adding support for 8 corners

4 files changed, 27 insertions, 4 deletions

diff --git a/bin/main b/bin/main
index a37b561..07561f3 100755
--- a/bin/main
+++ b/bin/main
diff --git a/include/astar.hpp b/include/astar.hpp
index 30e9d65..321431c 100644
--- a/include/astar.hpp
+++ b/include/astar.hpp
@@ -9,7 +9,7 @@
 
 // defines the number of nodes one can go to
 // we don't need this as we will have the queues
-#define NEIGHBOUR_NUM 4
+#define NEIGHBOUR_NUM 8
 
 // TODO add constructors and functions to calculate heuristics etc..
 class AStar {
@@ -29,6 +29,8 @@ private:
 	int graph_height;
 	int path_length;
 
+	int count;
+
 	Node start_node, end_node;
 
 	bool start_algorithm();
diff --git a/include/node.hpp b/include/node.hpp
index f126fc4..5e29d81 100644
--- a/include/node.hpp
+++ b/include/node.hpp
@@ -31,7 +31,7 @@ private:
 	// path length to get to that node.
 	int g_score;
 	// heuristic length to destination.
-	int h_score;
+	double h_score;
 
 	// the x and y coordinates of the node in the grid
 	int x, y;
diff --git a/src/astar.cpp b/src/astar.cpp
index 9739e72..edbfaa9 100644
--- a/src/astar.cpp
+++ b/src/astar.cpp
@@ -3,7 +3,7 @@
 #include <cmath>
 #include <iostream>
 
-AStar::AStar() : graph(NULL), graph_width(0), graph_height(0), path_length(1) {
+AStar::AStar() : graph(NULL), graph_width(0), graph_height(0), path_length(10), count(0) {
 }
 
 AStar::AStar(int *curr_graph, const unsigned int& width, const unsigned int& height) : graph(curr_graph), graph_width(width), graph_height(height), path_length(1) {
@@ -92,15 +92,35 @@ Node AStar::get_neighbour(Node& n_in, const int& neighbour_num) {
 	if(neighbour_num == 0 && n_in.y > 0) {
 		n.x = n_in.x;
 		n.y = n_in.y - 1;
+		path_length = 10;
 	} else if(neighbour_num == 1 && n_in.x < graph_width - 1) {
 		n.x = n_in.x + 1;
 		n.y = n_in.y;
+		path_length = 10;
 	} else if(neighbour_num == 2 && n_in.y < graph_height - 1) {
 		n.x = n_in.x;
 		n.y = n_in.y + 1;
+		path_length = 10;
 	} else if(neighbour_num == 3 && n_in.x > 0) {
 		n.x = n_in.x - 1;
 		n.y = n_in.y;
+		path_length = 10;
+	} else if(neighbour_num == 4 && n_in.y > 0 && n_in.x < graph_height - 1) {
+		n.x = n_in.x + 1;
+		n.y = n_in.y - 1;
+		path_length = 14;
+	} else if(neighbour_num == 5 && n_in.y < graph_height - 1 && n_in.x < graph_width - 1) {
+		n.x = n_in.x + 1;
+		n.y = n_in.y + 1;
+		path_length = 14;
+	} else if(neighbour_num == 6 && n_in.y < graph_height - 1 && n_in.x > 0) {
+		n.x = n_in.x - 1;
+		n.y = n_in.y + 1;
+		path_length = 14;
+	} else if(neighbour_num == 7 && n_in.y > 0 && n_in.x > 0) {
+		n.x = n_in.x - 1;
+		n.y = n_in.y - 1;
+		path_length = 14;
 	}
 
 	calc_heuristic(n);
@@ -109,7 +129,8 @@ Node AStar::get_neighbour(Node& n_in, const int& neighbour_num) {
 }
 
 void AStar::calc_heuristic(Node& n) {
-	n.h_score = path_length * (abs(n.x - end_node.x) + abs(n.y - end_node.y));
+	n.h_score = sqrt(pow(10 * (end_node.x - n.x), 2) + pow(10 * (end_node.y - n.y), 2)) * (1 + 0.01 * count);
+	++count;
 }
 
 void AStar::calc_f(Node& n) {