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Fixed the astar algoritm and added some comments

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This commit is contained in:
Ziver Koc 2007-04-29 18:26:45 +00:00
parent c356ddf327
commit e280861f2d
14 changed files with 776 additions and 1365 deletions
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14
src/ei/game/algo/AStarPathfinder.java
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@ -10,6 +10,7 @@ import ei.game.algo.AStarNeighbour.Location;
/**
*
* @author Árni Arent
* @author Ziver Koc
*
*/
public class AStarPathfinder{
@ -17,6 +18,7 @@ public class AStarPathfinder{
protected LinkedList<AStarNode> closed;
private AStarNode start;
private AStarNode goal;
private AStarNode closest;
/**
* Constructs a Pathfinder.
@ -55,6 +57,10 @@ public class AStarPathfinder{
node = (AStarNode) open.removeFirst();
node.setVisited(true);
node.setVisitOrder(order++);
// calculates the nearest way to the destination
if(closest == null || closest.estimatedCostToGoal > node.estimatedCostToGoal){
closest = node;
}
// Check if we found the goal.
if (node == goal) {
@ -78,12 +84,12 @@ public class AStarPathfinder{
float costFromStart = node.costFromStart + node.getCost(neighbourNode, location);
boolean inClosed = closed.contains(neighbourNode);
boolean inOpen = open.contains(neighbourNode);
if ((!inOpen && !inClosed) || costFromStart < neighbourNode.costFromStart) {
neighbourNode.setParent(node);
neighbourNode.costFromStart = costFromStart;
neighbourNode.estimatedCostToGoal = neighbourNode.getEstimatedCostTo(goal,start);
if (inClosed) {
closed.remove(neighbourNode);
}
@ -96,9 +102,9 @@ public class AStarPathfinder{
closed.add(node);
}
}
System.out.println("Path Not found!!");
//return null;
return constructPath(node);
return constructPath(closest);
}