bool MapSearchNode::GetSuccessors( AStarSearch<MapSearchNode> *astarsearch, MapSearchNode *parent_node )
{
int parent_x = -1;
int parent_y = -1;
if(parent_node)
{
parent_x = parent_node->x;
parent_y = parent_node->y;
}
MapSearchNode NewNode;
// push each possible move except allowing the search to go backwards
if( (Astar::GetMap(x - 1, y) == Map::mi_FloorValue) && !((parent_x == x - 1) && (parent_y == y)))
{
NewNode = MapSearchNode(x - 1, y);
astarsearch->AddSuccessor(NewNode);
}
if( (Astar::GetMap(x, y - 1) == Map::mi_FloorValue) && !((parent_x == x) && (parent_y == y - 1)))
{
NewNode = MapSearchNode(x, y - 1);
astarsearch->AddSuccessor(NewNode);
}
if( (Astar::GetMap( x + 1, y ) == Map::mi_FloorValue) && !((parent_x == x + 1) && (parent_y == y)))
{
NewNode = MapSearchNode(x + 1, y);
astarsearch->AddSuccessor(NewNode);
}
if( (Astar::GetMap(x, y + 1) == Map::mi_FloorValue) && !((parent_x == x) && (parent_y == y + 1)))
{
NewNode = MapSearchNode(x, y + 1);
astarsearch->AddSuccessor(NewNode);
}
return true;
}
// This generates the successors to the given Node. It uses a helper function called
// AddSuccessor to give the successors to the AStar class. The A* specific initialisation
// is done for each node internally, so here you just set the state information that
// is specific to the application
bool MapSearchNode::GetSuccessors(AStarSearch<MapSearchNode>* astarsearch, MapSearchNode *parent_node, Map* map)
{
int parent_x = -1;
int parent_y = -1;
if( parent_node )
{
parent_x = parent_node->x;
parent_y = parent_node->y;
}
MapSearchNode NewNode;
// push each possible move except allowing the search to go backwards
Cell* LeftCell = map->getCell(x - 1, y);
if (LeftCell != NULL && LeftCell->isCellWalkable() && !(parent_x == x - 1 && parent_y == y))
{
NewNode = MapSearchNode(x - 1, y);
astarsearch->AddSuccessor(NewNode);
}
Cell* AboveCell = map->getCell(x, y - 1);
if (AboveCell != NULL && AboveCell->isCellWalkable() && !(parent_x == x && parent_y == y - 1))
{
NewNode = MapSearchNode(x, y - 1);
astarsearch->AddSuccessor(NewNode);
}
Cell* rightCell = map->getCell(x + 1, y);
if (rightCell != NULL && rightCell->isCellWalkable() && !(parent_x == x + 1 && parent_y == y))
{
NewNode = MapSearchNode(x + 1, y);
astarsearch->AddSuccessor(NewNode);
}
Cell* bottomCell = map->getCell(x, y + 1);
if (bottomCell != NULL && bottomCell->isCellWalkable() && !(parent_x == x && parent_y == y + 1))
{
NewNode = MapSearchNode(x, y + 1);
astarsearch->AddSuccessor(NewNode);
}
return true;
}
bool MapSearchNode::GetSuccessors( AStarSearch<MapSearchNode> *astarsearch, MapSearchNode *parent_node ) {
int parent_x = -1;
int parent_y = -1;
if( parent_node ) {
parent_x = parent_node->x;
parent_y = parent_node->y;
}
MapSearchNode NewNode;
if(!mystery->isCollision(x - 1, y)
&& !((parent_x == x-1) && (parent_y == y))
) {
NewNode = MapSearchNode( x-1, y, mystery );
astarsearch->AddSuccessor( NewNode );
}
if(!mystery->isCollision(x, y -1)
&& !((parent_x == x) && (parent_y == y-1))
) {
NewNode = MapSearchNode( x, y-1, mystery );
astarsearch->AddSuccessor( NewNode );
}
if(!mystery->isCollision(x + 1, y)
&& !((parent_x == x+1) && (parent_y == y))
) {
NewNode = MapSearchNode( x+1, y, mystery );
astarsearch->AddSuccessor( NewNode );
}
if(!mystery->isCollision(x, y + 1)
&& !((parent_x == x) && (parent_y == y+1))
) {
NewNode = MapSearchNode( x, y+1, mystery );
astarsearch->AddSuccessor( NewNode );
}
return true;
}
//-------------------------------------------------------------------------------------
void NavTileHandle::bresenhamLine(int x0, int y0, int x1, int y1, std::vector<MapSearchNode>& results)
{
// Optimization: it would be preferable to calculate in
// advance the size of "result" and to use a fixed-size array
// instead of a list.
bool steep = abs(y1 - y0) > abs(x1 - x0);
if (steep) {
swap(x0, y0);
swap(x1, y1);
}
if (x0 > x1) {
swap(x0, x1);
swap(y0, y1);
}
int deltax = x1 - x0;
int deltay = abs(y1 - y0);
int error = 0;
int ystep;
int y = y0;
if (y0 < y1) ystep = 1;
else ystep = -1;
for (int x = x0; x <= x1; x++)
{
if (steep)
results.push_back(MapSearchNode(y, x));
else
results.push_back(MapSearchNode(x, y));
error += deltay;
if (2 * error >= deltax) {
y += ystep;
error -= deltax;
}
}
}
bool MapSearchNode::addSuccessor(AStarSearch<MapSearchNode>* astarsearch,
int16_t x_, int16_t y_, int16_t parent_x, int16_t parent_y)
{
const auto& map = *((PathFinder*)astarsearch)->map;
if ((map.isMapCoordValid(x_, y_) == true) &&
(map[(int32_t)x_][(int32_t)y_].Passable() == true) &&
!((parent_x == x_) && (parent_y == y_)))
{
auto direction_ = getPlayerDirection(
PairFloat((float)parent_x, (float)parent_y),
PairFloat((float)x_, (float)y_));
auto searchNode = MapSearchNode(map, x_, y_, direction_);
astarsearch->AddSuccessor(searchNode);
return true;
}
return false;
}
//-------------------------------------------------------------------------------------
// This generates the successors to the given Node. It uses a helper function called
// AddSuccessor to give the successors to the AStar class. The A* specific initialisation
// is done for each node internally, so here you just set the state information that
// is specific to the application
bool NavTileHandle::MapSearchNode::GetSuccessors(AStarSearch<MapSearchNode> *astarsearch, MapSearchNode *parent_node)
{
int parent_x = -1;
int parent_y = -1;
if( parent_node )
{
parent_x = parent_node->x;
parent_y = parent_node->y;
}
MapSearchNode NewNode;
// push each possible move except allowing the search to go backwards
if( (NavTileHandle::pCurrNavTileHandle->getMap( x-1, y ) < TILE_STATE_CLOSED)
&& !((parent_x == x-1) && (parent_y == y))
)
{
NewNode = MapSearchNode( x-1, y );
astarsearch->AddSuccessor( NewNode );
}
if( (NavTileHandle::pCurrNavTileHandle->getMap( x, y-1 ) < TILE_STATE_CLOSED)
&& !((parent_x == x) && (parent_y == y-1))
)
{
NewNode = MapSearchNode( x, y-1 );
astarsearch->AddSuccessor( NewNode );
}
if( (NavTileHandle::pCurrNavTileHandle->getMap( x+1, y ) < TILE_STATE_CLOSED)
&& !((parent_x == x+1) && (parent_y == y))
)
{
NewNode = MapSearchNode( x+1, y );
astarsearch->AddSuccessor( NewNode );
}
if( (NavTileHandle::pCurrNavTileHandle->getMap( x, y+1 ) < TILE_STATE_CLOSED)
&& !((parent_x == x) && (parent_y == y+1))
)
{
NewNode = MapSearchNode( x, y+1 );
astarsearch->AddSuccessor( NewNode );
}
// 如果是8方向移动
if(NavTileHandle::pCurrNavTileHandle->direction8())
{
if( (NavTileHandle::pCurrNavTileHandle->getMap( x + 1, y + 1 ) < TILE_STATE_CLOSED)
&& !((parent_x == x + 1) && (parent_y == y + 1))
)
{
NewNode = MapSearchNode( x + 1, y + 1 );
astarsearch->AddSuccessor( NewNode );
}
if( (NavTileHandle::pCurrNavTileHandle->getMap( x + 1, y-1 ) < TILE_STATE_CLOSED)
&& !((parent_x == x + 1) && (parent_y == y-1))
)
{
NewNode = MapSearchNode( x + 1, y-1 );
astarsearch->AddSuccessor( NewNode );
}
if( (NavTileHandle::pCurrNavTileHandle->getMap( x - 1, y + 1) < TILE_STATE_CLOSED)
&& !((parent_x == x - 1) && (parent_y == y + 1))
)
{
NewNode = MapSearchNode( x - 1, y + 1);
astarsearch->AddSuccessor( NewNode );
}
if( (NavTileHandle::pCurrNavTileHandle->getMap( x - 1, y - 1 ) < TILE_STATE_CLOSED)
&& !((parent_x == x - 1) && (parent_y == y - 1))
)
{
NewNode = MapSearchNode( x - 1, y - 1 );
astarsearch->AddSuccessor( NewNode );
}
}
return true;
}
