pathfinding working

assets/ai_scripts/john.lua

@@ -296,7 +296,7 @@ end
 function Update(mapinfo)
 	log("NEW FRAME")
 	x = getDanger()
-	PrintMap(x, 17, 17)
+	getPath(0, 0, 16, 16);
 	---- sjould send Map Danger and MaxX MaxY
 	--MaxX = 0
 	--MaxY = 0

sources/Map/LuaMap.cpp

@@ -40,7 +40,7 @@ namespace BBM
 	}
 
 	std::vector<Vector2f> LuaMap::fillPath(std::vector<Vector2f> &path, 
-	std::unordered_map<Vector2f, Vector2f> &cameFrom, Vector2f node)
+	std::unordered_map<Vector2f, Vector2f> &cameFrom, Vector2f node) const
 	{
 		if (cameFrom.find(node) != cameFrom.end()) {
 			path.insert(path.begin(), cameFrom[node]);
@@ -49,23 +49,23 @@ namespace BBM
 			return path;
 	}
 
-	std::vector<Vector2f> LuaMap::getNeighbors(Vector2f node)
+	std::vector<Vector2f> LuaMap::getNeighbors(Vector2f node) const
 	{
 		std::vector<Vector2f> neighbors;
 		for (auto &dir : _dirs) {
 			Vector2f neighbor(node.x + dir.x, node.y + dir.y);
 			if (neighbor.y < 0 || neighbor.x < 0)
 				continue;
-			if (neighbor.y > 17 || neighbor.x > 17)
+			if (neighbor.y >= 17 || neighbor.x >= 17)
 				continue;
-			if (_map[neighbor.y][neighbor.x] == 0 &&
+			if (_map[neighbor.y][neighbor.x] <= 1 &&
 				_danger[neighbor.y][neighbor.x] != 1)
 				neighbors.push_back(neighbor);
 		}
 		return neighbors;
 	}
 
-	std::vector<Vector2f> LuaMap::pathfind(Vector2f root, Vector2f target)
+	std::vector<Vector2f> LuaMap::pathfind(Vector2f root, Vector2f target) const
 	{
 		std::vector<Vector2f> closed;
 		std::vector<Vector2f> open;
@@ -80,26 +80,34 @@ namespace BBM
 
 		while (open.size())
 		{
-			auto min_elem = std::min_element(fScore.begin(), fScore.end(),
-			[](const decltype(fScore)::value_type &l, const decltype(fScore)::value_type &r) -> bool
+			auto min_elem = std::min_element(open.begin(), open.end(),
+			[&fScore](const decltype(open)::value_type &l, const decltype(open)::value_type &r) -> bool
 			{
-				return l.second < r.second;
+				if (fScore.find(l) == fScore.end())
+					return true;
+				if (fScore.find(r) == fScore.end())
+					return false;
+				return fScore[l] < fScore[r];
 			});
-			if (min_elem == fScore.end())
+			if (min_elem == open.end())
 				break;
-			Vector2f current(min_elem->first);
+			Vector2f current(*min_elem);
 			if (current == target) {
 				this->fillPath(path, cameFrom, target);
+				path.push_back(target);
 				return path;
 			}
 			open.erase(std::remove(open.begin(), open.end(), current), open.end());
 			closed.push_back(current);
 			auto neighbors = getNeighbors(current);
 			for (auto &neighbor : neighbors) {
+				std::cout << neighbor << std::endl;
 				if (std::find(closed.begin(), closed.end(), neighbor) != closed.end())
 					continue;
 				int tryGSCore = gScore[current] + 1;
-				int GScoreNeighbor = 0;
+				int GScoreNeighbor = 10000;
+				if (gScore.find(neighbor) != gScore.end())
+					GScoreNeighbor = gScore[neighbor];
 				if (tryGSCore < GScoreNeighbor &&
 					std::find(open.begin(), open.end(), neighbor) == open.end()) {
 					cameFrom[neighbor] = current;
@@ -107,7 +115,6 @@ namespace BBM
 					fScore[neighbor] = gScore[neighbor] + neighbor.distance(target);
 					open.push_back(neighbor);
 				}
-				
 			}
 		}
 		return path;

sources/Map/LuaMap.hpp

@@ -25,7 +25,7 @@ namespace BBM
 			bool setDanger(int xpos, int ypos, int dangerLevel);
 
 			//! @brief A star pathfinding between two points
-			std::vector<Vector2f> pathfind(Vector2f, Vector2f);
+			std::vector<Vector2f> pathfind(Vector2f, Vector2f) const;
 
 			//! @brief push table of table of the map
 			static int getMap(lua_State *L)
@@ -73,10 +73,21 @@ namespace BBM
 			static int getPath(lua_State *L)
 			{
 				LuaG::State state(L);
+				auto y2 = lua_tonumber(L, -1);
+				auto x2 = lua_tonumber(L, -2);
+				auto y1 = lua_tonumber(L, -3);
+				auto x1 = lua_tonumber(L, -4);
             	const LuaMap *map = (const LuaMap *) lua_topointer(L, lua_upvalueindex(1));
-				lua_settop(L, 1);
-  				luaL_checktype(L, 1, LUA_TTABLE);
-				//auto path = map->pathfind();
+				Vector2f fst(x1, y1);
+				Vector2f snd(x2, y2);
+				auto path = map->pathfind(fst, snd);
+				int index = 0;
+				std::cout << "start of path " << std::endl;
+				for (auto &r : path) {
+					std::cout << "index is " << index++ << " : " << r << std::endl << std::flush;
+				}
+
+				std::cout << "end of path " << std::endl;
 				//push newtable {{x = X, y = Y}, ...}
 				return 1;
 			}
@@ -85,10 +96,10 @@ namespace BBM
 		private:
 			//! @brief unwind path for a_star
 			std::vector<Vector2f> fillPath(std::vector<Vector2f> &path, 
-			std::unordered_map<Vector2f, Vector2f> &cameFrom, Vector2f node);
+			std::unordered_map<Vector2f, Vector2f> &cameFrom, Vector2f node) const;
 
 			//! @brief get neighbors of node for a_star
-			std::vector<Vector2f> getNeighbors(Vector2f node);
+			std::vector<Vector2f> getNeighbors(Vector2f node) const;
 
 			std::vector<Vector2f> _dirs = {
 				Vector2f(1, 0), Vector2f(-1, 0), Vector2f(0, 1), Vector2f(0, -1)