43 lines
1016 B
C
43 lines
1016 B
C
# pragma once
|
|
|
|
# include <stdbool.h>
|
|
# include <raylib.h>
|
|
# include <raymath.h>
|
|
|
|
typedef struct ANode {
|
|
Vector2 parent;
|
|
|
|
int h;
|
|
int g;
|
|
|
|
int f;
|
|
|
|
bool is_collapsed;
|
|
bool is_obstacle;
|
|
} anode_t;
|
|
|
|
typedef struct AField {
|
|
int rows;
|
|
int columns;
|
|
|
|
anode_t** map;
|
|
} afield_t;
|
|
|
|
afield_t generate_astar_field(int rows, int columns, int** col_map);
|
|
|
|
Vector2* get_a_star_path(afield_t *field, Vector2 start, Vector2 goal, int max_searches, int* path_length);
|
|
|
|
Vector2* do_full_a_star_search(int width, int height, int** collisions, Vector2 start, Vector2 target, int max_searches, int* path_len);
|
|
|
|
void setup_start_cell(afield_t* field, Vector2 start, Vector2 target);
|
|
|
|
Vector2 get_best_node(afield_t *field);
|
|
void collapse_node_at(afield_t *field, Vector2 node_pos);
|
|
int assign_node_as_parent(afield_t *field, Vector2 target, Vector2 node_pos);
|
|
|
|
void debug_print_field_collisions(afield_t* field);
|
|
|
|
void debug_print_field(afield_t* field);
|
|
|
|
int adjusted_euclidean(Vector2 a, Vector2 b);
|