Fixed pathfinding for usage with Rule::findTarget()

Fixed Entity::target being public

src/Entity.cpp

@@ -79,6 +79,11 @@ State Entity::getState() const
     return currentState;
 }
 
+pro_maat::GridPos Entity::getTarget() const
+{
+    return target;
+}
+
 const pro_maat::GridPos Entity::getPosition() const
 {
     // Safe : size is a multiple of pro_maat::pixelsPerUnit

src/Entity.h

@@ -51,6 +51,7 @@ public:
     virtual void update();
 
     virtual State getState() const;
+    virtual pro_maat::GridPos getTarget() const;
 
     virtual const sf::RectangleShape& getShape() const;
     /// Returns the grid coordinates at the center of the entity
@@ -59,15 +60,12 @@ public:
     // Don't like it : iterates over every square every tick
     virtual const std::vector<pro_maat::GridPos> getOccupiedSquares() const;
 
-    // FIXME : Replace with getter
-    /// Position of the target of the current action on the map
-    pro_maat::GridPos target;
 
 protected:
-
     /// Empty constructor for derived class instanciation
     Entity();
 
+
 private:
     static const std::map<std::string,EntityType> entityTypeLookup;
 
@@ -81,6 +79,8 @@ private:
     /// Used with rules : last to update has priority
     State nextState;
 
+    /// Target position on the map of the current action
+    pro_maat::GridPos target;
     /// Used with rules : last to update has priority
     pro_maat::GridPos nextTarget;
 

src/Level.cpp

@@ -57,9 +57,9 @@ void Level::runStep()
                 {
                     heuristicSign = -1;
                 }
-                if(entity.target != entity.getPosition())
+                if(entity.getTarget() != entity.getPosition())
                 {
-                    entity.move(findPath(entity.getPosition(),entity.target,heuristicSign));
+                    entity.move(findPath(entity.getPosition(),entity.getTarget(),heuristicSign));
                 }
                 break;
             }
@@ -93,14 +93,6 @@ Orientation Level::findPath(pro_maat::GridPos start, pro_maat::GridPos goal, int
     std::map<pro_maat::GridPos,pro_maat::GridPos> paths{};
 
 
-    // TODO : Should be OK with raycasting to find goal
-    // FIXME : Just get to goal (Might break)
-    const std::vector<pro_maat::GridPos> goalNeighbours = pro_maat::getNeighbours(goal,size);
-    // Save the iterators : vector is const and .begin() and .end() might get called a lot
-    auto goalNeighboursBeginIterator = goalNeighbours.begin();
-    auto goalNeighboursEndIterator = goalNeighbours.end();
-
-
     // FIXME : Find an efficient way to get rid of openNodes.find calls
     // Lambda checking if the current element is also in the open nodes set
     auto compWithOpen = [&openNodes](const std::pair<pro_maat::GridPos,float>& leftHandSide,
@@ -125,7 +117,7 @@ Orientation Level::findPath(pro_maat::GridPos start, pro_maat::GridPos goal, int
         // Expand from the open node with the smallest estimated cost
         pro_maat::GridPos currentNode = std::min_element(estimatedCosts.begin(),estimatedCosts.end(),compWithOpen)->first;
 
-        if(std::find(goalNeighboursBeginIterator,goalNeighboursEndIterator,currentNode) != goalNeighboursEndIterator)
+        if(currentNode == goal)
         {
             if(currentNode == start)
             {

src/Rule.h

@@ -13,17 +13,21 @@
 
 /// Decorates entities with rules which will modify its behaviour
 template <State targetState, EntityType targetType>
-class Rule : public Entity
+class Rule : private Entity
 {
 public:
     Rule(Entity& entity, const std::vector<Entity>& entities,
             const std::vector<pro_maat::GridPos>& occupiedSquares, const pro_maat::GridPos& mapSize);
 
+    /// Update according to the targetState and targetType
     void update() override;
 
+    // Simply delegate the following function calls to the original entity
+
     void move(Orientation orientation) override;
     State getState() const override;
     const sf::RectangleShape& getShape() const override;
+    pro_maat::GridPos getTarget() const override;
     const pro_maat::GridPos getPosition() const override;
     const std::vector<pro_maat::GridPos> getOccupiedSquares() const override;
 
@@ -188,6 +192,12 @@ const sf::RectangleShape& Rule<targetState, targetType>::getShape() const
     return entity.getShape();
 }
 
+template<State targetState, EntityType targetType>
+pro_maat::GridPos Rule<targetState, targetType>::getTarget() const
+{
+    return entity.getTarget();
+}
+
 template<State targetState, EntityType targetType>
 const pro_maat::GridPos Rule<targetState, targetType>::getPosition() const
 {