void Pathfinder::search()
{
init();
BinaryHeap openHeap;
mStart->g = 0;
mStart->h = manhattan(mStart, mGoal);
mStart->opened = true;
openHeap.push(mStart);
while (openHeap.size() > 0)
{
// Pop the node with the smallest f value
Node* currentNode = openHeap.pop();
// Check if we hit the target
if (currentNode == mGoal)
{
// Compute the path and exit
generatePath(currentNode);
return;
}
currentNode->closed = true;
std::vector<Node*> neighbors = getNeighborsAdjacentTo(currentNode);
for (int i = 0; i < neighbors.size(); i++)
{
Node* neighbor = neighbors[i];
if (neighbor->closed || neighbor->worldRef->getMaterial()->isCollidable())
continue;
int gScore = currentNode->g + 1;
if(!neighbor->opened || gScore < neighbor->g)
{
neighbor->g = currentNode->g + 1;
neighbor->h = manhattan(currentNode, neighbor);
neighbor->parent = currentNode;
neighbor->opened = true;
openHeap.push(neighbor);
}
}
}
}
