Merge branch 'pathfinding'

.gitignore

@@ -1,2 +1,3 @@
 build*
-*.user
+*.user
+data/*

src/main.cpp

@@ -7,16 +7,18 @@
 
 #include "tools/graph.h"
 #include "tools/pathfinder.h"
+#include "tools/loader.h"
 
 int main(){
     SceneTree scene("testScene");
 
     Engine engine;
+
     engine.createWindow("test");
     engine.setScene("testScene");
     engine.start();
 
-    GraphNode n1 = GraphNode();
+   /* GraphNode n1 = GraphNode();
     n1.setValue(1);
     GraphNode n2 = GraphNode();
     n2.setValue(2);
@@ -24,15 +26,24 @@ int main(){
     n3.setValue(3);
     GraphNode n4 = GraphNode();
     n4.setValue(4);
+    GraphNode n5 = GraphNode();
+    n5.setValue(5);
 
-    n1.addNeighbours(&n2,2);
-    n1.addNeighbours(&n3,3);
-    n2.addNeighbours(&n3,5);
-    n3.addNeighbours(&n4,2);
+    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);
+    std::vector<GraphNode*> path = PathFinder::a_star(&n1,&n4,true);
     std::cout << "Path Size: " << path.size() << std::endl;
     for(GraphNode* gn: path){
         std::cout << gn->getValue() << std::endl;
-    }
+    }*/
+
+    Loader::setObjDirectory("../data/");
+    Loader::setMtlDirectory("../data/");
+    Loader::setTexDirectory("../data/");
+    std::vector<Mesh*> meshes = Loader::loadMesh("sword.obj");
 }

src/message.cpp

@@ -0,0 +1,7 @@
+#include "message.h"
+
+
+Message::Message(std::string id, SystemType sender):m_id(id),m_sender(sender)
+{
+
+}

src/message.h

@@ -0,0 +1,18 @@
+#ifndef MESSAGE_H
+#define MESSAGE_H
+
+#include <iostream>
+#include <vector>
+#include "system.h"
+
+class Message
+{
+    std::string m_id;
+    SystemType m_sender;
+public:
+    Message(std::string,SystemType);
+};
+
+
+
+#endif // MESSAGE_H

src/messagebus.cpp

@@ -0,0 +1,29 @@
+#include "messagebus.h"
+#include "system.h"
+
+MessageBus::MessageBus()
+{
+
+}
+
+void MessageBus::registerSystem(SystemType type, System* system){
+    systems[type] = system;
+}
+
+void MessageBus::update()
+{
+    while (!message_list.empty()){
+        Message* msg = message_list.front();
+        message_list.pop();
+        for(auto const &entity : systems){
+            entity.second->handleMessage(msg);
+        }
+    }
+}
+
+void MessageBus::postMessage(Message *msg)
+{
+    message_list.push(msg);
+}
+
+

src/messagebus.h

@@ -0,0 +1,26 @@
+#ifndef MESSAGEBUS_H
+#define MESSAGEBUS_H
+
+#include <queue>
+#include <map>
+#include <string>
+
+#include "system.h"
+
+class Message;
+class System;
+
+class MessageBus
+{
+    std::map<SystemType,System*> systems;
+    std::queue<Message*> message_list; //message file
+
+public:
+    MessageBus();
+    void registerSystem(SystemType,System*);
+    void postMessage(Message* msg);
+    void update();
+    void handleMessage();
+};
+
+#endif // MESSAGEBUS_H

src/sparrowshell.cpp

@@ -0,0 +1,51 @@
+#include "sparrowshell.h"
+
+#include "message.h"
+#include "input.h"
+
+const int SparrowShell::BUFFER_MAX_LENGTH = 50;
+const int SparrowShell::BUFFER_DISPLAYED_NUMBER = 10;
+const int SparrowShell::SCROLLBAR_PIXEL_WIDTH = 2;
+
+SparrowShell::SparrowShell(sf::Window* window, Input* input): m_position(glm::ivec2(0,0)),m_window(window),m_input(input),m_scrollbar(this)
+{
+    //m_dimension = glm::ivec2();//
+}
+
+void SparrowShell::out(std::string s)
+{
+    if (m_buffer.size() == BUFFER_MAX_LENGTH)
+        m_buffer.pop_back();
+    m_buffer.push_front(s);
+}
+
+void SparrowShell::scrollUp(){
+    if (m_index + BUFFER_DISPLAYED_NUMBER < m_buffer.size()) m_index++;
+}
+
+void SparrowShell::scrollDown(){
+    if (m_index > 0) m_index--;
+}
+
+void SparrowShell::update()
+{
+    //TODO : update TextMesh
+    m_scrollbar.update();
+}
+
+SparrowShell::ScrollBar::ScrollBar(SparrowShell* shell):m_shell(shell){
+    m_position = glm::ivec2(m_shell->m_dimension.x - SCROLLBAR_PIXEL_WIDTH,0);
+    m_dimension = glm::ivec2(SCROLLBAR_PIXEL_WIDTH,m_shell->m_dimension.y);
+}
+
+void SparrowShell::ScrollBar::update(){
+    m_position.y = m_shell->m_position.y;
+    m_dimension.y = m_shell->m_dimension.y;
+
+    if (m_shell->m_buffer.size() > BUFFER_DISPLAYED_NUMBER){
+        float cran = ((float)m_shell->m_dimension.y/(float)m_shell->m_buffer.size());
+        int indexCursor = m_shell->m_buffer.size()-(m_shell->m_index+SCROLLBAR_PIXEL_WIDTH);
+        m_position.y += (int)(cran * indexCursor);
+        m_dimension.y = (int)(cran * BUFFER_DISPLAYED_NUMBER);
+    }
+}

src/sparrowshell.h

@@ -0,0 +1,55 @@
+#ifndef SPARROWSHELL_H
+#define SPARROWSHELL_H
+
+#include <list>
+
+#include "system.h"
+#include "scene.h"
+#include "glm/glm.hpp"
+
+class Input;
+
+namespace sf {
+class Window;
+}
+
+class SparrowShell : public SceneNode
+{
+private:
+    class ScrollBar{
+        SparrowShell* m_shell;
+        glm::ivec2 m_position;
+        glm::ivec2 m_dimension;
+        //TODO : Add rectangle mesh
+
+    public:
+        ScrollBar();
+        ScrollBar(SparrowShell* shell);
+        void update();
+    };
+
+    static const int BUFFER_MAX_LENGTH;
+    static const int BUFFER_DISPLAYED_NUMBER;
+    static const int SCROLLBAR_PIXEL_WIDTH;
+
+    std::list<std::string> m_buffer;
+    sf::Window* m_window;
+    Input* m_input;
+    int m_index = 0;
+
+    glm::ivec2 m_position;
+    glm::ivec2 m_dimension;
+
+    //textMesh
+    ScrollBar m_scrollbar;
+
+public:
+    SparrowShell(sf::Window*, Input*);
+
+    void update();
+    void scrollUp();
+    void scrollDown();
+    void out(std::string);
+};
+
+#endif // SPARROWSHELL_H

src/system.cpp

@@ -0,0 +1,28 @@
+#include "system.h"
+
+#include "messagebus.h"
+#include "message.h"
+#include "input.h"
+#include <iostream>
+
+System::System()
+{
+
+}
+
+InputSystem::InputSystem(){
+
+}
+
+void InputSystem::initInput(sf::Window *window){
+    m_input = new Input(window);
+}
+
+void InputSystem::update(){
+    int action;
+    Message* message;
+    while (action = m_input->getAction() != NO_ACTION){
+        message = new Message(std::to_string(action),SystemType::INPUT_SYSTEM);
+        m_msgBus->postMessage(message);
+    }
+}

src/system.h

@@ -0,0 +1,36 @@
+#ifndef SYSTEM_H
+#define SYSTEM_H
+
+class MessageBus;
+class Message;
+class Input;
+
+namespace sf{
+class Window;
+}
+
+//TODO:complete this part with other existing system,
+enum SystemType {INPUT_SYSTEM, RENDERER_SYSTEM, IA_SYSTEM,GAME_SYSTEM,LENGTH};
+
+class System
+{
+    SystemType m_type;
+protected:
+    MessageBus* m_msgBus;
+
+public:
+    System();
+    virtual void handleMessage(Message* message) = 0;
+};
+
+class InputSystem : public System{
+private:
+    Input* m_input;
+public:
+    InputSystem();
+    ~InputSystem();
+    void initInput(sf::Window* window);
+    void update();
+};
+
+#endif // SYSTEM_H

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){
@@ -48,15 +38,11 @@ int GraphNode::getValue(){
     return m_testvalue;
 }
 
-
-
-GraphEdge::GraphEdge(GraphNode* gn,float v):m_target(gn),m_weight(v)
-{}
-
-GraphNode* GraphEdge::getTarget(){
-    return m_target;
+void GraphNode::setPriority(float priority){
+    m_priority = priority;
 }
 
-float GraphEdge::getWeight(){
-    return m_weight;
+float GraphNode::getPriority(){
+    return m_priority;
 }
+

src/tools/graph.h

@@ -8,32 +8,31 @@ 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 heuristic(GraphNode*){return 1;};
+    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 function. For better result, redefine the heuristic function in GraphNode." << std::endl;
+        return 0;
+    }
 
     void setValue(int);
     int getValue();
+    void setPriority(float);
+    float getPriority();
     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

@@ -1,8 +1,20 @@
 #include "loader.h"
 #include <fstream>
 #include <streambuf>
+#include <cstring>
 #include <image.h>
+#include "../resourcemanager.h"
 #include <SFML/Graphics/Image.hpp>
+#include <mesh.h>
+#include <phongmaterial.h>
+#include "../sparrowrenderer/src/texture.h"
+
+#include <iostream>
+
+std::string Loader::obj_directory = "";
+std::string Loader::mtl_directory = "";
+std::string Loader::tex_directory = "";
+
 
 std::string* Loader::loadTextFile(const std::string &filename)
 {
@@ -21,7 +33,7 @@ std::string* Loader::loadTextFile(const std::string &filename)
 Image* Loader::loadImage(const std::string &filename, bool hasAlpha)
 {
     sf::Image sfImg;
-    sfImg.loadFromFile(filename);
+    sfImg.loadFromFile(tex_directory+filename);
     Image* img = new Image();
     img->depth = hasAlpha ? 32 : 24;
     img->width = sfImg.getSize().x;
@@ -39,3 +51,285 @@ Image* Loader::loadImage(const std::string &filename, bool hasAlpha)
     }
     return img;
 }
+
+std::vector<Mesh*> Loader::loadMesh(const std::string &filename){
+    std::vector<Mesh*> meshes;
+
+    std::vector<glm::vec3> pos;
+    std::vector<glm::vec3> norm;
+    std::vector<glm::vec2> tex;
+
+    std::string line;
+
+    Material* defaultMat = RESOURCE_GET(Material, "default");
+
+    if(defaultMat == NULL)
+    {
+        defaultMat = new PhongMaterial();
+        RESOURCE_ADD(defaultMat,Material,"default");
+    }
+    Material* currentMat = defaultMat;
+    std::ifstream file(obj_directory + filename);
+
+    if(!file.is_open())
+    {
+        fprintf(stderr, "can't load %s.\n", filename.c_str());
+        return meshes;
+    }
+
+    Mesh* currentMesh = new Mesh();
+    meshes.push_back(currentMesh);
+    currentMesh->setMaterial(currentMat);
+
+    std::getline(file, line);
+    while(!file.eof())
+    {
+        if(line.length() == 0)  // line vide
+        {
+            std::getline(file, line);
+            continue;
+        }
+
+        switch(line[0])
+        {
+        case 'v':
+            //vertex attribute
+            switch(line[1])
+            {
+            case ' ': // vertex position
+            {
+                glm::vec3 p;
+                std::sscanf(line.c_str(),"v %f %f %f",&(p.x),&(p.y),&(p.z));
+                pos.push_back(p);
+                break;
+            }
+            case 't': // texCoord
+            {
+                glm::vec2 t;
+                std::sscanf(line.c_str(),"vt %f %f",&(t.x),&(t.y));
+                tex.push_back(t);
+                break;
+            }
+            case 'n':    // normal
+            {
+                glm::vec3 n;
+                std::sscanf(line.c_str(),"vn %f %f %f",&(n.x),&(n.y),&(n.z));
+                norm.push_back(n);
+                break;
+            }
+            }
+            break;
+        case 'f': // face
+        {
+            int tab[9];
+            std::sscanf(line.c_str(),"f %d/%d/%d %d/%d/%d %d/%d/%d",tab,tab+1,tab+2,tab+3,tab+4,tab+5,tab+6,tab+7,tab+8);
+            //TODO: check sscanf success
+
+            int nb_vertices = currentMesh->positions3D.size();
+
+            currentMesh->addTriangle(nb_vertices, nb_vertices+1, nb_vertices+2);
+            for(int i=0; i<3; ++i)
+            {
+                if(norm.size() == 0)
+                {
+                    if(tex.size() == 0)
+                        currentMesh->addVertex(pos[tab[i]-1]);
+                    else
+                        currentMesh->addVertex(pos[tab[i]-1], tex[tab[i+1]-1]);
+                }
+                else
+                {
+                    if(tex.size() == 0)
+                        currentMesh->addVertex(pos[tab[i]-1], norm[tab[i+2]-1]);
+                    else
+                        currentMesh->addVertex(pos[tab[i]-1], norm[tab[i+2]-1], tex[tab[i+1]-1]);
+                }
+            }
+        }
+            break;
+        case 'g':
+            currentMesh = new Mesh();
+            meshes.push_back(currentMesh);
+            currentMesh->setMaterial(currentMat);
+            break;
+        case 'm': // mtllib
+        {
+            char mat_filename[256];
+            std::sscanf(line.c_str(),"mtllib %s",mat_filename);
+            loadMTL(std::string(mat_filename));
+            break;
+        }
+        case 'u':
+        {
+            // usemtl
+            char mat_name[256];
+            std::sscanf(line.c_str(),"usemtl %s",mat_name);
+            std::string material_name(mat_name);
+            currentMat = RESOURCE_GET(Material, material_name);
+            if(currentMat == NULL)
+            {
+                fprintf(stderr, "cannot find any material named : %s.\n", material_name.c_str());
+                currentMat = new PhongMaterial();
+                RESOURCE_ADD(currentMat,Material,material_name);
+            }
+            currentMesh->setMaterial(currentMat);
+        }
+            break;
+        default:
+        case '#':
+            // comment
+            break;
+        }
+        std::getline(file,line);
+    }
+
+    for(std::size_t i=0; i<meshes.size(); ++i)
+    {
+        if(meshes[i]->indices.size() == 0)
+        {
+            meshes[i] = meshes.back();
+            meshes.pop_back();
+            --i;
+        }
+    }
+    return meshes;
+}
+
+
+//move this to an utils file ?
+std::vector<std::string> split(const std::string &line, char sep){
+    std::vector<std::string> tokens;
+    std::size_t start=0, end=0;
+    while((end = line.find(sep,start)) != std::string::npos){
+        tokens.push_back(line.substr(start,end-start));
+        start=end+1;
+    }
+    tokens.push_back(line.substr(start));
+    return tokens;
+}
+
+//load MTL
+bool Loader::loadMTL(const std::string &filename)
+{
+    std::string line;
+    std::ifstream file(mtl_directory + filename);
+
+    if(!file.is_open())
+    {
+        fprintf(stderr, "can't load %s.\n", filename.c_str());
+        return false;
+    }
+
+    PhongMaterial* mat = NULL;
+    bool hasNormalMap = false;
+
+    std::getline(file,line);
+
+    while(!file.eof())
+    {
+        if(line.length() == 0)
+        {
+            std::getline(file,line);
+            continue;
+        }
+        //QStringList tokens = line.split(' ');
+        std::vector<std::string> tokens = split(line,' ');
+
+        if(tokens[0].substr(0,1) == "#")
+        {
+                // this is a comment
+        }
+        else if((tokens[0] == "newmtl") && tokens.size() == 2)
+        {
+            mat = new PhongMaterial();
+            RESOURCE_ADD(mat,Material,tokens[1]);
+        }
+        else if((tokens[0].compare("Ka") == 0) && tokens.size() == 4)
+        {
+            mat->ambient.r = std::stof(tokens[1]);
+            mat->ambient.g = std::stof(tokens[2]);
+            mat->ambient.b = std::stof(tokens[3]);
+        }
+        else if(tokens[0].compare("Kd") == 0 && tokens.size() == 4)
+        {
+            mat->diffuse.r = std::stof(tokens[1]);
+            mat->diffuse.g = std::stof(tokens[2]);
+            mat->diffuse.b = std::stof(tokens[3]);
+        }
+        else if(tokens[0].compare("Ks") == 0 && tokens.size() == 4)
+        {
+            mat->specular.r = std::stof(tokens[1]);
+            mat->specular.g = std::stof(tokens[2]);
+            mat->specular.b = std::stof(tokens[3]);
+        }
+        else if(tokens[0].compare("Ns") == 0 && tokens.size() == 2)
+        {
+            mat->shininess = std::stof(tokens[1]);
+        }
+        else if((tokens[0].substr(0,4) == "map_") && tokens.size() == 2)
+        {
+            if(tokens[0].compare("map_Ka") == 0){
+                mat->ambient_texture = RESOURCE_GET(Texture,tokens[1]);
+                if (mat->ambient_texture == NULL){
+                    mat->ambient_texture = new Texture(loadImage(tokens[1]));
+                    RESOURCE_ADD(mat->ambient_texture,Texture,tokens[1]);
+                }
+            } else if(tokens[0].compare("map_Kd") == 0) {
+                mat->diffuse_texture = RESOURCE_GET(Texture,tokens[1]);
+                if (mat->diffuse_texture == NULL){
+                    mat->diffuse_texture = new Texture(loadImage(tokens[1]));
+                    RESOURCE_ADD(mat->diffuse_texture,Texture,tokens[1]);
+                }
+            } else if(tokens[0].compare("map_Ks") == 0) {
+                mat->specular_texture = RESOURCE_GET(Texture,tokens[1]);
+                if (mat->specular_texture == NULL){
+                    mat->specular_texture = new Texture(loadImage(tokens[1]));
+                    RESOURCE_ADD(mat->specular_texture,Texture,tokens[1]);
+                }
+            } else if(tokens[0].compare("map_Normal") == 0) {
+                mat->normal_map = RESOURCE_GET(Texture,tokens[1]);
+                if (mat->normal_map == NULL){
+                    mat->normal_map = new Texture(loadImage(tokens[1]));
+                    RESOURCE_ADD(mat->normal_map,Texture,tokens[1]);
+                }
+                hasNormalMap = true;
+            } else if(tokens[0].compare("map_d") == 0) {
+                mat->alpha_mask = RESOURCE_GET(Texture,tokens[1]);
+                if (mat->alpha_mask == NULL){
+                    mat->alpha_mask = new Texture(loadImage(tokens[1]));
+                    RESOURCE_ADD(mat->alpha_mask,Texture,tokens[1]);
+                }
+            } else
+                fprintf(stderr, "unsupported material property : \"%s\"\n", tokens[0].c_str());
+        }
+        else
+            fprintf(stderr, "unsupported material property : \"%s\"\n", tokens[0].c_str());
+
+        std::getline(file,line);
+    }
+    return hasNormalMap;
+}
+
+void Loader::setObjDirectory(std::string dir_){
+    obj_directory = dir_;
+}
+void Loader::setMtlDirectory(std::string dir_){
+    mtl_directory = dir_;
+}
+void Loader::setTexDirectory(std::string dir_){
+    tex_directory = dir_;
+}
+
+/*
+//glfinish
+void temp_glfinish(){
+    for(std::size_t i=0; i<images.size(); ++i)
+    {
+        if(images[i]){
+            images[i]->initGL();
+            todos[i].target = images[i]->texture;
+            delete images[i];
+        }
+    }
+}
+*/

src/tools/loader.h

@@ -2,14 +2,26 @@
 #define LOADER_H
 
 #include <string>
+#include <vector>
 
 class Image;
+class Mesh;
 
 class Loader
 {
+    static std::string obj_directory;
+    static std::string mtl_directory;
+    static std::string tex_directory;
+
 public:
     static std::string* loadTextFile(const std::string &filename);
     static Image* loadImage(const std::string &filename, bool hasAlpha = true);
+    static std::vector<Mesh*> loadMesh(const std::string &filename);
+    static bool loadMTL(const std::string &filename);
+
+    static void setObjDirectory(std::string);
+    static void setMtlDirectory(std::string);
+    static void setTexDirectory(std::string);
 };
 
 #endif // LOADER_H

src/tools/pathfinder.cpp

@@ -3,59 +3,128 @@
 #include <map>
 #include <queue>
 #include <algorithm>
+#include <set>
+
 //#include "fiboheap.h"
 
 PathFinder::PathFinder(){
 }
 
-std::vector<GraphNode*> PathFinder::a_star(GraphNode* start,GraphNode* goal)
+std::vector<GraphNode*> PathFinder::a_star(GraphNode* start, GraphNode* goal, bool debug)
 {
     // Check if priorityqueue sort value in right order.
-    std::priority_queue<PriorityNode*> frontier = std::priority_queue<PriorityNode*>();
+    std::priority_queue<GraphNode*,std::vector<GraphNode*>,ComparePriority> frontier = std::priority_queue<GraphNode*,std::vector<GraphNode*>,ComparePriority>();
     std::map<GraphNode*, float> cost = std::map<GraphNode*, float>(); //cost of visited node
     std::map<GraphNode*, GraphNode*> pred = std::map<GraphNode*, GraphNode*>(); //pred of visited node
 
+    std::set<GraphNode*> visited = std::set<GraphNode*>();
+
     // init frontier, cost, and pred with value for start
-    PriorityNode* pn = new PriorityNode();
-    pn->node = std::pair<GraphNode*,float>(start,0);
-    frontier.push(pn);
+    frontier.push(start);
     cost.insert(std::pair<GraphNode*,float>(start,0));
     pred.insert(std::pair<GraphNode*,GraphNode*>(start,NULL));
 
     GraphNode* current;
     while(!frontier.empty()){
         //pick best element from frontier (with priority queue the best is in front)
-        pn = frontier.top();
-        current = pn->node.first;
+        current = frontier.top();
+        //current = pn->node.first;
         frontier.pop();
+        if (visited.count(current) == 0)
+            visited.insert(current);
+        else
+            continue;
 
+        if(debug) std::cout << "Exploring node " << current->getValue() << std::endl;
         // goal reached, end of a-star
         if (current == goal){
             break;
         }
 
         // for all neighbours of current node
-        for (GraphEdge next : current->getNeighbours()){
-             float new_cost = cost[current] + next.getWeight();
+        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; //+ heuristic(next.getTarget(), goal);
-                PriorityNode* pn = new PriorityNode();
-                pn->node = std::pair<GraphNode*,float>(next.getTarget(),priority);
-                frontier.push(pn);
-
+                float priority = new_cost + next->heuristic(goal);
+                if(debug) std::cout << "\t\t Priority: " << priority << std::endl;
+                next->setPriority(priority);
+                visited.erase(next);
+                frontier.push(next);
                 // memorize predecessor for next
-                 pred[next.getTarget()] = current;
+                pred[next] = current;
              }
         }
     }
 
+    if(debug) std::cout << "path cost :" << cost[goal] << std::endl;
+    return backtrack_path(start,goal,pred);
+}
+
+std::vector<GraphNode*> PathFinder::a_star_min_max(GraphNode* start,GraphNode* goal,bool debug)
+{
+    std::priority_queue<GraphNode*,std::vector<GraphNode*>,ComparePriority> frontier = std::priority_queue<GraphNode*,std::vector<GraphNode*>,ComparePriority>();
+    std::map<GraphNode*, float> cost = std::map<GraphNode*, float>(); //cost of visited node
+    std::map<GraphNode*, GraphNode*> pred = std::map<GraphNode*, GraphNode*>(); //pred of visited node
+
+    std::set<GraphNode*> visited = std::set<GraphNode*>();
+
+    // init frontier, cost, and pred with value for start
+    frontier.push(start);
+    cost.insert(std::pair<GraphNode*,float>(start,0));
+    pred.insert(std::pair<GraphNode*,GraphNode*>(start,NULL));
+
+    GraphNode* current;
+    while(!frontier.empty()){
+        //pick best element from frontier (with priority queue the best is in front)
+        current = frontier.top();
+        //current = pn->node.first;
+        frontier.pop();
+        if (visited.count(current) == 0)
+            visited.insert(current);
+        else
+            continue;
+
+        if(debug) std::cout << "Exploring node " << current->getValue() << std::endl;
+        // goal reached, end of a-star
+        if (current == goal){
+            break;
+        }
+
+        // for all neighbours of current node
+        for (GraphNode* next : current->getNeighbours()){
+            float new_cost = std::max(cost[current],current->cost(next));
+            if(debug) std::cout << "\tExploring neighbours node " << next->getValue() << " with cost " << new_cost << std::endl;
+
+            if ((cost.count(next) == 0) || (new_cost < cost[next])){
+                // affect processed cost to next node in cost_map
+                cost[next] = new_cost;
+
+                // calcul priority of node with heuristic,and add it to frontier
+                float priority = new_cost + next->heuristic(goal);
+                if(debug) std::cout << "\t\t Priority: " << priority << std::endl;
+                next->setPriority(priority);
+                visited.erase(next);
+                frontier.push(next);
+                // memorize predecessor for next
+                pred[next] = current;
+             }
+        }
+    }
+
+    if(debug) std::cout << "path cost :" << cost[goal] << std::endl;
+    return backtrack_path(start,goal,pred);
+}
+
+std::vector<GraphNode*> PathFinder::backtrack_path(GraphNode* start,GraphNode* goal, std::map<GraphNode*, GraphNode*> pred){
     // reconstruct path by backtracking from goal to start
     std::vector<GraphNode*> path = std::vector<GraphNode*>();
+    GraphNode* current = goal;
     while(current != start){
         path.push_back(current);
         current = pred[current];
@@ -65,4 +134,7 @@ std::vector<GraphNode*> PathFinder::a_star(GraphNode* start,GraphNode* goal)
     return path;
 }
 
-
+bool ComparePriority::operator ()(GraphNode* a, GraphNode* b)
+{
+    return a->getPriority() > b->getPriority();
+}

src/tools/pathfinder.h

@@ -2,22 +2,23 @@
 #define PATHFINDER_H
 
 #include <vector>
+#include <map>
 #include "graph.h"
 
 class PathFinder
 {
+private:
+    static std::vector<GraphNode*> backtrack_path(GraphNode* start,GraphNode* goal, std::map<GraphNode*, GraphNode*> pred);
+
 public:
     PathFinder();
-    static std::vector<GraphNode*> a_star(GraphNode* start,GraphNode* goal);
+    static std::vector<GraphNode*> a_star(GraphNode* start,GraphNode* goal,bool debug = false);
+    static std::vector<GraphNode*> a_star_min_max(GraphNode* start,GraphNode* goal,bool debug = false);
+
 };
 
-struct PriorityNode
-{
-    std::pair<GraphNode*, float> node;
-    bool operator<(PriorityNode other) const
-    {
-        return node.second < other.node.second;
-    }
+class ComparePriority{
+public:
+    bool operator() (GraphNode*,GraphNode*s);
 };
-
 #endif // PATHFINDER_H