path aStar(map c, coord p, finish f){
int end=0;
int i,j;
list* open=createList();
list* closed=createList();
node* startNode=createNode(p);
node* current;
node* neighbor;
addElement(open,startNode);
coord bestFinish=getbestFinish(p,f);
while(!end)
{
current= removeElement(open);
addElement(closed,current);
end=isFinish(current->coord,f);
for(i=-1;i<=1;i++)
{
for(j=-1;j<=1;j++)
{
if(i!=0 || j!=0)
{
neighbor=createNode(createCoord(current->coord.x+i, current->coord.y+j));
if(! (isObstacle(neighbor->coord,c) || contains(closed,neighbor)))
{
if(contains(open,neighbor))
{
if(current->cost+1 < neighbor->cost)
{
neighbor->cost= current->cost+1;
if(isSand(neighbor->coord,c))
{
neighbor->cost += 4;
}
neighbor->pred=current;
}
}
else
{
neighbor->pred=current;
neighbor->cost=current->cost+1;
if(isSand(neighbor->coord,c))
{
neighbor->cost += 4;
}
neighbor->heuristic=neighbor->cost=current->cost + neighbor->cost+norm(substractCoords(bestFinish,current->coord));
addSortedElement(open,neighbor);
}
}
}
}
}
}
freeList(closed);
freeList(open);
path path=reconstructPath(current);
return path;
}
SortedList *listSum(SortedList *firstList, SortedList *secondList) {
SortedList *list = createSortedList();
SortedListElement *pointer = firstList->head->next;
while (pointer != nullptr) {
addSortedElement(list, pointer->power, pointer->coeff);
pointer = pointer->next;
}
pointer = secondList->head->next;
while (pointer != nullptr) {
addSortedElement(list, pointer->power, pointer->coeff);
pointer = pointer->next;
}
return list;
}
