7个寻路算法 BFS.h 

 1 #ifndef __BFS__H
 2 #define __BFS__H
 3 
 4 #include "AIDefine.h"
 5 #include <queue>
 6 
 7 class BFS
 8 {
 9 private:
10     BFS();
11 public:
12     static bool find(const PointI &size, const PointI &start, const PointI &end, AI_VisitFun visitFun, Path **path = NULL,
13         EFindType findType = EFIND_TYPE8, AI_DitanceFun fun = AI_Ditance1)
14     {
15         if(size.x <= 0 || size.y <= 0 || start.x < 0 || start.y < 0 || end.x < 0 || end.y < 0 ||
16             start.x >= size.x || start.y >= size.y || end.x >= size.x || end.y >= size.y ||
17             !visitFun(start.x, start.y), !visitFun(end.x, end.y))
18         {
19             if(NULL != path){*path = new Path(false, 0.0f);}
20             return false;
21         }
22         if(start.x == end.x && start.y == end.y)
23         {
24             if(NULL != path){*path = new Path(true, 0.0f);}
25             return true;
26         }
27 
28         std::priority_queue<Info*, std::vector<Info*>, InfoCmp> visit;
29         Info *nodeArr = new Info[size.x * size.y];
30         Info *cur, *next;
31         PointI pos;
32 
33         cur = &nodeArr[size.x * start.y + start.x];
34         cur->x = start.x; cur->y = start.y; cur->visited = true; cur->f = 0;
35         visit.push(cur);
36 
37         while(!visit.empty())
38         {
39             cur = visit.top();
40             visit.pop();
41             if(cur->x == end.x && cur->y == end.y)
42             {
43                 if(NULL != path)
44                 {
45                     *path = new Path(true, cur->f);
46                     while (NULL != cur)
47                     {
48                         (*path)->push_front(PointI(cur->x, cur->y));
49                         cur = cur->parent;
50                     }
51                 }
52                 if(NULL != nodeArr){delete[] nodeArr;}
53                 return true;
54             }
55             for(int i = 0; i < findType; ++i)
56             {
57                 pos.x = cur->x + AI_FindHelpPoint[i].x; pos.y = cur->y + AI_FindHelpPoint[i].y;
58                 if(pos.x >= 0 && pos.y >= 0 && pos.x < size.x && pos.y < size.y
59                     && !nodeArr[size.x * pos.y + pos.x].visited && AI_CheckPass(cur->x, cur->y, pos.x, pos.y, visitFun))
60                 {
61                     next = &nodeArr[size.x * pos.y + pos.x];
62                     next->visited = true; next->x = pos.x; next->y = pos.y; 
63                     next->f = cur->f + fun(cur->x, cur->y, next->x, next->y);
64                     next->parent = cur;
65                     visit.push(next);
66                 }
67             }
68         }
69 
70         if(NULL != nodeArr){delete[] nodeArr;}
71         return false;
72     }
73 private:
74     struct Info
75     {
76         Info():visited(false),x(0),y(0),f(0.0f),parent(NULL){}
77         bool visited;
78         int x,y;
79         float f;
80         Info *parent;
81     };
82     struct InfoCmp
83     {
84         bool operator () (const Info *p1, const Info *p2)
85         {
86             return p1->f > p2->f;
87         }
88     };
89 };
90 
91 #endif

 

posted @ 2013-11-23 01:30  liusijian  阅读(400)  评论(0)    收藏  举报