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