Raster= new char[BytesPerRow*Height];

for (int x = 0; x < 800; x++)
{
   for (int y = 0; y < 600; y++)
   {
      // x * 3 as we have RGB color format so it's 3 byte each
      int index = 3*x + y * BytesPerRow;


      // read from raster image data
      BYTE b = Raster[index];
      BYTE g = Raster[index+1];
      BYTE r = Raster[index+2];
   }
}

ImageMap = new char[BytesPerRow*Height/3];

for (int x = 0; x < 800; x++)
{
   for (int y = 0; y < 600; y++)
   {
      // x * 3 as we have RGB color format so it's 3 byte each
      int index = 3*x + y * BytesPerRow;


      // read from raster image data
      BYTE b = Raster[index];
      BYTE g = Raster[index+1];
      BYTE r = Raster[index+2];
 
      BYTE avg = (r+g+b)/3;
      if( avg < 0 )
         assert( false );  // if avg happened to be less than 0 then stop	

      //if( x == 25 && y == 372 )
         //assert( false );


      // do some clampping
      if(avg > 254)
         avg = 245;    // assum our max cost = 254
      if(avg < 50)
         avg = 0;      // assume less than 50 cost to be blocked


      // recalculate the index
      index = x + y * BytesPerRow / 3;
      if(index != 0)
         ImageMap[index] = avg;
      else
         ImageMap[0] = avg;
   }
}

void CPathfinder::SetupWorld( int xgridSize, int ygridsize, char** gridMapData, int bytesPerRow )
{
   // setup the world for use
   m_grid = new MapGrid( xgridSize, ygridsize );

   //m_walkers.push_back(new BestFirstSearchMapGridWalker(m_grid));
   //m_walkers.push_back(new BreadthFirstSearchMapGridWalker(m_grid));
   //m_walkers.push_back(new DijkstrasMapGridWalker(m_grid));
   m_walkers.push_back(new AStarMapGridWalker(m_grid));

   setCurrentWalker(0);

   //setHeuristicMethod(BestFirstSearchMapGridWalker::EUCLIDEANDIST);
   setHeuristicMethod(AStarMapGridWalker::EUCLIDEANDIST);
   setHeuristicWeight(1.0f);

   // fill the m_grid with the costs from the passed grid map image data
   for(int xx=0 ; xx   {
      for(int yy=0 ; yy      {
         int i = xx + yy * bytesPerRow / 3;
         int cost = (*gridMapData)[i];
         if( cost < 0 )
            assert( false ); // if cost was -1 then stop			
         m_grid->setCost( xx, yy, cost );		
      }
   }


   m_currentWalker->BuildGridNode( m_grid );
}

bmp.LoadBMP ("map.bmp");

// create the path finding world here and initialize it
pathFinder.SetupWorld( 800, 600, &(bmp.ImageMap), bmp.BytesPerRow );

ImageMap = new char[BytesPerRow*Height/3];

ImageMap = new BYTE[Width*Height];

BYTE Value = ImageMap[x+y*Width];

//int cost = (*gridMapData)[i]; // لا حاجة لهذا
int cost = gridMapData[i]; // هكذا أفضل

for (int x = 0; x < 800; x++)
{
   for (int y = 0; y < 600; y++)
   {
      BYTE pix = map[x+y*width];
      ...
   }
}

for (int y = 0; y < 600; y++)
{
   for (int x = 0; x < 800; x++)
   {
      BYTE pix = map[x+y*width];
      ...

   }
}

*(pixel++)

(1,0),(2,0),(3,0) ...

int index ;
pixel [index]

x= 0
index (0),(3),(6),(9)
x=1
index (1),(4),(7),(10)
....

01 :          | 02 :
200240        | 200240
200243        | 200241
200246        | 200242
...           | ...
200241        | 200247
200244        | 200248
200247        | 200249