U4DEngine::U4DPathfinderAStar Class Reference

The U4DPathfinderAStar class implements the Path Finding algorithm known as A Star algorithm. More...

Public Member Functions
	U4DPathfinderAStar ()
	class constructor
	~U4DPathfinderAStar ()
	class destructor
bool	findPath (std::vector< U4DNavMeshNode > uNavMeshNodeContainer, int uStartNodeIndex, int uEndNodeIndex, std::vector< U4DSegment > &uPath)
	computes the path using the A Star algorithm More...
std::vector< U4DSegment >	assemblePath (std::vector< U4DNavMeshNode > &uNavMeshNodes)
	assembles the path computed using the A Star algorithm More...
void	reHeapDown (int root, int bottom)
	sorts the heap data structure using a heap-down implementation More...
void	heapSort ()
	sorts the Head data structure. The lowest value is at the root
void	swap (int uIndex1, int uIndex2)
	swaps the nodes indices. This is used to sort the Head data structure More...
void	setCost (U4DNavMeshNode &uCurrentNode, U4DNavMeshNode &uStartNode, U4DNavMeshNode &uEndNode)
	sets the gCost, hCost and total cost of the current nav mesh node More...

Detailed Description

The U4DPathfinderAStar class implements the Path Finding algorithm known as A Star algorithm.

Member Function Documentation

assemblePath()

std::vector< U4DSegment > U4DEngine::U4DPathfinderAStar::assemblePath

(

std::vector< U4DNavMeshNode > &

uNavMeshNodes

)

assembles the path computed using the A Star algorithm

Parameters

uNavMeshNodes

nav mesh nodes creating the path

Returns

container with segments representing the computed path

findPath()

bool U4DEngine::U4DPathfinderAStar::findPath	(	std::vector< U4DNavMeshNode >	uNavMeshNodeContainer,
		int	uStartNodeIndex,
		int	uEndNodeIndex,
		std::vector< U4DSegment > &	uPath
	)

computes the path using the A Star algorithm

Parameters

uNavMeshNodeContainer	navigation mesh containing the nav mesh nodes
uStartNodeIndex	starting node to compute path
uEndNodeIndex	ending node to compute path
uPath	vector containing the computed path segments

Returns

true if the path was able to be determined

reHeapDown()

void U4DEngine::U4DPathfinderAStar::reHeapDown	(	int	root,
		int	bottom
	)

sorts the heap data structure using a heap-down implementation

Parameters

root	root node in the data structure
bottom	bottom node in the data structure

setCost()

void U4DEngine::U4DPathfinderAStar::setCost	(	U4DNavMeshNode &	uCurrentNode,
		U4DNavMeshNode &	uStartNode,
		U4DNavMeshNode &	uEndNode
	)

sets the gCost, hCost and total cost of the current nav mesh node

Parameters

uCurrentNode	current mesh node
uStartNode	start mesh node
uEndNode	end mesh node

swap()

void U4DEngine::U4DPathfinderAStar::swap	(	int	uIndex1,
		int	uIndex2
	)

swaps the nodes indices. This is used to sort the Head data structure

Parameters

uIndex1	node1 index
uIndex2	node2 index