[Add] A* Pathfinding almost complete.

Unuk-QT/Makefile

@@ -1,6 +1,6 @@
 #############################################################################
 # Makefile for building: Unuk-QT
-# Generated by qmake (2.01a) (Qt 4.7.3) on: Thu Jan 5 16:49:04 2012
+# Generated by qmake (2.01a) (Qt 4.7.3) on: Sat Jan 7 00:36:51 2012
 # Project:  Unuk-QT.pro
 # Template: app
 # Command: /usr/bin/qmake-qt4 -spec /usr/share/qt4/mkspecs/linux-g++ CONFIG+=debug -o Makefile Unuk-QT.pro
@@ -69,7 +69,8 @@ SOURCES       = ../src/libUnuk/Debug.cpp \
 		../src/libUnuk/MapElement.cpp \
 		../src/libUnuk/MapEntities.cpp \
 		../src/libUnuk/FPS.cpp \
-		../src/libUnuk/MemManager.cpp 
+		../src/libUnuk/MemManager.cpp \
+		../src/libUnuk/AStar.cpp 
 OBJECTS       = Debug.o \
 		main.o \
 		Input.o \
@@ -96,7 +97,8 @@ OBJECTS       = Debug.o \
 		MapElement.o \
 		MapEntities.o \
 		FPS.o \
-		MemManager.o
+		MemManager.o \
+		AStar.o
 DIST          = /usr/share/qt4/mkspecs/common/g++.conf \
 		/usr/share/qt4/mkspecs/common/unix.conf \
 		/usr/share/qt4/mkspecs/common/linux.conf \
@@ -196,7 +198,7 @@ qmake:  FORCE
 
 dist: 
 	@$(CHK_DIR_EXISTS) .tmp/Unuk-QT1.0.0 || $(MKDIR) .tmp/Unuk-QT1.0.0 
-	$(COPY_FILE) --parents $(SOURCES) $(DIST) .tmp/Unuk-QT1.0.0/ && $(COPY_FILE) --parents ../src/libUnuk/Debug.h ../src/Libs/wglext.h ../src/Libs/glxext.h ../src/libUnuk/Input.h ../src/libUnuk/Rect.h ../src/libUnuk/Timer.h ../src/libUnuk/Font.h ../Constants.h ../src/Unuk/Constants.h ../src/libUnuk/ApplySurface.h ../src/Unuk/Globals.h ../src/libUnuk/ImageLoader.h ../src/libUnuk/TextureManager.h ../src/libUnuk/Texture.h ../src/libUnuk/Text.h ../src/libUnuk/MapTile.h ../src/libUnuk/Map.h ../src/libUnuk/Button.h ../src/libUnuk/ButtonToggle.h ../src/libUnuk/MainMenu.h ../src/libUnuk/ParticleEmitter.h ../src/libUnuk/IngameMenu.h ../src/libUnuk/Collision.h ../src/libUnuk/Character.h ../src/libUnuk/NPC.h ../src/Unuk/Player.h ../src/Unuk/Game.h ../src/libUnuk/MapElement.h ../src/libUnuk/MapEntities.h ../src/libUnuk/FPS.h ../src/libUnuk/MemManager.h ../src/libUnuk/MemClass.h .tmp/Unuk-QT1.0.0/ && $(COPY_FILE) --parents ../src/libUnuk/Debug.cpp ../src/Unuk/main.cpp ../src/libUnuk/Input.cpp ../src/libUnuk/Timer.cpp ../src/libUnuk/Font.cpp ../src/libUnuk/ApplySurface.cpp ../src/Unuk/Globals.cpp ../src/libUnuk/Rect.cpp ../src/libUnuk/ImageLoader.cpp ../src/libUnuk/TextureManager.cpp ../src/libUnuk/Texture.cpp ../src/libUnuk/Text.cpp ../src/libUnuk/Map.cpp ../src/libUnuk/Button.cpp ../src/libUnuk/ButtonToggle.cpp ../src/libUnuk/ParticleEmitter.cpp ../src/libUnuk/MainMenu.cpp ../src/libUnuk/IngameMenu.cpp ../src/libUnuk/Collision.cpp ../src/libUnuk/Character.cpp ../src/libUnuk/NPC.cpp ../src/Unuk/Player.cpp ../src/Unuk/Game.cpp ../src/libUnuk/MapElement.cpp ../src/libUnuk/MapEntities.cpp ../src/libUnuk/FPS.cpp ../src/libUnuk/MemManager.cpp .tmp/Unuk-QT1.0.0/ && (cd `dirname .tmp/Unuk-QT1.0.0` && $(TAR) Unuk-QT1.0.0.tar Unuk-QT1.0.0 && $(COMPRESS) Unuk-QT1.0.0.tar) && $(MOVE) `dirname .tmp/Unuk-QT1.0.0`/Unuk-QT1.0.0.tar.gz . && $(DEL_FILE) -r .tmp/Unuk-QT1.0.0
+	$(COPY_FILE) --parents $(SOURCES) $(DIST) .tmp/Unuk-QT1.0.0/ && $(COPY_FILE) --parents ../src/libUnuk/Debug.h ../src/Libs/wglext.h ../src/Libs/glxext.h ../src/libUnuk/Input.h ../src/libUnuk/Rect.h ../src/libUnuk/Timer.h ../src/libUnuk/Font.h ../Constants.h ../src/Unuk/Constants.h ../src/libUnuk/ApplySurface.h ../src/Unuk/Globals.h ../src/libUnuk/ImageLoader.h ../src/libUnuk/TextureManager.h ../src/libUnuk/Texture.h ../src/libUnuk/Text.h ../src/libUnuk/MapTile.h ../src/libUnuk/Map.h ../src/libUnuk/Button.h ../src/libUnuk/ButtonToggle.h ../src/libUnuk/MainMenu.h ../src/libUnuk/ParticleEmitter.h ../src/libUnuk/IngameMenu.h ../src/libUnuk/Collision.h ../src/libUnuk/Character.h ../src/libUnuk/NPC.h ../src/Unuk/Player.h ../src/Unuk/Game.h ../src/libUnuk/MapElement.h ../src/libUnuk/MapEntities.h ../src/libUnuk/FPS.h ../src/libUnuk/MemManager.h ../src/libUnuk/MemClass.h ../src/libUnuk/Node.h ../src/libUnuk/AStarBase.h ../src/libUnuk/AStar.h .tmp/Unuk-QT1.0.0/ && $(COPY_FILE) --parents ../src/libUnuk/Debug.cpp ../src/Unuk/main.cpp ../src/libUnuk/Input.cpp ../src/libUnuk/Timer.cpp ../src/libUnuk/Font.cpp ../src/libUnuk/ApplySurface.cpp ../src/Unuk/Globals.cpp ../src/libUnuk/Rect.cpp ../src/libUnuk/ImageLoader.cpp ../src/libUnuk/TextureManager.cpp ../src/libUnuk/Texture.cpp ../src/libUnuk/Text.cpp ../src/libUnuk/Map.cpp ../src/libUnuk/Button.cpp ../src/libUnuk/ButtonToggle.cpp ../src/libUnuk/ParticleEmitter.cpp ../src/libUnuk/MainMenu.cpp ../src/libUnuk/IngameMenu.cpp ../src/libUnuk/Collision.cpp ../src/libUnuk/Character.cpp ../src/libUnuk/NPC.cpp ../src/Unuk/Player.cpp ../src/Unuk/Game.cpp ../src/libUnuk/MapElement.cpp ../src/libUnuk/MapEntities.cpp ../src/libUnuk/FPS.cpp ../src/libUnuk/MemManager.cpp ../src/libUnuk/AStar.cpp .tmp/Unuk-QT1.0.0/ && (cd `dirname .tmp/Unuk-QT1.0.0` && $(TAR) Unuk-QT1.0.0.tar Unuk-QT1.0.0 && $(COMPRESS) Unuk-QT1.0.0.tar) && $(MOVE) `dirname .tmp/Unuk-QT1.0.0`/Unuk-QT1.0.0.tar.gz . && $(DEL_FILE) -r .tmp/Unuk-QT1.0.0
 
 
 clean:compiler_clean 
@@ -261,9 +263,9 @@ main.o: ../src/Unuk/main.cpp ../src/libUnuk/MainMenu.h \
 		../src/libUnuk/MapEntities.h \
 		../src/libUnuk/NPC.h \
 		../src/libUnuk/Character.h \
-		../src/libUnuk/Collision.h \
 		../src/libUnuk/MemClass.h \
 		../src/libUnuk/MemManager.h \
+		../src/libUnuk/Collision.h \
 		../src/Unuk/Game.h \
 		../src/Unuk/Player.h \
 		../src/libUnuk/IngameMenu.h \
@@ -398,6 +400,8 @@ Collision.o: ../src/libUnuk/Collision.cpp ../src/libUnuk/Collision.h
 Character.o: ../src/libUnuk/Character.cpp ../src/libUnuk/Character.h \
 		../src/Unuk/Globals.h \
 		../src/Unuk/Constants.h \
+		../src/libUnuk/MemClass.h \
+		../src/libUnuk/MemManager.h \
 		../src/libUnuk/ApplySurface.h \
 		../src/libUnuk/Debug.h \
 		../src/libUnuk/ImageLoader.h \
@@ -416,6 +420,8 @@ NPC.o: ../src/libUnuk/NPC.cpp ../src/libUnuk/NPC.h \
 		../src/libUnuk/Character.h \
 		../src/Unuk/Globals.h \
 		../src/Unuk/Constants.h \
+		../src/libUnuk/MemClass.h \
+		../src/libUnuk/MemManager.h \
 		../src/libUnuk/ApplySurface.h \
 		../src/libUnuk/Debug.h \
 		../src/libUnuk/ImageLoader.h \
@@ -427,15 +433,15 @@ NPC.o: ../src/libUnuk/NPC.cpp ../src/libUnuk/NPC.h \
 		../src/libUnuk/MapEntities.h \
 		../src/libUnuk/Timer.h \
 		../src/libUnuk/Text.h \
-		../src/libUnuk/Font.h \
+		../src/libUnuk/Font.h
-		../src/libUnuk/MemClass.h \
-		../src/libUnuk/MemManager.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o NPC.o ../src/libUnuk/NPC.cpp
 
 Player.o: ../src/Unuk/Player.cpp ../src/Unuk/Player.h \
 		../src/Unuk/Globals.h \
 		../src/Unuk/Constants.h \
 		../src/libUnuk/Character.h \
+		../src/libUnuk/MemClass.h \
+		../src/libUnuk/MemManager.h \
 		../src/libUnuk/ApplySurface.h \
 		../src/libUnuk/Debug.h \
 		../src/libUnuk/ImageLoader.h \
@@ -447,9 +453,7 @@ Player.o: ../src/Unuk/Player.cpp ../src/Unuk/Player.h \
 		../src/libUnuk/MapEntities.h \
 		../src/libUnuk/Timer.h \
 		../src/libUnuk/Text.h \
-		../src/libUnuk/Font.h \
+		../src/libUnuk/Font.h
-		../src/libUnuk/MemClass.h \
-		../src/libUnuk/MemManager.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o Player.o ../src/Unuk/Player.cpp
 
 Game.o: ../src/Unuk/Game.cpp ../src/Unuk/Game.h \
@@ -457,6 +461,8 @@ Game.o: ../src/Unuk/Game.cpp ../src/Unuk/Game.h \
 		../src/Unuk/Globals.h \
 		../src/Unuk/Player.h \
 		../src/libUnuk/Character.h \
+		../src/libUnuk/MemClass.h \
+		../src/libUnuk/MemManager.h \
 		../src/libUnuk/ApplySurface.h \
 		../src/libUnuk/Debug.h \
 		../src/libUnuk/ImageLoader.h \
@@ -469,8 +475,6 @@ Game.o: ../src/Unuk/Game.cpp ../src/Unuk/Game.h \
 		../src/libUnuk/Timer.h \
 		../src/libUnuk/Text.h \
 		../src/libUnuk/Font.h \
-		../src/libUnuk/MemClass.h \
-		../src/libUnuk/MemManager.h \
 		../src/libUnuk/IngameMenu.h \
 		../src/libUnuk/Button.h \
 		../src/libUnuk/Input.h \
@@ -505,6 +509,10 @@ MemManager.o: ../src/libUnuk/MemManager.cpp ../src/libUnuk/MemClass.h \
 		../src/libUnuk/MemManager.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o MemManager.o ../src/libUnuk/MemManager.cpp
 
+AStar.o: ../src/libUnuk/AStar.cpp ../src/libUnuk/AStar.h \
+		../src/libUnuk/AStarBase.h
+	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o AStar.o ../src/libUnuk/AStar.cpp
+
 ####### Install
 
 install:   FORCE

Unuk-QT/Unuk-QT.pro

@@ -40,7 +40,9 @@ HEADERS += ../src/libUnuk/Debug.h \
     ../src/libUnuk/FPS.h \
     ../src/libUnuk/MemManager.h \
     ../src/libUnuk/MemClass.h \
-    ../src/libUnuk/Node.h
+    ../src/libUnuk/Node.h \
+    ../src/libUnuk/AStarBase.h \
+    ../src/libUnuk/AStar.h
 SOURCES += ../src/libUnuk/Debug.cpp \
     ../src/Unuk/main.cpp \
     ../src/libUnuk/Input.cpp \
@@ -67,4 +69,5 @@ SOURCES += ../src/libUnuk/Debug.cpp \
     ../src/libUnuk/MapElement.cpp \
     ../src/libUnuk/MapEntities.cpp \
     ../src/libUnuk/FPS.cpp \
-    ../src/libUnuk/MemManager.cpp
+    ../src/libUnuk/MemManager.cpp \
+    ../src/libUnuk/AStar.cpp

Unuk-QT/Unuk-QT.pro.user

@@ -71,6 +71,7 @@
     <value type="QString">DISPLAY=:0</value>
     <value type="QString">HOME=/home/allanis</value>
     <value type="QString">HUSHLOGIN=FALSE</value>
+    <value type="QString">LANGUAGE=</value>
     <value type="QString">LD_LIBRARY_PATH=/usr/lib/qtcreator</value>
     <value type="QString">LOGNAME=allanis</value>
     <value type="QString">LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:</value>
@@ -110,6 +111,7 @@
     <value type="QString">DISPLAY=:0</value>
     <value type="QString">HOME=/home/allanis</value>
     <value type="QString">HUSHLOGIN=FALSE</value>
+    <value type="QString">LANGUAGE=</value>
     <value type="QString">LD_LIBRARY_PATH=/usr/lib/qtcreator</value>
     <value type="QString">LOGNAME=allanis</value>
     <value type="QString">LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:</value>
@@ -142,10 +144,11 @@
   <valuemap type="QVariantMap">
    <value key="ProjectExplorer.BuildConfiguration.DisplayName" type="QString">Debug</value>
    <valuelist key="abstractProcess.Environment" type="QVariantList">
-    <value type="QString">DBUS_SESSION_BUS_ADDRESS=unix:abstract=/tmp/dbus-ICZ0NvJNRS,guid=3b12f0647bd9cd4da4459e180000003d</value>
+    <value type="QString">DBUS_SESSION_BUS_ADDRESS=unix:abstract=/tmp/dbus-nnryLpuskH,guid=b1dc32eb5ce3f37b1b9bd14200000047</value>
     <value type="QString">DISPLAY=:0</value>
     <value type="QString">HOME=/home/allanis</value>
     <value type="QString">HUSHLOGIN=FALSE</value>
+    <value type="QString">LANGUAGE=</value>
     <value type="QString">LD_LIBRARY_PATH=/usr/lib/qtcreator</value>
     <value type="QString">LOGNAME=allanis</value>
     <value type="QString">LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:</value>
@@ -155,13 +158,13 @@
     <value type="QString">QTDIR=/usr/share/qt4</value>
     <value type="QString">SHELL=/bin/bash</value>
     <value type="QString">SHLVL=1</value>
-    <value type="QString">SSH_AGENT_PID=3260</value>
+    <value type="QString">SSH_AGENT_PID=3398</value>
-    <value type="QString">SSH_AUTH_SOCK=/tmp/ssh-lozFEJmg3235/agent.3235</value>
+    <value type="QString">SSH_AUTH_SOCK=/tmp/ssh-LnbIeWkr3373/agent.3373</value>
     <value type="QString">TERM=linux</value>
     <value type="QString">USER=allanis</value>
     <value type="QString">WINDOWPATH=7</value>
     <value type="QString">XAUTHORITY=/home/allanis/.Xauthority</value>
-    <value type="QString">XDG_SESSION_COOKIE=6de6dd7b78e791242262c6460000012e-1323089410.422893-1130065724</value>
+    <value type="QString">XDG_SESSION_COOKIE=6de6dd7b78e791242262c6460000012e-1325788236.314939-282202860</value>
     <value type="QString">_=/usr/bin/startx</value>
    </valuelist>
    <value key="abstractProcess.IgnoreReturnValue" type="bool">true</value>

src/libUnuk/AStar.cpp

@@ -1,9 +1,92 @@
 #include "AStar.h"
 
 AStar::AStar(void) {
-
+  while(_openList.size() > 0) {
+    _openList.pop();
+  }
+  _closedList.clear();
+  _solution.clear();
 }
 
 AStar::~AStar(void) {
-
+  AStarBase* best = 0;
+  while(_openList.size() > 0) {
+    best = _openList.top();
+    _openList.pop();
+    delete best;
+  }
+  _closedList.clear();
 }
+
+/*
+ * Solved the situation given by the initial state with AStar,
+ * and returns a vector of AStarBase that solves the problem.
+ */
+std::vector<AStarBase*> AStar::Solve(AStarBase* initState) {
+  AStarBase* best = 0;
+  while(_openList.size() > 0) {
+    best = _openList.top();
+    _openList.pop();
+    delete best;
+  }
+  _closedList.clear();
+
+  _openList.push(initState);
+  return GetSolutionSequence(Search());
+}
+
+// Search for the best path.
+AStarBase* AStar::Search(void) {
+  AStarBase* best = 0;
+  long key = 0;
+  std::vector<AStarBase*> child;
+
+  while(_openList.size() > 0) {
+    while(_closedList.find(key) != _closedList.end()) {
+      // Take the best state, and check if it is on the closed list.
+      if(_openList.size() > 0) {
+        best = _openList.top();
+        _openList.pop();
+      } else 
+        return 0;
+
+      key = best->CalculateKey();
+    }
+    
+    // Put best on the closed list.
+    _closedList[key] = best;
+
+    // Check id best is our goal.
+    if(best->isGoal())
+      return best;
+
+    // Generate the children.
+    child = best->GenerateChildren();
+    for(unsigned int i = 0; i < child.size(); i++) {
+      _openList.push(child[i]);
+    }
+  }
+  return 0;
+}
+
+// Generate a solution sequence for a given state.
+std::vector<AStarBase*> AStar::GetSolutionSequence(AStarBase* node) {
+  _solution.clear();
+  AStarBase* state = node;
+
+  while(state != 0) {
+    _closedList.erase(state->_key);
+    _solution.insert(_solution.begin(), state);
+    state = state->_parent;
+  }
+
+  // Delete the states which are not part of the solution.
+  while(_closedList.size() > 0) {
+    state = _closedList.begin()->second;
+    _closedList.erase(state->_key);
+    delete state;
+  }
+
+  return _solution;
+}
+

src/libUnuk/AStar.h

@@ -1,10 +1,35 @@
-#include <list>
+#ifndef _ASTAR_H_
+#define _ASTAR_H_
+#include <vector>
+#include <map>
+#include <queue>
+
+#include "AStarBase.h"
 
 class AStar {
 public:
   AStar(void);
   ~AStar(void);
 
+  std::vector<AStarBase*> Solve(AStarBase* initState);
+
 private:
-  
+  // Comparison structure.
+  struct Cmp : public std::binary_function<AStarBase*, AStarBase*, bool> {
+     bool operator()(AStarBase* a1, AStarBase* a2) const {
+       return (a1->_totalEstimatedCost >= a2->_totalEstimatedCost);
+     }
+   };
+
+  std::priority_queue<AStarBase*, std::vector<AStarBase*>, Cmp > _openList;
+  std::map<const long, AStarBase*> _closedList;
+
+  AStarBase* Search(void);
+
+  std::vector<AStarBase*> GetSolutionSequence(AStarBase* node);
+  std::vector<AStarBase*> _solution;
+    
 };
+
+#endif
+

src/libUnuk/AStarBase.h

@@ -0,0 +1,30 @@
+#ifndef _ASTARBASE_H_
+#define _ASTARBASE_H_
+#include <vector>
+
+class AStarBase {
+public:
+  AStarBase(void) { };
+  virtual ~AStarBase(void) { };
+
+  // Generate a unique key.
+  virtual long CalculateKey(void) = 0;
+
+  // Aproximate the heuristic cost to the goal.
+  virtual double Estimate(void) = 0;
+
+  // Have we reached the goal?
+  virtual bool isGoal(void) = 0;
+
+  virtual std::vector<AStarBase*> GenerateChildren(void) = 0;
+
+  AStarBase* _parent;
+
+  double _pastCost;
+  double _totalEstimatedCost;
+
+  long _key;
+};
+
+#endif
+

src/libUnuk/Node.h

@@ -1,20 +0,0 @@
-#ifndef _NODE_H_
-#define _NODE_H_
-#include <vector>
-#include <iostream>
-
-class Node {
-public:
-  Node(int xArg, int yArg);
-  virtual ~Node(void);
-
-  inline int GetX(void) const { return x; }
-  inline int GetY(void) const { return y; }
-  inline float GetCost(void)  { return _cost; }
-
-private:
-  int x, y;
-  float _cost;
-};
-
-#endif