bool MaxHeap::pushHeap(size_t value, float key)
{
if (heapIsFull())
{
if(key > getMaxKey())
return false;
HeapNode node = HeapNode();
node.key = key;
node.value = value;
swapNode(1,m_nextIndex-1);
(*m_array)[m_nextIndex-1] = node;
balanceTreeRec(1);
return true;
}
else if (m_nextIndex == m_size)
{
HeapNode node = HeapNode();
node.key = key;
node.value = value;
(*m_array).push_back(node);
m_nextIndex++;
balanceEntireTree();
return true;
}
else
{
HeapNode node = HeapNode();
node.key = key;
node.value = value;
(*m_array).push_back(node);
m_nextIndex++;
return true;
}
}
vector<double> medianSlidingWindow(vector<int>& nums, int k) {
vector<double> result;
if (k == 0 || nums.size() < k) return result;
Heap minHeap(true), maxHeap(false);
int i = 0;
for (; i != k; ++i) {
if (maxHeap.empty() || nums[i] > maxHeap.top().val) minHeap.insert(HeapNode(i, nums[i]));
else maxHeap.insert(HeapNode(i, nums[i]));
if (maxHeap.sIze() < minHeap.sIze()) {
maxHeap.insert(minHeap.top());
minHeap.pop();
} else if (maxHeap.sIze() > minHeap.sIze() + 1) {
minHeap.insert(maxHeap.top());
maxHeap.pop();
}
}
for (; i != nums.size(); ++i) {
if (k & 1) result.push_back(maxHeap.top().val);
else result.push_back(((double)maxHeap.top().val + minHeap.top().val) / 2.0);
maxHeap.remove(i - k); minHeap.remove(i - k);
if (maxHeap.empty() || nums[i] > maxHeap.top().val) minHeap.insert(HeapNode(i, nums[i]));
else maxHeap.insert(HeapNode(i, nums[i]));
if (maxHeap.sIze() < minHeap.sIze()) {
maxHeap.insert(minHeap.top());
minHeap.pop();
} else if (maxHeap.sIze() > minHeap.sIze() + 1) {
minHeap.insert(maxHeap.top());
maxHeap.pop();
}
}
if (k & 1) result.push_back(maxHeap.top().val);
else result.push_back(((double)maxHeap.top().val + minHeap.top().val) / 2.0);
return result;
}
void insert(const HeapNode& hn) {
if (++size == heap.size())
heap.push_back(HeapNode());
heap[size].key = hn.key;
heap[size].val = hn.val;
index[hn.key] = size;
heapUp(size);
}
void insert(int key, int val) {
if (++size == heap.size())
heap.push_back(HeapNode());
heap[size].key = key;
heap[size].val = val;
index[key] = size;
heapUp(size);
}
vector<glm::ivec2> AStar::findPath( const Level &map, const glm::ivec2 &start, const glm::ivec2 &goal )
{
m_prioQueue = new MinHeap<HeapNode>( map.getWidth() );
m_prevNode = new glm::ivec2[ map.getSize() ];
m_visited = new bool[ map.getSize() ];
for (int i = 0; i < map.getSize(); i++ )
m_visited[i] = false;
bool pathFound = false;
//inserts the start node into the prioQueue
m_prioQueue->insert( HeapNode( start,
0,
m_calcDist( start, goal ) ) );
//marks that the start node have been added to prioQueue
m_visited[ start.x + start.y * map.getWidth() ] = true;
while ( pathFound == false && m_prioQueue->empty() == false )
{
//Gets the node with lowest value out of prioQueue
HeapNode node = m_prioQueue->getMin();
//Saves the nodes position(index) in arrays, so it doesn't have to get recalculated several times later on
int arrayPos = node.Pos.x + node.Pos.y * map.getWidth();
if ( node.Pos.x == goal.x && node.Pos.y == goal.y )
{
//the goal has been reached and the loop will end
pathFound = true;
}
else
{
//These 2 for loops, loop through all neighbours to 'node'
for ( int x = -1; x <= 1; x++ )
{
for ( int y = -1; y <= 1; y++ )
{
//Checks if it's an adjacent node and not just the node itself, and checks if the adjacent node is walkable
if (( x != 0 || y != 0) && map.isWalkable( node.Pos.x + x, node.Pos.y + y ) )
{
//Saves the array position(index) of the adjacent node
int adjArrayPos = arrayPos + x + y * map.getWidth();
//Checks if the node has previuosly been added to the prioQueue (no node is entered more then once)
if ( m_visited[adjArrayPos] == false )
{
if ( x == 1 && y == 1 && ( map.isWalkable( node.Pos.x + 1, node.Pos.y ) == false || map.isWalkable( node.Pos.x, node.Pos.y + 1 ) == false ) )
{
//Do nothing (cutting corner)
}
else if ( x == 1 && y == -1 && ( map.isWalkable( node.Pos.x + 1, node.Pos.y ) == false || map.isWalkable( node.Pos.x, node.Pos.y - 1 ) == false ) )
{
//Do nothing (cutting corner)
}
else if ( x == -1 && y == 1 && ( map.isWalkable( node.Pos.x - 1, node.Pos.y ) == false || map.isWalkable( node.Pos.x, node.Pos.y + 1 ) == false ) )
{
//Do nothing (cutting corner)
}
else if ( x == -1 && y == -1 && ( map.isWalkable( node.Pos.x - 1, node.Pos.y ) == false || map.isWalkable( node.Pos.x, node.Pos.y - 1 ) == false ) )
{
//Do nothing (cutting corner)
}
else
{
float deltaDist = 1; //Cost to walk from node to the adjacent node
if (x != 0 && y != 0) //changes the cost to sqrt(2) if it's a diagonal movement
deltaDist = m_sqrt2;
//Adds the adjacent node to prioQueue
m_prioQueue->insert( HeapNode(
glm::ivec2( node.Pos.x + x, node.Pos.y + y ),
node.DistTravelled + deltaDist,
node.DistTravelled + deltaDist + m_calcDist( glm::ivec2( node.Pos.x + x, node.Pos.y + y ), goal ) ) );
m_visited[adjArrayPos] = true; //marks that the adjacent node has been added to prioQueue
m_prevNode[adjArrayPos] = node.Pos; //adds node as the previous node to the adjacent node
}
}
}
}
}
}
}
vector<glm::ivec2> path;
glm::ivec2 temp;
if ( pathFound == false )
{
cout << "No path found" << endl;
}
else
{
//Everything in this region ("pathStraightener") is code that straightens the path to make it shorter.
//This beacuse the path doesn't always take the shortest route (caused by nodes not being added more then once to prioQueue)
//COMMENT OUT THE ENTIRE "pathStraightener" REGION IF SPEED IS MORE IMPORTANT THEN THE PATH BEING SLIGHTLY LONGER THEN NECCESAIRY
#pragma region pathStraightener
//resets m_visited do it can be used later to 'draw' the path
for (int i = 0; i < map.getSize(); i++ )
m_visited[i] = false;
glm::ivec2 min = goal; //will store the path's lowest value on x and y
glm::ivec2 max = goal; //will store the path's highest value on x and y
//'Draws' the last node on m-visited array, with the value true
temp = goal;
m_visited[ temp.x + temp.y * map.getWidth() ] = true;
//Draws the rest of the path, and sets the value to 'min' and 'max
while ( temp.x != start.x || temp.y != start.y )
{
temp = m_prevNode[temp.x + temp.y * map.getWidth()]; //goes backwards 1 step from 'temp' along the path
m_visited[ temp.x + temp.y * map.getWidth() ] = true; //'Draws' the node
if ( temp.x < min.x )
min.x = temp.x;
if ( temp.x > max.x )
max.x = temp.x;
if ( temp.y < min.y )
min.y = temp.y;
if ( temp.y > max.y )
max.y = temp.y;
}
temp = goal;
bool loop;
while ( temp.x != start.x || temp.y != start.y )
{
int arrayPos = temp.x + temp.y * map.getWidth(); //Saves the array position of 'temp'
int x = m_prevNode[arrayPos].x - temp.x; //Calculates difference in x-axis betwenn temp and it's previous node
int y = m_prevNode[arrayPos].y - temp.y; // ----------||---------- y-axis ---------------||-----------------
if ( x != 0 && y != 0 ) //if the movement is diagonal
{
int xPos = temp.x;
int yPos = temp.y;
int tempArrayPos = arrayPos;
loop = true;
//while the x-axis search haven't reached a nonwalkable node or is outside the path's min and max x
while ( loop && xPos >= min.x && xPos <= max.x && map.isWalkable( xPos + x, yPos ) )
{
//moves in x-axis from temp
xPos += x;
tempArrayPos += x;
if ( m_visited[tempArrayPos] ) //if the search has reached the path again
{
//Creates a shortcut (between temp and the found part of the path) that the final path will follow
int iArrayPos = arrayPos;
for (int i = temp.x; i != xPos; i += x )
{
m_prevNode[iArrayPos] = glm::ivec2( i + x, yPos );
iArrayPos += x;
}
loop = false;
}
}
xPos = temp.x;
yPos = temp.y;
tempArrayPos = arrayPos;
//while the y-axis search haven't reached a nonwalkable node or is outside the path's min and max y
//Doesn't loop if a shortcut was made in x-axis
while ( loop && yPos >= min.y && yPos <= max.y && map.isWalkable( xPos, yPos + y ) )
{
yPos += y;
tempArrayPos += y * map.getWidth();
if ( m_visited[tempArrayPos] ) //if the search has reached the path
{
//Creates a shortcut (between temp and the found part of the path) that the final path will follow
int iArrayPos = arrayPos;
for (int i = temp.y; i != yPos; i += y )
{
m_prevNode[iArrayPos] = glm::ivec2( xPos, i + y );
iArrayPos += y * map.getWidth();
}
loop = false;
}
}
}
temp = m_prevNode[arrayPos]; //moves one step ahead on the path, looking for more shortcuts to take next loop
}
#pragma endregion
path.push_back( goal );
temp = goal;
//reconstructs the path from goal to start
while ( temp.x != start.x || temp.y != start.y )
{
temp = m_prevNode[temp.x + temp.y * map.getWidth()];
path.push_back( temp );
}
}
delete m_prioQueue;
delete [] m_visited;
delete [] m_prevNode;
return path;
}
