merging fix_1

5 files changed, 55 insertions, 37 deletions

diff --git a/include/astar.hpp b/include/astar.hpp
index 9071775..30e9d65 100644
--- a/include/astar.hpp
+++ b/include/astar.hpp
@@ -41,6 +41,8 @@ private:
 	bool check_item_vec(const Node& n);
 	int get_index_vec(const Node& n);
 	void remove_from_vec(const Node& n);
+
+	Node find_node(const unsigned int& x, const unsigned int& y);
 };
 
 #endif // ASTAR_HPP
diff --git a/include/node.hpp b/include/node.hpp
index 4b19560..f126fc4 100644
--- a/include/node.hpp
+++ b/include/node.hpp
@@ -19,26 +19,26 @@ public:
 	friend bool operator!=(const Node& n1, const Node& n2);
 	friend std::ostream& operator<<(std::ostream& out, const Node& n);
 private:
-// pointer to previous node so that I can backtrack without using recursion.
-	Node *previous_node;
-// pointers to the next nodes of which there are 4 in a grid.
-// We do not need this as we are implementing a priority queue;
-//Node *next_nodes[NEIGHBOUR_NUM];
-
-// score that is used to compare to other nodes to see if the other path is
-// more efficient.
+	// pointer to previous node so that I can backtrack without using recursion.
+	int x_prev, y_prev;
+	// pointers to the next nodes of which there are 4 in a grid.
+	// We do not need this as we are implementing a priority queue;
+	//Node *next_nodes[NEIGHBOUR_NUM];
+
+	// score that is used to compare to other nodes to see if the other path is
+	// more efficient.
 	int f_score;
-// path length to get to that node.
+	// path length to get to that node.
 	int g_score;
-// heuristic length to destination.
+	// heuristic length to destination.
 	int h_score;
 
-// the x and y coordinates of the node in the grid
+	// the x and y coordinates of the node in the grid
 	int x, y;
 
-// see if node has been visited.
-// We don't need this as we will have an open and a closed set
-//bool visited;
+	// see if node has been visited.
+	// We don't need this as we will have an open and a closed set
+	//bool visited;
 };
 
 #endif // NODE_HPP
diff --git a/src/astar.cpp b/src/astar.cpp
index 5374bea..9739e72 100644
--- a/src/astar.cpp
+++ b/src/astar.cpp
@@ -23,8 +23,6 @@ AStar::AStar(int *curr_graph, const unsigned int& width, const unsigned int& hei
 }
 
 bool AStar::start_algorithm(int *curr_graph, const unsigned int& width, const unsigned int& height) {
-	Node n;
-
 	graph_width = width;
 	graph_height = height;
 	graph = curr_graph;
@@ -37,8 +35,9 @@ bool AStar::start_algorithm(int *curr_graph, const unsigned int& width, const un
 			start_node.x = i % graph_width;
 			start_node.y = i / graph_width;
 			start_node.g_score = 0;
-			start_node.previous_node = NULL;
 			calc_heuristic(start_node);
+			start_node.x_prev = -1;
+			start_node.y_prev = -1;
 			calc_f(start_node);
 		} else if(graph[i] == 2) {
 			end_node.x = i % graph_width;
@@ -69,22 +68,21 @@ bool AStar::start_algorithm() {
 				if(!open_set.check_item(n) && !check_item_vec(n)) {
 					n.g_score = cost;
 					calc_f(n);
-					n.previous_node = &current;
+					n.x_prev = current.x;
+					n.y_prev = current.y;
 					open_set.push(n);
 				}
 			}
 		}
 	}
-	/*std::cout << open_set.get_first().x << ", " << open_set.get_first().y << std::endl;
-	 * std::cout << open_set.get_first().previous_node->x << ", " << open_set.get_first().previous_node->y << std::endl;
-	 * std::cout << open_set.get_first().previous_node->previous_node->x << ", " << open_set.get_first().previous_node->previous_node->y << std::endl;*/
+	recreate_path(open_set.get_first());
 	return true;
 }
 
 void AStar::recreate_path(Node n) {
-	while(n.previous_node != NULL) {
-		graph[n.x + n.y * graph_width] = 9;
-		n = *n.previous_node;
+	while(n.x != -1 && n.y != -1) {
+		graph[n.x + n.y * graph_width] = 8;
+		n = find_node(n.x_prev, n.y_prev);
 	}
 }
 
@@ -105,7 +103,6 @@ Node AStar::get_neighbour(Node& n_in, const int& neighbour_num) {
 		n.y = n_in.y;
 	}
 
-	n.previous_node = &n_in;
 	calc_heuristic(n);
 
 	return n;
@@ -140,3 +137,12 @@ void AStar::remove_from_vec(const Node& n) {
 			tmp_set.push_back(closed_set[i]);
 	closed_set = tmp_set;
 }
+
+Node AStar::find_node(const unsigned int& x, const unsigned int& y) {
+	Node n;
+
+	for(unsigned int i = 0; i < closed_set.size(); ++i)
+		if(closed_set[i].x == x && closed_set[i].y == y)
+			n = closed_set[i];
+	return n;
+}
diff --git a/src/main.cpp b/src/main.cpp
index 9031e14..feb3bc0 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -29,13 +29,19 @@ int main(int argc, char *argv[]) {
 
 	// set the constants int the file that define the grid to be displayed.
 	// for the mac
-	const int tile_size = 21;
-	const int rows = 41;
-	const int cols = 34;
+	// const int tile_size = 21;
+	// const int rows = 41;
+	// const int cols = 34;
 
-	// const int tile_size = 25;
-	// const int rows = 50;
-	// const int cols = 100;
+	const int tile_size = 25;
+	const int rows = 50;
+	const int cols = 100;
+
+	const int start_x = 9;
+	const int start_y = 13;
+
+	const int end_x = 76;
+	const int end_y = 38;
 
 	// print out that information.
 	cout << "tile size: " << tile_size << "px, rows: " << rows << ", cols: " << cols << endl;
@@ -43,13 +49,9 @@ int main(int argc, char *argv[]) {
 	// create the array of the right size using the constants.
 	int tiles[cols * rows];
 
-	// assign zeros to the tiles.
 	for(int i = 0; i < cols * rows; ++i)
 		tiles[i] = 0;
 
-	tiles[74] = 3;
-	tiles[41 * 34 - 85] = 2;
-
 	// create a tile map that will be used to display the array.
 	TileMap map;
 
@@ -79,9 +81,17 @@ int main(int argc, char *argv[]) {
 			tiles[(int)(mouse.x / tile_size) + cols * (int)(mouse.y / tile_size)] = 0;
 		}
 
+		for(int i = 0; i < cols * rows; ++i)
+			if(tiles[i] != 1)
+				tiles[i] = 0;
+
+		tiles[start_y * cols + start_x] = 3;
+		tiles[end_y * cols + end_x] = 2;
+
+		path_finder.start_algorithm(tiles, cols, rows);
+
 		// update tile map with the correct array.
 		map.load("res/GridTileTexture5.png", sf::Vector2f(200, 200), sf::Vector2f(tile_size, tile_size), tiles, cols, rows);
-		path_finder.start_algorithm(tiles, cols, rows);
 
 		// clear the screen.
 		window.clear(sf::Color(47, 47, 47));
diff --git a/src/node.cpp b/src/node.cpp
index 9f05939..cce4b12 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -1,6 +1,6 @@
 #include "node.hpp"
 
-Node::Node() : previous_node(NULL), f_score(-1), g_score(0), h_score(-1), x(-1), y(-1) {
+Node::Node() : x_prev(-1), y_prev(-1), f_score(-1), g_score(0), h_score(-1), x(-1), y(-1) {
 }
 
 bool operator<(const Node& n1, const Node& n2) {