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pathfinding working

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This commit is contained in:
Bluub
2021-06-18 17:54:46 +02:00
parent f52f8378ae
commit 9850e7ae0c
3 changed files with 37 additions and 19 deletions
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sources/Map/LuaMap.cpp
+19 -12
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@@ -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;