예제 #1
0
int *astar_unopt_compute (const char *grid, 
		    int *solLength, 
		    int boundX, 
		    int boundY, 
		    int start, 
		    int end)
{
	astar_t astar;
	coord_t bounds = {boundX, boundY};

	int size = bounds.x * bounds.y;


	if (start >= size || start < 0 || end >= size || end < 0)
		return NULL;

	coord_t startCoord = getCoord (bounds, start);
	coord_t endCoord = getCoord (bounds, end);

	if (!contained (bounds, startCoord) || !contained (bounds, endCoord))
		return NULL;

	queue *open = createQueue();
	char closed [size];
	double gScores [size];
	int cameFrom [size];

	astar.solutionLength = solLength;
	*astar.solutionLength = -1;
	astar.bounds = bounds;
	astar.start = start;
	astar.goal = end;
	astar.grid = grid;
	astar.open = open;
	astar.closed = closed;
	astar.gScores = gScores;
	astar.cameFrom = cameFrom;

	memset (closed, 0, sizeof(closed));

	gScores[start] = 0;
	cameFrom[start] = -1;

	insert (open, start, estimateDistance (startCoord, endCoord));

	while (open->size) {
		int node = findMin (open)->value; 
		coord_t nodeCoord = getCoord (bounds, node);
		if (nodeCoord.x == endCoord.x && nodeCoord.y == endCoord.y) {
			freeQueue (open);
			return recordSolution (&astar);
		}

		deleteMin (open);
		closed[node] = 1;

		for (int dir = 0; dir < 8; dir++)
		{
			coord_t newCoord = adjustInDirection (nodeCoord, dir);
			int newNode = getIndex (bounds, newCoord);

			if (!contained (bounds, newCoord) || !grid[newNode])
				continue;

			if (closed[newNode])
				continue;
			
			addToOpenSet (&astar, newNode, node);

		}
	}
	freeQueue (open);
	return NULL;
}
예제 #2
0
int *astar_unopt_compute (const char *grid, 
		    int *solLength, 
		    int boundX, 
		    int boundY, 
		    int start, 
		    int end)
{
	astar_t astar;

	if (!init_astar_object (&astar, grid, solLength, boundX, boundY, start, end))
		return NULL;


	//coord_t bounds;
	//struct coord_t;// bounds;//endCoord;
	//bounds = {boundX, boundY};
	//endCoord = getCoord (bounds, end);
	
	struct coord_t bounds, endCoord;
	bounds.x = boundX; bounds.y = boundY;
	endCoord = getCoord(bounds, end);

	while (astar.open->size) {
		int dir;
		int node = findMin (astar.open)->value; 
		struct coord_t nodeCoord = getCoord (bounds, node);
		if (nodeCoord.x == endCoord.x && nodeCoord.y == endCoord.y) {
			freeQueue (astar.open);
			free (astar.closed);
			free (astar.gScores);

			int *rv = recordSolution (&astar);

			free (astar.cameFrom);

			return rv;
		}

		deleteMin (astar.open);
		astar.closed[node] = 1;

		for (dir = 0; dir < 8; dir++)
		{
			struct coord_t newCoord = adjustInDirection (nodeCoord, dir);
			int newNode = getIndex (bounds, newCoord);

			if (!contained (bounds, newCoord) || !grid[newNode])
				continue;

			if (astar.closed[newNode])
				continue;
			
			addToOpenSet (&astar, newNode, node);

		}
	}
	freeQueue (astar.open);
	free (astar.closed);
	free (astar.gScores);
	free (astar.cameFrom);
	return NULL;
}
예제 #3
0
int *astar_compute (const char *grid, 
		    int *solLength, 
		    int boundX, 
		    int boundY, 
		    int start, 
		    int end)
{
	*solLength = -1;
	astar_t astar;
	coord_t bounds = {boundX, boundY};

	int size = bounds.x * bounds.y;


	if (start >= size || start < 0 || end >= size || end < 0)
		return NULL;

	coord_t startCoord = getCoord (bounds, start);
	coord_t endCoord = getCoord (bounds, end);

	if (!contained (bounds, startCoord) || !contained (bounds, endCoord))
		return NULL;

	queue *open = createQueue();
	char closed [size];
	double gScores [size];
	int cameFrom [size];

	astar.solutionLength = solLength;
	astar.bounds = bounds;
	astar.start = start;
	astar.goal = end;
	astar.grid = grid;
	astar.open = open;
	astar.closed = closed;
	astar.gScores = gScores;
	astar.cameFrom = cameFrom;

	memset (closed, 0, sizeof(closed));

	gScores[start] = 0;
	cameFrom[start] = -1;

	insert (open, start, estimateDistance (startCoord, endCoord));
	while (open->size) {
		int node = findMin (open)->value; 
		coord_t nodeCoord = getCoord (bounds, node);
		if (nodeCoord.x == endCoord.x && nodeCoord.y == endCoord.y) {
			freeQueue (open);
			return recordSolution (&astar);
		}

		deleteMin (open);
		closed[node] = 1;

		direction from = directionWeCameFrom (&astar, 
						      node,
						      cameFrom[node]);

		directionset dirs = 
			forcedNeighbours (&astar, nodeCoord, from) 
		      | naturalNeighbours (from);

		for (int dir = nextDirectionInSet (&dirs); dir != NO_DIRECTION; dir = nextDirectionInSet (&dirs))
		{
			int newNode = jump (&astar, dir, node);
			coord_t newCoord = getCoord (bounds, newNode);

			// this'll also bail out if jump() returned -1
			if (!contained (bounds, newCoord))
				continue;

			if (closed[newNode])
				continue;
			
			addToOpenSet (&astar, newNode, node);

		}
	}
	freeQueue (open);
	return NULL;
}
예제 #4
0
int *astar_compute (const char *grid, 
		    int *solLength, 
		    int boundX, 
		    int boundY, 
		    int start, 
		    int end)
{
	astar_t astar;
	if (!init_astar_object (&astar, grid, solLength, boundX, boundY, start, end))
		return NULL;

	struct coord_t bounds = {boundX, boundY};
	struct coord_t endCoord = getCoord (bounds, end);

	while (astar.open->size) {
		int dir;
		int node = findMin (astar.open)->value; 
		struct coord_t nodeCoord = getCoord (bounds, node);
		if (nodeCoord.x == endCoord.x && nodeCoord.y == endCoord.y) {
			freeQueue (astar.open);
			free (astar.closed);
			free (astar.gScores);

			int *rv = recordSolution (&astar);

			free (astar.cameFrom);

			return rv;
		}

		deleteMin (astar.open);
		astar.closed[node] = 1;

		direction from = directionWeCameFrom (&astar, 
						      node,
						      astar.cameFrom[node]);

		directionset dirs = 
			forcedNeighbours (&astar, nodeCoord, from) 
		      | naturalNeighbours (from);

		for (dir = nextDirectionInSet (&dirs); dir != NO_DIRECTION; dir = nextDirectionInSet (&dirs))
		{
			int newNode = jump (&astar, dir, node);
			struct coord_t newCoord = getCoord (bounds, newNode);

			// this'll also bail out if jump() returned -1
			if (!contained (bounds, newCoord))
				continue;

			if (astar.closed[newNode])
				continue;
			
			addToOpenSet (&astar, newNode, node);

		}
	}
	freeQueue (astar.open);
	free (astar.closed);
	free (astar.gScores);
	free (astar.cameFrom);

	return NULL;
}