replace GraphEdge with cost function

src/engine.cpp

@@ -19,14 +19,14 @@ Engine::Engine() :
     m_clock = new sf::Clock();
     m_clock->restart();
     m_renderer = new SparrowRenderer();
-    m_renderer->setCamera(NULL);
+    //m_renderer->setCamera(NULL);
 }
 
 Engine::~Engine()
 {
     delete m_clock;
     if(m_window != NULL)
-        m_renderer->destroyGL();
+  //      m_renderer->destroyGL();
     delete m_renderer;
     if(m_window != NULL)
     {

src/main.cpp

@@ -16,7 +16,7 @@ int main(){
     scene.addChild("camera");
 
     Engine engine;
-    engine.getRenderer()->setCamera(&camera);
+    //engine.getRenderer()->setCamera(&camera);
     engine.createWindow("test");
     engine.setScene("testScene");
     engine.start();
@@ -32,12 +32,12 @@ int main(){
     GraphNode n5 = GraphNode();
     n5.setValue(5);
 
-    n1.addNeighbours(&n2,6);
-    n1.addNeighbours(&n3,3);
-    n2.addNeighbours(&n4,2);
-    n3.addNeighbours(&n4,20);
-    n3.addNeighbours(&n2,2);
-    n3.addNeighbours(&n5,10);
+    n1.addNeighbours(&n2);
+    n1.addNeighbours(&n3);
+    n2.addNeighbours(&n4);
+    n3.addNeighbours(&n4);
+    n3.addNeighbours(&n2);
+    n3.addNeighbours(&n5);
 
     std::vector<GraphNode*> path = PathFinder::a_star(&n1,&n4,true);
     std::cout << "Path Size: " << path.size() << std::endl;

src/tools/graph.cpp

@@ -5,27 +5,22 @@ using namespace std;
 
 GraphNode::GraphNode()
 {
-    m_neighbours = vector<GraphEdge>();
+    m_neighbours = vector<GraphNode*>();
 }
 
-GraphNode::GraphNode(vector<GraphEdge> neighbours):m_neighbours(neighbours)
+GraphNode::GraphNode(vector<GraphNode*> neighbours):m_neighbours(neighbours)
 {
 }
 
-void GraphNode::addNeighbours(GraphNode* n,float f){
-    GraphEdge edge = GraphEdge(n,f);
-    addNeighbours(edge);
-}
-
-void GraphNode::addNeighbours(GraphEdge edge){
-    m_neighbours.push_back(edge);
+void GraphNode::addNeighbours(GraphNode* node){
+    m_neighbours.push_back(node);
 }
 
 int GraphNode::getNbNeighbours(){
     return m_neighbours.size();
 }
 
-vector<GraphEdge> GraphNode::getNeighbours(){
+vector<GraphNode*> GraphNode::getNeighbours(){
     return m_neighbours;
 }
 
@@ -33,11 +28,6 @@ void GraphNode::print(std::string prefix)
 {
     cout << prefix << "Node_id : ";
     cout << prefix << m_testvalue << endl;
-//    cout << prefix << "Neighbours list :" << endl;
-    //prefix += "\t";
-    //for_each (m_neighbours.begin(), m_neighbours.end(),[prefix](GraphEdge voisin) {
-    //    voisin.getTarget()->print(prefix);
-    //});
 }
 
 void GraphNode::setValue(int a){
@@ -48,22 +38,11 @@ int GraphNode::getValue(){
     return m_testvalue;
 }
 
-void GraphNode::setPriority(float a){
-    m_priority = a;
+void GraphNode::setPriority(float priority){
+    m_priority = priority;
 }
 
 float GraphNode::getPriority(){
     return m_priority;
 }
 
-
-GraphEdge::GraphEdge(GraphNode* gn,float v):m_target(gn),m_weight(v)
-{}
-
-GraphNode* GraphEdge::getTarget(){
-    return m_target;
-}
-
-float GraphEdge::getWeight(){
-    return m_weight;
-}

src/tools/graph.h

@@ -8,22 +8,25 @@ class GraphEdge;
 
 class GraphNode
 {
-    std::vector<GraphEdge> m_neighbours;
+    std::vector<GraphNode*> m_neighbours;
     int m_testvalue;  //temp variable
     float m_priority;
 
 public:
     GraphNode();
-    GraphNode(std::vector<GraphEdge>);
+    GraphNode(std::vector<GraphNode*>);
 
-    std::vector<GraphEdge> getNeighbours();
-    void addNeighbours(GraphNode*,float);
-    void addNeighbours(GraphEdge);
+    std::vector<GraphNode*> getNeighbours();
+    void addNeighbours(GraphNode*);
     int getNbNeighbours();
+    virtual float cost(GraphNode*){
+        std::cout << "WARNING : You're using the default cost function. For better result, redefine the cost function in GraphNode." << std::endl;
+        return 1;
+    }
     virtual float heuristic(GraphNode*){
-        std::cout << "WARNING : You're using the default heuristic. For better result, redefine the heuristic function in GraphNode." << std::endl;
+        std::cout << "WARNING : You're using the default heuristic function. For better result, redefine the heuristic function in GraphNode." << std::endl;
         return 0;
-    };
+    }
 
     void setValue(int);
     int getValue();
@@ -32,15 +35,4 @@ public:
     void print(std::string prefix);
 };
 
-class GraphEdge
-{
-    GraphNode* m_target;
-    float m_weight;
-
-public:
-    GraphEdge(GraphNode*,float);
-    GraphNode* getTarget();
-    float getWeight();
-};
-
 #endif // GRAPH_H

src/tools/loader.cpp

@@ -1,6 +1,7 @@
 #include "loader.h"
 #include <fstream>
 #include <streambuf>
+#include <cstring>
 #include <image.h>
 #include <SFML/Graphics/Image.hpp>
 

src/tools/pathfinder.cpp

@@ -10,7 +10,7 @@
 PathFinder::PathFinder(){
 }
 
-std::vector<GraphNode*> PathFinder::a_star(GraphNode* start,GraphNode* goal,bool debug)
+std::vector<GraphNode*> PathFinder::a_star(GraphNode* start, GraphNode* goal, bool debug)
 {
     // Check if priorityqueue sort value in right order.
     std::priority_queue<GraphNode*,std::vector<GraphNode*>,ComparePriority> frontier = std::priority_queue<GraphNode*,std::vector<GraphNode*>,ComparePriority>();
@@ -42,22 +42,22 @@ std::vector<GraphNode*> PathFinder::a_star(GraphNode* start,GraphNode* goal,bool
         }
 
         // for all neighbours of current node
-        for (GraphEdge next : current->getNeighbours()){
-            float new_cost = cost[current] + next.getWeight();
-            if(debug) std::cout << "\tExploring neighbours node " << next.getTarget()->getValue() << " with cost " << new_cost << std::endl;
+        for (GraphNode* next : current->getNeighbours()){
+            float new_cost = cost[current] + current->cost(next);
+            if(debug) std::cout << "\tExploring neighbours node " << next->getValue() << " with cost " << new_cost << std::endl;
 
-            if ((cost.count(next.getTarget()) == 0) || (new_cost < cost[next.getTarget()])){
+            if ((cost.count(next) == 0) || (new_cost < cost[next])){
                 // affect processed cost to next node in cost_map
-                cost[next.getTarget()] = new_cost;
+                cost[next] = new_cost;
 
                 // calcul priority of node with heuristic,and add it to frontier                
-                float priority = new_cost + next.getTarget()->heuristic(goal);
+                float priority = new_cost + next->heuristic(goal);
                 if(debug) std::cout << "\t\t Priority: " << priority << std::endl;
-                next.getTarget()->setPriority(priority);
-                visited.erase(next.getTarget());
-                frontier.push(next.getTarget());
+                next->setPriority(priority);
+                visited.erase(next);
+                frontier.push(next);
                 // memorize predecessor for next
-                pred[next.getTarget()] = current;
+                pred[next] = current;
              }
         }
     }