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111 lines
3.1 KiB
111 lines
3.1 KiB
#include "Pather.h"
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node::node(sf::Vector2i XY, double h, int cF, node* p, Pather* pather_) {
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position = XY;
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hueristic = h;
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came_from = cF;
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parent = p;
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pather = pather_;
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}
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node::node() {
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}
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node::~node() {
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}
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void node::getNewNeighbors() {
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// Get the end node position for calculating distance from end(hueristic)
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int x = pather->getEndNodePosition().x;
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int y = pather->getEndNodePosition().y;
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sf::Vector2i dest0XY(position.x, position.y - 1); // North
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if (!pather->map->isTileSolid(dest0XY) && pather->visited_map(dest0XY.x, dest0XY.y) != 1) {
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// If so, find the distance between this node and the end node, the hueristic
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int tempx = (x - dest0XY.x);
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int tempy = (y - dest0XY.y);
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// I think dv is the hueristic??
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double dv = sqrt((tempx * tempx) + (tempy * tempy));
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double v = dv;
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// Take that value and create a new node
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pather->open_list.emplace(new node(dest0XY, v, 0, pather->getActiveNode(), pather), v);
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// Set that tile as visited so we don't get stuck in a loop
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pather->visited_map(dest0XY.x, dest0XY.y) = 1;
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}
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sf::Vector2i dest1XY(position.x + 1, position.y); // East
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if (!pather->map->isTileSolid(dest1XY) && pather->visited_map(dest1XY.x, dest1XY.y) != 1) {
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// If so, find the distance between this node and the end node, the hueristic
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int tempx = (x - dest1XY.x);
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int tempy = (y - dest1XY.y);
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// I think dv is the hueristic??
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double dv = sqrt((tempx * tempx) + (tempy * tempy));
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double v = dv;
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// Take that value and create a new node
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pather->open_list.emplace(new node(dest1XY, v, 1, pather->getActiveNode(), pather), v);
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// Set that tile as visited so we don't get stuck in a loop
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pather->visited_map(dest1XY.x, dest1XY.y) = 1;
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}
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sf::Vector2i dest2XY(position.x, position.y + 1); // South
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if (!pather->map->isTileSolid(dest2XY) && pather->visited_map(dest2XY.x, dest2XY.y) != 1) {
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// If so, find the distance between this node and the end node, the hueristic
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int tempx = (x - dest2XY.x);
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int tempy = (y - dest2XY.y);
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// I think dv is the hueristic??
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double dv = sqrt((tempx * tempx) + (tempy * tempy));
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double v = dv;
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// Take that value and create a new node
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pather->open_list.emplace(new node(dest2XY, v, 2, pather->getActiveNode(), pather), v);
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// Set that tile as visited so we don't get stuck in a loop
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pather->visited_map(dest2XY.x, dest2XY.y) = 1;
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}
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sf::Vector2i dest3XY(position.x - 1, position.y); // West
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if (!pather->map->isTileSolid(dest3XY) && pather->visited_map(dest3XY.x, dest3XY.y) != 1) {
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// If so, find the distance between this node and the end node, the hueristic
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int tempx = (x - dest3XY.x);
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int tempy = (y - dest3XY.y);
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// I think dv is the hueristic??
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double dv = sqrt((tempx * tempx) + (tempy * tempy));
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double v = dv;
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// Take that value and create a new node
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pather->open_list.emplace(new node(dest3XY, v, 3, pather->getActiveNode(), pather), v);
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// Set that tile as visited so we don't get stuck in a loop
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pather->visited_map(dest3XY.x, dest3XY.y) = 1;
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}
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}
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sf::Vector2i node::getPosition() {
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return position;
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}
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node* node::getParent() {
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return parent;
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}
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double node::getHueristic() {
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return hueristic;
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}
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int node::getCameFrom() {
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return came_from;
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}
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