#include "Pather.h" #include node::node(sf::Vector2i XY, int h, int cF, int cL, node* p, Pather* pather_) { xy = XY; hueristic = h; cameFrom = cF; closedList = cL; parent = p; pather = pather_; } node::node() { } node::~node() { } void node::neighbors() { int x = pather->getEndNodePosition().x; int y = pather->getEndNodePosition().y; sf::Vector2i dest0XY(xy.x, xy.y - 1); // North if (!pather->map->isTileSolid(dest0XY) && pather->visitedMap[dest0XY.x][dest0XY.y] != 1) { // If so, find the distance between this node and the end node, the hueristic int tempx = (x - dest0XY.x); int tempy = (y - dest0XY.y); // I think dv is the hueristic?? double dv = sqrt((tempx * tempx) + (tempy * tempy)); int v = static_cast(dv); // Take that value and create a new node pather->openList.emplace(new node(dest0XY, v, 0, 1, pather->active_node, pather), v); // Set that tile as visited so we don't get stuck in a loop pather->visitedMap[dest0XY.x][dest0XY.y] = 1; } sf::Vector2i dest1XY(xy.x + 1, xy.y); // East if (!pather->map->isTileSolid(dest1XY) && pather->visitedMap[dest1XY.x][dest1XY.y] != 1) { // If so, find the distance between this node and the end node, the hueristic int tempx = (x - dest1XY.x); int tempy = (y - dest1XY.y); // I think dv is the hueristic?? double dv = sqrt((tempx * tempx) + (tempy * tempy)); int v = static_cast(dv); // Take that value and create a new node pather->openList.emplace(new node(dest1XY, v, 0, 1, pather->active_node, pather), v); // Set that tile as visited so we don't get stuck in a loop pather->visitedMap[dest1XY.x][dest1XY.y] = 1; } sf::Vector2i dest2XY(xy.x, xy.y + 1); // South if (!pather->map->isTileSolid(dest2XY) && pather->visitedMap[dest2XY.x][dest2XY.y] != 1) { // If so, find the distance between this node and the end node, the hueristic int tempx = (x - dest2XY.x); int tempy = (y - dest2XY.y); // I think dv is the hueristic?? double dv = sqrt((tempx * tempx) + (tempy * tempy)); int v = static_cast(dv); // Take that value and create a new node pather->openList.emplace(new node(dest2XY, v, 0, 1, pather->active_node, pather), v); // Set that tile as visited so we don't get stuck in a loop pather->visitedMap[dest2XY.x][dest2XY.y] = 1; } sf::Vector2i dest3XY(xy.x - 1, xy.y); // West if (!pather->map->isTileSolid(dest3XY) && pather->visitedMap[dest3XY.x][dest3XY.y] != 1) { // If so, find the distance between this node and the end node, the hueristic int tempx = (x - dest3XY.x); int tempy = (y - dest3XY.y); // I think dv is the hueristic?? double dv = sqrt((tempx * tempx) + (tempy * tempy)); int v = static_cast(dv); // Take that value and create a new node pather->openList.emplace(new node(dest3XY, v, 0, 1, pather->active_node, pather), v); // Set that tile as visited so we don't get stuck in a loop pather->visitedMap[dest3XY.x][dest3XY.y] = 1; } } Pather::Pather(Map* map_) { map = map_; } Pather::~Pather() { } sf::Vector2i Pather::getEndNodePosition() { return end_node->xy; } std::vector Pather::pathTo(sf::Vector2i start, sf::Vector2i end) { // Clear the visited map for erroneous data for (int i = 0; i < Map::CELLS_WIDTH; i++) { for (int l = 0; l < Map::CELLS_HEIGHT; l++) { visitedMap[i][l] = 0; } } // Place the start and end nodes start_node = new node(start, 0, 0, 0, nullptr, this); end_node = new node(end, 0, 0, 0, nullptr, this); // Set the entry point, clean up any stray data from last run active_node = start_node; openList.clear(); closedList.clear(); // Seed for the loop openList.emplace(start_node, 0); early_exit = false; //path_list = Loop(); return path_list; } std::vector Pather::loop() { while (!openList.empty() && !early_exit) { // Early exit jankyness, need to change this if (closedList.size() > 3000) { no_path = true; early_exit = true; break; } else if (active_node->xy.x == end_node->xy.x && end_node->xy.y == end_node->xy.y) { early_exit = true; break; } else { // Find the pair with the lowest hueristic // 5/10 std::pair bestMin; for (auto testMin: openList) { if (bestMin.second < testMin.second) bestMin = testMin; } // Find the neighbors for that node active_node->neighbors(); // Remove the active node from the openlist as you have visited it and called its neighbors openList.erase(active_node); // Check to see if the node has already been added to the closed list, if not, add it if (closedList.count(active_node) > 0) { closedList.emplace(active_node, active_node->hueristic); } // Set the new active node to the lowest hueristic that we found earlier active_node = bestMin.first; } } std::vector return_path = returnPath(); if (no_path || return_path.empty()) { return std::vector(0, 0); std::cout << " no return path " << std::endl; } return return_path; } std::vector Pather::returnPath() { std::vector path; while (active_node != nullptr) { path.push_back(active_node->cameFrom); delete active_node; active_node = active_node->parent; } return path; }