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std::deque<std::pair<int, int>> Pathing::findPath(int sx, int sy, int fx, int fy) const
{
std::list<Node> openNodes;
std::list<Node> closeNodes;
const Node startNode{nullptr, sx, sy, 0, 0, 0};
openNodes.push_back(startNode);
auto cells = gameMap->getCells();
auto findNode = [](auto&& list, int x, int y)
{
return std::find_if(std::begin(std::forward<decltype(list)>(list)),
std::end(std::forward<decltype(list)>(list)),
[x, y](auto n) {return n.x == x && n.y == y;});
};
auto isNodeInList = [findNode](auto&& list, int x, int y)
{
return findNode(std::forward<decltype(list)>(list), x, y) != list.cend();
};
auto processNode = [&](auto iterCurrentNode, int x, int y)
{
const auto nx = iterCurrentNode->x + x;
const auto ny = iterCurrentNode->y + y;
if (cells[nx][ny].passable && !isNodeInList(closeNodes, nx, ny))
{
const auto G = iterCurrentNode->G + (x && y ? 14 : 10);
const auto H = (std::abs(fx - nx) + std::abs(fy - ny)) * 10;
const auto F = G + H;
auto node = findNode(openNodes, nx, ny);
if (node == openNodes.cend())
{
openNodes.push_back({&(*iterCurrentNode), nx, ny, G, H, F});
if (nx == fx && ny == fy)
return true;
}
else
{
if (G < node->G)
{
node->parent = &(*iterCurrentNode);
node->G = G;
node->H = H;
node->F = F;
}
}
}
return false;
};
while (!openNodes.empty())
{
auto iterMinF = std::min_element(openNodes.cbegin(), openNodes.cend(),
[](auto n1, auto n2) {return n1.F < n2.F;});
closeNodes.push_back(*iterMinF);
auto iter = closeNodes.insert(closeNodes.cend(), *iterMinF);
openNodes.erase(iterMinF);
if (processNode(iter, 1, 0) ||
processNode(iter, 1, 1) ||
processNode(iter, 0, 1) ||
processNode(iter, -1, 1) ||
processNode(iter, -1, 0) ||
processNode(iter, -1, -1) ||
processNode(iter, 0, -1) ||
processNode(iter, 1, -1))
break;
}
auto finalNode = findNode(openNodes, fx, fy);
if (finalNode == openNodes.cend())
return {};
std::deque<std::pair<int, int>> route{{finalNode->x, finalNode->y}};
const Node* temp = finalNode->parent;
while (temp)
{
route.push_front({temp->x, temp->y});
temp = temp->parent;
}
return route;
}
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