FindPath 寻路算法　Ａ*算法　Ａ星算法

// Zebra.cpp : 定义控制台应用程序的入口点。 // #include "stdafx.h" #include "FindPath.h" #include <iostream> #include <Windows.h> int _tmain(int argc, _TCHAR* argv[]) { //int nWidth = 1001; //int nHeight = 1001; // //FindPath::AStar::MapPosItem * pMapInfo = new FindPath::AStar::MapPosItem[nWidth* nHeight]; //if( NULL == pMapInfo ) //{ // std::cout<<"地图内存申请失败"<<std::endl; //} //for( int i = 0;i<nWidth;i++) //{ // for( int j=0;j<nHeight;j++ ) // { // if( j %2 == 0 && j != 0 && j != 1000 ) // { // if( (i+j)%29==0 ) // { // pMapInfo[i*nWidth+j].m_Data = 0; // pMapInfo[i*nWidth+j].m_Pos.m_x = j; // pMapInfo[i*nWidth+j].m_Pos.m_y = i; // } // else // { // pMapInfo[i*nWidth+j].m_Data = 1; // pMapInfo[i*nWidth+j].m_Pos.m_x = j; // pMapInfo[i*nWidth+j].m_Pos.m_y = i; // } // } // else // { // pMapInfo[i*nWidth+j].m_Data = 0; // pMapInfo[i*nWidth+j].m_Pos.m_x = j; // pMapInfo[i*nWidth+j].m_Pos.m_y = i; // } // } //} // //std::cout<<"开始加载地图"<<std::endl; //FindPath::AStar::AStarMap g_Map; //if( false == g_Map.LoadMap(pMapInfo,nWidth,nHeight )) //{ // std::cout<<"加载地图失败"<<std::endl; //} //FindPath::AStar::AStartFindPath _FindPath( &g_Map ); // //FindPath::Pos _Begin; //_Begin.m_x = 0; //_Begin.m_y = 500; //FindPath::Pos _End; //_End.m_x =1000; //_End.m_y = 500; // //std::cout<<"开始寻路 地图大小"<<nWidth<<"*" <<nHeight<<std::endl; //FindPath::PosPath _ResPath; //DWORD _TimeBegin = GetTickCount(); //bool _Res =_FindPath.FindPath( _Begin ,_End,_ResPath ); //DWORD _TimeUse = GetTickCount( ) - _TimeBegin; //if( false == _Res ) //{ // std::cout<<"寻路失败 结点数："<< _ResPath.size( )<<"用时："<<_TimeUse <<"毫秒"<<std::endl; //} //else //{ // std::cout<<"寻路成功 结点数："<< _ResPath.size( )<<"用时："<<_TimeUse <<"毫秒"<<std::endl; //} // //FindPath::PosPath::const_iterator it = _ResPath.begin(); //int i = 0; //for( ; it != _ResPath.end() ;it ++ ) //{ // i++; // if( i%5 == 0 ) // { // std::cout<<" "<<(*it).m_x <<","<<(*it).m_y<<std::endl; // } // else // { // std::cout<<" "<<(*it).m_x <<","<<(*it).m_y; // } // //} FindPath::Dijkstra::DijkMapData * pDijkData = new FindPath::Dijkstra::DijkMapData; #define EDGE_COUNT 5 pDijkData->m_Count = EDGE_COUNT; pDijkData->m_pEdge = new FindPath::Dijkstra::Edge[EDGE_COUNT]; pDijkData->m_pEdge[0].m_EdgeNoWeight.m_Begin = FindPath::Pos( 0,0 ); pDijkData->m_pEdge[0].m_EdgeNoWeight.m_End = FindPath::Pos( 0,1 ); pDijkData->m_pEdge[0].m_Weight = 100; pDijkData->m_pEdge[1].m_EdgeNoWeight.m_Begin = FindPath::Pos( 0,0 ); pDijkData->m_pEdge[1].m_EdgeNoWeight.m_End = FindPath::Pos( 0,2 ); pDijkData->m_pEdge[1].m_Weight = 2; pDijkData->m_pEdge[2].m_EdgeNoWeight.m_Begin = FindPath::Pos( 0,2); pDijkData->m_pEdge[2].m_EdgeNoWeight.m_End = FindPath::Pos( 0,3 ); pDijkData->m_pEdge[2].m_Weight = 3; pDijkData->m_pEdge[3].m_EdgeNoWeight.m_Begin = FindPath::Pos( 0,0 ); pDijkData->m_pEdge[3].m_EdgeNoWeight.m_End = FindPath::Pos( 0,3 ); pDijkData->m_pEdge[3].m_Weight =6; pDijkData->m_pEdge[4].m_EdgeNoWeight.m_Begin = FindPath::Pos( 0,3 ); pDijkData->m_pEdge[4].m_EdgeNoWeight.m_End = FindPath::Pos( 0,1 ); pDijkData->m_pEdge[4].m_Weight =8; FindPath::Dijkstra::DijkstraMap _DijkMap; if( false == _DijkMap.LoadMap((void*)pDijkData)) { std::cout<<"加载地图失败"<<std::endl; } FindPath::Pos _Start(0,0); FindPath::Dijkstra::DijkStraPathSet _DijkPathSet; FindPath::Dijkstra::DijkstraFindPath _FindPath(&_DijkMap); if(false == _FindPath.FindPath( _Start ,_DijkPathSet )) { std::cout<<"无法找到路径"<<std::endl; } else { std::cout<<"寻路成功"<<std::endl; } return 0; }