From c0d0c23ef99e36a6de85a558491a42ae98bc107b Mon Sep 17 00:00:00 2001
From: attilavs2 <whahou072@icloud.com>
Date: Tue, 23 Jul 2024 17:54:22 +0200
Subject: [PATCH] =?UTF-8?q?npc=5Fpathfind=20compl=C3=A9t=C3=A9*=20*Test?=
 =?UTF-8?q?=C3=A9=20avec=20un=20nombre=20limit=C3=A9=20de=20cas?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/npc.c | 78 ++++++++++++++++++++++++++++++++++++-------------------
 1 file changed, 51 insertions(+), 27 deletions(-)

diff --git a/src/npc.c b/src/npc.c
index 46dbe26..8f84f66 100644
--- a/src/npc.c
+++ b/src/npc.c
@@ -48,8 +48,8 @@ int npc_clear_path(NPC *npc)
 int npc_append_path(uint16_t x, uint16_t y, NPC *npc)
 {
     npc->path_length++;
-    npc->xpath = realloc(npc->xpath, npc->path_length);
-    npc->ypath = realloc(npc->ypath, npc->path_length);
+    npc->xpath = realloc(npc->xpath, npc->path_length*2);
+    npc->ypath = realloc(npc->ypath, npc->path_length*2);
     if(npc->xpath == NULL || npc->ypath == NULL) return 1;
     npc->xpath[npc->path_length-1] = x - npc->x;
     npc->ypath[npc->path_length-1] = y - npc->y;
@@ -63,36 +63,54 @@ void as_clean(uint8_t *visited, uint8_t *gscore, uint8_t *fscore)
     free(fscore);
 }
 
-int as_reconstruct_path(int16_t *came_from, int w, int h, uint16_t spos,
-                            uint16_t dest, NPC *npc)
+int as_reconstruct_path(int16_t *came_from, int w, int h, int16_t spos,
+                            int16_t dest, NPC *npc)
 {
-    if(npc_clear_path(npc)) return 1;
+    if(npc_clear_path(npc) goto as_recons_fail;
 
-    uint16_t next = came_from[dest];
+    int16_t next = came_from[dest];
 
-    int returnv = 0;
+    int i;
 
-    while(true)
+    for(i = 0; i < 64; i++)
     {
-        if(npc_append_path(next%w, next/h, npc))
-        {
-            returnv = 1;
-            break;
-        }
-        if(next == dest){
-            returnv = 0;
-            break;
-        }
+        if(next == -1) goto as_recons_fail;
+        if(npc_append_path(next%w, next/h, npc)) goto as_recons_fail;
+
         next = came_from[next];
+        if(next == spos){
+            if(npc_append_path(spos%w, spos/h, npc))
+                goto as_recons_fail;
+            break;
+        }
     }
+
+    uint16_t tx, ty;
+
+    //Flip the path because it started from the end
+
+    for(i = 1; i < npc->path_length/2; i++)
+    {
+        tx = npc->xpath[i];
+        ty = npc->ypath[i];
+        npc->xpath[i] = npc->xpath[npc->path_length-i];
+        npc->ypath[i] = npc->ypath[npc->path_length-i];
+        npc->ypath[npc->path_length-i] = tx;
+        npc->ypath[npc->path_length-i] = ty;
+    }
+
+    return 0;
+
+    as_recons_fail:
+
     free(came_from);
 
-    return returnv;
+    return 1;
 }
 
 //Returns non zero error code on failure
 //Custom a* implemetation
-//(doesn't work yet)
+//Unoptimized, may become an issue
 int npc_pathfind(int dest_x, int dest_y, Map *full_map, NPC *npc)
 {
     int i, j;
@@ -110,6 +128,7 @@ int npc_pathfind(int dest_x, int dest_y, Map *full_map, NPC *npc)
 
     uint8_t *visited = malloc(w*h);
     for(i=0; i<w*h; i++) visited[i] = 1;
+    visited[spos] = 0;
 
     int16_t *came_from = malloc(w*h*2);
     for(i=0; i<w*h; i++) came_from[i] = -1;
@@ -120,7 +139,7 @@ int npc_pathfind(int dest_x, int dest_y, Map *full_map, NPC *npc)
 
     uint8_t *fscore = malloc(w*h);
     for(i=0; i<w*h; i++) fscore[i] = 255;
-    fscore[spos] = 0;
+    fscore[spos] = length(dest_x-x, dest_y-y);
 
     uint8_t bscore;
     int bx = x;
@@ -130,9 +149,10 @@ int npc_pathfind(int dest_x, int dest_y, Map *full_map, NPC *npc)
     {
         bscore = 255;
         //Cheapest known tile
-        for(i = 0; i < w*h; i++)
+        for(i = 0; i <= w*h; i++)
         {
             if(visited[i]) continue;
+            if(map[i]) continue;
             if(fscore[i] > bscore) continue;
             bx = i%w;
             by = i/w;
@@ -148,25 +168,29 @@ int npc_pathfind(int dest_x, int dest_y, Map *full_map, NPC *npc)
 
         int att_score;
 
-        for(i = bx-1; i < bx+1; i++)
+        for(i = bx-1; i < bx+2; i++)
         {
-            if(i > w || i < 0) continue;
-            for(j = by-1; j < by+1; j++)
+            if(i < 0) continue;
+            if(i > w) break;
+            for(j = by-1; j < by+2; j++)
             {
-                if(j > h || j < 0) continue;
+                if(j > h ) break;
+                if(j < 0) continue;
                 if(map[j*w+i]) continue;
-                att_score = gscore[by*w+bx] + length(bx-i, by-j);
+                att_score = gscore[by*w+bx] + ceil(length(bx-i,by-j));
                 if(att_score < gscore[j*w+i])
                 {
                     came_from[j*w+i] = by*w+bx;
                     gscore[j*w+i] = att_score;
-                    fscore[j*w+i] = att_score + length(i-dest_x, j-dest_y);
+                    fscore[j*w+i] = att_score + ceil(length(dest_x-i, dest_y-j));
                     if(visited[j*w+i]) visited[j*w+i] = 0;
                 }
             }
         }
     }
+
     as_clean(visited, gscore, fscore);
+
     free(came_from);
     return 3;
 }