void Processor::setNode (DWORD node) {
if (!isValidNode(node)) return;
selectedNode=node;
}
bool GAStar::searchPath()
{
m_open.clear();
m_close.clear();
m_best.clear();
this->insertNodeToOpen(m_start);
int x[8] = {1,-1,0,0,-1,-1,1,1};
int y[8] = {0,0,1,-1,1,-1,1,-1};
int size = 0;
if(m_searchMode == ASTAR_FOUR)
{
size = 4;
}
else if(m_searchMode == ASTAR_EIGHT)
{
size = 8;
}
bool bFind = false;
while(1)
{
if(m_open.size() == 0)
{
break;
}
if(isEndNodeInOpen() == true)
{
bFind = true;
break;
}
int currentIndex = this->deleteMinfIndexInOpen();
this->addNodeToClose(currentIndex);
GAStarNode* parent = this->nodeAt(currentIndex);
int currentX = currentIndex%m_width;
int currentY = currentIndex/m_width;
for(int k = 0; k < size; ++k)
{
int i = currentX + x[k];
int j = currentY + y[k];
int s = 1;
if(isValidNode(i, j) == true)
{
GAStarNode* node = this->nodeAt(i, j);
if(node->m_tag == ASTAR_OPEN)
{
if(node->m_g > parent->m_g + s)
{
node->m_parent = parent;
node->m_g = parent->m_g + s;
}
}
else if(node->m_tag == ASTAR_CLOSE)
{
if(parent->m_parent != node)
{
if(node->m_g > parent->m_g + s)
{
//may not use
node->m_parent = parent;
node->m_g = parent->m_g + s;
this->deleteNodeFromClose(j*m_width + i);
this->insertNodeToOpen(j*m_width + i);
}
}
}
else if(node->m_tag == ASTAR_NONE)
{
node->m_parent = parent;
node->m_g = parent->m_g + s;
node->m_h = this->calculateHValue(i, j);
this->insertNodeToOpen(j*m_width + i);
}
}
}
}
if(bFind == true)
{
GAStarNode* node = this->nodeAt(m_end);
while(1)
{
m_best.push_front(node->m_index);
if(node->m_parent == 0)
{
break;
}
else
{
node = node->m_parent;
}
}
}
return bFind;
}
