void MyMap::printMap(void)
{
for(int y = 0; y < vertical; ++y){
for(int x = 0; x < horizontal; ++x){
MapNode* yx = getNodeAt(y,x);
if(yx == NULL)
continue;
char symbol = ' ';
if(yx->isLocked())
symbol = '2';
else if(yx->isPath())
symbol = 'X';
std::cout << symbol;
}
std::cout << std::endl;
}
}
bool AstarMap::findPath(std::vector<MapNode*>& path, int sx, int sy, int tx, int ty)
{
std::vector<MapNode*> open_stack;
MapNode* start = getNodeAt(sy,sx);
MapNode* target = getNodeAt(ty,tx);
if(start == NULL || target == NULL)
return false;
start->setOpen(true);
open_stack.push_back(start);
while(open_stack.size() > 0){
std::sort(open_stack.begin(), open_stack.end(), lesser);
MapNode* node = open_stack.back();
if(node == target)
return buildPath(path,target);
open_stack.pop_back();
node->setOpen(false);
node->setClosed(true);
std::vector<MapNode*> adjacents;
if(!listAdjacent(adjacents,node))
continue;
for(int i = 0; i < adjacents.size(); ++i){
MapNode* adjacent = adjacents[i];
if(adjacent->isClosed())
continue;
if(adjacent->isLocked())
continue;
int check_cost = adjacent->getCostG() + adjacent->isDiagonal(node) ?
DIAGONAL_MOVE_COST : STRAIGHT_MOVE_COST;
if(adjacent->isOpen()){
adjacent->setParent(node);
adjacent->setCostG(check_cost);
}else{
adjacent->setParent(node);
adjacent->setCostH(adjacent->countHCost(target));
adjacent->setCostG(check_cost);
adjacent->setOpen(true);
open_stack.push_back(adjacent);
}
}
}
return false;
}