bool M_PathFinding::StartPathFinding()
{
bool ret = false;
pathFound = false;
currentSteps = 0;
if (mapChanged)
{
LoadMapData();
mapChanged = false;
}
if (IfPathPossible())
{
pathStarted = false;
pathFinished = false;
newLowest = false;
lowestF = App->map->data.height * App->map->data.width;
if (openList.count() != 0)
openList.clear();
if (closedList.count() != 0)
closedList.clear();
if (path.Count() != 0)
path.Clear();
ret = CreateFirstNode();
if (ret)
{
pathStarted = true;
LOG("-- Pathfinding: Correct pathfinding start --");
}
}
else
LOG("-- Pathfinding: Could not start the process, not possible path to be found");
return ret;
}
bool CPathFind::PathFind(int startx, int starty, int endx, int endy) {
InitNode(startx,starty,endx,endy);
//首先做几个预先判断
if ((startx == endx) && (starty == endy)) {
cout << "起点就是终点";
}
m_startx = startx;
m_starty = starty;
m_endx = endx;
m_endy = endy;
pNode node = CreateFirstNode(startx, starty);
//将这个节点放入openlist
m_openlist.push_back(node);
//对这个地方进行排序
push_heap(m_openlist.begin(),m_openlist.end(),NodeSort);
pNode tmpnode = NULL;
for(;;)
{
if(m_openlist.empty())
{
cout<<"错误:不能找到目标节点"<<endl;
return false;
}
tmpnode = m_openlist.front();
++m_step;
pop_heap(m_openlist.begin(),m_openlist.end(),NodeSort);
m_openlist.pop_back();
if (!CheckIsDestination(tmpnode))
{
//这里不是是目标地点
for(int i = 0 ;i<8 ;i++)
{
int nextx ;
int nexty ;
GetShiftByDirectory(i,&nextx,&nexty);
nextx = tmpnode->x + nextx;
nexty = tmpnode->y + nexty;
//判断这个点是可以通过的
cout<<"next is"<<nextx<<":"<<nexty<<endl;
if(isIllegle(nextx,nexty))
{
//这里可以通过
//计算这个点的G值
int newGvalue;
if(i % 2 ==0)
newGvalue = tmpnode->G+10;
else
newGvalue = tmpnode->G+14;
vector<pNode>::iterator OpenIt;
//说明该节点在OPEN表中
for(OpenIt=m_openlist.begin();OpenIt<m_openlist.end();OpenIt++)
{
if (((*OpenIt)->x == nextx)&&((*OpenIt)->y ==nexty))
{
break;
}
}
if(OpenIt != m_openlist.end())
{
if ((*OpenIt)->G <= newGvalue)
continue;
}
//说明该节点在close表中
vector<pNode>::iterator CloseIt;
for(CloseIt=m_closelist.begin();CloseIt<m_closelist.end();CloseIt++)
{
if (((*CloseIt)->x == nextx)&&((*CloseIt)->y ==nexty))
{
break;
}
}
if(CloseIt != m_closelist.end())
{
if ((*CloseIt)->G <= newGvalue)
continue;
}
//如果都不满足上边的条件那么说明这个节点是最优节点
Node *bestNode = new Node;
bestNode->x = nextx;
bestNode->y = nexty;
bestNode->father = tmpnode;
bestNode->G = newGvalue;
bestNode->H = CalcG(nextx,nexty);
bestNode->F = bestNode->G + bestNode->H;
if (CloseIt != m_closelist.end())
{
delete(*CloseIt);
m_closelist.erase(CloseIt);
}
if (OpenIt != m_openlist.end())
{
delete(*OpenIt);
m_openlist.erase(OpenIt);
make_heap(m_openlist.begin(),m_openlist.end(),NodeSort);
}
m_openlist.push_back(bestNode);
push_heap(m_openlist.begin(),m_openlist.end(),NodeSort);
for(vector<pNode>::iterator k = m_openlist.begin() ;k<m_openlist.end();k++)
{
cout<<"x:"<<(*k)->x<<",y:"<<(*k)->y<<endl;
}
cout<<" isIlleglea is true"<<endl;
}
else
{
cout<<" isIlleglea is false"<<endl;
//不能通过
}
}
m_closelist.push_back(tmpnode);
}
else
{
generatePath();
return true;
}
}
}
