我的A * Pathfinding算法存在问题。
我对C ++编程很新，我试图通过二维数组形式的地图网格来导航演员。
我现在已经尝试了几天，但无济于事。我查阅了无数的教程和其他C ++代码，并尝试将其塑造成我的规格，但我无法得到结果。
我不知道我哪里出错了。
对于问题模糊的道歉，没有特定问题，问题是代码似乎从开放列表中选择随机区块，并且永远不会返回正确的值。
对于意大利面条代码也很抱歉。
提前致谢
的main.cpp
int moveCostG(int x, int y, int dx, int dy) {
int g = (abs(dx - x) + abs(dy - y));
return g;
}
int moveCostH(int dx, int dy, int nx, int ny){
int h = (abs(nx - dx) + abs(ny - dy));
return h;
}
int moveCostF(int x, int y, int dx, int dy, int nx, int ny) {
return (moveCostG(x, y, dx, dy) + moveCostH(dx, dy, nx, ny));
}
bool searchList(std::vector<coordList> n_list, int search_term_x, int search_term_y) {
int size = sizeof(n_list)/sizeof(coordList);
for (i = 0; i < size; i++) {
if ((n_list[i].x == search_term_x) && (n_list[i].y == search_term_y)){
return true;
}
}
return false;
}
void pathfinding(int x, int y, int nx, int ny) {
//x, y = current location
//dx, dy = changed location
//nx, ny = location to go to
int size = 0;
int dx = x;
int dy = y;
bool found = false;
//boolMap is a 2d adjacency matrix that represents whether or not a tile
//is passable.
//0 = Passable, 1 = NOT passable
int boolMap[MAX_X][MAX_Y];
for (i = 0; i < MAX_X; i++) {
for (j = 0; j < MAX_Y; j++) {
if (!map[i][j].layer1.passable || !map[i][j].layer2.passable) {
boolMap[i][j] = 1;
}
else {
boolMap[i][j] = 0;
}
}
}
//Creating lists
std::vector<coordList> openList;
std::vector<coordList> closedList;
//Adding starting location to closed list
coordList current;
current.x = x;
current.y = y;
current.f = moveCostF(x, y, dx, dy, nx, ny);
closedList.push_back(current);
//Pushing a placeholder to list so search function works
openList.push_back(current);
//Adding next door neighbours
current.x = dx + 1;
current.y = dy;
current.f = moveCostF(x, y, dx + 1, dy, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
current.x = dx - 1;
current.y = dy;
current.f = moveCostF(x, y, dx - 1, dy, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
current.x = dx;
current.y = dy + 1;
current.f = moveCostF(x, y, dx, dy + 1, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
current.x = dx;
current.y = dy - 1;
current.f = moveCostF(x, y, dx, dy - 1, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
//Removing placeholder of openList
openList.erase(openList.begin());
//--- NOW ALL INITIAL SQUARES HAVE BEEN CALCULATED
bool first_time = true;
//While?
while (found == false) {
if (first_time == false) {
//Add new walkable tiles
current.x = dx + 1;
current.y = dy;
current.f = moveCostF(x, y, dx + 1, dy, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
current.x = dx - 1;
current.y = dy;
current.f = moveCostF(x, y, dx - 1, dy, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
current.x = dx;
current.y = dy + 1;
current.f = moveCostF(x, y, dx, dy + 1, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
current.x = dx;
current.y = dy - 1;
current.f = moveCostF(x, y, dx, dy - 1, nx, ny);
if (boolMap[current.x][current.y] == 0){ //Check if tile is passable
if (searchList(closedList, current.x, current.y) == true) {
//found in closed -- ignore it
}
else if (searchList(openList, current.x, current.y) == false){
openList.push_back(current);
size++;
}
}
}
first_time = false;
//Setting lowest to high number so first result is always lower
int lowest = 999999999;
int lowest_place;
//Finding lowest F value
for (i = 0; i < size; i++) {
if (openList[i].f < lowest){
lowest = openList[i].f;
lowest_place = i;
}
}
//Adding the lowest to the closed list
closedList.push_back(openList[lowest_place]);
//Removing lowest from open list
openList.erase(openList.begin() + lowest_place);
size--;
//Checking if next location is the location is the destination
dx = openList[lowest_place].x;
dy = openList[lowest_place].y;
if ((dx == nx) && (dy == ny)) {
printf("FOUND IT!");
found = true;
break;
}
}
}
使用的类：
class coordList{
public:
int x;
int y;
int f;
coordList();
};