// 搜索路径
CPoint* FindPath(CPoint* start, CPoint* end, bool isIgnoreCorner)
{
m_openVec.push_back(start);
while(0 != m_openVec.size())
{
CPoint* tmpStart = GetMinFPoint(); // 获取F值最小的点
RemoveFromOpenVec(tmpStart);
m_closeVec.push_back(tmpStart);
POINTVEC adjacentPoints = GetAdjacentPoints(tmpStart, isIgnoreCorner);
for(POINTVEC::iterator it=adjacentPoints.begin(); it != adjacentPoints.end(); ++it)
{
CPoint* point = *it;
if(isInOpenVec(point->X, point->Y)) // 在开启列表
RefreshPoint(tmpStart, point);
//else if(inCloseVec(point))
//{
// 检查节点的g值，如果新计算得到的路径开销比该g值低，那么要重新打开该节点（即重新放入OPEN集）
//}
else
NotFoundPoint(tmpStart, end, point);
}
if(isInOpenVec(end->X, end->Y)) // 目标点已经在开启列表中
{
for(int i=0; i < m_openVec.size(); ++i)
{
if(end->X == m_openVec[i]->X && end->Y == m_openVec[i]->Y)
return m_openVec[i];
}
}
}
return end;
}
BOOL KPathFinder::FindPath(KCellEx* pSrc, KCellEx* pDest, KLIST_AUTOPATH& lstAutoPath, BOOL bAllObstacle)
{
BOOL bResult = false;
BOOL bRetCode = false;
KCellEx* pCurrent = NULL;
KCellEx* pSurround = NULL;
m_setOpenPoint.clear();
memset(m_pAllWayFindingData, 0, sizeof(KWayFindingData) * m_nXLength * m_nYLength);
m_setOpenPoint.insert(pSrc);
pSrc->pWayFindingData->bOpenPoint = true;
while (m_setOpenPoint.size())
{
pCurrent = *m_setOpenPoint.begin();
m_setOpenPoint.erase(m_setOpenPoint.begin());
pCurrent->pWayFindingData->bOpenPoint = false;
pCurrent->pWayFindingData->bClosePoint = true;
UpdateSurroundPoints(pCurrent, bAllObstacle);
for (KVEC_SURROUND_POINT::iterator it = m_vecSurroundPoint.begin(); it != m_vecSurroundPoint.end(); ++it)
{
pSurround = *it;
if (pSurround->pWayFindingData->bOpenPoint)
{
FoundPoint(pCurrent, pSurround);
}
else
{
NotFoundPoint(pCurrent, pDest, pSurround);
}
}
if (pDest->pWayFindingData->bOpenPoint)
{
MakePath(pDest, lstAutoPath);
bResult = true;
break;
}
}
return bResult;
}
