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We extend the recently proposed QoS routing scheme called precomputation based selective probing (PCSP) for the ad-hoc network environment. This PCSP scheme performs advanced selective probing approaches based on precomputed information to find the cost-optimal path taking into account the impreciseness of state information. The precomputed information enables the set of neighbor nodes involved in the probing process to be strictly limited, thereby reducing the message complexity without sacrificing cost optimality. In the ad-hoc network environment, we apply local multicast to reduce message complexity further and adopt a dynamic path maintenance algorithm to support the dynamic nature of ad-hoc networks. Computer simulation reveals that the PCSP scheme indeed exhibits low message complexity and high success rate with guaranteed optimal search in the ad-hoc network environment.