bool CCPathFinderNetwork::findPath(CCCollideable *objectToPath, Path &pathResult, const PathNode *fromNode, const PathNode *toNode)
{
if( fromNode != NULL && toNode != NULL )
{
NodesList<const PathNode, 50> previousNodes;
previousNodes.add( fromNode );
pathTargetNode = toNode;
path.distance = 0.0f;
pathingFrom = fromNode;
if( followPath( objectToPath, path, 0, 0.0f, previousNodes, fromNode, toNode ) )
{
pathResult = path;
return true;
}
}
return false;
}
bool CCPathFinderNetwork::followPath(CCCollideable *objectToPath,
Path &path, const int currentDirection,
const float currentDistance,
NodesList<const PathNode, 50> &previousNodes,
const PathNode *fromNode, const PathNode *toNode)
{
// Node found
if( fromNode == toNode )
{
path.endDirection = currentDirection;
path.distance = currentDistance;
return true;
}
const int nextDirection = currentDirection+1;
if( nextDirection >= 50 )
{
// Give up
return false;
}
pathFromNode = fromNode;
const CCList<PathNode::PathConnection> &connections = fromNode->connections;
int *values = new int[connections.length];
for( int i=0; i<connections.length; ++i )
{
values[i] = i;
}
qsort( values, connections.length, sizeof( int ), compare );
for( int i=0; i<connections.length; ++i )
{
const PathNode::PathConnection *nextConnection = connections.list[values[i]];
const PathNode *targetNode = nextConnection->node;
// Previously followed?
if( previousNodes.find( targetNode ) != -1 )
{
continue;
}
CCCollideable *collidedWith = CCOctreeMovementCollisionCheck( objectToPath, fromNode->point, targetNode->point );
if( collidedWith != NULL )
{
continue;
}
const float pathDistance = currentDistance + nextConnection->distance;
if( previousNodes.add( targetNode ) == false )
{
delete[] values;
return false;
}
if( followPath( objectToPath, path, nextDirection, pathDistance, previousNodes, targetNode, toNode ) )
{
path.directions[currentDirection] = values[i];
delete[] values;
return true;
}
}
delete[] values;
return false;
}