void AStar_BinaryHeap::run(HGE* hge,int _renderX,int _renderY,int startX,int startY,int endX,int endY,int heightGraph[width][length])
{
int gScore[width][length];
int fScore[width][length];
int hScore[width][length];
Binary_heap openHeap;
list<pNode> closeList;
bool isInCloseList[width][length];
for (int i=0;i<width;i++)
for (int j=0;j<length;j++)
isInCloseList[i][j] = false;
closeList.clear();
history.clear();
gScore[startX][startY] = 0;
hScore[startX][startY] = getHScore(&map[startX][startY],&map[endX][endY]);
fScore[startX][startY] = gScore[startX][startY] + hScore[startX][startY];
openHeap.push(&map[startX][startY],fScore);
history.push_back(startX*length+startY);
while(!openHeap.empty())
{
pNode current = openHeap.front();
openHeap.pop(fScore);
if(current->postionX == endX && current->postionY == endY)
return; //找到路径
closeList.push_back(current);
isInCloseList[current->postionX][current->postionY] = true;
list<pNode> neighbor = getNeighbor(map,current);
for (list<pNode>::iterator itn=neighbor.begin();itn!=neighbor.end();itn++)
{
if(isInCloseList[(*itn)->postionX][(*itn)->postionY])
continue;
int tempGScore = gScore[current->postionX][current->postionY] + distance(current,*itn,heightGraph);
if(tempGScore >= MAX_DISTANCE)
continue;
if(!openHeap.find((*itn))) //不在openHeap中
{
(*itn)->previous = current;
hScore[(*itn)->postionX][(*itn)->postionY] = getHScore(*itn,&map[endX][endY]);
gScore[(*itn)->postionX][(*itn)->postionY] = tempGScore;
fScore[(*itn)->postionX][(*itn)->postionY] = tempGScore + hScore[(*itn)->postionX][(*itn)->postionY];
openHeap.push((*itn),fScore);
history.push_back((*itn)->postionX*length+(*itn)->postionY);
// if((*itn)->postionX == endX && (*itn)->postionY == endY)
// return;
hge->Gfx_BeginScene();
block[(*itn)->postionX][(*itn)->postionY]->Render(_renderX+(*itn)->postionY*block_size,_renderY+(*itn)->postionX*block_size);
hge->Gfx_EndScene();
}
else if(tempGScore < gScore[(*itn)->postionX][(*itn)->postionY])
{
(*itn)->previous = current;
gScore[(*itn)->postionX][(*itn)->postionY] = tempGScore;
fScore[(*itn)->postionX][(*itn)->postionY] = tempGScore + hScore[(*itn)->postionX][(*itn)->postionY];
openHeap.update((*itn),fScore);
}
}
}
}
void Node::computeScores(Node *dest)
{
g = getGScore(parrent);
h = getHScore(dest);
f = g + h;
}
void AStar_InsertSort_BinarySearch::run(HGE* hge,int _renderX,int _renderY,int startX,int startY,int endX,int endY,int heightGraph[width][length],insertFunc func,updateFunc upfunc)
{
int gScore[width][length];
int fScore[width][length];
int hScore[width][length];
for (int i=0;i<width;i++)
{
for (int j=0;j<length;j++)
{
fScore[i][j] = MAX_DISTANCE;
}
}
vector<pNode> openList;
vector<pNode> closeList;
openList.push_back(&map[startX][startY]);
closeList.clear();
history.clear();
gScore[startX][startY] = 0;
hScore[startX][startY] = getHScore(&map[startX][startY],&map[endX][endY]);
fScore[startX][startY] = gScore[startX][startY] + hScore[startX][startY];
history.push_back(startX*length+startY);
while(!openList.empty())
{
pNode current = removeLeastNode(openList);
if(current->postionX == endX && current->postionY == endY)
return; //找到路径
func(closeList,current,fScore,0);
list<pNode> neighbor = getNeighbor(map,current);
for (list<pNode>::iterator itn=neighbor.begin();itn!=neighbor.end();itn++)
{
if(findNode_BinarySearch(*itn,closeList,fScore) != -1)
continue;
int tempGScore = gScore[current->postionX][current->postionY] + distance(current,*itn,heightGraph);
if(tempGScore >= MAX_DISTANCE)
continue;
int result = findNode_BinarySearch(*itn,openList,fScore);
if(result == -1) //不在openList中
{
(*itn)->previous = current;
hScore[(*itn)->postionX][(*itn)->postionY] = getHScore(*itn,&map[endX][endY]);
gScore[(*itn)->postionX][(*itn)->postionY] = tempGScore;
fScore[(*itn)->postionX][(*itn)->postionY] = tempGScore + hScore[(*itn)->postionX][(*itn)->postionY];
func(openList,*itn,fScore,0);
history.push_back((*itn)->postionX*length+(*itn)->postionY);
// if((*itn)->postionX == endX && (*itn)->postionY == endY)
// return;
hge->Gfx_BeginScene();
block[(*itn)->postionX][(*itn)->postionY]->Render(_renderX+(*itn)->postionY*block_size,_renderY+(*itn)->postionX*block_size);
hge->Gfx_EndScene();
}
else if(tempGScore < gScore[(*itn)->postionX][(*itn)->postionY])
{
(*itn)->previous = current;
gScore[(*itn)->postionX][(*itn)->postionY] = tempGScore;
fScore[(*itn)->postionX][(*itn)->postionY] = tempGScore + hScore[(*itn)->postionX][(*itn)->postionY];
upfunc(openList,*itn,fScore,result);
}
}
}
return;
}
void computeScores(AStarPoint* end)
{
g = getGScore(parent);
h = getHScore(end);
f = g + h;
}
