1 files changed, 17 insertions, 11 deletions

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;
+}