void setAllInfoAStarNode(aStarNode* f_inputAStarNode_pst, node* f_inputInfoNode_pst,
aStarNode* f_inputCameFromNode_pst, int32 f_inputGscore_i32,
int32 f_inputHscore_i32)
{
setInformationPtr(f_inputAStarNode_pst, f_inputInfoNode_pst);
setCameFromPtr(f_inputAStarNode_pst, f_inputCameFromNode_pst);
setGScore(f_inputAStarNode_pst, f_inputGscore_i32);
setHScore(f_inputAStarNode_pst, f_inputHscore_i32);
setFScore(f_inputAStarNode_pst, f_inputGscore_i32, f_inputHscore_i32);
}
void ComputePath::getPath( Point from,Point to )
{
insertInOpenSteps(ShortestPathStep::createFromPos(from));
do
{
auto currentStep = spOpenSteps.at(0);
spClosedSteps.pushBack(currentStep);
spOpenSteps.erase(0);
if (currentStep->getPos() == to)
{
constructPath(currentStep);
spOpenSteps.clear();
spClosedSteps.clear();
break;
}
auto points = _layer->getValidStep(currentStep->getPos());
for (int i = 0 ; i < points->count(); i++)
{
auto v = points->getControlPointAtIndex(i);
auto step = ShortestPathStep::createFromPos(v);
int closeindex = -1;
for (int i = 0 ; i < spClosedSteps.size();i++ )
{
if (spClosedSteps.at(i)->isEqual(step))
{
closeindex = i;
break;
}
}
if (closeindex != -1)
{
continue;
}
auto moveCost = this->costToMoveFromStep(currentStep,step);
int index = -1;
for (int i = 0; i < spOpenSteps.size();i++)
{
auto item = spOpenSteps.at(i);
if (step->isEqual(item))
{
index = i;
break;
}
}
if (index == -1)
{
step->setParent(currentStep);
step->setGScore(currentStep->getGScore() + moveCost);
step->setHScore(this->computeHScoreFromCoord(step->getPos(),to));
this->insertInOpenSteps(step);
}
else
{
step = this->spOpenSteps.at(index);
if (currentStep->getGScore() + moveCost < step->getGScore())
{
step->setGScore(currentStep->getGScore() + moveCost);
step->retain();
spOpenSteps.erase(index);
this->insertInOpenSteps(step);
step->release();
}
}
}
} while (spOpenSteps.size() > 0);
}
