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#include "astar.hpp"
#include <cmath>
AStar::AStar() : graph(NULL), graph_width(0), graph_height(0), path_length(10) {
}
AStar::AStar(int *curr_graph, const unsigned int& width, const unsigned int& height) : graph(curr_graph), graph_width(width), graph_height(height), path_length(1) {
for(unsigned int i = 0; i < graph_width * graph_height; ++i)
if(graph[i] == 3) {
start_node.x = i % graph_width;
start_node.y = i / graph_width;
start_node.g_score = 0;
calc_heuristic(start_node);
calc_f(start_node);
} else if(graph[i] == 2) {
end_node.x = i % graph_width;
end_node.y = i / graph_width;
}
open_set.push(start_node);
start_algorithm();
}
bool AStar::start_algorithm(int *curr_graph, const unsigned int& width, const unsigned int& height) {
graph_width = width;
graph_height = height;
graph = curr_graph;
closed_set.clear();
open_set.clear();
for(unsigned int i = 0; i < graph_width * graph_height; ++i)
if(graph[i] == 3) {
start_node.x = i % graph_width;
start_node.y = i / graph_width;
start_node.g_score = 0;
calc_heuristic(start_node);
start_node.x_prev = -1;
start_node.y_prev = -1;
calc_f(start_node);
} else if(graph[i] == 2) {
end_node.x = i % graph_width;
end_node.y = i / graph_width;
}
open_set.push(start_node);
return start_algorithm();
}
bool AStar::start_algorithm() {
while(open_set.get_first() != end_node) {
Node current = open_set.pop();
closed_set.push_back(current);
for(unsigned int i = 0; i < NEIGHBOUR_NUM; ++i) {
Node n = get_neighbour(current, i);
if(graph[n.y * graph_width + n.x] != 1 && n.x != -1 && n.y != -1) {
graph[n.x + n.y * graph_width] = 9;
graph[start_node.x + start_node.y * graph_width] = 3;
graph[end_node.x + end_node.y * graph_width] = 2;
int cost = current.g_score + path_length;
if(open_set.check_item(n))
if(cost < open_set[open_set.get_index(n)].g_score)
open_set.remove_item(n);
if(check_item_vec(n))
if(cost < closed_set[get_index_vec(n)].g_score)
remove_from_vec(n);
if(!open_set.check_item(n) && !check_item_vec(n)) {
n.g_score = cost;
calc_heuristic(n);
calc_f(n);
n.x_prev = current.x;
n.y_prev = current.y;
open_set.push(n);
}
}
}
}
recreate_path(open_set.get_first());
return true;
}
void AStar::recreate_path(Node n) {
while(n.x != -1 && n.y != -1) {
graph[n.x + n.y * graph_width] = 8;
n = find_node(n.x_prev, n.y_prev);
}
}
Node AStar::get_neighbour(Node& n_in, const int& neighbour_num) {
Node n;
if(neighbour_num == 0 && n_in.y > 0) {
n.x = n_in.x;
n.y = n_in.y - 1;
path_length = 10;
} else if(neighbour_num == 1 && n_in.x < graph_width - 1) {
n.x = n_in.x + 1;
n.y = n_in.y;
path_length = 10;
} else if(neighbour_num == 2 && n_in.y < graph_height - 1) {
n.x = n_in.x;
n.y = n_in.y + 1;
path_length = 10;
} else if(neighbour_num == 3 && n_in.x > 0) {
n.x = n_in.x - 1;
n.y = n_in.y;
path_length = 10;
} else if(neighbour_num == 4 && n_in.y > 0 && n_in.x < graph_height - 1) {
n.x = n_in.x + 1;
n.y = n_in.y - 1;
path_length = 14;
} else if(neighbour_num == 5 && n_in.y < graph_height - 1 && n_in.x < graph_width - 1) {
n.x = n_in.x + 1;
n.y = n_in.y + 1;
path_length = 14;
} else if(neighbour_num == 6 && n_in.y < graph_height - 1 && n_in.x > 0) {
n.x = n_in.x - 1;
n.y = n_in.y + 1;
path_length = 14;
} else if(neighbour_num == 7 && n_in.y > 0 && n_in.x > 0) {
n.x = n_in.x - 1;
n.y = n_in.y - 1;
path_length = 14;
}
return n;
}
void AStar::calc_heuristic(Node& n) {
n.h_score = pow(10 * (end_node.x - n.x), 2) + pow(10 * (end_node.y - n.y), 2);
}
void AStar::calc_f(Node& n) {
n.f_score = n.g_score + n.h_score;
}
bool AStar::check_item_vec(const Node& n) {
for(unsigned int i = 0; i < closed_set.size(); ++i)
if(closed_set[i] == n)
return true;
return false;
}
int AStar::get_index_vec(const Node& n) {
for(unsigned int i = 0; i < closed_set.size(); ++i)
if(closed_set[i] == n)
return i;
return -1;
}
void AStar::remove_from_vec(const Node& n) {
std::vector<Node> tmp_set;
for(unsigned int i = 0; i < closed_set.size(); ++i)
if(closed_set[i] != n)
tmp_set.push_back(closed_set[i]);
closed_set = tmp_set;
}
Node AStar::find_node(const unsigned int& x, const unsigned int& y) {
Node n;
for(unsigned int i = 0; i < closed_set.size(); ++i)
if(closed_set[i].x == x && closed_set[i].y == y)
n = closed_set[i];
return n;
}
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