -1;
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pCurCell->X = nCurX;
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pCurCell->Y = nCurY;
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pCurCell->MarkTag = this->m_nMarkTag;
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pCurCell->HCost = (std::abs(targetX - fromX) + std::abs(targetY - fromY)) * 10;
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}
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catch(...)
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{
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return false;
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}
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// 路径查找
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int i = 0, nX = 0, nY = 0;
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ASMapCell* pCell = NULL;
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while (true)
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{
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if (nCurX == targetX && nCurY == targetY)
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{
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boPathFound = true;
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break;
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}
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if (pCurCell->State != ASMapCell::CSCLOSE)
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{
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this->closeCell(pCurCell);
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}
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//遍历当前位置周围的8个格子
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for (i = 0; i < 8; i++)
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{
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if (isLoopLimit && (nLoopLimit-- < 0))
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{
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return false;
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}
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nX = nCurX + AStar::NEIGHBORPOS_X_VALUES[i];
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nY = nCurY + AStar::NEIGHBORPOS_Y_VALUES[i];
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if (nX < 0 || nX >= this->m_nWidth || nY < 0 || nY >= this->m_nHeight)
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continue;
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try
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{
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pCell = this->m_ASMapCells.at(nY * this->m_nWidth + nX);
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}
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catch(...)
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{
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return false;
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}
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if (pCell->CanNotMove) continue;
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if (nX == targetX && nY == targetY)
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{
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// 优化一下，最终点可能为玩家站立点，让其为可走的位置
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}
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else if (!crossCheck(nX, nY)) continue;
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//pCell->MarkTag与当前的m_nMarkTag不同，也视为是未开启状态
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if (pCell->MarkTag != this->m_nMarkTag || pCell->State == ASMapCell::CSNONE)
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{
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pCell->MarkTag = this->m_nMarkTag;
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pCell->LastX = nCurX;
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pCell->LastY = nCurY;
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pCell->btDir = i;
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pCell->GCost = pCurCell->GCost + AStar::AS_MOVECOST[i & 1];
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pCell->HCost = (std::abs(targetX - nX) + std::abs(targetY - nY)) * 10;
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pCell->pNext = NULL;
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this->openCell(pCell);
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}
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else if (pCell->State == ASMapCell::CSOPEN)
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{
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if (pCell->GCost > pCurCell->GCost + AStar::AS_MOVECOST[i & 1])
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{
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pCell->LastX = nCurX;
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pCell->LastY = nCurY;
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pCell->btDir = i;
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pCell->GCost = pCurCell->GCost + AStar::AS_MOVECOST[i & 1];
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this->reopenCell(pCell);
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}
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}
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}// end for
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pCurCell = this->m_LastOpenCell;
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if (pCurCell == NULL)
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break;
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nCurX = pCurCell->X;
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nCurY = pCurCell->Y;
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}// end while
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// 找到路径，则存储
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SMALLCPOINT gridNode;
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if (boPathFound)
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{
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outPaths.clear();
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gridNode.MakePoint(pCurCell->X,pCurCell->Y,pCurCell->btDir);
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outPaths.push_back(gridNode);
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while (true)
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{
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try
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{
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pCurCell = this->m_ASMapCells.at(pCurCell->LastY * this->m_nWidth + pCurCell->LastX);
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}
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catch(...)
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{
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return false;
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}
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gridNode.MakePoint(pCurCell->X,pCurCell->Y,pCurCell->btDir);
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outPaths.push_back(gridNode);
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if ((pCurCell->LastX <= 0 && pCurCell->LastY <= 0) || pCurCell->MarkTag != this->m_nMarkTag)
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break;
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}
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return true;
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}
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return false;
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}
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void AStar::reset(int cX, int cY)
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{
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ASMapCell* pCell = this->m_ASMapCells.at(cY * this->m_nWidth + cX);
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pCell->LastX = 0;
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pCell->LastY = 0;
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pCell->HCost = 0;
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pCell->GCost = 0;
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pCell->FValue = 0;
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pCell->State = 0;
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pCell->pPre = NULL;
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pCell->pNext = NULL;
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pCell->btDir = 0;
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this->m_LastOpenCell = NULL;
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this->m_nMarkTag = this->m_nMarkTag + 1;
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}
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void AStar::closeCell(ASMapCell* pCell)
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{
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//如果格子已经开启则进行路径链表的移除操作
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if (pCell->State == ASMapCell::CSOPEN)
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{
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if (pCell->pPre) pCell->pPre->pNext = pCell->pNext;
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if (pCell->pNext) pCell->pNext->pPre = pCell->pPre;
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if (pCell == this->m_LastOpenCell) this->m_LastOpenCell = pCell->pPre;
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}
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pCell->State = ASMapCell::CSCLOSE;
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}
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void AStar::openCell(ASMapCell* pCell)
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{
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pCell->State = ASMapCell::CSOPEN;
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int nFValue = pCell->HCost + pCell->GCost;
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pCell->FValue = nFValue;
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ASMapCell* pLastCell = this->m_LastOpenCell;
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if (!pLastCell)
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{
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this->m_LastOpenCell = pCell;
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pCell->pPre = NULL;
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pCell->pNext = NULL;
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}
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else
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{
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//开启格子的时候在已开启的格子链表中按移动估价值进行排序 TODO 这里需要解决死循环
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while (pLastCell->FValue < nFValue)
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{
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if (pLastCell->pPre == NULL)
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{
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pLastCell->pPre = pCell;
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pCell->pPre = NULL;
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pCell->pNext = pLastCell;
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return;
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}
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pLastCell = pLastCell->pPre;
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}
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//添加到当前开启格子链表的末尾
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pCell->pPre = pLastCell;
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if (pLastCell->pNext)
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{
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pCell->pNext = pLastCell->pNext;
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pLastCell->pNext->pPre = pCell;
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pLastCell->pNext = pCell;
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}
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else
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{
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pCell->pNext = NULL;
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pLastCell->pNext = pCell;
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this->m_LastOpenCell = pCell;
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}
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}
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}
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void AStar::reopenCell(ASMapCell* pCell)
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{
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int nFValue = pCell->HCost + pCell->GCost;
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pCell->FValue = nFValue;
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ASMapCell* pNextCell = pCell->pNext;
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if (pNextCell && pNextCell->FValue > nFValue)
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{
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do
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{
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pNextCell = pNextCell->pNext;
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}
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while (pNextCell && pNextCell->FValue > nFValue);
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if (pCell->pPre) pCell->pPre->pNext = pCell->pNext;
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if (pCell->pNext) pCell->pNext->pPre = pCell->pPre;
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if (pNextCell)
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{
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pCell->pNext = pNextCell;
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if (pNextCell->pPre)
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{
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pCell->pPre = pNextCell->pPre;
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pNextCell->pPre->pNext = pCell;
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}
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else pCell->pPre = NULL;
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pNextCell->pPre = pCell;
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}
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else
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{
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pCell->pPre = this->m_LastOpenCell;
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pCell->pNext = NULL;
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this->m_LastOpenCell->pNext = pCell;
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this->m_LastOpenCell = pCell;
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}
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}
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}
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} // namespace Util
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