?? pathfinder.h
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//////////////////////////////////////////////////////////////////
// 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 <memory.h>
#include "AsIncludes.h"
class CAStar {
public:
CAStar();
~CAStar();
_asFunc udCost; // Called when cost value is need
_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 *);
void UpdateParents(_asNode *);
// Stack Functions.
void Push(_asNode *);
_asNode *Pop();
_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
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