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@@ -56,7 +56,7 @@ static OpenListNode *AyStarMain_OpenList
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// Adds a node to the OpenList
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// It makes a copy of node, and puts the pointer of parent in the struct
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static void AyStarMain_OpenList_Add(AyStar *aystar, PathNode *parent, AyStarNode *node, int f, int g, int userdata)
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static void AyStarMain_OpenList_Add(AyStar *aystar, PathNode *parent, AyStarNode *node, int f, int g)
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{
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// Add a new Node to the OpenList
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OpenListNode* new_node = malloc(sizeof(OpenListNode));
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@@ -120,7 +120,7 @@ int AyStarMain_CheckTile(AyStar *aystar,
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aystar->OpenListQueue.push(&aystar->OpenListQueue, check, new_f);
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} else {
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// A new node, add him to the OpenList
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AyStarMain_OpenList_Add(aystar, closedlist_parent, current, new_f, new_g, 0);
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AyStarMain_OpenList_Add(aystar, closedlist_parent, current, new_f, new_g);
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}
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return AYSTAR_DONE;
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@@ -248,13 +248,14 @@ int AyStarMain_Main(AyStar *aystar) {
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* if wanted. You should make sure that clear() is called before adding nodes
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* if the AyStar has been used before (though the normal main loop calls
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* clear() automatically when the algorithm finishes
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* g is the cost for starting with this node.
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*/
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void AyStarMain_AddStartNode(AyStar *aystar, AyStarNode *start_node) {
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void AyStarMain_AddStartNode(AyStar *aystar, AyStarNode *start_node, uint g) {
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#ifdef AYSTAR_DEBUG
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printf("[AyStar] Starting A* Algorithm from node (%d, %d, %d)\n",
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TileX(start_node->tile), TileY(start_node->tile), start_node->direction);
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#endif
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AyStarMain_OpenList_Add(aystar, NULL, start_node, 0, 0, 0);
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AyStarMain_OpenList_Add(aystar, NULL, start_node, 0, g);
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}
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void init_AyStar(AyStar* aystar, Hash_HashProc hash, uint num_buckets) {
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