-
Notifications
You must be signed in to change notification settings - Fork 15
/
AStar.h
188 lines (149 loc) · 3.55 KB
/
AStar.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
/**
* A* 算法
* author: zhangpanyi@live.com
* https://github.com/zhangpanyi/a-star.git
*/
#ifndef __ASTAR_H__
#define __ASTAR_H__
#include <vector>
#include <cstdint>
#include <functional>
#include "BlockAllocator.h"
/**
* A-Star algorithm
*/
class AStar
{
public:
/**
* 二维坐标
*/
struct Vec2
{
uint16_t x;
uint16_t y;
Vec2()
: x(0)
, y(0)
{
}
Vec2(uint16_t _x, uint16_t _y)
: x(_x)
, y(_y)
{
}
void set(uint16_t x, uint16_t y)
{
this->x = x;
this->y = y;
}
bool operator== (const Vec2 &that) const
{
return x == that.x && y == that.y;
}
};
typedef std::function<bool(const Vec2&)> QueryFunction;
/**
* 搜索参数
*/
struct Param
{
bool corner;
uint16_t height;
uint16_t width;
Vec2 start;
Vec2 end;
QueryFunction can_reach;
Param()
: height(0)
, width(0)
, corner(false)
, can_reach(nullptr)
{
}
};
private:
/**
* 节点对象分配器
*/
class SamllObjectAllocator : public BlockAllocator, public Singleton< SamllObjectAllocator >
{
SamllObjectAllocator() = default;
~SamllObjectAllocator() = default;
friend class Singleton< SamllObjectAllocator >;
};
/**
* 路径节点状态
*/
enum NodeState
{
NOTEXIST,
IN_OPENLIST,
IN_CLOSELIST
};
/**
* 路径节点
*/
struct Node
{
uint16_t g;
uint16_t h;
Vec2 pos;
NodeState state;
Node* parent;
int f() const
{
return g + h;
}
inline Node(const Vec2 &pos)
: g(0)
, h(0)
, pos(pos)
, parent(nullptr)
, state(NOTEXIST)
{
}
void* operator new(std::size_t size)
{
return SamllObjectAllocator::getInstance()->allocate(size);
}
void operator delete(void* p) throw()
{
SamllObjectAllocator::getInstance()->free(p, sizeof(Node));
}
};
public:
AStar();
~AStar();
public:
int stepValue() const;
int obliqueValue() const;
void setStepValue(int value);
void setObliqueValue(int value);
std::vector<Vec2> find(const Param ¶m);
private:
void clear();
void initParam(const Param ¶m);
bool isVlidParam(const Param ¶m);
private:
void percolateUp(size_t hole);
bool getNodeIndex(Node *node, size_t &index);
uint16_t calculGValue(Node *parent_node, const Vec2 ¤t_pos);
uint16_t calculHValue(const Vec2 ¤t_pos, const Vec2 &end_pos);
bool hasNoodeInOpenList(const Vec2 &pos, Node *&out);
bool hasNodeInCloseList(const Vec2 &pos);
bool canReach(const Vec2 &pos);
bool canReach(const Vec2 ¤t_pos, const Vec2 &target_pos, bool allow_corner);
void findCanReachPos(const Vec2 ¤t_pos, bool allow_corner, std::vector<Vec2> &can_reach);
void handleFoundNode(Node *current_node, Node *target_node);
void hndleNotFoundNode(Node *current_node, Node *target_node, const Vec2 &end_pos);
private:
int step_value_;
int oblique_value_;
std::vector<Node *> maps_;
uint16_t height_;
uint16_t width_;
QueryFunction query_;
std::vector<Node *> open_list_;
};
#endif