From 86c102f3d2b15ef10a2744dbe8b196b9d8ecaaab Mon Sep 17 00:00:00 2001
From: Rtch90 <ritchie.cunningham@protonmail.com>
Date: Fri, 3 Feb 2012 15:09:28 +0000
Subject: [PATCH] [Add] Working some more on AStar pathfinding. This is going
 to get messy.

---
 src/libUnuk/Engine/Pathfinding.cpp | 22 ++++++++++++++++
 src/libUnuk/Engine/Pathfinding.h   | 40 ++++++++++++++++++++++++++++--
 2 files changed, 60 insertions(+), 2 deletions(-)

diff --git a/src/libUnuk/Engine/Pathfinding.cpp b/src/libUnuk/Engine/Pathfinding.cpp
index b2ae6c4..b10acdf 100644
--- a/src/libUnuk/Engine/Pathfinding.cpp
+++ b/src/libUnuk/Engine/Pathfinding.cpp
@@ -1 +1,23 @@
 #include "Pathfinding.h"
+
+template<typename UserState>
+AStarSearch<UserState>::AStarSearch(void) :
+		_state(SEARCH_STATE_NOT_INITIALISED),
+		_currentSolutionNode(NULL),
+		_allocateNodeCount(0),
+		_cancelRequest(false) {}
+
+template<typename UserState>
+AStarSearch<UserState>::~AStarSearch(void) {
+
+}
+
+template<typename UserState>
+void AStarSearch<UserState>::SetStartAndGoalStates(UserState& start, UserState& goal) {
+
+}
+
+template<typename UserState>
+unsigned int  AStarSearch<UserState>::SearchStep(void) {
+
+}
diff --git a/src/libUnuk/Engine/Pathfinding.h b/src/libUnuk/Engine/Pathfinding.h
index 3e2d616..4c6a78c 100644
--- a/src/libUnuk/Engine/Pathfinding.h
+++ b/src/libUnuk/Engine/Pathfinding.h
@@ -25,6 +25,7 @@ public:
 	};
 
 	// A node representing a possible state in the search.
+public:
 	class Node {
 	public:
 		// Keep a record of successor nodes.
@@ -51,6 +52,7 @@ public:
 
 public:
 	AStarSearch(void);
+	~AStarSearch(void);
 
 	int GetState(void)				{ return _state; }
 
@@ -103,7 +105,41 @@ public:
 	int GetStepCount(void)		{return _steps; }
 
 private:
-	int  _state;
+	// Called when a search fails or is cancelled to free up all unused memory.
+	void FreeAllNodes(void);
+
+	/*
+	 * Called when the search ends. A lot of nodes may
+	 * be created that are still present when the search
+	 * ends. They will be deleted with this method.
+	 */
+	void FreeUnusedNodes(void);
+
+	// Data.
+private:
+	// Heap.
+	vector<Node*> _openList;
+	vector<Node*> _closedList;
+	vector<Node*> _successors;
+
+	// State.
+	unsigned int  _state;
+
+	// Count steps.
+	int _steps;
+
+	// Start/Goal state pointers.
+	Node* _start;
+	Node* _goal;
+
+	Node* _currentSolutionNode;
+
+	// Debug
+	typename vector<Node*>::iterator iterDbgOpen;
+	typename vector<Node*>::iterator iterDbgClosed;
+
+	// Count memory allocations and free.
+	int _allocateNodeCount;
+
 	bool _cancelRequest;
-	int  _steps;
 };