void buildNeighbors(ASNeighborList neighbors, void *node, void *context) {
int i, j;
Node *p = (Node*)node;
Node *next;
int legal;
NodeSet *nodes = (NodeSet*)context;
if(p->id == nodes->refs[0]->id) {
ASNeighborListAdd(neighbors, nodes->headnext, nodes->firstlen);
}
for (i = 0; i < p->outdegree; i++) {
next = p->outedges[i]->tail;
legal = 0;
for (j = 0; j < nodes->count; j++) {
if (next->id == nodes->refs[j]->id) {
legal = 1;
}
}
if(legal) {
if( next->id == nodes->refs[1]->id && p->id != nodes->tailprev->id ) {
continue;
}
ASNeighborListAdd(neighbors, next, p->outedges[i]->length);
}
}
}
static void AddTileNeighbors(
ASNeighborList neighbors, void *node, void *context)
{
Vec2i *v = node;
int y;
AStarContext *c = context;
for (y = v->y - 1; y <= v->y + 1; y++)
{
int x;
if (y < 0 || y >= c->Map->Size.y)
{
continue;
}
for (x = v->x - 1; x <= v->x + 1; x++)
{
float cost;
Vec2i neighbor;
neighbor.x = x;
neighbor.y = y;
if (x < 0 || x >= c->Map->Size.x)
{
continue;
}
if (x == v->x && y == v->y)
{
continue;
}
// if we're moving diagonally,
// need to check the axis-aligned neighbours are also clear
if (!c->IsTileOk(c->Map, Vec2iNew(x, y)) ||
!c->IsTileOk(c->Map, Vec2iNew(v->x, y)) ||
!c->IsTileOk(c->Map, Vec2iNew(x, v->y)))
{
continue;
}
// Calculate cost of direction
// Note that there are different horizontal and vertical costs,
// due to the tiles being non-square
// Slightly prefer axes instead of diagonals
if (x != v->x && y != v->y)
{
cost = TILE_WIDTH * 1.1f;
}
else if (x != v->x)
{
cost = TILE_WIDTH;
}
else
{
cost = TILE_HEIGHT;
}
ASNeighborListAdd(neighbors, &neighbor, cost);
}
}
}
/* following three aims to test the third-party a* algorithm */
void t_buildNeighbors(ASNeighborList neighbors, void *node, void *context) {
int p = *(int*)node;
int nodes[9] = {1, 2, 3, 2, 5, 3, 5, 4, 5};
if (p == 0) {
ASNeighborListAdd(neighbors, nodes + 0, 1);
ASNeighborListAdd(neighbors, nodes + 1, 2);
ASNeighborListAdd(neighbors, nodes + 2, 4);
}
else if (p == 1) {
ASNeighborListAdd(neighbors, nodes + 3, 3);
ASNeighborListAdd(neighbors, nodes + 4, 6);
}
else if (p == 2) {
ASNeighborListAdd(neighbors, nodes + 5, 1);
ASNeighborListAdd(neighbors, nodes + 6, 5);
}
else if (p == 3) {
ASNeighborListAdd(neighbors, nodes + 7, 1);
}
else if (p == 4) {
ASNeighborListAdd(neighbors, nodes + 8, 1);
}
}