Method Solve

Source/Utils/micropather.cpp:686–784

int MicroPather::Solve( cPosition* startNode, cPosition* endNode, MP_VECTOR< cPosition >* path, float* cost )
{
	// Important to clear() in case the caller doesn't check the return code. There
	// can easily be a left over path  from a previous call.
	path->clear();

	#ifdef DEBUG_PATH
	printf( "Path: " );
	graph->PrintStateInfo( startNode );
	printf( " --> " );
	graph->PrintStateInfo( endNode );
	printf( " min cost=%f\n", graph->LeastCostEstimate( startNode, endNode ) );
	#endif

	*cost = 0.0f;

	if ( startNode == endNode )
		return START_END_SAME;

	++frame;

	OpenQueue open( graph );
	ClosedSet closed( graph );
	
	PathNode* newPathNode = pathNodePool.GetPathNode(	frame, 
														*startNode, 
														0, 
														graph->LeastCostEstimate( startNode, endNode ), 
														0 );

	open.Push( newPathNode );	
	stateCostVec.resize(0);
	nodeCostVec.resize(0);

	while ( !open.Empty() )
	{
		PathNode* node = open.Pop();
		
		if ( node->state == *endNode || node->state.distanceTo(*endNode) <= 8)
		{
			GoalReached( node, startNode, endNode, path );
			*cost = node->costFromStart;
			#ifdef DEBUG_PATH
			DumpStats();
			#endif
			return SOLVED;
		}
		else
		{
			closed.Add( node );

			// We have not reached the goal - add the neighbors.
			GetNodeNeighbors( node, &nodeCostVec );

			for( int i=0; i<node->numAdjacent; ++i )
			{
				// Not actually a neighbor, but useful. Filter out infinite cost.
				if ( nodeCostVec[i].cost == FLT_MAX ) {