void main(int argc, char* argv[])
{
  Node * head = linkedListCreate(testHashMapOneValue);
  linkedListAdd(head, testHashMapSixValues);
  linkedListAdd(head, testHashMapTwelveValues);
  linkedListAdd(head, testHashMapGetMissingKey);
  linkedListAdd(head, testHashMapRemoveSixValues);
  Node * testNode = head;    
  while (testNode != NULL)
  {
    ((void (*)(void))testNode->data)();
	printf("\n");
    testNode = testNode->next;
  }
  
  testNode = head;
  while(testNode != NULL)
  {
    testNode = linkedListRemove(head, testNode);
  }

  printf("%d asserts successful.\n", assertsGetTotal());
  if (assertsGetFailures() > 0)
  {
    printf("%d asserts failed.\n", assertsGetFailures());
  }
  else
  {
    printf("All tests successful.\n");
  }
   
  return;
}
示例#2
0
static void aStar( const BNavmesh *navmesh, const BTriangle *startTriangle, const BTriangle *endTriangle, const BVector *destination, BAStarOutput *output )
{
	assert( navmesh != NULL );
	assert( startTriangle != NULL );
	assert( endTriangle != NULL );
	assert( destination != NULL );
	assert( output != NULL );
	assert( isPointInsideNavmeshTriangle( navmesh, destination, endTriangle) );
	assert( startTriangle->connectedComponent == endTriangle->connectedComponent );

	BLinkedList openList, closedList;
	linkedListInit( &openList, sizeof( BAStarNode ), NULL );
	linkedListInit( &closedList, sizeof( BAStarNode ), NULL );

	BAStarNode startNode;
	startNode.cost = 0;
	startNode.previousTriangle = NULL;
	startNode.triangle = startTriangle;
	startNode.heuristic = heuristic( startNode.triangle, destination );
	linkedListPrepend( &openList, &startNode );

	BAStarNode arrivalNode;
	while ( 1 )
	{
		BAStarNode current;
		assert( !linkedListIsEmpty( &openList ) ); // TODO Handle case where no path exists
		linkedListGetHead( &openList, &current );
		linkedListRemoveHead( &openList );
		linkedListPrepend( &closedList, &current );

		if ( current.triangle == endTriangle )
		{
			arrivalNode = current;
			break;
		}

		for ( int neighborIndex = 0; neighborIndex < 3; neighborIndex++ )
		{
			const int neighborTriangleIndex = current.triangle->neighbours[neighborIndex];
			assert( neighborTriangleIndex < navmesh->numTriangles );
			if ( neighborTriangleIndex < 0 )
			{
				continue;
			}
			const BTriangle *neighborTriangle = &navmesh->triangles[neighborTriangleIndex];

			const float newCost = current.cost + movementCost( current.triangle, neighborTriangle );

			BAStarNode occurenceInOpenList;
			int inOpenList = linkedListFind( &openList, isTriangle, ( void * ) neighborTriangle, &occurenceInOpenList );
			if ( inOpenList )
			{
				if ( newCost < occurenceInOpenList.cost )
				{
					linkedListRemove( &openList, isTriangle, ( void * ) &current.triangle );
					inOpenList = 0;
				}
			}
			const int inClosedList = linkedListFind( &closedList, isTriangle, ( void * ) neighborTriangle, NULL );
			if ( !inOpenList && !inClosedList )
			{
				BAStarNode newNode;
				newNode.cost = newCost;
				newNode.triangle = neighborTriangle;
				newNode.heuristic = heuristic( newNode.triangle, destination );
				newNode.previousTriangle = current.triangle;
				linkedListInsertBefore( &openList, &newNode, hasBetterRank );
			}
		}
	}

	output->numTriangles = 0;
	{
		const BTriangle *currentTriangle = endTriangle;
		while ( currentTriangle != NULL )
		{
			assert( currentTriangle >= 0 );
			BAStarNode node;
			verify( linkedListFind( &closedList, isTriangle, ( void * ) currentTriangle, &node ) );
			currentTriangle = node.previousTriangle;
			output->numTriangles++;
		}
	}

	output->triangles = malloc( sizeof( BTriangle * ) * output->numTriangles );
	{
		int nextPathTriangleIndex = output->numTriangles - 1;
		const BTriangle *currentTriangle = endTriangle;
		while ( currentTriangle != NULL )
		{
			assert( currentTriangle >= 0 );
			assert( nextPathTriangleIndex >= 0 );
			assert( nextPathTriangleIndex < output->numTriangles );
			output->triangles[nextPathTriangleIndex] = currentTriangle;

			BAStarNode node;
			verify( linkedListFind( &closedList, isTriangle, ( void * ) currentTriangle, &node ) );
			currentTriangle = node.previousTriangle;
			nextPathTriangleIndex--;
		}
	}

	linkedListFree( &openList );
	linkedListFree( &closedList );

	assert( output->triangles[0] == startTriangle );
	assert( output->triangles[output->numTriangles - 1] == endTriangle );
}