340 lines
11 KiB
C++
340 lines
11 KiB
C++
|
||
#include "AStar.h"
|
||
#include "StdAfx.h"
|
||
|
||
namespace Util
|
||
{
|
||
|
||
const int AStar::AS_MOVECOST[] = {AStar::DMOVECOST,AStar::RMOVECOST};
|
||
const int AStar::NEIGHBORPOS_X_VALUES[] = {0, 1, 1, 1, 0, -1, -1, -1};
|
||
const int AStar::NEIGHBORPOS_Y_VALUES[] = {-1, -1, 0, 1, 1, 1, 0, -1};
|
||
|
||
//CObjectAllocator<ASMapCell> AStar::m_ASMapCellAllocator = CObjectAllocator<ASMapCell>(_T("ASMapCellAlloc"));
|
||
|
||
void AStar::initFromMap(CAbstractMap* pMap)
|
||
{
|
||
this->m_nWidth = pMap->m_dwWidth;
|
||
this->m_nHeight = pMap->m_dwHeight;
|
||
|
||
// 调整网格地图格子列表
|
||
int nOldCount = this->m_ASMapCells.size();
|
||
int nNewCount = this->m_nWidth * this->m_nHeight;
|
||
if (nOldCount < nNewCount)
|
||
{
|
||
this->m_ASMapCells.resize(nNewCount);
|
||
for (int i = nOldCount; i < nNewCount; ++i)
|
||
{
|
||
this->m_ASMapCells[i] = m_ASMapCellAllocator.allocObjects();
|
||
memset(this->m_ASMapCells[i], 0, sizeof(ASMapCell));
|
||
}
|
||
}
|
||
|
||
//初始化每个坐标格子
|
||
int x = 0, y = 0, idx = 0;
|
||
ASMapCell* pCell;
|
||
for (y = 0; y < this->m_nHeight; ++y)
|
||
{
|
||
for (x = 0; x < this->m_nWidth; ++x)
|
||
{
|
||
pCell = this->m_ASMapCells[idx];
|
||
pCell->X = x;
|
||
pCell->Y = y;
|
||
pCell->CanNotMove = !pMap->canMove(x, y);
|
||
idx++;
|
||
}
|
||
}
|
||
}
|
||
|
||
bool AStar::getPath(INT_PTR nEntityType, int fromX, int fromY, int targetX, int targetY, CVector<SMALLCPOINT> &outPaths, CScene* pScene)
|
||
{
|
||
if (!pScene) return false;
|
||
//CrossCheckFuncType func = std::bind(&CScene::CanCross, pScene,std::placeholders::_1,std::placeholders::_2,std::placeholders::_3);
|
||
CrossCheckFuncType func = [nEntityType,pScene](INT_PTR x,INT_PTR y){ return pScene->CanCross(nEntityType,x,y); };
|
||
return getPath(fromX, fromY, targetX, targetY, outPaths, func);
|
||
}
|
||
|
||
bool AStar::getPath(int fromX, int fromY, int targetX, int targetY, CVector<SMALLCPOINT> &outPaths, CrossCheckFuncType& crossCheck)
|
||
{
|
||
int nLoopLimit = 1000;
|
||
|
||
// 可行检测
|
||
|
||
if (fromX == targetX && fromY == targetY)
|
||
return false;
|
||
|
||
if (fromX < 0 || fromX >= this->m_nWidth || fromY < 0 || fromY >= this->m_nHeight)
|
||
return false;
|
||
|
||
if (targetX < 0 || targetX >= this->m_nWidth || targetY < 0 || targetY >= this->m_nHeight)
|
||
return false;
|
||
|
||
// 获取目标格子数据
|
||
try
|
||
{
|
||
ASMapCell* ac = this->m_ASMapCells.at(targetY * this->m_nWidth + targetX);
|
||
if (ac->CanNotMove) return false;
|
||
//if (!m_pScene->CanCross(nEntityType, targetX, targetY)) return false;
|
||
|
||
this->reset(fromX, fromY);
|
||
}
|
||
catch(...)
|
||
{
|
||
return false;
|
||
}
|
||
|
||
// 初始化起始点
|
||
ASMapCell* pCurCell = NULL;
|
||
bool boPathFound = false;
|
||
int nCurX = fromX, nCurY = fromY;
|
||
try
|
||
{
|
||
pCurCell = this->m_ASMapCells.at(nCurY * this->m_nWidth + nCurX);
|
||
pCurCell->GCost = 0;
|
||
pCurCell->LastX = -1;
|
||
pCurCell->LastY = -1;
|
||
pCurCell->X = nCurX;
|
||
pCurCell->Y = nCurY;
|
||
pCurCell->MarkTag = this->m_nMarkTag;
|
||
pCurCell->HCost = (std::abs(targetX - fromX) + std::abs(targetY - fromY)) * 10;
|
||
}
|
||
catch(...)
|
||
{
|
||
return false;
|
||
}
|
||
|
||
// 路径查找
|
||
int i = 0, nX = 0, nY = 0;
|
||
ASMapCell* pCell = NULL;
|
||
while (true)
|
||
{
|
||
if (nCurX == targetX && nCurY == targetY)
|
||
{
|
||
boPathFound = true;
|
||
break;
|
||
}
|
||
|
||
if (pCurCell->State != ASMapCell::CSCLOSE)
|
||
{
|
||
this->closeCell(pCurCell);
|
||
}
|
||
|
||
//遍历当前位置周围的8个格子
|
||
for (i = 0; i < 8; i++)
|
||
{
|
||
if (nLoopLimit-- < 0)
|
||
{
|
||
return false;
|
||
}
|
||
|
||
nX = nCurX + AStar::NEIGHBORPOS_X_VALUES[i];
|
||
nY = nCurY + AStar::NEIGHBORPOS_Y_VALUES[i];
|
||
|
||
if (nX < 0 || nX >= this->m_nWidth || nY < 0 || nY >= this->m_nHeight)
|
||
continue;
|
||
|
||
try
|
||
{
|
||
pCell = this->m_ASMapCells.at(nY * this->m_nWidth + nX);
|
||
}
|
||
catch(...)
|
||
{
|
||
return false;
|
||
}
|
||
|
||
if (pCell->CanNotMove) continue;
|
||
if (nX == targetX && nY == targetY)
|
||
{
|
||
// 优化一下，最终点可能为玩家站立点，让其为可走的位置
|
||
}
|
||
else if (!crossCheck(nX, nY)) continue;
|
||
|
||
//pCell->MarkTag与当前的m_nMarkTag不同，也视为是未开启状态
|
||
if (pCell->MarkTag != this->m_nMarkTag || pCell->State == ASMapCell::CSNONE)
|
||
{
|
||
pCell->MarkTag = this->m_nMarkTag;
|
||
pCell->LastX = nCurX;
|
||
pCell->LastY = nCurY;
|
||
pCell->btDir = i;
|
||
pCell->GCost = pCurCell->GCost + AStar::AS_MOVECOST[i & 1];
|
||
pCell->HCost = (std::abs(targetX - nX) + std::abs(targetY - nY)) * 10;
|
||
pCell->pNext = NULL;
|
||
if (pCell != this->m_LastOpenCell) pCell->pPre = nullptr;
|
||
if (!this->openCell(pCell)) return false;
|
||
}
|
||
else if (pCell->State == ASMapCell::CSOPEN)
|
||
{
|
||
if (pCell->GCost > pCurCell->GCost + AStar::AS_MOVECOST[i & 1])
|
||
{
|
||
pCell->LastX = nCurX;
|
||
pCell->LastY = nCurY;
|
||
pCell->btDir = i;
|
||
pCell->GCost = pCurCell->GCost + AStar::AS_MOVECOST[i & 1];
|
||
if (!this->reopenCell(pCell)) return false;
|
||
}
|
||
}
|
||
|
||
}// end for
|
||
|
||
pCurCell = this->m_LastOpenCell;
|
||
if (pCurCell == NULL)
|
||
break;
|
||
|
||
nCurX = pCurCell->X;
|
||
nCurY = pCurCell->Y;
|
||
|
||
}// end while
|
||
|
||
// 找到路径，则存储
|
||
SMALLCPOINT gridNode;
|
||
if (boPathFound)
|
||
{
|
||
outPaths.clear();
|
||
gridNode.MakePoint(pCurCell->X,pCurCell->Y,pCurCell->btDir);
|
||
outPaths.add(gridNode);
|
||
|
||
while (true)
|
||
{
|
||
try
|
||
{
|
||
pCurCell = this->m_ASMapCells.at(pCurCell->LastY * this->m_nWidth + pCurCell->LastX);
|
||
}
|
||
catch(...)
|
||
{
|
||
return false;
|
||
}
|
||
gridNode.MakePoint(pCurCell->X,pCurCell->Y,pCurCell->btDir);
|
||
outPaths.add(gridNode);
|
||
|
||
if ((pCurCell->LastX <= 0 && pCurCell->LastY <= 0) || pCurCell->MarkTag != this->m_nMarkTag)
|
||
break;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
return false;
|
||
}
|
||
|
||
void AStar::reset(int cX, int cY)
|
||
{
|
||
ASMapCell* pCell = this->m_ASMapCells.at(cY * this->m_nWidth + cX);
|
||
pCell->LastX = 0;
|
||
pCell->LastY = 0;
|
||
pCell->HCost = 0;
|
||
pCell->GCost = 0;
|
||
pCell->FValue = 0;
|
||
pCell->State = 0;
|
||
pCell->pPre = NULL;
|
||
pCell->pNext = NULL;
|
||
pCell->btDir = 0;
|
||
|
||
this->m_LastOpenCell = NULL;
|
||
this->m_nMarkTag = this->m_nMarkTag + 1;
|
||
}
|
||
|
||
void AStar::closeCell(ASMapCell* pCell)
|
||
{
|
||
//如果格子已经开启则进行路径链表的移除操作
|
||
if (pCell->State == ASMapCell::CSOPEN)
|
||
{
|
||
if (pCell->pPre) pCell->pPre->pNext = pCell->pNext;
|
||
if (pCell->pNext) pCell->pNext->pPre = pCell->pPre;
|
||
if (pCell == this->m_LastOpenCell) this->m_LastOpenCell = pCell->pPre;
|
||
}
|
||
pCell->State = ASMapCell::CSCLOSE;
|
||
}
|
||
|
||
bool AStar::openCell(ASMapCell* pCell)
|
||
{
|
||
pCell->State = ASMapCell::CSOPEN;
|
||
int nFValue = pCell->HCost + pCell->GCost;
|
||
pCell->FValue = nFValue;
|
||
|
||
ASMapCell* pLastCell = this->m_LastOpenCell;
|
||
if (!pLastCell)
|
||
{
|
||
this->m_LastOpenCell = pCell;
|
||
pCell->pPre = NULL;
|
||
pCell->pNext = NULL;
|
||
}
|
||
else
|
||
{
|
||
//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
|
||
auto checkLoop = pLastCell;//死循环检查
|
||
while (pLastCell->FValue < nFValue)
|
||
{
|
||
if (pLastCell->pPre == NULL)
|
||
{
|
||
pLastCell->pPre = pCell;
|
||
pCell->pPre = NULL;
|
||
pCell->pNext = pLastCell;
|
||
return true;
|
||
}
|
||
|
||
if (pLastCell->pPre->pNext != pLastCell) return false;
|
||
pLastCell = pLastCell->pPre;
|
||
if (checkLoop == pLastCell) return false;
|
||
}
|
||
|
||
//添加到当前开启格子链表的末尾
|
||
pCell->pPre = pLastCell;
|
||
if (pLastCell->pNext)
|
||
{
|
||
pCell->pNext = pLastCell->pNext;
|
||
pLastCell->pNext->pPre = pCell;
|
||
pLastCell->pNext = pCell;
|
||
}
|
||
else
|
||
{
|
||
pCell->pNext = NULL;
|
||
pLastCell->pNext = pCell;
|
||
this->m_LastOpenCell = pCell;
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
bool AStar::reopenCell(ASMapCell* pCell)
|
||
{
|
||
int nFValue = pCell->HCost + pCell->GCost;
|
||
pCell->FValue = nFValue;
|
||
|
||
ASMapCell* pNextCell = pCell->pNext;
|
||
if (pNextCell && pNextCell->FValue > nFValue)
|
||
{
|
||
auto checkLoop = pNextCell;//死循环检查
|
||
do
|
||
{
|
||
pNextCell = pNextCell->pNext;
|
||
if (checkLoop == pNextCell) return false;
|
||
}
|
||
while (pNextCell && pNextCell->FValue > nFValue);
|
||
|
||
if (pCell->pPre) pCell->pPre->pNext = pCell->pNext;
|
||
if (pCell->pNext) pCell->pNext->pPre = pCell->pPre;
|
||
|
||
if (pNextCell)
|
||
{
|
||
pCell->pNext = pNextCell;
|
||
if (pNextCell->pPre)
|
||
{
|
||
pCell->pPre = pNextCell->pPre;
|
||
pNextCell->pPre->pNext = pCell;
|
||
}
|
||
else pCell->pPre = NULL;
|
||
pNextCell->pPre = pCell;
|
||
}
|
||
else
|
||
{
|
||
pCell->pPre = this->m_LastOpenCell;
|
||
pCell->pNext = NULL;
|
||
this->m_LastOpenCell->pNext = pCell;
|
||
this->m_LastOpenCell = pCell;
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
} // namespace Util
|
||
|
||
|