AdventuresInLestoria/Crawler/Pathfinding.h

#pragma region License
/*
License (OLC-3)
~~~~~~~~~~~~~~~

Copyright 2018 - 2023 OneLoneCoder.com

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

1. Redistributions or derivations of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.

2. Redistributions or derivative works in binary form must reproduce the above
copyright notice. This list of conditions and the following	disclaimer must be
reproduced in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may
be used to endorse or promote products derived from this software without specific
prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS	"AS IS" AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE COPYRIGHT	HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL,	SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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CONTRACT, STRICT LIABILITY, OR TORT	(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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Portions of this software are copyright © 2023 The FreeType
Project (www.freetype.org). Please see LICENSE_FT.txt for more information.
All rights reserved.
*/
#pragma endregion
#pragma once
#include "olcPixelGameEngine.h"

struct Pathfinding{
    struct sNode
	{
		bool bObstacle = false;			// Is the node an obstruction?
		bool bObstacleUpper = false;	// Is the node an obstruction on the upper level?
		bool bVisited = false;			// Have we searched this node before?
		float fGlobalGoal=0;				// Distance to goal so far
		float fLocalGoal=0;				// Distance to goal if we took the alternative route
		int x=0;							// Nodes position in 2D space
		int y=0;
		std::vector<sNode*> vecNeighbours;	// Connections to neighbours
		sNode* parent=nullptr;					// Node connecting to this node that offers shortest parent
	};

	sNode *nodes = nullptr;

	sNode *nodeStart = nullptr;
	sNode *nodeEnd = nullptr;

    void Initialize();
	//maxRange in tiles. Returns the path as points.
    std::vector<vf2d> Solve_AStar(vf2d startPos,vf2d endPos,float maxRange=8,bool upperLevel=false);
};