C++ (Cpp) PathNode::setParent示例

void Pathfinding::AddChild(PathNode childNode, PathNode* currNode, PathNode* goal, Direction::DIRECTION facing)
{
	int col = round(childNode.xPos + 14.5f) - 1;
	int row = (MazeLoader::GetMazeHeight()) - round(childNode.zPos + 15.5f);

	//Check surroundings for walkable tiles and if in closed list
	if ((col >= 0 && row >= 0) && ((UINT)col <= MazeLoader::GetMazeWidth() && (UINT)row <= MazeLoader::GetMazeHeight()))
	{
		if (!MazeLoader::IsBlocked(row, col))
		{
			if (!InClosedList(&childNode))
			{
				childNode.facing = facing;
				int g = currNode->gCost + childNode.getDistanceFromParent(childNode, currNode);
				int f = g + childNode.getDistance(goal, childNode.xPos, childNode.zPos);

				//If it's already in the open list
				if (InOpenList(&childNode))
				{
					if (childNode.gCost > g)
					{
						childNode.setParent(currNode);
						childNode.fCost = f;
						childNode.gCost = g;
					}
				}
				else
				{
					//Add it to the openList with the current node as the parent
					PathNode* newChildNode = new PathNode(childNode.xPos, childNode.zPos, g, f, currNode, facing);
					mOpenList.push_back(newChildNode);
				}
			}
		}
	}
}