c – Boost Graph Library astar和导航网格

但是我在使用Boost Graph Library实现这个问题时遇到了很多问题(如果你有一个我认为更合适的库).首先,我创建一个具有适当结构的adjacency_list：

struct WayPoint{
    sf::Vector2f pos;
};

struct WayPointConnection{
    float dist;
};

typedef boost::adjacency_list<
    boost::listS,boost::vecS,boost::undirectedS,WayPoint,WayPointConnection
    > WayPointGraph;

typedef WayPointGraph::vertex_descriptor WayPointID;
typedef WayPointGraph::edge_descriptor   WayPointConnectionID;

然后我创建我的图形,并添加我的障碍的顶点(目前是简单的矩形)：

while (i != rectangle.getPointCount()) {
    sf::Vector2f pt1 (sf::Vector2f(rectangle.getPoint(i).x + mouseEvent.x,rectangle.getPoint(i).y + mouseEvent.y));
    WayPointID wpID = boost::add_vertex(graph); 
    graph[wpID].pos = pt1; 
    i++;
}

现在它变得复杂了,我必须浏览我的所有顶点并创建弧到这些顶点的邻居,知道弧不应该进入障碍…我不知道我怎么做代码这与Boost,我开始编码：

boost::graph_traits<WayPointGraph>::vertex_iterator vi,vi_end,next;
boost::tie(vi,vi_end) = vertices(graph);
for (next = vi; vi != vi_end; vi = next) {
    //I need to create the good arcs ...
    ++next;
}

先感谢您.