//-----------------------------------------------------------------------------------
bool Path::FindPathStep()
{
if (m_openList.empty() && m_hasBegun)
{
return false;
}
PathNode* activeNode = FindLowestFNodeOnOpenListAndRemoveIt();
m_closedList.push_back(activeNode);
if (activeNode->position == m_currentGoal)
{
RecursivelyBuildPathToStartFromNode(activeNode);
m_hasBegun = false;
m_openList.clear();
m_closedList.clear();
m_currentGoal = -Vector2Int::ONE;
return true;
}
std::vector<PathNode*> validPositions;
FindValidAdjacentPositions(validPositions, activeNode, m_currentGoal);
for (PathNode* positionNode : validPositions)
{
MapPosition position = positionNode->position;
if (IsPositionOnClosedList(positionNode->position))
continue;
float localG = positionNode->g; //The computed local G.
float parentG = activeNode->g; //The parent's actual G, which includes the entire cost to get here.
float h = positionNode->h; //The computed H for the proposed posiion
PathNode* existingNode = FindOpenNodeWithPosInOpenList(position);
if (existingNode)
{
if (localG + parentG < existingNode->g)
{
existingNode->UpdateVariables(activeNode, localG + parentG, h);
}
continue;
}
PathNode* newNode = new PathNode(position, activeNode, localG + parentG, h);
m_openList.push_back(newNode);
}
return false;
}
//---------------------------------------------------------------------------------------------------------------------------
bool PathFinder::RunOneStep(int movementProperties) {
if(m_openList.empty())
return false;
PathNode* activeNode = FindLowestFNodeOnOpenListAndRemoveIt();
AddToClosedList(activeNode);
if (activeNode->m_position == m_goal) {
WalkClosedListAndConstructPath();
m_isFinished = true;
return true;
}
std::vector<IntVector2> validPositions = MapProxy::FindValidAdjacentPositions(activeNode->m_position, movementProperties);
for (IntVector2& position : validPositions) {
if (IsPositionOnClosedList(position))
continue;
float gLocal = MapProxy::ComputeLogalG(activeNode->m_position, position, movementProperties);
float gParent = activeNode->gLocal + activeNode->gParent;
float h = MapProxy::ComputeHueristic(position, m_goal);
PathNode* existingNode = FindOpenNodeWithPos(position);
if (existingNode) {
if ((gLocal + gParent) < (existingNode->gLocal + existingNode->gParent)) {
UpdateNodeValues(existingNode, gLocal, gParent, activeNode);
}
continue;
}
PathNode* newNode = CreateNode(position, activeNode, gLocal, gParent, h);
AddNodeToOpenList(newNode);
}
return false;
}