Method GoalReached

Source/Utils/micropather.cpp:508–569

void MicroPather::GoalReached( PathNode* node, cPosition* start, cPosition* end, MP_VECTOR< cPosition > *_path )
{
	MP_VECTOR< cPosition >& path = *_path;
	path.clear();

	// We have reached the goal.
	// How long is the path? Used to allocate the vector which is returned.
	int count = 1;
	PathNode* it = node;
	while( it->parent )
	{
		++count;
		it = it->parent;
	}

	// Now that the path has a known length, allocate
	// and fill the vector that will be returned.
	if ( count < 3 )
	{
		// Handle the short, special case.
		path.resize(2);
		path[0] = *start;
		path[1] = *end;
	}
	else
	{
		path.resize(count);

		path[0] = *start;
		path[count-1] = *end;
		count-=2;
		it = node->parent;

		while ( it->parent )
		{
			path[count] = it->state;
			it = it->parent;
			--count;
		}
	}

	#ifdef DEBUG_PATH
	printf( "Path: " );
	int counter=0;
	#endif
	for ( unsigned k=0; k<path.size(); ++k )
	{
		#ifdef DEBUG_PATH
		graph->PrintStateInfo( path[k] );
		printf( " " );
		++counter;
		if ( counter == 8 )
		{
			printf( "\n" );
			counter = 0;
		}
		#endif
	}