lazy-theta-with-optimization-any-angle-pathfinding's Introduction

Lazy Theta* with optimization pathfinding

Files:

pathfinding.hpp
- The main file, the only one you need
- Contain the algoritm
tileadaptor.hpp
- To use the pathfinding class you'll need an adaptor, this is an exemple adaptor for tile grid
utility.hpp
- Dummy vector class and distance function used by tileadaptor
main.cpp
- Console based demo

######################################################################
#S   #              #                                                #
#    #              #                                                #
#    #              #                                                #
#    #              #                            2                  3#
#    #              #                             ################## #
#    #              #                                           #    #
#    #              #                                           #4   #
#    #              #                                           # ####
#    #              #                                           #    #
#    #              #                                           #    #
#    #              #                                           #    #
#    #              #                                           #    #
#    #              #                                           #    #
#   0               #                                           #    #
#                   #                                           #    #
#                                 1                             #5   #
#                                                               #    #
#                                                               #   E#
######################################################################
#  = walls
S  = start
E  = end
number = path nodes

Implementation of the algorithm described here: http://aigamedev.com/open/tutorial/lazy-theta-star/

At first I could find any code a part from this and honestly I had no idea of what line 37-38 means

After some amount of research I found this page http://idm-lab.org/project-o.html which provided me with some code. I rewrote most of it because the code style dind't suite me and to take advantage of C++14.

I also made it more modular so that it can be used for grid, hexagonTile, polygon map, anything where you need to find a path between to point.

Also added the possibility to use weighted h-value as described in the first link, it make the search faster but may give slitghly longer path.

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