void DFA_delete( DFA *d ) { State *s; while( (s = d->head) != NULL ){ d->head = s->next; State_delete( s ); } }
List doPathfinding(Map map, Car cars[3]) { Heap openSet = Heap_new(State_compare); List closedSet = List_new(); List finalPath = List_new(); List neighbors; Position neighbor; State state, newState; Vector newSpeed, acceleration; int end = 0, i, j, useBoost, positionTaken, distance; float cost; LOGINFO("A* doin' da werk!"); state = State_new(Car_getPosition(cars[0]), Car_getSpeed(cars[0]), Car_getBoosts(cars[0]), map); Heap_insert(openSet, state); while(!Heap_isEmpty(openSet) && !end) { state = Heap_extractMin(openSet); if(Map_getTile(map, State_getPosition(state)->x, State_getPosition(state)->y) == ARRIVAL) { end = 1; break; } distance = Map_getDistance(map, State_getPosition(state)->x, State_getPosition(state)->y); neighbors = Map_getReachablePositions(map, State_getPosition(state), State_getSpeed(state), State_getBoosts(state)); List_foreach(neighbors, neighbor, i) { if(Map_getDistance(map, neighbor->x, neighbor->y) > distance) { Position_delete(neighbor); continue; } cost = State_getRealCost(state) + 1; newSpeed = Position_findOffset(State_getPosition(state), neighbor); acceleration = Vector_copy(newSpeed); Vector_substract(acceleration, State_getSpeed(state)); useBoost = 0; positionTaken = 0; if(Vector_squaredLength(acceleration) > 2) { useBoost = 1; } for(j = 1; j < 3; j++) { if(Position_equal(neighbor, Car_getPosition(cars[j]))) { positionTaken = 1; } } if(!positionTaken) { newState = State_new(neighbor, newSpeed, State_getBoosts(state) - useBoost, map); State_setRealCost(newState, cost); State_setParent(newState, state); Heap_insert(openSet, newState); } Vector_delete(newSpeed); Vector_delete(acceleration); Position_delete(neighbor); } List_insert(closedSet, state); List_empty(neighbors); List_delete(neighbors); } while(state != NULL) { List_insert(finalPath, Position_copy(State_getPosition(state))); state = State_getParent(state); } List_head(closedSet); while(!List_isEmpty(closedSet)) { state = List_getCurrent(closedSet); List_remove(closedSet); State_delete(state); } List_delete(closedSet); while((state = Heap_extractMin(openSet)) != NULL) { State_delete(state); } Heap_delete(openSet); LOGINFO("A* is done mate"); return finalPath; }