[Add] Laying out a lovely foundation.. Getting dirty with some generic programming.

src/libUnuk/Engine/Pathfinding.cpp

@@ -9,7 +9,33 @@ AStarSearch<UserState>::AStarSearch(void) :
 
 template<class UserState>
 AStarSearch<UserState>::~AStarSearch(void) {
+	_cancelRequest= false;
 
+	_start = AllocateNode();
+	_goal  = AllocateNode();
+
+	assert((_start != NULL && _goal != NULL));
+
+	_start->_UserState = _start;
+	_goal->_UserState  = _goal;
+
+	_state = SEARCH_STATE_SEARCHING;
+
+	// Initialise the AStar specific parts of the start node.
+	// You only need to fill out the state information.
+	_start->g = 0;
+	_start->h = _start->_UserState.GoalDistanceEstimate(_goal->_UserState);
+	_start->f = _start->g + _start->h;
+	_start->parent = 0;
+
+	// Push the start node onto the open list.
+	_openList.push_back(_start); // Heap is now unsorted.
+
+	// Sort back element into the heap.
+	push_heap(_openList.begin(), _openList.end(), HeapCompare_f());
+
+	// Initialise counter for the search steps.
+	_steps = 0;
 }
 
 template<class UserState>
@@ -26,3 +52,89 @@ template<class UserState>
 bool AStarSearch<UserState>::AddSuccessor(UserState& state) {
 
 }
+
+template<class UserState>
+void AStarSearch<UserState>::FreeSolutionNodes(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetSolutionStart(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetSolutionNext(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetSolutionEnd(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetSolutionPrev(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetOpenListStart(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetOpenListStart(float& f, float& g, float& h) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetOpenListNext(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetOpenListNext(float& f, float& g, float& h) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetClosedListStart(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetClosedListStart(float& f, float& g, float& h) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetClosedListNext(void) {
+
+}
+
+template<class UserState>
+UserState* AStarSearch<UserState>::GetClosedListNext(float& f, float& g, float& h) {
+
+}
+
+// Private.
+template<class UserState>
+void AStarSearch<UserState>::FreeAllNodes(void) {
+
+}
+
+template<class UserState>
+void AStarSearch<UserState>::FreeUnusedNodes(void) {
+
+}
+
+//template<class UserState>
+//Node* AStarSearch<UserState>::AllocateNode(void) {
+//
+//}
+
+//template<class UserState>
+//void Node::FreeNode(Node* node) {
+//
+//}

src/libUnuk/Engine/Pathfinding.h

@@ -115,6 +115,10 @@ private:
 	 */
 	void FreeUnusedNodes(void);
 
+	Node* AllocateNode(void);
+
+	void FreeNode(Node* node);
+
 	// Data.
 private:
 	// Heap.