Prettied it up, comments, refactors

aStar/App.cpp

@@ -16,12 +16,13 @@ void App::Init() {
 	// Set up the background texture
 	background_texture = new sf::Texture();
 	background_texture->loadFromFile("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);
 }
 
@@ -29,6 +30,8 @@ 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)); 
@@ -49,7 +52,10 @@ void App::Input() {
 }
 
 void App::Update(double step_size) {
+
 	Input();
+
+	// Have the explorer go one move forward
 	explorer->move();
 }
 
@@ -57,6 +63,7 @@ void App::Render() {
 
 
 	// HOUSEKEEPING
+
 	// Get the physics fps for the last render cycle
 	physics_fps = physics_frame_count * render_fps;
 
@@ -70,23 +77,28 @@ void App::Render() {
 
 	// RENDERING
 
+	// Clear and draw a fresh background
 	window->clear(sf::Color::Blue);
 	window->draw(backgroundSprite);
 
-	sf::Vector2i pos;
+	// 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;
 	}
 	
-	// Draw the tiles
+	// 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++) {
 				
@@ -104,6 +116,7 @@ void App::Render() {
 	}
 	
 	// 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++) {
 
@@ -120,11 +133,12 @@ void App::Render() {
 		}
 	}
 	
+	// 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();
 }
 

aStar/App.h

@@ -3,6 +3,7 @@
 #include "Map.h"
 #include "Explorer.h"
 
+// 2d heap allocated array structure stolen off of stackOverflow
 template<typename T, int width, int height>
 class MultiArray {
 private:
@@ -13,8 +14,10 @@ public:
 	MultiArray() { data = new cols[width]; }
 	~MultiArray() { delete[] data; }
 };
+
 class App {
 public:
+
 	// Constants
 	static const int WINDOW_HEIGHT = 766;
 	static const int WINDOW_WIDTH = 1596;
@@ -28,18 +31,21 @@ public:
 
 private:
 
+	// Map and its data
 	Map map;
-	sf::Uint8* _pixelArray;
-	sf::Sprite pixel_array_sprite;
-	sf::Texture pixel_array_texture;
 
+	// The explorer that will traverse the map
 	Explorer* explorer;
 
 	// Art assets
 	sf::Texture* background_texture;
-
 	sf::Sprite backgroundSprite;
 
+	// Data required for hand drawing pixels
+	sf::Uint8* _pixelArray;
+	sf::Sprite pixel_array_sprite;
+	sf::Texture pixel_array_texture;
+
 	void Init();
 	void Input();
 	void Update(double step_size);
@@ -50,7 +56,7 @@ private:
 	// The events for the event handler
 	sf::Event event;
 
-	// Loop management data, black magic, need to redo
+	// ============= Loop data ==================
 	float time();
 
 	// Size of the physics steps to take

aStar/Explorer.cpp

@@ -3,7 +3,7 @@
 #include "Pather.h"
 
 Explorer::Explorer(Map* map_) {
-	color = sf::Color::Blue;
+	color = sf::Color::Yellow;
 	position = sf::Vector2i(6, 10);
 	map = map_;
 }
@@ -22,12 +22,12 @@ sf::Color Explorer::getColor() {
 
 
 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
@@ -35,9 +35,9 @@ bool Explorer::move() {
 
 		switch (x) {
 		case 0: // North
-			if (!map->getTile(position.x, position.y - 1)->isSolid()) {
+			if (!map->getTile(position.x, position.y - 1)->isSolid()) {  // If the tile isn't solid
-				valid = true;
+				valid = true;											 // Set the move to valid
-				position = sf::Vector2i(position.x, position.y - 1);
+				position = sf::Vector2i(position.x, position.y - 1);	 // Update the Explorers position
 			}
 			break;
 		case 1: // East
@@ -79,10 +79,13 @@ bool Explorer::move() {
 		return false;
 }
 
-// A*
 bool Explorer::plan(sf::Vector2i destination_) {
+	
+	// Create a new pather with the map data
 	Pather pather(map);
-	movement_stack = pather.pathTo(position, destination_);
+
+	// Get the movement list from the pather
+	movement_stack = pather.getPathTo(position, destination_);
 	
 	return true;
 }

aStar/Explorer.h

@@ -5,18 +5,33 @@
 
 class Explorer {
 public:
+	// Constructors
 	Explorer(Map* map_);
 	~Explorer();
+
+	// Getters
 	sf::Vector2i getPosition();
 	sf::Color getColor();
+
+	// Move to the specified destination
 	void setDestination(sf::Vector2i destination_);
+	
+	// Follow the pathlist for one move
 	bool move();
+
 private:
+	// Color that will be drawn
 	sf::Color color;
+	
 	sf::Vector2i position;
+	
+	// Reference to the map data
 	Map* map;
 
+	// Moves list that will be filled with plan(), and executed by move()
 	std::deque<int> movement_stack;
+
+	// Fills the movement stack with moves
 	bool plan(sf::Vector2i destination_);
 };
 

aStar/Map.cpp

@@ -10,41 +10,64 @@ Map::Map() {
 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 tileArray[position_.x][position_.y];
+		// 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;
+		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_) {
-	return tileArray[x_][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::setTile(sf::Vector2i position, Tile* data) {
+void Map::overwriteTile(sf::Vector2i position_, Tile* data) {
-	delete tileArray[position.x][position.y];
+	// If the position is within bounds
-	tileArray[position.x][position.y] = data;
+	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 > 90) {
+			if (q > 65) {
 				tileArray[x][y] = new Tile(true, 100.0, sf::Color::Cyan);
 			}
 			else {

aStar/Map.h

@@ -4,21 +4,27 @@
 
 class Map {
 public:
+	// Width and height of the map in individual cells
 	static const int CELLS_HEIGHT = 153;
 	static const int CELLS_WIDTH = 319;
 
+	// Constructors
 	Map();
 	~Map();
 
-	
+	// Get the tile at the specified position, overloaded
 	Tile* getTile(sf::Vector2i position);
 	Tile* getTile(int x_, int y_);
+
 	bool isTileSolid(sf::Vector2i);
-	void setTile(sf::Vector2i position, Tile* data);
+
+	// completely replaces the data at the specified position
+	void overwriteTile(sf::Vector2i position, Tile* data);
 
 private:
 	void Init();
 
+	// Data
 	Tile* tileArray[319][153];
 };
 

aStar/Pather.cpp

@@ -1,137 +1,46 @@
 #include "Pather.h"
 #include <iostream>
 
-node::node(sf::Vector2i XY, double h, int cF, int cL, node* p, Pather* pather_) {
-	xy = XY;
-	hueristic = h;
-	cameFrom = cF;
-	closedList = cL;
-	parent = p;
-	pather = pather_;
-}
-node::node() {
-	
-}
-node::~node() {
-	
-}
-
-void node::neighbors() {
-
-	int x = pather->getEndNodePosition().x;
-	int y = pather->getEndNodePosition().y;
-
-	sf::Vector2i dest0XY(xy.x, xy.y - 1); // North
-	if (!pather->map->isTileSolid(dest0XY) && pather->visitedMap(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->openList.emplace(new node(dest0XY, v, 0, 1, pather->active_node, pather), v);
-
-		// Set that tile as visited so we don't get stuck in a loop
-		pather->visitedMap(dest0XY.x, dest0XY.y) = 1;
-	}
-
-	sf::Vector2i dest1XY(xy.x + 1, xy.y); // East
-	if (!pather->map->isTileSolid(dest1XY) && pather->visitedMap(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->openList.emplace(new node(dest1XY, v, 1, 1, pather->active_node, pather), v);
-
-		// Set that tile as visited so we don't get stuck in a loop
-		pather->visitedMap(dest1XY.x, dest1XY.y) = 1;
-	}
-
-	sf::Vector2i dest2XY(xy.x, xy.y + 1); // South
-	if (!pather->map->isTileSolid(dest2XY) && pather->visitedMap(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->openList.emplace(new node(dest2XY, v, 2, 1, pather->active_node, pather), v);
-
-		// Set that tile as visited so we don't get stuck in a loop
-		pather->visitedMap(dest2XY.x, dest2XY.y) = 1;
-	}
-
-	sf::Vector2i dest3XY(xy.x - 1, xy.y); // West
-	if (!pather->map->isTileSolid(dest3XY) && pather->visitedMap(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->openList.emplace(new node(dest3XY, v, 3, 1, pather->active_node, pather), v);
-
-		// Set that tile as visited so we don't get stuck in a loop
-		pather->visitedMap(dest3XY.x, dest3XY.y) = 1;
-	}
-}
 
 
 
 Pather::Pather(Map* map_) {
 	map = map_;
-	//visitedMap = new MultiArray<int, App::WINDOW_HEIGHT, App::WINDOW_WIDTH>();
 }
 
 Pather::~Pather() {
 }
 
 sf::Vector2i Pather::getEndNodePosition() {
-	return end_node->xy;
+	return end_node->getPosition();
 }
 
-std::deque<int> Pather::pathTo(sf::Vector2i start, sf::Vector2i end) {
+node* Pather::getActiveNode() {
+	return active_node;
+}
 
+std::deque<int> Pather::getPathTo(sf::Vector2i start, sf::Vector2i end) {
 
-	// Clear the visited map for erroneous data
+	// 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++) {
-			visitedMap(i, l) = 0;
+			visited_map(i, l) = 0;
 		}
 	}
 	
-	std::cout << visitedMap(10, 163);
-	
 	// Place the start and end nodes
-	start_node = new node(start, 7000, 0, 0, nullptr, this);
+	start_node = new node(start, 7000, 0, nullptr, this);
-	end_node = new node(end, 0, 0, 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;
-	openList.clear();
+	open_list.clear();
-	closedList.clear();
+	closed_list.clear();
 
-	// Seed for the loop
+	// Seed for the loop, hueristic is intentionally high
-	openList.emplace(start_node, start_node->hueristic);
+	open_list.emplace(start_node, start_node->getHueristic());
 
+	// Set up the early exit, and enter into the loop
 	early_exit = false;
 	path_list = loop();
 
@@ -141,26 +50,29 @@ std::deque<int> Pather::pathTo(sf::Vector2i start, sf::Vector2i end) {
 
 std::deque<int> Pather::loop() {
 
-	// Damn thing keeps falling out of scope
+	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;
+		}
 
-	while (!openList.empty() && !early_exit) {	
+		// Check to see if we're at our destination, break if we are
-		// Early exit jankyness, need to change this
+		if (active_node->getPosition().x == end_node->getPosition().x && active_node->getPosition().y == end_node->getPosition().y) {
-		if (closedList.size() > 1000) {
-			no_path = true;
-			early_exit = true;
-			break;
-		}
-		if (active_node->xy.x == end_node->xy.x && active_node->xy.y == end_node->xy.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
-			// 5/10	
-			std::pair<node*, double> bestMin(start_node, 10000);
 
-			for (auto testMin: openList) {
+			// 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;
 			}
@@ -169,22 +81,23 @@ std::deque<int> Pather::loop() {
 			active_node = bestMin.first;
 
 			// Find the neighbors for that node
-			active_node->neighbors();
+			active_node->getNewNeighbors();
 
 			// Remove the active node from the openlist as you have visited it and called its neighbors
-			openList.erase(active_node);
+			open_list.erase(active_node);
 
 			// Check to see if the node has already been added to the closed list, if not, add it
-			if (closedList.count(active_node) == 0) {
+			if (closed_list.count(active_node) == 0) {
-				closedList.emplace(active_node, active_node->hueristic);
+				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 (no_path || return_path.empty()) {              // If we had an error, display it
 		return std::deque<int>();
 		std::cout << " no return path " << std::endl;
 	}
@@ -193,12 +106,14 @@ std::deque<int> Pather::loop() {
 }
 
 std::deque<int> Pather::returnPath() {
+	// Deque that will be returned
 	std::deque<int> path;
 
-	while (active_node->parent != nullptr) {
+	// Backtrack through the active_nodes, adding their cameFrom value to the deque
-		path.push_back(active_node->cameFrom);
+	while (active_node->getParent() != nullptr) {
+		path.push_back(active_node->getCameFrom());
 
-		node* parent = active_node->parent;
+		node* parent = active_node->getParent();
 		delete active_node;
 		active_node = parent;
 	}

aStar/Pather.h

@@ -2,58 +2,54 @@
 #include <map>
 #include "App.h"
 #include <unordered_map>
-
+#include "node.h"
-class Pather;
-
-class node {
-public:
-
-	node(sf::Vector2i XY, double h, int cF, int cL, node* p, Pather* pather_);
-	node();
-	~node();
-
-	sf::Vector2i xy;
-
-	// Ugh, pointers, ugh c++
-	node* parent;
-	double hueristic;
-	int cameFrom;
-	int closedList;
-	Pather* pather;
-
-	void neighbors();
-private:
-
-};
 
 class Pather {
+
 public:
+	// Constructor
 	Pather(Map* map_);
 	~Pather();
 
+	// Reference to the map data
 	Map* map;
 
-	std::unordered_map<node*, double> openList;
+	// Containers for the loop, probably inefficient as hell
-	std::unordered_map<node*, double> closedList;
+	std::unordered_map<node*, double> open_list;
+	std::unordered_map<node*, double> closed_list;
 	
-	MultiArray<int, Map::CELLS_WIDTH , Map::CELLS_HEIGHT> visitedMap;
+	// A stack allocated 2d array from a template I stole from stackOverflow
-	//int visitedMap[App::WINDOW_HEIGHT][App::WINDOW_WIDTH];
+	MultiArray<int, Map::CELLS_WIDTH , Map::CELLS_HEIGHT> visited_map;
 	
-	std::deque<int> pathTo(sf::Vector2i start, sf::Vector2i end);
+	// Return a deque with the movement info to path to the end position from the start position
-	std::deque<int> loop();
+	std::deque<int> getPathTo(sf::Vector2i start, sf::Vector2i end);
-	std::deque<int> returnPath();
 
+	// Returns the end node of the current path
 	sf::Vector2i getEndNodePosition();
 
-	node* start_node;
+	// Returns the current active node
-	node* active_node;
+	node* getActiveNode();
-
-	bool no_path = false;
-	bool early_exit;
 
 private:
+	// Whether we couldn't find a path
+	bool no_path = false;
+	// If we found the path and can exit early
+	bool early_exit;
 	
+	// Calculate the return path from back tracing the active nodes
+	std::deque<int> returnPath();
+
+	// The main iterative loop for a*
+	std::deque<int> loop();
+
+	// Movement list for the Explorer
 	std::deque<int> path_list;
+
+	// Start positions node
+	node* start_node;
+	// Current positions node
+	node* active_node;
+	// End positions node
 	node* end_node;
 
 };

aStar/aStar.vcxproj

@@ -160,6 +160,7 @@
     <ClCompile Include="Explorer.cpp" />
     <ClCompile Include="main.cpp" />
     <ClCompile Include="Map.cpp" />
+    <ClCompile Include="node.cpp" />
     <ClCompile Include="Pather.cpp" />
     <ClCompile Include="Tile.cpp" />
   </ItemGroup>
@@ -170,6 +171,9 @@
     <ClInclude Include="Pather.h" />
     <ClInclude Include="Tile.h" />
   </ItemGroup>
+  <ItemGroup>
+    <None Include="node.h" />
+  </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>

aStar/aStar.vcxproj.filters

@@ -33,6 +33,9 @@
     <ClCompile Include="Pather.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="node.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="App.h">
@@ -51,4 +54,7 @@
       <Filter>Header Files</Filter>
     </ClInclude>
   </ItemGroup>
+  <ItemGroup>
+    <None Include="node.h" />
+  </ItemGroup>
 </Project>

aStar/node.cpp

@@ -1,11 +1,9 @@
-#pragma once
+#include "Pather.h"
-#include "node.h"
 
-node::node(sf::Vector2i XY, int h, int cF, int cL, node* p, Pather* pather_) {
+node::node(sf::Vector2i XY, double h, int cF, node* p, Pather* pather_) {
-	xy = XY;
+	position = XY;
 	hueristic = h;
-	cameFrom = cF;
+	came_from = cF;
-	closedList = cL;
 	parent = p;
 	pather = pather_;
 }
@@ -16,13 +14,14 @@ node::~node() {
 
 }
 
-void node::neighbors() {
+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(xy.x, xy.y - 1); // North
+	sf::Vector2i dest0XY(position.x, position.y - 1); // North
-	if (!pather->map->isTileSolid(dest0XY) && pather->visitedMap[dest0XY.x][dest0XY.y] != 1) {
+	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);
@@ -30,17 +29,17 @@ void node::neighbors() {
 		// I think dv is the hueristic??
 		double dv = sqrt((tempx * tempx) + (tempy * tempy));
 
-		int v = static_cast<int>(dv);
+		double v = dv;
 
 		// Take that value and create a new node
-		pather->openList.emplace(new node(dest0XY, v, 0, 1, pather->active_node, pather), v);
+		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->visitedMap[dest0XY.x][dest0XY.y] = 1;
+		pather->visited_map(dest0XY.x, dest0XY.y) = 1;
 	}
 
-	sf::Vector2i dest1XY(xy.x + 1, xy.y); // East
+	sf::Vector2i dest1XY(position.x + 1, position.y); // East
-	if (!pather->map->isTileSolid(dest1XY) && pather->visitedMap[dest1XY.x][dest1XY.y] != 1) {
+	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);
@@ -48,17 +47,17 @@ void node::neighbors() {
 		// I think dv is the hueristic??
 		double dv = sqrt((tempx * tempx) + (tempy * tempy));
 
-		int v = static_cast<int>(dv);
+		double v = dv;
 
 		// Take that value and create a new node
-		pather->openList.emplace(new node(dest1XY, v, 0, 1, pather->active_node, pather), v);
+		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->visitedMap[dest1XY.x][dest1XY.y] = 1;
+		pather->visited_map(dest1XY.x, dest1XY.y) = 1;
 	}
 
-	sf::Vector2i dest2XY(xy.x, xy.y + 1); // South
+	sf::Vector2i dest2XY(position.x, position.y + 1); // South
-	if (!pather->map->isTileSolid(dest2XY) && pather->visitedMap[dest2XY.x][dest2XY.y] != 1) {
+	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);
@@ -66,17 +65,17 @@ void node::neighbors() {
 		// I think dv is the hueristic??
 		double dv = sqrt((tempx * tempx) + (tempy * tempy));
 
-		int v = static_cast<int>(dv);
+		double v = dv;
 
 		// Take that value and create a new node
-		pather->openList.emplace(new node(dest2XY, v, 0, 1, pather->active_node, pather), v);
+		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->visitedMap[dest2XY.x][dest2XY.y] = 1;
+		pather->visited_map(dest2XY.x, dest2XY.y) = 1;
 	}
 
-	sf::Vector2i dest3XY(xy.x - 1, xy.y); // West
+	sf::Vector2i dest3XY(position.x - 1, position.y); // West
-	if (!pather->map->isTileSolid(dest3XY) && pather->visitedMap[dest3XY.x][dest3XY.y] != 1) {
+	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);
@@ -84,12 +83,28 @@ void node::neighbors() {
 		// I think dv is the hueristic??
 		double dv = sqrt((tempx * tempx) + (tempy * tempy));
 
-		int v = static_cast<int>(dv);
+		double v = dv;
 
 		// Take that value and create a new node
-		pather->openList.emplace(new node(dest3XY, v, 0, 1, pather->active_node, pather), v);
+		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->visitedMap[dest3XY.x][dest3XY.y] = 1;
+		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;
+}

aStar/node.h

@@ -1,26 +1,44 @@
 #pragma once
-#include <SFML/Graphics.hpp>
+#include <map>
 #include "App.h"
+#include <unordered_map>
+
+class Pather;
 
 class node {
 public:
 	
-	node(sf::Vector2i XY, int h, int cF, int cL, node* p, Pather* pather_);
+	//		XY position, hueristic value, cameFrom direction, parent, ref to pather
+	node(sf::Vector2i position_, double hueristic_, int came_from_, node* parent_, Pather* pather_);
 	node();
 	~node();
 
-	sf::Vector2i xy;
 	
-	// Ugh, pointers, ugh c++
+
+	// Populate the open_list with neighbors
+	void getNewNeighbors();
+
+	// HAS THE ABILITY TO DELETE THE PARENT!!
+	node* getParent();
+
+	sf::Vector2i getPosition();
+	double getHueristic();
+	int getCameFrom();
+
+private:
+	// Position of the node
+	sf::Vector2i position;
+	
+	// The parent of the node, previous one visited
 	node* parent;
-	int hueristic;
+
-	int cameFrom;
+	// How close it is to the destination
-	int closedList;
+	double hueristic;
+
+	// What direction the parent was
+	int came_from;
+
+	// Ref to pather
 	Pather* pather;
 
-	void neighbors();
-private:
-
 };
-
-