#include "pch.h"
#include <iostream>
#include <vector>
#include <windows.h>
using namespace std;
//行 高
#define ROW 12
//列 寬
#define COL 12

#define ZXDJ 10
#define XXDJ 14

struct MyPoint
{
    int row;
    int col;
    //g起點到當前點代價
    //w權重
    //h當前點到終點的預估代價 忽略障礙只看直線
    //f = g+h+w
    int g, h, f;
    
 
void setF() { f = g + h; }
};


//八個方向
enum direct {
    p_up,p_down,p_left,p_right,p_lup,p_ldown,p_rup,p_rdown
};


//輔助地圖節點
//記錄走過沒，代價值
struct pathNode
{
    int val;//值
    bool isFind;//走過沒，true走過

};

//判斷pos點能不能走,能true
bool canWalk(MyPoint pos, pathNode pathMap[ROW][COL]) {
    //不在地圖內
    if (pos.row < 0
 
||pos.row>=ROW||pos.col<0||pos.col>=COL) {
    return false;}
    //是障礙，不能走
    if (pathMap[pos.row][pos.col].val == 1)return false;
    //走過了
    if (pathMap[pos.row][pos.col].isFind == 1)return false;
    return true;
}


//樹的節點型別,使用樹儲存走過路徑
struct treeNode {
    MyPoint pos;
    treeNode* pParent;//
 
指向父節點指標
    vector<treeNode*> child;//儲存所有孩子節點陣列
};



//計算g值
int getG(MyPoint pos,MyPoint endPos);


int main()
{
    //地圖 0：路  1：障礙  2:大樓 3：井蓋
    int map[ROW][COL] = {
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
        {0,0,0,0,0,0,0,0,0,0,0,0},
        {0,0,0,0,0,1,0,0,0,0,0,0},
    };
    //2 起點和重點
    MyPoint begPos = {1,1};
    MyPoint endPos = { 5,10 };
    //3 記錄，輔助地圖,初始化
    pathNode pathMap[ROW][COL] = { 0 };
    for (int i = 0;i<ROW;i++)
        for (int j = 0; j < COL; j++)
        {
            pathMap[i][j].val = map[i][j];
        }

    //4 建立一棵樹
    treeNode* pRoot = NULL;

    //5 標記起點點走過
    pathMap[begPos.row][begPos.col].isFind = true;

    //6 起點入數成為根節點
    pRoot = new treeNode;
    memset(pRoot, 0, sizeof treeNode);//清空
    pRoot->pos = begPos;

    //7 準備一個數組儲存所有評估點
    vector<treeNode*> buff;
    //迭代器找最小點
    vector<treeNode*>::iterator itMin;
    vector<treeNode*>::iterator it;
    //8 尋路
    bool isFindEnd = false;
    //當前點
    MyPoint currentPos = begPos;
    //當前樹節點
    treeNode* pTemp = pRoot;
    while (true)
    {
        //8.1 檢查當前點哪些需要計算
        for (int i = 0; i < 8; i++) {
            treeNode* pChild = new treeNode;
            memset(pChild, 0, sizeof treeNode);
            pChild->pos = pTemp->pos;
            switch (i)
            {
            case p_up:
                pChild->pos.row--;
                pChild->pos.g = 10;
                break;
            case p_down:
                pChild->pos.row++;
                pChild->pos.g = 10;
                break;
            case p_left:
                pChild->pos.col--;
                pChild->pos.g = 10;
                break;
            case p_right:
                pChild->pos.col++;
                pChild->pos.g = ZXDJ;
                break;
            case p_lup:
                pChild->pos.col--;
                pChild->pos.row--;
                pChild->pos.g = XXDJ;
                break;
            case p_ldown:
                pChild->pos.col--;
                pChild->pos.row++;
                pChild->pos.g = XXDJ;
                break;
            case p_rup:
                pChild->pos.col++;
                pChild->pos.row--;
                pChild->pos.g = XXDJ;
                break;
            case p_rdown:
                pChild->pos.col++;
                pChild->pos.row++;
                pChild->pos.g = XXDJ;
                break;
            default:
                break;
            }//8.2 計算所有點f
            //8.2.1 判斷是否計算(能走不)
            if (canWalk(pChild->pos,pathMap)) {
            //8.2.2 jisuanf
                pChild->pos.g = getG(pChild->pos, endPos);
                pChild->pos.setF();
                //8.2.3 判斷能否入樹buff
                pTemp->child.push_back(pChild);
                pChild->pParent = pTemp;
                buff.push_back(pChild);
                //printf("(%d,%d)", pChild->pos.row, pChild->pos.col);
            }
            

        }
        //cout << endl;
        //Sleep(2000);
        //8.3 找出f值最小的點，走，並從buff中刪除該店
        itMin = buff.begin();
        for (it = buff.begin(); it != buff.end(); it++) {
            if ((*itMin)->pos.f > (*it)->pos.f) {
                itMin = it;
            }
        }

        pathMap[pTemp->pos.row][pTemp->pos.col].isFind = true;
        pTemp = *itMin;//走
        buff.erase(itMin);
        //8.4 判斷是否找到重點，判斷整個地圖是否沒有終點
        if (pTemp->pos.row == endPos.row&&
            pTemp->pos.col == endPos.col) {
            isFindEnd = true;
            break;
        }
        if (buff.empty()) { break; }
    }
    //9 列印路徑
    if (isFindEnd) {
        printf("找到終點了！\n");
        while (pTemp) {
            printf("(%d,%d)", pTemp->pos.row, pTemp->pos.col);
            pTemp = pTemp->pParent;
        }
        cout << "\n";
    }

    cout << fun();
    system("pause");
}



int getG(MyPoint pos, MyPoint endPos) {
    int x = ((pos.col > endPos.col) ? (pos.col - endPos.col) : (endPos.col - pos.col));
    int y = ((pos.row > endPos.row) ? (pos.row - endPos.row) : (endPos.row - pos.row));
    return ZXDJ * (x + y);
}
// 執行程式: Ctrl + F5 或除錯 >“開始執行(不除錯)”選單
// 除錯程式: F5 或除錯 >“開始除錯”選單

// 入門提示: 
//   1. 使用解決方案資源管理器視窗新增/管理檔案
//   2. 使用團隊資源管理器視窗連線到原始碼管理
//   3. 使用輸出視窗檢視生成輸出和其他訊息
//   4. 使用錯誤列表視窗檢視錯誤
//   5. 轉到“專案”>“新增新項”以建立新的程式碼檔案，或轉到“專案”>“新增現有項”以將現有程式碼檔案新增到專案
//   6. 將來，若要再次開啟此專案，請轉到“檔案”>“開啟”>“專案”並選擇 .sln 檔案