MapNode::MapNode(ofVec2f inValue)
{
setPos(ofVec2f(inValue.x*50,inValue.y*50));
setCameFrom(ofVec2f(-1, -1));
walkValue = 1;
curScore = 9999;
visited = false;
}
Coor aStar(int xDep, int yDep , int xArr, int yArr, Point list)
{
int startId,goalId;
calculDepartArrivee(list,xDep,yDep,xArr,yArr,&startId,&goalId);///
int danger;
int x,y,yr;//varialble d'id pas de coordonées
int tentativeGscore,tentativeIsBetter;
Point p =NULL;
ListeFils f = NULL;
Set presqueResultat = NULL;
Coor resultat = NULL;
Set closedSet = NULL;
Set openSet = NULL;
addSet(&openSet , startId);
Came cameFrom = NULL;
Data data = NULL;
data = setGscore(startId, 0 ,data);
data = setHscore(startId, heuristicCostEstimate(startId,goalId,list),data);
data = setFscore(startId, data->g + data->h, data);
while (openSet != NULL)
{
x = lowestFscore(openSet,data);
if ( x == goalId)
{
presqueResultat = reconstruireChemin(cameFrom,startId,goalId);
resultat = setToCoor(presqueResultat,list);
resultat = simplifierResultat(resultat);
addCoor(&resultat,0,xArr,yArr);
resultat = inverser(resultat);
return resultat;
}
openSet = removeIdSet(openSet,x);
addSet(&closedSet, x);
p = sePlacerEn(x,list);
for ( f = p->lPt ; f != NULL ; f = f->queue )//pour tout les y voisins de x
{
y = f->id;
yr = y;
if ( y > 1000)
{
y = y-1000;
}
if ( isInSet(closedSet,y) || p->enable == 0)
{
continue;
}
tentativeGscore = getGscore(x,data) + distBetween(x,yr);
if ( isInSet(openSet,y) == 0)
{
addSet(&openSet,y);
data = setHscore(y,heuristicCostEstimate(y,goalId,list),data);
tentativeIsBetter = 1;
}
else if (tentativeGscore <= getGscore(y,data))
{
tentativeIsBetter = 1;
}
else
{
tentativeIsBetter = 0;
}
if ( tentativeIsBetter == 1)
{
cameFrom = setCameFrom( y , x , cameFrom);
data = setGscore(y,tentativeGscore,data);
danger = p->enable;
if (danger == 3)
danger = 0;
else if (danger == 2)
danger = 100;
else if (danger == 1)
danger = 500;
data = setFscore(y,getGscore(y,data) + getHscore(y,data) + danger, data);
}
}
}
return NULL;// = erreur
}
