Example usage for com.badlogic.gdx.utils BinaryHeap setValue

Introduction

In this page you can find the example usage for com.badlogic.gdx.utils BinaryHeap setValue.

Prototype

public void setValue(T node, float value) 

Source Link

Usage

From source file:com.vlaaad.dice.game.world.util.AStar.java

License:Open Source License

public static Array<Coordinate> search(World grid, WorldObject startObject, WorldObject endObject,
        boolean near) {
    Node start = Pools.obtain(Node.class).set(startObject.getX(), startObject.getY());
    Node end = Pools.obtain(Node.class).set(endObject.getX(), endObject.getY());
    nodes.put(start.x, start.y, start);/*from w  w  w .j  a  v a2 s . c om*/
    nodes.put(end.x, end.y, end);

    BinaryHeap<Node> openHeap = new BinaryHeap<Node>();
    openHeap.add(start);

    List<Node> neighbours = new LinkedList<Node>();
    Node nearNode = null;
    boolean searchNear = true;
    while (openHeap.size > 0) {
        Node current = openHeap.pop();
        int cx = current.x - end.x;
        int cy = current.y - end.y;
        if (cx == 0 && cy == 0) {
            Array<Coordinate> result = new Array<Coordinate>();
            while (current.parent != null) {
                result.add(Coordinate.obtain(current.x, current.y));
                current = current.parent;
            }
            result.reverse();
            cleanUp();
            return result;
        }
        if (near && searchNear && !isValid(grid, end.x, end.y)) {
            nearNode = current;
            if (Math.abs(cx) <= 1 && Math.abs(cy) <= 1) {
                searchNear = false;
            }
        }

        current.closed = true;
        neighbours.clear();
        int gScore = current.g + 1;
        addNeighbours(grid, neighbours, current);
        for (Node neighbour : neighbours) {
            if (neighbour.closed)
                continue;
            if (!neighbour.visited || gScore < neighbour.g) {

                neighbour.parent = current;
                int dx = neighbour.x - end.x;
                int dy = neighbour.y - end.y;
                neighbour.h = (float) (Math.sqrt(dx * dx + dy * dy));
                neighbour.g = gScore;
                neighbour.f = neighbour.g + neighbour.h;
                if (!neighbour.visited) {
                    openHeap.add(neighbour);
                }
                openHeap.setValue(neighbour, neighbour.f);
                neighbour.visited = true;
            }
        }
    }
    if (nearNode != null && !searchNear) {
        Array<Coordinate> result = new Array<Coordinate>();
        while (nearNode.parent != null) {
            result.add(Coordinate.obtain(nearNode.x, nearNode.y));
            nearNode = nearNode.parent;
        }
        result.reverse();
        cleanUp();
        return result;
    }
    cleanUp();
    return null;
}

---