C++ AStarNode::GetParent方法代码示例

void AStar::ProcessPath()
{
	// If the list is empty, there is no path so don't do anything
	if(m_openList.empty() || m_goalFound)
	{
		return;
	}

	// Get the node with lowest F from the openList
	AStarNode *currentNode = GetNextNode();

	// Are we finished? Was the goal found?
	if(currentNode->GetPosition() == m_goal)
	{
		// We're home! Fill the pathqueue
		AStarNode *getPath;

		for(getPath = currentNode; getPath != NULL; getPath = getPath->GetParent())
		{
			m_path.push_back(sf::Vector2f(getPath->GetPosition()));
		}

		// We don't want to target the starting node so delete it
		m_path.pop_back();

		m_goalFound = true;
		return;

	}
	else
	{
		// Not finished yet, continue the search

		// Get adjacent nodes to the currentNode
		std::vector<AStarNode> nodeAdjacent = currentNode->GetAdjacentNodes();

		// Process every adjacent node
		for(unsigned int i = 0; i < nodeAdjacent.size(); i++)
		{
			ExamineNode(nodeAdjacent[i]);
		}
	}
}

void AStar::ExamineNode(AStarNode &node)
{

	// Check if node should be ignored, updated or pushed into openList
	
	// Is the node walkable?
	if(!(m_nodeMap.isWalkable(node.GetPosition().x, node.GetPosition().y)))
	{
		return;
	}

	// Check the closedList
	for(unsigned int i = 0; i < m_closedList.size(); i++)
	{
		if(m_closedList[i]->GetPosition() == node.GetPosition())
		{
			// Found in the closed list so abort operation
			return;
		}
	}

	// Check the openList
	for(unsigned int i = 0; i< m_openList.size(); i++){
		if(m_openList[i]->GetPosition() == node.GetPosition()){
			// Found in the openList, check values if it is to be updated
			if(m_openList[i]->GetG() > node.GetG()){
				// The G value will be shorter via the current node so update
				m_openList[i]->SetG(node.GetG());
				// Change the node to point to our current node
				m_openList[i]->SetParent(node.GetParent());
			}
			// It was found and the operation was complete
			return;
		}
	}

	// If it has come to this point the node was not found in the list so push it into the openList
	m_openList.push_back(new AStarNode(node));
}