A*寻路算法源码

A*寻路算法源码

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Astar.h源码

#pragma once
#include "stdafx.h"
#include "MinHeap.h" //最小堆源码地址http://blog.csdn.net/heyaolongsanhao/article/details/53437325
class AstarNodeRun;
class Astar;
class AstarRunData;
class AstarNode
{
public:
    int nodeIndex;
    int connectNum;
    AstarNode** connects;
    AstarNode(int nodeIndex):connectNum(0),connects(NULL){
  this->nodeIndex = nodeIndex;}
    virtual double getH(AstarNode* target) = 0;
    virtual double getCost(int i) = 0; //调用runData的openConnNode

};
class AstarNodeRun : public MinHeapNode
{
public:
    double g;
    double h; 
    AstarNode* node;
    AstarNodeRun* parent;
    unsigned short pathID; //和AstarRunData的pathID相同表示该节点访问过
    bool isOpen; //pathID和AstarRunData的pathID相同的情况下，isOpen为true表示在open表，否则在close表
    AstarNodeRun():MinHeapNode(0),g(0),h(0),node(NULL),parent(NULL),pathID(0),isOpen(false)
    {
    }
    double f()
    {
        return g+h;
    }
};

class AstarRunData //这个是可以复用的，用pathID就不需要清理AstartNodeRun的状态
{
public:
    Astar* astar;
    //用pathID来区分close表里和未访问过的节点
    //如果AstarNodeRun的pathID和AstarRunData的pathID相同表示已经访问过
    //如果AstarNodeRun的isOpen为true，表示在close表里，如果isOpen为false表示在open表里
    //如果AstarNodeRun的pathID和AstarRunData的pathID不同，表示未访问过
    //用pathID的好处是，只在访问到的时候根据pathID来判定AstarNodeRun里的数据是否是脏数据
    //在AstarNode数量很多的时候，每次寻路需要清理所有AstarNodeRun的访问状态
    //或者采取每次访问到一个AstarNode，动态生成一个AstarRunData，消耗都比较大
    unsigned short pathID;
    AstarNodeRun** runNodes;
    int nodeCount;
    MinHeap* openNodesHeap; //open表
    AstarRunData(int nodeNum, AstarNode** nodes);
    void clearPathId();
    void init(Astar* p);
    ~AstarRunData();

};

class Astar
{
private:
    static unsigned short nextPathID;
public:
    unsigned short pathID;
    AstarRunData* runData;
    AstarNode* startNode;
    AstarNode* endNode;
    int searchedNodes;

    Astar();
    AstarNodeRun* getNodeRun(int nodeIndex);
    void init(AstarRunData* runData, AstarNode* start, AstarNode* end);
    vector<AstarNode*> findPath();
    ~Astar();
};

Astar.cpp源码

#include "stdafx.h"