A*寻路算法

#include <stdio.h>
#include <stdlib.h>
#define hello printf("hello\n");
#define hi printf("hi\n");
typedef struct NODE node;
typedef struct LIST list;
typedef struct LISTINFO listinfo;
struct NODE{
    int x;
    int y;
    int h;//相对距离
    int g;//已走
};
struct LIST{
    node* pnode;//当前节点
    list* nlist;//下个节点
    list* father;
};
struct LISTINFO{
    list* plist;
    int judge;
};
int borderx,bordery;//x行数，y列数
node* src;
node* des;
list* openlist;
list* closelist;
int direction[4][2]={
    {-1,0},{0,-1},{0,1},{1,0}
};
int* matrix;
int* makeMatrix(int x,int y);
int absolute(int a,int b);
list* alist();
list* expandOpenList(node* pnode,list* tempmin);
list* deallist();
void optoclolist(list* tempmin);
int inList(list* plist,int x,int y);
list* gettail(list* firstlist);
list* attachList(list** ptailist,int x,int y);
int illegalMap(int x,int y);
void print(list* routelist);
int main(){
    list* routelist;
    src=(node*)malloc(sizeof(node));
    des=(node*)malloc(sizeof(node));
    printf("please input the row and clo\n");
    scanf("%d %d",&borderx,&bordery);
    matrix=makeMatrix(borderx,bordery);
    printf("please input the src node location\n");
       scanf("%d %d",&src->x,&src->y);
    printf("please input the des node location\n");
    scanf("%d %d",&des->x,&des->y);
    src->g=0;
    src->h=absolute(src->x,des->x)+absolute(src->y,des->y);
    routelist=alist();
    if(routelist!=NULL){
        print(routelist);
    }else{
        printf("error\n");
    }
    return 0;
}
int* makeMatrix(int x,int y){//x行数，y列数
    int sum=x*y;
    int positionx=0;
    int positiony=0;
    int i;
    int* temp=(int*)malloc(sizeof(int)*sum);
    for(i=0;i<sum;i++){
        *(temp+i)=0;
    }
    while(1){
        positionx=-1;
        positiony=-1;
        printf("please input the node that you want to change\n");
        scanf("%d %d",&positionx,&positiony);
        if(positionx==-1||positiony==-1) break;
        *(temp+positionx*y+positiony)=1;
    }
    return temp;
}
list* alist(){
    int judge=0;
    list* routelist=NULL;
    list* tempmin=NULL;
    openlist=(list*)malloc(sizeof(list));//初次设置openlist
    closelist=NULL;//初次设置closelist
    openlist->father=NULL;
    openlist->pnode=src;
    openlist->nlist=NULL;
    //先找到最小，然后扩展，然后移植，这一个函数统统解决
    while(1){
        if(tempmin!=NULL){
            //找到目标,建立链表。可以确定，包含tempnode节点的链一定是最后一个链。
            routelist=tempmin;
            while(1){
                 if(tempmin->father==NULL) return routelist;
                routelist=tempmin->father;
                routelist->nlist=tempmin;
                tempmin=tempmin->father;
            }
        }else{
            tempmin=deallist();
        }
    }
    return routelist;
}
list* deallist(){
    list* thekeyexpand=NULL;
    list* ptemplist=openlist;//移动判断指针
    list* tempmin=openlist;//最小指针 一开始指向开头
     while(1){
        ptemplist=openlist;
        tempmin=openlist;
        while(ptemplist!=NULL){
            if((tempmin->pnode->h+tempmin->pnode->g)>=(ptemplist->pnode->h+ptemplist->pnode->g)){
                tempmin=ptemplist;
                ptemplist=ptemplist->nlist;
            }
            else{
                ptemplist=ptemplist->nlist;
            }
        }//找到最小指针
        thekeyexpand=expandOpenList(tempmin->pnode,tempmin);//
        if(thekeyexpand!=NULL) return thekeyexpand;
        optoclolist(tempmin);
     }
    return thekeyexpand;
}
list* expandOpenList(node* pnode,list* tempmin){
    //openlist只是一个串起来的集合
    list* thekeyexpand=NULL;//des
    list* tailist=tempmin;
    int tempx=0,tempy=0;
    for(int i=0;i<=3;i++){
        tempx=pnode->x+direction[i][0];
        tempy=pnode->y+direction[i][1];
        if((!inList(openlist,tempx,tempy)&&!illegalMap(tempx,tempy)&&!inList(closelist,tempx,tempy)))
        {
            if(tempx==des->x&&tempy==des->y){
                thekeyexpand=attachList(&tailist,tempx,tempy);//是目标
                return thekeyexpand;
            }else{
                attachList(&tailist,tempx,tempy);
            }
        }
    }
    return thekeyexpand;//是NULL的
}
void optoclolist(list* tempmin){
    list* temp=openlist;
    list* preoftemp;
    list* tail=gettail(closelist);
    while(tempmin!=temp){
        preoftemp=temp;
        temp=temp->nlist;
    }
    if(openlist==tempmin){
        openlist=tempmin->nlist;
        if(tail==NULL) {closelist=tempmin;}
        else {tail->nlist=tempmin;}
        tempmin->nlist=NULL;
    }else{
        preoftemp->nlist=temp->nlist;
        temp->nlist=NULL;
        if(tail==NULL){closelist=tempmin;}
        else{tail->nlist=temp;}
    }
}
int inList(list* plist,int x,int y){
    int judge;
    while(1){
        if(plist==NULL) return judge=0;
        if(x==plist->pnode->x&&y==plist->pnode->y){
            return judge=1;
        }else{
            plist=plist->nlist;
        }
    }
    return 0;
}
list* gettail(list* firstlist){
    list* templist=firstlist;
    if (templist==NULL) return templist;
    while(1){
        if(templist->nlist==NULL) return templist;
        else templist=templist->nlist;
    }
    return templist;
}
list* attachList(list** ptailist,int x,int y){
    //这里本没必要用二重指针，但防治其中需要改变某些指针的指向，所以一开始设计的时候用的二重指针
    list* pre;
    list* aft;
    (*ptailist)->nlist=(list*)malloc(sizeof(list));
    pre=(*ptailist);
    aft=(*ptailist)->nlist;
    aft->nlist=NULL;
    aft->pnode=(node*)malloc(sizeof(node));
    aft->father=pre;
    aft->pnode->x=x;
    aft->pnode->y=y;
    aft->pnode->h=absolute(x,des->x)+absolute(y,des->y);
    aft->pnode->g=pre->pnode->g+1;
    return aft;
}
int illegalMap(int x,int y){
    int judge;
    int point=*(matrix+x*bordery+y);
    if(x>borderx-1||x<0||y>bordery-1||y<0||point) judge=1;
    else judge=0;
    return judge;
}
int absolute(int a,int b){
    if(a>=b) return a-b;
    else return b-a;
}
void print(list* routelist){
    while(routelist!=NULL){
        printf("x:%d         y:%d\n",routelist->pnode->x,routelist->pnode->y);
        routelist=routelist->nlist;
    }
}