restructuring and updating CMakeLists

src/App.cpp

@@ -0,0 +1,198 @@
+#include "App.h"
+#include <iostream>
+#include "Map.h"
+#include <chrono>
+
+#ifdef linux
+#elif defined _WIN32
+#elif defined TARGET_OS_MAC
+#endif
+
+// ========== Constructors =============
+App::App() {
+	window = new sf::RenderWindow(sf::VideoMode(WINDOW_WIDTH, WINDOW_HEIGHT), "aStart Pathing Demo");
+}
+App::~App() { }
+
+// ========== Mutes =============
+void App::Init() {
+
+	// Set up the background texture
+	background_texture = new sf::Texture();
+	background_texture->loadFromFile("../assets/background.png");
+	backgroundSprite.setTexture(*background_texture);
+
+	// Pixel array for drawing the tiles, explorer
+	_pixelArray = new sf::Uint8[WINDOW_WIDTH * WINDOW_HEIGHT * 4];
+	pixel_array_texture.create(WINDOW_WIDTH, WINDOW_HEIGHT);
+
+	// Create the explorer, giving it a reference to the map data
+	explorer = new Explorer(&map);
+}
+
+void App::Input() {
+	while (window->pollEvent(event)) {
+		if (event.type == sf::Event::Closed)
+			window->close();
+
+		// Set the destination
+		if (sf::Mouse::isButtonPressed(sf::Mouse::Left)) {
+			sf::Vector2i mouse_position = sf::Mouse::getPosition(*window);
+			explorer->setDestination(sf::Vector2i(mouse_position.x/ 5, mouse_position.y/ 5)); 
+		}
+		
+		if (event.type == sf::Event::KeyPressed) {
+			if (event.key.code == sf::Keyboard::Q) {
+				explorer->setDestination(sf::Vector2i(20, 20));
+			}
+			if (event.key.code == sf::Keyboard::W) {
+				explorer->setDestination(sf::Vector2i(50, 50));
+			}
+			if (event.key.code == sf::Keyboard::E) {
+				explorer->setDestination(sf::Vector2i(100, 12));
+			}
+		}
+	}
+}
+
+void App::Update(double step_size) {
+
+	Input();
+
+	// Have the explorer go one move forward
+	explorer->move();
+}
+
+void App::Render() {
+
+
+	// HOUSEKEEPING
+
+	// Get the physics fps for the last render cycle
+	physics_fps = physics_frame_count * render_fps;
+
+	// Frame time in seconds
+	frame_time = delta_time * 1000;
+
+	// And the render fps
+	render_fps = 1000 / frame_time;
+
+
+
+	// RENDERING
+
+	// Clear and draw a fresh background
+	window->clear(sf::Color::Blue);
+	window->draw(backgroundSprite);
+
+	// Clean up the pixel array and reset everything to 0's again
+	for (int i = 0; i < WINDOW_WIDTH * WINDOW_HEIGHT * 4; i++) {
+		_pixelArray[i] = 0;
+	}
+	
+	// Color all the tiles
+	for (int x = 0; x < Map::CELLS_WIDTH; x++) {
+		for (int y = 0; y < Map::CELLS_HEIGHT; y++) {
+	
+			// Get the current cell position
+			sf::Vector2i pos;
+			pos.x = x;
+			pos.y = y;
+
+			// Use that to find the color of the tile at that position
+			sf::Color thing = map.getTile(pos)->getColor();
+			
+			// Fill the 4x4 pixel area taken up by the cell 
+			for (int x2 = 1; x2 < 5; x2++) {
+				for (int y2 = 1; y2 < 5; y2++) {
+				
+					int pixel_x = (x * 5) + x2;
+					int pixel_y = (y * 5) + y2;
+
+					_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4] =     thing.r;            // Red
+					_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4 + 1] = thing.g;            // Green
+					_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4 + 2] = thing.b;            // Blue
+					_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4 + 3] = thing.a;            // Alpha
+
+				}
+			}
+		}
+	}
+	
+	// Draw the explorer
+	// Basically the same as above, fills 4x4 area where the explorer is located
+	for (int x2 = 1; x2 < 5; x2++) {
+		for (int y2 = 1; y2 < 5; y2++) {
+
+			int pixel_x = (explorer->getPosition().x * 5) + x2;
+			int pixel_y = (explorer->getPosition().y * 5) + y2;
+			
+			sf::Color color = explorer->getColor();
+
+			_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4]     = color.r;            // Red
+			_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4 + 1] = color.g;            // Green
+			_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4 + 2] = color.b;            // Blue
+			_pixelArray[(pixel_y * WINDOW_WIDTH + pixel_x) * 4 + 3] = color.a;            // Alpha
+
+		}
+	}
+	
+	// Update and draw the pixel array
+	pixel_array_texture.update(_pixelArray);
+	pixel_array_sprite.setTexture(pixel_array_texture);
+	window->draw(pixel_array_sprite);
+	
+	// Finish!
+	window->display();
+}
+
+
+void App::Run() {
+	Init();
+
+	while (window->isOpen()) {
+		// Time since app start
+		elapsed_time = time();
+
+		// Time between last frame start and this frame
+		// 2 seconds = 30 seconds - 28 seconds
+		delta_time = elapsed_time - current_time;
+		current_time = elapsed_time;
+
+		// Make sure we aren't taking too big of steps when lagging
+		if (delta_time > 0.02f)
+			delta_time = 0.02f;
+
+		// Add the delta time to the leftover time from the last frame
+		accumulator_time += delta_time;
+
+		// While there is time left
+		while ((accumulator_time - step_size) >= step_size) {
+			// Take away the time we will be simulating
+			accumulator_time -= step_size;
+
+			// Update the game for the timestep
+			Update(step_size);
+
+			physics_frame_count++;
+		}
+
+		Render();
+	}
+}
+
+float App::time() {
+
+	static std::chrono::time_point<std::chrono::system_clock> start;
+	static bool started = false;
+
+	if (!started) {
+		start = std::chrono::system_clock::now();
+		started = true;
+	}
+
+	std::chrono::time_point<std::chrono::system_clock> now = std::chrono::system_clock::now();
+	std::chrono::duration<double> elapsed_time = now - start;
+	return static_cast<float>(elapsed_time.count());
+
+}

src/Explorer.cpp

@@ -0,0 +1,91 @@
+#include "Explorer.h"
+#include <iostream>
+#include "Pather.h"
+
+Explorer::Explorer(Map* map_) {
+	color = sf::Color::Yellow;
+	position = sf::Vector2i(6, 10);
+	map = map_;
+}
+
+
+Explorer::~Explorer() {
+}
+
+sf::Vector2i Explorer::getPosition() {
+	return position;
+}
+
+sf::Color Explorer::getColor() {
+	return color;
+}
+
+
+void Explorer::setDestination(sf::Vector2i destination_) {
+	// Call a* to get path
+	plan(destination_);
+}
+
+bool Explorer::move() {
+
+	// While there are moves for us to take
+	if (!movement_stack.empty()) {
+		bool valid = false; // If the next move is valid, collision
+		int x = movement_stack.back();
+
+		switch (x) {
+		case 0: // North
+			if (!map->getTile(position.x, position.y - 1)->isSolid()) {  // If the tile isn't solid
+				valid = true;											 // Set the move to valid
+				position = sf::Vector2i(position.x, position.y - 1);	 // Update the Explorers position
+			}
+			break;
+		case 1: // East
+			if (!map->getTile(position.x + 1, position.y)->isSolid()) {
+				valid = true;
+				position = sf::Vector2i(position.x + 1, position.y);
+			}
+			break;
+		case 2: // South
+			if (!map->getTile(position.x, position.y + 1)->isSolid()) {
+				valid = true;
+				position = sf::Vector2i(position.x, position.y + 1);
+			}
+			break;
+		case 3: // West
+			if (!map->getTile(position.x - 1, position.y)->isSolid()) {
+				valid = true;
+				position = sf::Vector2i(position.x - 1, position.y);
+			}
+			break;
+		}
+
+		// If the path was blocked
+		if (!valid) {
+			std::cout << "Path blocked" << std::endl;
+			// Flush the moves list
+			while (!movement_stack.empty()) {
+				movement_stack.pop_back();
+			}
+			return false;
+		}
+
+		// If everything went well, pop and return true
+		movement_stack.pop_back();
+
+		return true;
+	}
+	else
+		return false;
+}
+
+bool Explorer::plan(sf::Vector2i destination_) {
+	
+	// Create a new pather with the map data
+	Pather pather(map);
+
+	// Get the movement list from the pather
+	movement_stack = pather.getPathTo(position, destination_);
+	
+	return true;
+}

src/Map.cpp

@@ -0,0 +1,79 @@
+#include "Map.h"
+#include <stdlib.h>
+
+
+Map::Map() {
+	Init();
+}
+
+
+Map::~Map() {
+}
+
+Tile* Map::getTile(sf::Vector2i position_) {
+
+	// If the position is within bounds
+	if (position_.x > CELLS_WIDTH || position_.x < 0
+		|| position_.y > CELLS_HEIGHT || position_.y < 0) {
+		return nullptr;
+	}
+	else
+		// Return the value specified 
+		return tileArray[position_.x][position_.y];
+}
+
+bool Map::isTileSolid(sf::Vector2i position_) {
+
+	// If the position is within bounds
+	if (position_.x >= CELLS_WIDTH || position_.x < 0
+		|| position_.y >= CELLS_HEIGHT || position_.y < 0) {
+		return true; // If it isn't say that the tile is solid
+	}
+	else 
+		// Return whether the tile is solid
+		return tileArray[position_.x][position_.y]->isSolid();
+}
+
+Tile* Map::getTile(int x_, int y_) {
+
+	// If the position is within bounds
+	if (x_ > CELLS_WIDTH || x_ < 0
+		|| y_ > CELLS_HEIGHT || y_ < 0) {
+		return nullptr;
+	}
+	else
+		// Return the value specified 
+		return tileArray[x_][y_];
+}
+
+void Map::overwriteTile(sf::Vector2i position_, Tile* data) {
+	// If the position is within bounds
+	if (position_.x >= CELLS_WIDTH || position_.x < 0
+		|| position_.y >= CELLS_HEIGHT || position_.y < 0) {
+		return; // If it isn't just return
+	}
+	else { // If it is, then delete the old data, replace it with the new
+		delete tileArray[position_.x][position_.y];
+		tileArray[position_.x][position_.y] = data;
+	}
+}
+
+void Map::Init() {
+
+	// Fill up the map with a random scatter of solid and passable tiles
+	
+	int q;
+
+	for (int x = 0; x < CELLS_WIDTH; x++) {
+		for (int y = 0; y < CELLS_HEIGHT; y++) {
+			q = rand() % 100; 
+			if (q > 65) {
+				tileArray[x][y] = new Tile(true, 100.0, sf::Color::Cyan);
+			}
+			else {
+				tileArray[x][y] = new Tile(false, 0.0, sf::Color::Red);
+			}
+				
+		}
+	}
+}

src/Pather.cpp

@@ -0,0 +1,125 @@
+#include "Pather.h"
+#include <iostream>
+
+
+
+
+Pather::Pather(Map* map_) {
+	map = map_;
+}
+
+Pather::~Pather() {
+}
+
+sf::Vector2i Pather::getEndNodePosition() {
+	return end_node->getPosition();
+}
+
+node* Pather::getActiveNode() {
+	return active_node;
+}
+
+std::deque<int> Pather::getPathTo(sf::Vector2i start, sf::Vector2i end) {
+
+	// Clear the visited map of erroneous data
+	for (int i = 0; i < Map::CELLS_WIDTH; i++) {
+		for (int l = 0; l < Map::CELLS_HEIGHT; l++) {
+			visited_map(i, l) = 0;
+		}
+	}
+	
+	// Place the start and end nodes
+	start_node = new node(start, 7000, 0, nullptr, this);
+	end_node = new node(end, 0, 0, nullptr, this);
+
+	// Set the entry point, clean up any stray data from last run
+	active_node = start_node;
+	open_list.clear();
+	closed_list.clear();
+
+	// Seed for the loop, hueristic is intentionally high
+	open_list.emplace(start_node, start_node->getHueristic());
+
+	// Set up the early exit, and enter into the loop
+	early_exit = false;
+	path_list = loop();
+
+	return path_list;
+}
+
+
+std::deque<int> Pather::loop() {
+
+	while (!open_list.empty() && !early_exit) {	
+		
+		if (closed_list.size() > 1000) {           // Quits when the path gets to be over 1000 long, janky 
+			no_path = true;						  // Signal no path was found
+			early_exit = true;					  // Break
+			break;
+		}
+
+		// Check to see if we're at our destination, break if we are
+		if (active_node->getPosition().x == end_node->getPosition().x && active_node->getPosition().y == end_node->getPosition().y) {
+			early_exit = true;
+			break;
+		}
+
+		// If we didn't get held up before, do a round of a*
+		else {
+
+			// Find the pair with the lowest hueristic
+			std::pair<node*, double> bestMin(start_node, 10000);   // Get a clean value for the comparison
+
+			// Compare all the values in openList for the one with the smallest hueristic
+			// O(n) complexity so it can get verrrrryyyy slow
+			for (auto testMin: open_list) {
+				if (bestMin.second >= testMin.second)
+					bestMin = testMin;
+			}
+
+			// Set the new active node to the lowest hueristic that we found earlier 
+			active_node = bestMin.first;
+
+			// Find the neighbors for that node
+			active_node->getNewNeighbors();
+
+			// Remove the active node from the openlist as you have visited it and called its neighbors
+			open_list.erase(active_node);
+
+			// Check to see if the node has already been added to the closed list, if not, add it
+			if (closed_list.count(active_node) == 0) {
+				closed_list.emplace(active_node, active_node->getHueristic());
+			}
+
+			
+		}
+	}
+
+	// When we're done, get the return path
+	std::deque<int> return_path = returnPath();
+	if (no_path || return_path.empty()) {              // If we had an error, display it
+		return std::deque<int>();
+		std::cout << " no return path " << std::endl;
+	}
+
+	return return_path;
+}
+
+std::deque<int> Pather::returnPath() {
+	// Deque that will be returned
+	std::deque<int> path;
+
+	// Backtrack through the active_nodes, adding their cameFrom value to the deque
+	while (active_node->getParent() != nullptr) {
+		path.push_back(active_node->getCameFrom());
+
+		node* parent = active_node->getParent();
+		delete active_node;
+		active_node = parent;
+	}
+
+	return path;
+}
+
+
+

src/Tile.cpp

@@ -0,0 +1,37 @@
+#include "Tile.h"
+
+
+
+Tile::Tile(bool solid_, double movement_penalty_, sf::Color color_) {
+	solid = solid_;
+	movement_penalty = movement_penalty_;
+	color = color_;
+}
+
+
+Tile::Tile() {
+	solid = false;
+	movement_penalty = 0.0;
+	color = sf::Color::Red;
+}
+
+Tile::~Tile() {
+}
+
+bool Tile::isSolid() {
+	return solid;
+}
+
+double Tile::getPenalty() {
+	return movement_penalty;
+}
+
+sf::Color Tile::getColor() {
+	return color;
+}
+
+void Tile::Rewrite(bool solid_, double movement_penalty_, sf::Color color_) {
+	solid = solid_;
+	movement_penalty = movement_penalty_;
+	color = color_;
+}

src/main.cpp

@@ -0,0 +1,12 @@
+#include <SFML/Window.hpp>
+#include <SFML/Graphics.hpp>
+#include "App.h"
+
+int main()
+{
+	App app;
+	app.Run();
+
+	return 0;
+
+}

src/node.cpp

@@ -0,0 +1,110 @@
+#include "Pather.h"
+
+node::node(sf::Vector2i XY, double h, int cF, node* p, Pather* pather_) {
+	position = XY;
+	hueristic = h;
+	came_from = cF;
+	parent = p;
+	pather = pather_;
+}
+node::node() {
+
+}
+node::~node() {
+
+}
+
+void node::getNewNeighbors() {
+
+	// Get the end node position for calculating distance from end(hueristic)
+	int x = pather->getEndNodePosition().x;
+	int y = pather->getEndNodePosition().y;
+
+	sf::Vector2i dest0XY(position.x, position.y - 1); // North
+	if (!pather->map->isTileSolid(dest0XY) && pather->visited_map(dest0XY.x, dest0XY.y) != 1) {
+		// If so, find the distance between this node and the end node, the hueristic
+		int tempx = (x - dest0XY.x);
+		int tempy = (y - dest0XY.y);
+
+		// I think dv is the hueristic??
+		double dv = sqrt((tempx * tempx) + (tempy * tempy));
+
+		double v = dv;
+
+		// Take that value and create a new node
+		pather->open_list.emplace(new node(dest0XY, v, 0, pather->getActiveNode(), pather), v);
+
+		// Set that tile as visited so we don't get stuck in a loop
+		pather->visited_map(dest0XY.x, dest0XY.y) = 1;
+	}
+
+	sf::Vector2i dest1XY(position.x + 1, position.y); // East
+	if (!pather->map->isTileSolid(dest1XY) && pather->visited_map(dest1XY.x, dest1XY.y) != 1) {
+		// If so, find the distance between this node and the end node, the hueristic
+		int tempx = (x - dest1XY.x);
+		int tempy = (y - dest1XY.y);
+
+		// I think dv is the hueristic??
+		double dv = sqrt((tempx * tempx) + (tempy * tempy));
+
+		double v = dv;
+
+		// Take that value and create a new node
+		pather->open_list.emplace(new node(dest1XY, v, 1, pather->getActiveNode(), pather), v);
+
+		// Set that tile as visited so we don't get stuck in a loop
+		pather->visited_map(dest1XY.x, dest1XY.y) = 1;
+	}
+
+	sf::Vector2i dest2XY(position.x, position.y + 1); // South
+	if (!pather->map->isTileSolid(dest2XY) && pather->visited_map(dest2XY.x, dest2XY.y) != 1) {
+		// If so, find the distance between this node and the end node, the hueristic
+		int tempx = (x - dest2XY.x);
+		int tempy = (y - dest2XY.y);
+
+		// I think dv is the hueristic??
+		double dv = sqrt((tempx * tempx) + (tempy * tempy));
+
+		double v = dv;
+
+		// Take that value and create a new node
+		pather->open_list.emplace(new node(dest2XY, v, 2, pather->getActiveNode(), pather), v);
+
+		// Set that tile as visited so we don't get stuck in a loop
+		pather->visited_map(dest2XY.x, dest2XY.y) = 1;
+	}
+
+	sf::Vector2i dest3XY(position.x - 1, position.y); // West
+	if (!pather->map->isTileSolid(dest3XY) && pather->visited_map(dest3XY.x, dest3XY.y) != 1) {
+		// If so, find the distance between this node and the end node, the hueristic
+		int tempx = (x - dest3XY.x);
+		int tempy = (y - dest3XY.y);
+
+		// I think dv is the hueristic??
+		double dv = sqrt((tempx * tempx) + (tempy * tempy));
+
+		double v = dv;
+
+		// Take that value and create a new node
+		pather->open_list.emplace(new node(dest3XY, v, 3, pather->getActiveNode(), pather), v);
+
+		// Set that tile as visited so we don't get stuck in a loop
+		pather->visited_map(dest3XY.x, dest3XY.y) = 1;
+	}
+}
+
+sf::Vector2i node::getPosition() {
+	return position;
+}
+
+node* node::getParent() {
+	return parent;
+}
+
+double node::getHueristic() {
+	return hueristic;
+}
+
+int node::getCameFrom() {
+	return came_from;
+}