void PathFinder::update(double aDelta) { //Make sure we are in the seaching path state. while(isSearchingPath() == true) { //Next make sure there is at least 1 path node in the open list. //If there isn't it's possible that the destination can not be reached. if(m_OpenList.size() == 0) { m_State = StateError; return; } //Get the first path node from the Open List, because Open List is sorted, //we know this is the Path Node with the lowest F score. PathNode* currentNode = m_OpenList.front(); //Next add it to the closed list. m_ClosedList.push_back(currentNode); //Lastly remove it from the Open List m_OpenList.erase(m_OpenList.begin()); //Next get the current node's tile's index from the level. int currentNodeTileIndex = m_Level->getTileIndexForTile(currentNode->getTile()); if(currentNodeTileIndex == m_DestinationTileIndex) { //If the current node's tile index is the same as the destination tile, the we //have reached out destination tile and now know the shortest path. do { //If the parent node doesn't equal NULL, and the current node to the final path list. if(currentNode->getParentNode() != NULL) { m_FinalPath.insert(m_FinalPath.begin(), currentNode); } //Set the node's tile isPath flag to true currentNode->getTile()->setIsPath(true); //Set the current node to the parent node. currentNode = currentNode->getParentNode(); } while(currentNode != NULL); //Set the state to the PathFound m_State = StatePathFound; return; } //Now, if we got here, it means we haven't reached the destination, we need to // get the current node's adjacent tiles and calculate their path scores. std::vector<Tile*> adjacentTiles; addAdjacentTile(adjacentTiles, currentNode->getTile(), -1, 0); //Left addAdjacentTile(adjacentTiles, currentNode->getTile(), 1, 0); //Right addAdjacentTile(adjacentTiles, currentNode->getTile(), 0, -1); //Up addAdjacentTile(adjacentTiles, currentNode->getTile(), 0, 1); //Down //Cycle through the adjacent tiles for(int i = 0; i < adjacentTiles.size(); i++) { Tile* adjacentTile = adjacentTiles.at(i); //Next we need to check if the adjacent tile is already in the close list, //if it is, then we can ignore this tile. if(isTileInClosedList(adjacentTile) == true) { continue; } //Then we need to check if the adjacent tile is already in the Open List if(isTileInOpenList(adjacentTile) == true) { //If we got here, then the tile is in the Open list alreadu and we have to determine //if the existing tile's score is lower or the adjacent tile. PathNode* existingNode = getPathNodeFromOpenList(adjacentTile); //Check to see if the adjacent node has a higher G Score //(since the h scores will be identical) //than the existing node's G score. if(existingNode->getScoreG() > currentNode->getScoreG() +1) { //Update the existing node's parent. existingNode->setParentNode(currentNode); //Set the lower G score existingNode->setScoreG(currentNode->getScoreG() +1); //Sort the OpenList sortOpenList(); } } else { //If we got here then the tile doesn't exist in the Open or Closed list. //Let's make a new PathNode object and calculate it's tile score. PathNode* adjacentNode = new PathNode(adjacentTile); //Set the pathNode's parent. adjacentNode->setParentNode(currentNode); //Calculate the G score, it's a Parent node's G score plus 1. adjacentNode->setScoreG(currentNode->getScoreG() +1); //Calculate the H score, remember we use the manhattan distance method. adjacentNode->setScoreH(getManhattanDistanceCost(adjacentTile, m_Level->getTileForIndex(m_DestinationTileIndex))); //Lastly add is to the Open list, calling this method will sort the open list. addNodeToOpenList(adjacentNode); } } } }