BitPruneJps.h

#pragma once

#include "Common.h"

#include <iostream>
#include <vector>
#include <cmath>
#include <cstring>
#include <algorithm>

using namespace std;
using std::vector;

class BitPruneJps
{
public:
    // 辅助地图节点
    struct Node
    {
        int X; // 水平坐标
        int Y; // 垂直坐标
        int G, H, F;
        bool IsObstacle;     // 是否为障碍
        bool IsInPath;       // 是否是最短路径中的一点
        bool IsInClosedList; //
        bool IsInOpenedList;

        Node *ParentNode;
        bool IsNull;        // 是否是空节点
        bool IsMidJumpNode; // 是否是中间跳点

        Node()
        {
            X = 0;
            Y = 0;
            G = H = F = 0;
            IsObstacle = false;
            IsInPath = false;
            IsInClosedList = IsInOpenedList = false;
            ParentNode = nullptr;
            IsNull = true;
            IsMidJumpNode = false;
        }
        void Reset()
        {
            G = H = F = 0;
            IsInPath = false;
            IsInClosedList = IsInOpenedList = false;
            ParentNode = nullptr;
            IsNull = true;
            IsMidJumpNode = false;
        }
        void UpdateF()
        {
            F = G + H;
        }
    };

    explicit BitPruneJps();
    virtual ~BitPruneJps();
    void InitMap(int **map, unsigned int width, unsigned int height);
    void FindPath(int beginX, int beginY,
                  int endX, int endY);
    void PrintPath();
    void PrintPathMap();

private:
    // 重置地图
    void resetMap();
    void deleteMap();
    // 计算两点直线距离
    int getDis(const Node &startNode, const Node &endNode);
    // 计算h值
    int getH(const Node &node);
    Node jumpStraight(const Node &currenNode, const DirectionEnum &dir);
    vector<Node> jumpOblique(const Node &currenNode, const DirectionEnum &dir);
    void fillNode(Node *const nodePtr);
    void fillPath();

private:
    // 建立辅助地图
    Node **m_map;
    unsigned int m_mapWidth;
    unsigned int m_mapHeight;
    Node *m_beginNode;
    Node *m_endNode;

    vector<Node *> m_openedNodeList;     // 开放节点列表
    vector<Node *> m_prunedPathNodeList; // 储存已剪枝的路径
    vector<Node *> m_pathNodeList;       // 储存最终路径
};