Pathfinding now returns the nodes to reach a destination in preparation for use w/AI pathfinding

Co-authored-by: sigonasr2 <sigonasr2@gmail.com>

Crawler/Pathfinding.cpp

@@ -45,9 +45,9 @@ void Pathfinding::Initialize(){
 		nodeEnd = &nodes[(game->WORLD_SIZE.y / 2) * game->WORLD_SIZE.x + game->WORLD_SIZE.x-2];
 }
 
-int Pathfinding::Solve_AStar(vf2d startPos,vf2d endPos,float maxRange,bool upperLevel){
+std::vector<vf2d> Pathfinding::Solve_AStar(vf2d startPos,vf2d endPos,float maxRange,bool upperLevel){
     float dist=sqrt(pow(endPos.x-startPos.x,2)+pow(endPos.y-startPos.y,2));
-    if(dist>maxRange*24)return maxRange;
+    if(dist>maxRange*24)return {};
 
     nodeStart=&nodes[int(startPos.y/24)*game->WORLD_SIZE.x+int(startPos.x/24)];
     nodeEnd=&nodes[int(endPos.y/24)*game->WORLD_SIZE.x+int(endPos.x/24)];
@@ -112,12 +112,13 @@ int Pathfinding::Solve_AStar(vf2d startPos,vf2d endPos,float maxRange,bool upper
                 nodeNeighbour->fGlobalGoal = nodeNeighbour->fLocalGoal + heuristic(nodeNeighbour, nodeEnd);
             }
         }	
-    }
+    } 
 
     if (nodeEnd != nullptr)
     {
         int pathLength=INFINITE;
         sNode *p = nodeEnd;
+        std::vector<vf2d>finalPath;
         while (p->parent != nullptr)
         {
             if(pathLength==INFINITE){
@@ -125,10 +126,12 @@ int Pathfinding::Solve_AStar(vf2d startPos,vf2d endPos,float maxRange,bool upper
             } else {
                 pathLength++;
             }
+            finalPath.push_back({float((*p).x),float((*p).y)});
             p = p->parent;
         }
-        return pathLength;
+        std::reverse(finalPath.begin(),finalPath.end());
+        return finalPath;
     } else {
-        return INFINITE;
+        return {};
     }
 }

Crawler/Pathfinding.h

@@ -21,6 +21,6 @@ struct Pathfinding{
 	sNode *nodeEnd = nullptr;
 
     void Initialize();
-	//maxRange in tiles.
-    int Solve_AStar(vf2d startPos,vf2d endPos,float maxRange=8,bool upperLevel=false);
+	//maxRange in tiles. Returns the path as points.
+    std::vector<vf2d> Solve_AStar(vf2d startPos,vf2d endPos,float maxRange=8,bool upperLevel=false);
 };

Crawler/Player.cpp

@@ -460,6 +460,6 @@ std::vector<Buff>Player::GetBuffs(BuffType buff){
 }
 
 bool Player::CanPathfindTo(vf2d pos,vf2d targetPos,float range){
-	int pathLength=path.Solve_AStar(pos,targetPos,8,upperLevel);
-	return pathLength<8;//We'll say 7 tiles or less is close enough to 650 range. Have a little bit of wiggle room.
+	std::vector<vf2d>pathing=path.Solve_AStar(pos,targetPos,8,upperLevel);
+	return pathing.size()>0&&pathing.size()<8;//We'll say 7 tiles or less is close enough to 650 range. Have a little bit of wiggle room.
 }