#include?“stdafx.h“
#include?“Grid.h“
#include?
#include?
#include?
#include
#include?“A_Planner.h“

A_Planner::~A_Planner（）
{}
bool?A_Planner::checkIfOutsideObstacles（Grid?&grid?node?&tempNode）
{
????int?index=grid.getwidth（）*（tempNode.y-0.5）+（tempNode.x-0.5）;
	if（grid.is_pass[index]==0）
	{
??????return?true;

????}
??return?false;
}
bool?A_Planner::?isEdge（node?&edgeGrid??&grid）
{
if（edge.x<0?||?edge.x>grid.getwidth（）?||?edge.y<0?||?edge.y>grid.getheight（））
{
return?true;
}
return?false;
}
float?A_Planner::distanceFromA2B（node?&disfloat?endPointxfloat?endPointy）??
{??

??float?distance?=?（sqrt（pow（（dis.x-endPointx）2））+sqrt（pow（（dis.y-endPointy）2）））;?
??return?distance;??
}??

node*?A_Planner::isInOpenVec（node?&open）??
{??
	std::vector::iterator?iter;???
????node*?result?=?NULL;??
????for?（iter=v_open.begin（）;iter!=v_open.end（）;iter++）????
????{????
????????if（（open.x?==?（*iter）->x）?&&?（open.y==（*iter）->y））??
????????{????
????????????result?=?*iter;??
????????????break;??
????????}??
????}???
????return?result;??
}

node*?A_Planner::?isInCloseVec（node?&close）??
{??
	std::vector::iterator?iter;???
????node*?result?=?NULL;??
????for?（iter=v_close.begin（）;iter!=v_close.end（）;iter++）????
????{????
????????if（（close.x?==?（*iter）->x）?&&?（close.y==（*iter）->y））??
????????{??
????????????result?=?*iter;??
????????????break;??
????????}??
????}???
????return?result;??
}
?void?A_Planner::addNode2Paret（node*?parent）??
{????
	node?b;
	b=*parent;
????int?a[2][5]=?{{00-110}
			??????{01?001}
						};??
????int?delta[5]?=?{01111};??
????for（int?i?=?1;?i?<=?5;?i++）??
????{??
		b=*parent;
????????b.x?=?b.x+a[0][i];
		b.y=b.y+a[1][i];
		if（isEdge（bgrid））
		{
		continue;
		}?
		if?（checkIfOutsideObstacles（grid?b））??
		?{??
		????continue;??
		?}??
		node*?pInOpen?=?isInOpenVec（b）;??
		if（pInOpen）??
		??{??
		????int?newG?=?delta[i]?+?parent->m_G;??
		????if（newG?m_G）??
		??????{??
			????pInOpen->m_G?=?newG;??
			????pInOpen->m_parent?=?parent;??
??????????????????
		??????}??
??????????????
		????continue;??
		??}??
??
????????if（?!isInCloseVec（b））
????????{??
????????????node?*child?=?new?node;??
????????????child->x??=?b.x;
	????????child->y??=??b.y;
????????????child->m_parent?=?parent;??
????????????child->m_G??????=?parent->m_G?+?delta[i];??
????????????child->m_place??=?1;??
????????????v_open.push_back（child）;??
????????}??
????}??
}

??node*?A_Planner::findMinNode2EndInOpen（）??
{??
????float?min?=?0xFFFFFFF;??
	std::vector::iterator?iter;???
????node*?result?=?NULL;??
????int?deleteWhere?=?0;??
????for?（int?i?=?0;?i?????{?????
????????node*?p?=?v_open[i];?
	????node?g=*p;
????????float?a?=?distanceFromA2B（gendPointxendPointy）;??
????????a+=?p->m_G;?
	???/*?countloop++;*/
????????if（min?>?a）??
????????{??
????????????re

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????3495??2015-12-06?15:39??CMaze\CMaze\A_Planner.cpp

?????文件???????1227??2015-11-23?21:36??CMaze\CMaze\A_Planner.h

?????文件??????51292??2015-11-28?21:47??CMaze\CMaze\CMaze.aps

?????文件???????3009??2015-11-23?21:26??CMaze\CMaze\CMaze.cpp

?????文件????????459??2015-11-23?21:03??CMaze\CMaze\CMaze.h

?????文件??????11286??2015-11-28?21:46??CMaze\CMaze\CMaze.rc

?????文件???????6474??2015-11-24?09:20??CMaze\CMaze\CMaze.vcproj

?????文件???????1407??2015-12-06?15:57??CMaze\CMaze\CMaze.vcproj.DS-PC.DS.user

?????文件???????1029??2015-11-25?21:58??CMaze\CMaze\CMazeDoc.cpp

?????文件????????540??2015-11-23?21:03??CMaze\CMaze\CMazeDoc.h

?????文件??????11662??2015-11-28?21:21??CMaze\CMaze\CMazeView.cpp

?????文件???????1037??2015-11-24?13:14??CMaze\CMaze\CMazeView.h

?????文件????????944??2015-11-24?17:05??CMaze\CMaze\Dcontinue.cpp

?????文件????????479??2015-11-24?09:46??CMaze\CMaze\Dcontinue.h

?????文件???????1336??2015-11-28?19:12??CMaze\CMaze\Dcreatemaze.cpp

?????文件????????554??2015-11-24?09:28??CMaze\CMaze\Dcreatemaze.h

?????文件????????933??2015-11-24?08:46??CMaze\CMaze\Dmazecreate.cpp

?????文件????????483??2015-11-24?08:46??CMaze\CMaze\Dmazecreate.h

?????文件????????777??2015-11-24?16:35??CMaze\CMaze\Dsettimer1.cpp

?????文件????????433??2015-11-24?16:20??CMaze\CMaze\Dsettimer1.h

?????文件????????954??2015-11-28?21:23??CMaze\CMaze\Grid.cpp

?????文件????????279??2015-11-21?15:00??CMaze\CMaze\Grid.h

?????文件???????1067??2015-12-06?15:48??CMaze\CMaze\MainFrm.cpp

?????文件????????509??2015-11-23?21:03??CMaze\CMaze\MainFrm.h

?????文件???????2907??2015-11-23?21:03??CMaze\CMaze\ReadMe.txt

?????文件??????21630??2005-12-08?14:56??CMaze\CMaze\res\CMaze.ico

?????文件????????361??2015-11-23?21:03??CMaze\CMaze\res\CMaze.rc2

?????文件???????1078??2005-12-08?14:56??CMaze\CMaze\res\CMazeDoc.ico

?????文件???????1254??2015-11-23?21:30??CMaze\CMaze\res\wall.bmp

?????文件???????1603??2015-11-24?13:14??CMaze\CMaze\resource.h

............此處省略15個文件信息