Fix OOB and refactor

pathfinding.go

@@ -0,0 +1,114 @@
+package main
+
+import "fmt"
+
+type Node struct {
+	Tile    Tile
+	Parent  *Node
+	G, H, F float32
+}
+
+func FindPath(start, end Tile) []Tile {
+	openList := []*Node{}
+	closedList := make(map[[2]int]bool)
+
+	startNode := &Node{Tile: start, G: 0, H: heuristic(start, end)}
+	startNode.F = startNode.G + startNode.H
+	openList = append(openList, startNode)
+
+	for len(openList) > 0 {
+		// Find node with lowest F
+		current := openList[0]
+		currentIndex := 0
+		for i, node := range openList {
+			if node.F < current.F {
+				current = node
+				currentIndex = i
+			}
+		}
+
+		// Move current to closed list
+		openList = append(openList[:currentIndex], openList[currentIndex+1:]...)
+		closedList[[2]int{current.Tile.X, current.Tile.Y}] = true
+
+		// Check if reached the end
+		if current.Tile.X == end.X && current.Tile.Y == end.Y {
+			path := []Tile{}
+			node := current
+			for node != nil {
+				path = append([]Tile{node.Tile}, path...)
+				node = node.Parent
+			}
+			fmt.Printf("Path found: %v\n", path)
+			return path
+		}
+
+		// Generate neighbors
+		neighbors := GetNeighbors(current.Tile)
+		for _, neighbor := range neighbors {
+			if !neighbor.Walkable || closedList[[2]int{neighbor.X, neighbor.Y}] {
+				continue
+			}
+
+			tentativeG := current.G + distance(current.Tile, neighbor)
+			inOpen := false
+			var existingNode *Node
+			for _, node := range openList {
+				if node.Tile.X == neighbor.X && node.Tile.Y == neighbor.Y {
+					existingNode = node
+					inOpen = true
+					break
+				}
+			}
+
+			if !inOpen || tentativeG < existingNode.G {
+				newNode := &Node{
+					Tile:   neighbor,
+					Parent: current,
+					G:      tentativeG,
+					H:      heuristic(neighbor, end),
+				}
+				newNode.F = newNode.G + newNode.H
+				if !inOpen {
+					openList = append(openList, newNode)
+				}
+			}
+		}
+	}
+
+	// No path found
+	fmt.Println("No path found")
+	return nil
+}
+
+func heuristic(a, b Tile) float32 {
+	return float32(abs(a.X-b.X) + abs(a.Y-b.Y))
+}
+
+func distance(a, b Tile) float32 {
+	_ = a
+	_ = b
+	return 1.0 //uniform cost for now
+}
+
+func GetNeighbors(tile Tile) []Tile {
+	directions := [][2]int{
+		{1, 0}, {-1, 0}, {0, 1}, {0, -1},
+		{1, 1}, {-1, -1}, {1, -1}, {-1, 1},
+	}
+	neighbors := []Tile{}
+	for _, dir := range directions {
+		nx, ny := tile.X+dir[0], tile.Y+dir[1]
+		if nx >= 0 && nx < MapWidth && ny >= 0 && ny < MapHeight {
+			neighbors = append(neighbors, mapGrid[nx][ny])
+		}
+	}
+	return neighbors
+}
+
+func abs(x int) int {
+	if x < 0 {
+		return -x
+	}
+	return x
+}