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-rw-r--r--main.c20
-rw-r--r--map.c80
-rw-r--r--map.h4
-rw-r--r--path.c59
-rw-r--r--path.h14
5 files changed, 107 insertions, 70 deletions
diff --git a/main.c b/main.c
index 1fdf05c..39f9754 100644
--- a/main.c
+++ b/main.c
@@ -19,7 +19,7 @@
- Maybe make map editor the main thing
- More messages
- check ppq_insert() order
- - more info in anim()
+ - more info in anim()?
- save pathfinding to a series of BMPs
- less magical values
- MORE MAPS FOR THE MAP PEOPLE
@@ -135,11 +135,13 @@ int main(int argc, char **argv) {
if (!bmp_only) {
init_ncurses();
+ draw_map(map, width, height, start_pos, end_pos, NULL, NULL, NULL, NULL);
+ wrefresh(stdscr);
}
char **visited = visited_new(width, height);
Path path = NULL;
- path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
+ path = path_func(dirs, map, NULL, width, height, start_pos, end_pos, visited, anim);
if (bmp_only) {
map_to_bmp(map, width, height, start_pos, end_pos, path, visited, bmp_filename);
@@ -154,8 +156,6 @@ int main(int argc, char **argv) {
while (1) {
draw_map(map, width, height, start_pos, end_pos, NULL, path, visited, NULL);
int c = getch();
- /* TODO: add a keybinding to calculate the path again, or maybe do it on 'a' */
- /* TODO: add a keybinding to load a map from a file */
switch (c) {
case 'h': map_offset_x += 2; break;
case 'l': map_offset_x -= 2; break;
@@ -191,7 +191,7 @@ int main(int argc, char **argv) {
else anim = 1;
path_free(path, height);
- path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
+ path = path_func(dirs, map, NULL, width, height, start_pos, end_pos, visited, anim);
clear_message();
break;
@@ -199,7 +199,7 @@ int main(int argc, char **argv) {
if (path_func == astar_path) { set_message("Dijkstra"); path_func = &dijkstra_path; }
else { set_message("A*"); path_func = &astar_path; };
path_free(path, height);
- path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
+ path = path_func(dirs, map, NULL, width, height, start_pos, end_pos, visited, anim);
break;
case 'y':
@@ -224,7 +224,7 @@ int main(int argc, char **argv) {
map = rbt_maze_map(mwidth, mheight, rand());
visited = visited_new(width, height);
- path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
+ path = path_func(dirs, map, NULL, width, height, start_pos, end_pos, visited, anim);
}
break;
@@ -260,7 +260,7 @@ int main(int argc, char **argv) {
map = file_plaintext_map(filename, &width, &height, &start_pos, &end_pos);
visited = visited_new(width, height);
- path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
+ path = path_func(dirs, map, NULL, width, height, start_pos, end_pos, visited, anim);
set_message("Loaded map from %s", filename); print_message(height);
@@ -274,7 +274,7 @@ int main(int argc, char **argv) {
map_free(map, height);
map = rbt_maze_map(mwidth, mheight, rand());
path_free(path, height);
- path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
+ path = path_func(dirs, map, NULL, width, height, start_pos, end_pos, visited, anim);
}
break;
@@ -288,7 +288,7 @@ int main(int argc, char **argv) {
wrefresh(curscr);
visited = visited_new(width, height);
- path = path_func(dirs, map, width, height, start_pos, end_pos, visited, anim);
+ path = path_func(dirs, map, NULL, width, height, start_pos, end_pos, visited, anim);
break;
case KEY_RESIZE: clear(); break;
diff --git a/map.c b/map.c
index 143329c..22b88ec 100644
--- a/map.c
+++ b/map.c
@@ -31,30 +31,42 @@ Map empty_map(size_t width, size_t height) {
/* When we allow maps to have costs, these two neighbours functions will have to use the instead of COST_* defines */
/* TODO: maybe merge them, add `dirs` parameter, like we do in path.c? */
unsigned int neighbours_4dir(Position neighbour_array[4], size_t cost_array[4], Position pos, size_t width, size_t height, \
- char **visited) {
+ char **visited, size_t **costs) {
size_t cur = 0;
if (pos.x > 0 && !visited[pos.y][pos.x - 1]) {
neighbour_array[cur].x = pos.x - 1;
neighbour_array[cur].y = pos.y;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y][pos.x - 1];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
if (pos.x + 1 < width && !visited[pos.y][pos.x + 1]) {
neighbour_array[cur].x = pos.x + 1;
neighbour_array[cur].y = pos.y;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y][pos.x + 1];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
if (pos.y > 0 && !visited[pos.y - 1][pos.x]) {
neighbour_array[cur].x = pos.x;
neighbour_array[cur].y = pos.y - 1;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y - 1][pos.x];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
if (pos.y + 1 < height && !visited[pos.y + 1][pos.x]) {
neighbour_array[cur].x = pos.x;
neighbour_array[cur].y = pos.y + 1;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y + 1][pos.x];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
@@ -62,55 +74,79 @@ unsigned int neighbours_4dir(Position neighbour_array[4], size_t cost_array[4],
}
unsigned int neighbours_8dir(Position neighbour_array[8], size_t cost_array[8], Position pos, size_t width, size_t height, \
- char **visited) {
+ char **visited, size_t **costs) {
size_t cur = 0;
if (pos.x > 0 && !visited[pos.y][pos.x - 1]) {
neighbour_array[cur].x = pos.x - 1;
neighbour_array[cur].y = pos.y;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y][pos.x - 1];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
if (pos.x + 1 < width && !visited[pos.y][pos.x + 1]) {
neighbour_array[cur].x = pos.x + 1;
neighbour_array[cur].y = pos.y;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y][pos.x + 1];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
if (pos.y > 0 && !visited[pos.y - 1][pos.x]) {
neighbour_array[cur].x = pos.x;
neighbour_array[cur].y = pos.y - 1;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y - 1][pos.x];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
if (pos.y + 1 < height && !visited[pos.y + 1][pos.x]) {
neighbour_array[cur].x = pos.x;
neighbour_array[cur].y = pos.y + 1;
- if (cost_array != NULL) cost_array[cur] = COST_ORTHOGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y + 1][pos.x];
+ else cost_array[cur] = COST_ORTHOGONAL;
+ }
cur += 1;
}
if (pos.x > 0 && pos.y > 0 && !visited[pos.y - 1][pos.x - 1]) {
neighbour_array[cur].x = pos.x - 1;
neighbour_array[cur].y = pos.y - 1;
- if (cost_array != NULL) cost_array[cur] = COST_DIAGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y - 1][pos.x - 1];
+ else cost_array[cur] = COST_DIAGONAL;
+ }
cur += 1;
}
if (pos.x + 1 < width && pos.y > 0 && !visited[pos.y - 1][pos.x + 1]) {
neighbour_array[cur].x = pos.x + 1;
neighbour_array[cur].y = pos.y - 1;
- if (cost_array != NULL) cost_array[cur] = COST_DIAGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y - 1][pos.x + 1];
+ else cost_array[cur] = COST_DIAGONAL;
+ }
cur += 1;
}
if (pos.x + 1 < width && pos.y + 1 < height && !visited[pos.y + 1][pos.x + 1]) {
neighbour_array[cur].x = pos.x + 1;
neighbour_array[cur].y = pos.y + 1;
- if (cost_array != NULL) cost_array[cur] = COST_DIAGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y + 1][pos.x + 1];
+ else cost_array[cur] = COST_DIAGONAL;
+ }
cur += 1;
}
if (pos.x > 0 && pos.y + 1 < height && !visited[pos.y + 1][pos.x - 1]) {
neighbour_array[cur].x = pos.x - 1;
neighbour_array[cur].y = pos.y + 1;
- if (cost_array != NULL) cost_array[cur] = COST_DIAGONAL;
+ if (cost_array != NULL) {
+ if (costs != NULL) cost_array[cur] = costs[pos.y + 1][pos.x - 1];
+ else cost_array[cur] = COST_DIAGONAL;
+ }
cur += 1;
}
@@ -149,7 +185,7 @@ Map rbt_maze_map(size_t width, size_t height, unsigned int seed) {
srand(seed);
do {
- int nc = neighbours_4dir(na, NULL, ps_peek(ps), width, height, visited);
+ int nc = neighbours_4dir(na, NULL, ps_peek(ps), width, height, visited, NULL);
if (nc > 0) {
Position next = na[rand() % nc];
Position prev = ps_peek(ps);
@@ -477,7 +513,7 @@ void map_editor(Map *map, size_t *width, size_t *height, Position *start, Positi
if (should_pathfind) {
set_message("Will pathfind");
visited = visited_new(*width, *height);
- path = path_func(dirs, *map, *width, *height, *start, *goal, visited, 0);
+ path = path_func(dirs, *map, NULL, *width, *height, *start, *goal, visited, 0);
} else {
set_message("Won't pathfind");
visited_free(visited, *height); visited = NULL;
@@ -505,7 +541,7 @@ void map_editor(Map *map, size_t *width, size_t *height, Position *start, Positi
if (path_func == astar_path) { set_message("Dijkstra"); path_func = &dijkstra_path; }
else { set_message("A*"); path_func = &astar_path; };
path_free(path, *height);
- if (should_pathfind) path = path_func(dirs, *map, *width, *height, *start, *goal, visited, 0);
+ if (should_pathfind) path = path_func(dirs, *map, NULL, *width, *height, *start, *goal, visited, 0);
break;
case 's':
@@ -542,7 +578,7 @@ void map_editor(Map *map, size_t *width, size_t *height, Position *start, Positi
if (row < *height && col < *width && (*map)[row][col] != WALL && (col != goal->x || row != goal->y)) {
start->x = col;
start->y = row;
- if (should_pathfind) path = path_func(dirs, *map, *width, *height, *start, *goal, visited, 0);
+ if (should_pathfind) path = path_func(dirs, *map, NULL, *width, *height, *start, *goal, visited, 0);
draw_map(*map, *width, *height, *start, *goal, NULL, path, visited, NULL);
}
}
@@ -553,7 +589,7 @@ void map_editor(Map *map, size_t *width, size_t *height, Position *start, Positi
if (row < *height && col < *width && (*map)[row][col] != WALL && (col != start->x || row != start->y)) {
goal->x = col;
goal->y = row;
- if (should_pathfind) path = path_func(dirs, *map, *width, *height, *start, *goal, visited, 0);
+ if (should_pathfind) path = path_func(dirs, *map, NULL, *width, *height, *start, *goal, visited, 0);
draw_map(*map, *width, *height, *start, *goal, NULL, path, visited, NULL);
}
}
@@ -596,7 +632,7 @@ void map_editor(Map *map, size_t *width, size_t *height, Position *start, Positi
if (should_pathfind) {
visited = visited_new(*width, *height);
- path = path_func(dirs, *map, *width, *height, *start, *goal, visited, 0);
+ path = path_func(dirs, *map, NULL, *width, *height, *start, *goal, visited, 0);
}
draw_map(*map, *width, *height, *start, *goal, NULL, path, visited, NULL);
} else if (col == *width) { /* Resize horizontally */
@@ -642,7 +678,7 @@ void map_editor(Map *map, size_t *width, size_t *height, Position *start, Positi
if (should_pathfind) {
visited = visited_new(*width, *height);
- path = path_func(dirs, *map, *width, *height, *start, *goal, visited, 0);
+ path = path_func(dirs, *map, NULL, *width, *height, *start, *goal, visited, 0);
}
draw_map(*map, *width, *height, *start, *goal, NULL, path, visited, NULL);
} else { /* Start drawing */
@@ -665,7 +701,7 @@ void map_editor(Map *map, size_t *width, size_t *height, Position *start, Positi
(*map)[row][col] = cur;
path_free(path, *height);
if (should_pathfind) {
- path = path_func(dirs, *map, *width, *height, *start, *goal, visited, 0);
+ path = path_func(dirs, *map, NULL, *width, *height, *start, *goal, visited, 0);
}
draw_map(*map, *width, *height, *start, *goal, NULL, path, visited, NULL);
}
diff --git a/map.h b/map.h
index a08fadb..978db21 100644
--- a/map.h
+++ b/map.h
@@ -19,12 +19,12 @@ Map empty_map(size_t width, size_t height);
/* Stores all the existing 4dir neighbours of pos in neighbour_array and returns their amount */
unsigned int neighbours_4dir(Position neighbour_array[4], size_t cost_array[4], Position pos, size_t width, size_t height, \
- char **visited);
+ char **visited, size_t **costs);
/* Stores all the existing 8dir neighbours of pos in neighbour_array and returns their amount.
* Additionaly stores costs into cost_array if it's not NULL.
* The cost of goint orthogonally is 10, diagonaly is 14 (sqrt(2) * 10) */
unsigned int neighbours_8dir(Position neighbour_array[8], size_t cost_array[8], Position pos, size_t width, size_t height, \
- char **visited);
+ char **visited, size_t **costs);
/* https://en.wikipedia.org/wiki/Maze_generation_algorithm#Randomized_depth-first_search
* WARNING: width and height are not the width and height of the returned map!
diff --git a/path.c b/path.c
index 7d2c0bb..85f7804 100644
--- a/path.c
+++ b/path.c
@@ -12,7 +12,7 @@
#include "error.h"
#include "config.h"
-Path (*path_func)(int, Map, size_t, size_t, Position, Position, char **, char) = &astar_path;
+Path (*path_func)(int, Map, size_t **, size_t, size_t, Position, Position, char **, char) = &astar_path;
char anim_automatic = 0;
@@ -62,11 +62,12 @@ int anim(Map map, size_t width, size_t height, Position start, Position end, Pos
return 0;
}
/* BLOODY FUCK IT WORKS */
-Path breadth_first_search_path(int dirs, Map map, size_t width, size_t height, Position start, Position end, char **visited, char should_anim) {
+Path breadth_first_search_path(int dirs, Map map, size_t **cell_costs, size_t width, size_t height, Position start, Position end, char **visited, char should_anim) {
+ (void)cell_costs; /* BFS doesn't support costs */
anim_automatic = 0;
/* The function to use to find neighbours */
- unsigned int (*neighbours)(Position[], size_t[], Position, size_t, size_t, char**) = NULL;
+ unsigned int (*neighbours)(Position[], size_t[], Position, size_t, size_t, char**, size_t**) = NULL;
switch (dirs) {
case 4: neighbours = &neighbours_4dir; break;
case 8: neighbours = &neighbours_8dir; break;
@@ -93,7 +94,7 @@ Path breadth_first_search_path(int dirs, Map map, size_t width, size_t height, P
}
Position na[dirs];
- unsigned int nc = neighbours(na, NULL, cur, width, height, visited);
+ unsigned int nc = neighbours(na, NULL, cur, width, height, visited, NULL);
for (unsigned int i = 0; i < nc; i++) {
/* The Russian constitution doesn't allow walking on walls */
@@ -121,11 +122,11 @@ Path breadth_first_search_path(int dirs, Map map, size_t width, size_t height, P
return NULL;
}
-Path dijkstra_path(int dirs, Map map, size_t width, size_t height, Position start, Position end, char **visited, char should_anim) {
+Path dijkstra_path(int dirs, Map map, size_t **cell_costs, size_t width, size_t height, Position start, Position end, char **visited, char should_anim) {
anim_automatic = 0;
/* The function to use to find neighbours */
- unsigned int (*neighbours)(Position[], size_t[], Position, size_t, size_t, char**) = NULL;
+ unsigned int (*neighbours)(Position[], size_t[], Position, size_t, size_t, char**, size_t**) = NULL;
switch (dirs) {
case 4: neighbours = &neighbours_4dir; break;
@@ -139,7 +140,7 @@ Path dijkstra_path(int dirs, Map map, size_t width, size_t height, Position star
PositionPQ *frontier = ppq_new(start, 0);
visited_clear(visited, width, height);
- size_t **cost_so_far = cost_so_far_new(width, height);
+ size_t **cost_so_far = cost_new(width, height);
cost_so_far[start.y][start.x] = 0;
while (frontier != NULL) {
@@ -148,13 +149,13 @@ Path dijkstra_path(int dirs, Map map, size_t width, size_t height, Position star
if (cur.x == end.x && cur.y == end.y) {
ppq_free(frontier);
- cost_so_far_free(cost_so_far, height);
+ cost_free(cost_so_far, height);
return path; /* Found path */
}
Position na[dirs];
size_t costs[dirs];
- unsigned int nc = neighbours(na, costs, cur, width, height, visited);
+ unsigned int nc = neighbours(na, costs, cur, width, height, visited, cell_costs);
for (unsigned int i = 0; i < nc; i++) {
/* The Russian constitution doesn't allow walking on walls */
@@ -173,7 +174,7 @@ Path dijkstra_path(int dirs, Map map, size_t width, size_t height, Position star
clear();
path_free(path, height);
ppq_free(frontier);
- cost_so_far_free(cost_so_far, height);
+ cost_free(cost_so_far, height);
return NULL;
}
}
@@ -181,15 +182,15 @@ Path dijkstra_path(int dirs, Map map, size_t width, size_t height, Position star
path_free(path, height);
ppq_free(frontier);
- cost_so_far_free(cost_so_far, height);
+ cost_free(cost_so_far, height);
return NULL;
}
-Path astar_path(int dirs, Map map, size_t width, size_t height, Position start, Position end, char **visited, char should_anim) {
+Path astar_path(int dirs, Map map, size_t **cell_costs, size_t width, size_t height, Position start, Position end, char **visited, char should_anim) {
anim_automatic = 0;
/* The function to use to find neighbours */
- unsigned int (*neighbours)(Position[], size_t[], Position, size_t, size_t, char**) = NULL;
+ unsigned int (*neighbours)(Position[], size_t[], Position, size_t, size_t, char**, size_t**) = NULL;
/* The heuristic function */
size_t (*heuristic)(Position, Position) = NULL;
@@ -206,7 +207,7 @@ Path astar_path(int dirs, Map map, size_t width, size_t height, Position start,
PositionPQ *frontier = ppq_new(start, 0);
visited_clear(visited, width, height);
- size_t **cost_so_far = cost_so_far_new(width, height);
+ size_t **cost_so_far = cost_new(width, height);
cost_so_far[start.y][start.x] = 0;
while (frontier != NULL) {
@@ -215,13 +216,13 @@ Path astar_path(int dirs, Map map, size_t width, size_t height, Position start,
if (cur.x == end.x && cur.y == end.y) {
ppq_free(frontier);
- cost_so_far_free(cost_so_far, height);
+ cost_free(cost_so_far, height);
return path; /* Found path */
}
Position na[dirs];
size_t costs[dirs];
- unsigned int nc = neighbours(na, costs, cur, width, height, visited);
+ unsigned int nc = neighbours(na, costs, cur, width, height, visited, cell_costs);
for (unsigned int i = 0; i < nc; i++) {
/* The Russian constitution doesn't allow walking on walls */
@@ -241,7 +242,7 @@ Path astar_path(int dirs, Map map, size_t width, size_t height, Position start,
clear();
path_free(path, height);
ppq_free(frontier);
- cost_so_far_free(cost_so_far, height);
+ cost_free(cost_so_far, height);
return NULL;
}
}
@@ -249,7 +250,7 @@ Path astar_path(int dirs, Map map, size_t width, size_t height, Position start,
path_free(path, height);
ppq_free(frontier);
- cost_so_far_free(cost_so_far, height);
+ cost_free(cost_so_far, height);
return NULL;
}
@@ -362,24 +363,24 @@ size_t visited_count(char **visited, size_t width, size_t height) {
return count;
}
-size_t **cost_so_far_new(size_t width, size_t height) {
- size_t **cost_so_far = malloc(sizeof(size_t*) * height);
- if (cost_so_far == NULL) return NULL;
+size_t **cost_new(size_t width, size_t height) {
+ size_t **cost = malloc(sizeof(size_t*) * height);
+ if (cost == NULL) return NULL;
for (size_t row = 0; row < height; row++) {
- cost_so_far[row] = malloc(sizeof(size_t) * width);
- if (cost_so_far[row] == NULL) return NULL;
- memset(cost_so_far[row], 0xFF, width*sizeof(size_t));
+ cost[row] = malloc(sizeof(size_t) * width);
+ if (cost[row] == NULL) return NULL;
+ memset(cost[row], 0xFF, width*sizeof(size_t));
}
- return cost_so_far;
+ return cost;
}
-void cost_so_far_free(size_t **cost_so_far, size_t height) {
- if (cost_so_far == NULL) return;
+void cost_free(size_t **cost, size_t height) {
+ if (cost == NULL) return;
for (size_t row = 0; row < height; row++) {
- free(cost_so_far[row]);
+ free(cost[row]);
}
- free(cost_so_far);
+ free(cost);
return;
}
diff --git a/path.h b/path.h
index 6b4dda6..3bf4af4 100644
--- a/path.h
+++ b/path.h
@@ -5,12 +5,12 @@
#include "map.h"
/* The currently chosen path func */
-extern Path (*path_func)(int, Map, size_t, size_t, Position, Position, char **, char);
+extern Path (*path_func)(int, Map, size_t **, size_t, size_t, Position, Position, char **, char);
/* dirs can be 4 or 8 to disallow or allow diagonal movement */
-Path breadth_first_search_path(int dirs, Map map, size_t width, size_t height, Position start, Position end, char **visited, char should_anim);
-Path dijkstra_path(int dirs, Map map, size_t width, size_t height, Position start, Position end, char **visited, char should_anim);
-Path astar_path(int dirs, Map map, size_t width, size_t height, Position start, Position end, char **visited, char should_anim);
+Path breadth_first_search_path(int dirs, Map map, size_t **cell_costs, size_t width, size_t height, Position start, Position end, char **visited, char should_anim);
+Path dijkstra_path(int dirs, Map map, size_t **cell_costs, size_t width, size_t height, Position start, Position end, char **visited, char should_anim);
+Path astar_path(int dirs, Map map, size_t **cell_costs, size_t width, size_t height, Position start, Position end, char **visited, char should_anim);
size_t manhattan_distance(Position a, Position b);
size_t diagonal_distance(Position a, Position b);
@@ -26,8 +26,8 @@ void visited_clear(char **visited, size_t width, size_t height);
void visited_free(char **visited, size_t height);
size_t visited_count(char **visited, size_t width, size_t height);
-/* Helper funcs for the cost_so_far array */
-size_t **cost_so_far_new(size_t width, size_t height);
-void cost_so_far_free(size_t **cost_so_far, size_t height);
+/* Helper funcs for the cost arrays */
+size_t **cost_new(size_t width, size_t height);
+void cost_free(size_t **cost, size_t height);
#endif /* ASTAR_H_ */
generated by cgit v1.2.3 (git 2.39.1) at 2026-05-01 02:43:04 +0000