www.pudn.com > Sterren_ASe_Explorer.rar > PathFinder.h

/* Copyright (C) William van der Sterren, 2002.  
 * All rights reserved worldwide. 
 * 
 * This software is provided "as is" without express or implied 
 * warranties. You may freely copy and compile this source into 
 * applications you distribute provided that the copyright text 
 * below is included in the resulting source code, for example: 
 * "Portions Copyright (C) William van der Sterren, 2002" 
 */ 
 
/* Copyright (C) James Matthews, 2001.  
 * All rights reserved worldwide. 
 * 
 * This software is provided "as is" without express or implied 
 * warranties. You may freely copy and compile this source into 
 * applications you distribute provided that the copyright text 
 * below is included in the resulting source code, for example: 
 * "Portions Copyright (C) James Matthews, 2001" 
 */ 
 
////////////////////////////////////////////////////////////////// 
// Class:	CAStar class (27/6/2001) 
// File:	AStar.h 
// Author:	James Matthews 
// 
// Implements the A* algorithm. 
//  
// 
// Please visit http://www.generation5.org/ for the latest 
// in Artificial Intelligence news, interviews, articles and 
// discussion forums. 
// 
 
#ifndef _ASTAR_H_ 
#define _ASTAR_H_ 
 
#include  
#include "AsIncludes.h" 
#include "ase_costs.h" 
 
class CAStar { 
	public: 
		CAStar(); 
		~CAStar(); 
 
		ASE_Costs::CostFunction udTerrainCost;			//!< Called when cost value is needed 
    ASE_Costs::CostFunction udTerrainHeuristic; //!< Called when heuristic value is needed 
		ASE_Costs::CostFunction udThreatCost;			  //!< Called when cost value is needed 
    ASE_Costs::CostFunction udThreatHeuristic;  //!< Called when heuristic value is needed 
 
		_asFunc     udValid;			  //!< Called to check validity of a coordinate 
		_asFunc     udNotifyChild;	//!< Called when child is added/checked (LinkChild) 
		_asFunc	    udNotifyList;		//!< Called when node is added to Open/Closed list 
 
		void	*m_pCBData;			// Data passed back to callback functions 
		void	*m_pNCData;			// Data passed back to notify child functions 
 
		bool	GeneratePath(int, int, int, int); 
		int		Step(); 
		void	StepInitialize(int, int, int, int); 
		void	SetRows(int r)		 { m_iRows = r;    } 
		void	Reset() { m_pBest = NULL; } 
 
		_asNode	*GetBestNode() { return m_pBest; } 
 
	protected: 
		int		m_iRows;			// Used to calculate node->number 
		int		m_iSX, m_iSY, m_iDX, m_iDY, m_iDNum; 
 
		_asNode	*m_pOpen;			// The open list 
		_asNode	*m_pClosed;			// The closed list 
		_asNode *m_pBest;			// The best node 
		_asStack*m_pStack;			// Propagation stack 
 
		// Functions. 
		void	AddToOpen(_asNode *); 
		void	ClearNodes(); 
		void	CreateChildren(_asNode *); 
		void	LinkChild(_asNode *, _asNode *); 
 
		_asNode *CheckList(_asNode *, int); 
		_asNode	*GetBest(); 
		 
		// Inline functions. 
		inline int   Coord2Num(int x, int y) { return x * m_iRows + y; } 
		inline int   udFunc(_asFunc, _asNode *, _asNode *, int, void *); 
}; 
 
#endif