poprawiony movement oraz maxFloat
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1bf1dc50b9
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70
Main.cpp
70
Main.cpp
@ -9,19 +9,21 @@
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#include<stack>
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using namespace std;
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const float maxFloat=FLT_MAX;
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const int ROW = 27;
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const int COL = 27;
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typedef pair<int, int> Pair;
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typedef pair<double, pair<int, int> > pPair;
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typedef pair<double, pair<int, int>> pPair;
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struct cell
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{
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int parent_i, parent_j;
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double f, g, h;
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};
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char pole[27][27][2];
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int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
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char currentWay = 'S';
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void color(string foregroundColor, string backgroundColor)
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{
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@ -153,6 +155,43 @@ void updatePola()
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}
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}
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void correctMovement(char wantedWay)
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{
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while (currentWay != wantedWay)
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{
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switch (currentWay)
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{
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case 'N':
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{
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if (wantedWay == 'S')
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currentWay = wantedWay;
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else
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currentWay = 'W';
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}break;
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case 'S':
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{
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if (wantedWay == 'N')
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currentWay = wantedWay;
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else
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currentWay = 'W';
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}break;
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case 'W':
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{
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if (wantedWay == 'E')
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currentWay = wantedWay;
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else
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currentWay = 'N';
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}break;
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case 'E':
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{
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if (wantedWay == 'W')
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currentWay = wantedWay;
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else
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currentWay = 'N';
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}break;
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}
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}
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}
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void Move(char kierunek)
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{
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switch (kierunek)
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@ -162,10 +201,10 @@ void Move(char kierunek)
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{
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if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#')
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{
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correctMovement('N');
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
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pozycjaTraktoraY--;
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
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}
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updatePola();
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}break;
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@ -174,10 +213,10 @@ void Move(char kierunek)
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{
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if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#')
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{
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correctMovement('S');
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
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pozycjaTraktoraY++;
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
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}
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updatePola();
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}break;
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@ -186,10 +225,10 @@ void Move(char kierunek)
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{
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if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#')
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{
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correctMovement('W');
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
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pozycjaTraktoraX--;
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
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}
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updatePola();
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}break;
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@ -198,17 +237,16 @@ void Move(char kierunek)
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{
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if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#')
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{
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correctMovement('E');
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
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pozycjaTraktoraX++;
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pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
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}
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updatePola();
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}break;
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}
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}
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bool isValid(int x, int y)
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{
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if (pole[x][y][0] != '#')
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@ -217,7 +255,6 @@ bool isValid(int x, int y)
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}
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return false;
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}
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bool isDestination(int x, int y,Pair dest)
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{
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if (dest.first == x && dest.second == y)
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@ -226,12 +263,10 @@ bool isDestination(int x, int y,Pair dest)
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}
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return false;
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}
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double calculateHValue(int x, int y, Pair dest)
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{
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return abs(x - dest.first) + abs(y - dest.second);
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}
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void tracePath(cell cellDetails[][COL], Pair dest)
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{
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//printf("\nThe Path is "); //----start info
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@ -270,7 +305,6 @@ void tracePath(cell cellDetails[][COL], Pair dest)
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return;
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}
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void aStarSearch(int grid[][COL],Pair src, Pair dest)
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{
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bool closedList[ROW][COL];
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@ -283,9 +317,9 @@ void aStarSearch(int grid[][COL],Pair src, Pair dest)
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{
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for (j = 0; j < COL; j++)
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{
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cellDetails[i][j].f = FLT_MAX;
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cellDetails[i][j].g = FLT_MAX;
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cellDetails[i][j].h = FLT_MAX;
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cellDetails[i][j].f = maxFloat;
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cellDetails[i][j].g = maxFloat;
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cellDetails[i][j].h = maxFloat;
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cellDetails[i][j].parent_i = -1;
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cellDetails[i][j].parent_j = -1;
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}
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@ -331,7 +365,7 @@ void aStarSearch(int grid[][COL],Pair src, Pair dest)
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hNew = calculateHValue(i - 1, j, dest);
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fNew = gNew + hNew;
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if (cellDetails[i - 1][j].f == FLT_MAX ||
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if (cellDetails[i - 1][j].f == maxFloat ||
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cellDetails[i - 1][j].f > fNew)
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{
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openList.insert(make_pair(fNew,
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@ -364,7 +398,7 @@ void aStarSearch(int grid[][COL],Pair src, Pair dest)
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gNew = cellDetails[i][j].g + waga;
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hNew = calculateHValue(i + 1, j, dest);
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fNew = gNew + hNew;
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if (cellDetails[i + 1][j].f == FLT_MAX ||
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if (cellDetails[i + 1][j].f == maxFloat ||
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cellDetails[i + 1][j].f > fNew)
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{
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openList.insert(make_pair(fNew, make_pair(i + 1, j)));
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@ -394,7 +428,7 @@ void aStarSearch(int grid[][COL],Pair src, Pair dest)
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gNew = cellDetails[i][j].g + waga;
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hNew = calculateHValue(i, j + 1, dest);
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fNew = gNew + hNew;
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if (cellDetails[i][j + 1].f == FLT_MAX ||
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if (cellDetails[i][j + 1].f == maxFloat ||
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cellDetails[i][j + 1].f > fNew)
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{
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openList.insert(make_pair(fNew,
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@ -425,7 +459,7 @@ void aStarSearch(int grid[][COL],Pair src, Pair dest)
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gNew = cellDetails[i][j].g + waga;
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hNew = calculateHValue(i, j - 1, dest);
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fNew = gNew + hNew;
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if (cellDetails[i][j - 1].f == FLT_MAX ||
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if (cellDetails[i][j - 1].f == maxFloat ||
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cellDetails[i][j - 1].f > fNew)
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{
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openList.insert(make_pair(fNew,
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