Path Map::pathFind(const Point2D& source, const Point2D& destination) const{
//Return empty Path-container, if path not found.
if (!(inRange(destination) && inRange(source)))
throw out_of_range("Source or destination is out of map.");
if (!(isPassable(destination) && isPassable(source)))
return Path();
Wavefront wavefront = { destination };
auto field = fieldConstruct();
int waveDistance = 0;
const auto wavefrontEnd = wavefront.end();
auto currentPoint = wavefront.begin();
while (!wavefront.empty())
{
while (currentPoint != wavefrontEnd)
{
if (stepIsNotFolly(field, waveDistance, *currentPoint)){
field[*currentPoint] = waveDistance;
if (source == *currentPoint)
return fillPath(field, source, destination);
const auto nextPoints = this->nextPoints(*currentPoint);
insert(wavefront, currentPoint, nextPoints);
}
wavefront.erase(currentPoint++);
}
currentPoint = wavefront.begin();
++waveDistance;
}
return Path();
}
Path pathFind(const Point2D& source, const Point2D& destination) const{
//Return empty Path-container, if path not found or call with invalid argument.
if (!(isPassable(destination) && isPassable(source)))
return Path();
Wavefront wavefront = { destination };
auto field = fieldConstruct();
int waveDistance = 0;
const auto wavefrontEnd = wavefront.end();
auto currentPoint = wavefront.begin();
while (!wavefront.empty())
{
while (currentPoint != wavefrontEnd)
{
field[*currentPoint] = waveDistance;
if (source == *currentPoint)
return fillPath(field, source, destination);
insert(wavefront, currentPoint, nextPoints(field, waveDistance, *currentPoint));
wavefront.erase(currentPoint++);
}
currentPoint = wavefront.begin();
++waveDistance;
}
return Path();
}