server/src/world/Utils.hpp

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#pragma once
 
#include "Coordinates.hpp"
#include "RehtiReader.hpp"
 
#include <memory>
#include <vector>
 
enum Direction
{
    NORTH,
    NORTH_EAST,
    EAST,
    SOUTH_EAST,
    SOUTH,
    SOUTH_WEST,
    WEST,
    NORTH_WEST
};
 
struct Node
{
    std::pair<int, int> coords;
    float costFromStart;       
    float estimatedCostToGoal; 
    std::shared_ptr<Node> parent = nullptr;
    Direction dirFromParent; 
 
    float totalCost()
    {
        return costFromStart + estimatedCostToGoal;
    };
};
 
bool isValidCell(const std::vector<std::vector<uint8_t>>& map, std::pair<int, int> cell, Direction dir);
 
unsigned int euclideanDistance(std::pair<int, int> start, std::pair<int, int> end);
 
std::vector<std::pair<int, int>> astar(const std::vector<std::vector<uint8_t>>& map, std::pair<int, int> start, std::pair<int, int> end);