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Pathfinder port from C# to C11
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| #include "stdafx.h" | |
| #include "stdlib.h" | |
| #include "PathfinderTest.h" | |
| #include <limits.h> | |
| #include <windows.h> | |
| typedef struct coord_s { | |
| int x; | |
| int y; | |
| int z; | |
| } coord; | |
| typedef struct node_s node; | |
| typedef struct node_s { | |
| node *node; | |
| int cost; | |
| int open; | |
| int closed; | |
| int x; | |
| int y; | |
| } node; | |
| typedef struct pathfinder_s { | |
| node **map; | |
| node **open_list; | |
| node *current; | |
| node *new_mode; | |
| } pathfinder; | |
| pathfinder *make_path_reversed(coord, coord); | |
| int distance_squared(int first_x, int first_y, int point_x, int point_y) { | |
| int dx = first_x - point_x; | |
| int dy = first_y - point_y; | |
| return (dx * dx) + (dy * dy); | |
| } | |
| coord DIAGONAL_MOVE_POINTS[] = { | |
| { 0, -1, 0 }, | |
| { 0, 1, 0 }, | |
| { 1, 0, 0 }, | |
| { -1, 0, 0 }, | |
| { 1, -1, 0 }, | |
| { -1, 1, 0 }, | |
| { 1, 1, 0 }, | |
| { -1, -1, 0 } | |
| }; | |
| int get_address(int x, int y, int map_size_y) { | |
| return x * map_size_y + y; | |
| } | |
| node *create_node() { | |
| node *current = malloc(sizeof(node)); | |
| current->cost = INT_MAX; | |
| current->open = 0; | |
| current->closed = 0; | |
| current->x = 0; | |
| current->y = 0; | |
| current->node = NULL; | |
| return current; | |
| } | |
| void start_pathfinder_test() { | |
| coord from; | |
| from.x = 1; | |
| from.y = 1; | |
| coord to; | |
| to.x = 5; | |
| to.y = 9; | |
| int map_size_x = 20; | |
| int map_size_y = 20; | |
| pathfinder *pathfinder = make_path_reversed(from, to, map_size_x, map_size_y); | |
| if (pathfinder->new_mode != NULL) { | |
| while (pathfinder->new_mode->node != NULL) { | |
| node *current_node = pathfinder->new_mode; | |
| int x = pathfinder->new_mode->x; | |
| int y = pathfinder->new_mode->y; | |
| printf("Next X: %d and Y: %d\n", x, y); | |
| pathfinder->new_mode = pathfinder->new_mode->node; | |
| } | |
| for (int y = 0; y < map_size_y; y++) { | |
| for (int x = 0; x < map_size_x; x++) { | |
| node *node = pathfinder->map[get_address(x, y, map_size_y)]; | |
| if (node != NULL) { | |
| free(node); | |
| pathfinder->map[get_address(x, y, map_size_y)] = NULL; | |
| } | |
| } | |
| } | |
| free(pathfinder->map); | |
| free(pathfinder->open_list); | |
| free(pathfinder); | |
| } | |
| } | |
| int is_valid_tile(coord from, coord to) { | |
| // Don't use negative coordinates | |
| if (from.x < 0 || from.y < 0 || to.x < 0 || to.y < 0) { | |
| return 0; // 0 for false | |
| } | |
| // TODO: Add your checking here | |
| // The "to" variable is the tile around the "from" variable. | |
| return 1; // 1 for true | |
| } | |
| pathfinder *make_path_reversed(coord from, coord to, int map_size_x, int map_size_y) { | |
| int map_size = map_size_x * map_size_y; | |
| pathfinder *p = malloc(sizeof(pathfinder)); | |
| p->map = malloc(sizeof(node) * map_size); | |
| p->open_list = malloc(sizeof(node) * map_size); | |
| node **adjust_list = p->open_list; | |
| memset(p->map, (int)NULL, sizeof(node) * map_size); | |
| memset(p->open_list, (int)NULL, sizeof(node) * map_size); | |
| p->current = create_node(); | |
| p->current->x = from.x; | |
| p->current->y = from.y; | |
| coord tmp; | |
| int cost = 0; | |
| int diff = 0; | |
| p->map[get_address(p->current->x, p->current->y, map_size_y)] = p->current; | |
| p->open_list[0] = p->current; | |
| int list_size = 1; | |
| while (adjust_list[0] != NULL) { | |
| p->current = adjust_list[0]; | |
| p->current->closed = 1; | |
| adjust_list++; | |
| list_size--; | |
| for (int i = 0; i < 8; i++) { | |
| tmp.x = p->current->x + DIAGONAL_MOVE_POINTS[i].x; | |
| tmp.y = p->current->y + DIAGONAL_MOVE_POINTS[i].y; | |
| int isFinalMove = (tmp.x == to.x && tmp.y == to.y); | |
| coord c; | |
| c.x = p->current->x; | |
| c.y = p->current->y; | |
| if (is_valid_tile(c, tmp)) { | |
| int array_index = get_address(tmp.x, tmp.y, map_size_y); | |
| if (p->map[array_index] == NULL) { | |
| p->new_mode = create_node(); | |
| p->new_mode->x = tmp.x; | |
| p->new_mode->y = tmp.y; | |
| p->map[array_index] = p->new_mode; | |
| } | |
| else { | |
| p->new_mode = p->map[array_index]; | |
| } | |
| if (!p->new_mode->closed) { | |
| diff = 0; | |
| if (p->current->x != p->new_mode->x) { | |
| diff += 1; | |
| } | |
| if (p->current->y != p->new_mode->y) { | |
| diff += 1; | |
| } | |
| cost = p->current->cost + diff + distance_squared(p->new_mode->x, p->new_mode->y, to.x, to.y); | |
| if (cost < p->new_mode->cost) { | |
| p->new_mode->cost = cost; | |
| p->new_mode->node = p->current; | |
| } | |
| if (!p->new_mode->open) { | |
| if (p->new_mode->x == to.x && p->new_mode->y == to.y) { | |
| p->new_mode->node = p->current; | |
| return p; | |
| } | |
| p->new_mode->open = 1; | |
| adjust_list[list_size++] = p->new_mode; | |
| } | |
| } | |
| } | |
| } | |
| } | |
| return p; | |
| } |
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