A* et SDL (probléme dans closed)

trés bien je vais mettre tout le fichier alors
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#include<SDL.h>
//#include <iostream.h>
SDL_Surface *ghost[2],*wall,*screen,*tuc,*toc;
SDL_Rect rect,Brect;
 
typedef struct point //Structure du point
{
int x,y;
};
 
typedef struct noeud
{
int x,y,F,G,H;
point parent;
};
 
 
const int Col=21; //nombre de colonnes
const int Lin=19; //nombre de lignes
typedef noeud List[Lin*Col+1];
List Open;//[Lin*Col+1]; //liste des noeuds Opens
List Closed;//[Lin*Col+1]; //liste des noeuds CLosed (analysés)
//List Chemin;//[Lin*Col+1]; //liste des noeuds CLosed (analysés)
point suiv[4];
point Start,Goal; //points de départ et arrivés
 
 
//la map
int map[Lin] [Col]={
{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1},
{1,0,0,0,0,0,1,1,1,0,1,1,1,0,0,0,1,0,0,0,1},
{1,0,1,0,1,0,1,1,1,0,1,1,1,0,1,0,0,0,1,0,1},
{1,0,1,0,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,0,1},
{1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1},
{1,0,1,0,1,1,1,1,1,0,1,1,1,0,1,0,1,1,1,0,1},
{1,0,1,0,0,0,1,0,0,0,0,0,0,0,1,0,0,0,1,0,1},
{1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1},
{1,0,0,0,1,0,0,0,1,0,1,0,1,0,0,0,1,0,0,0,1},
{1,1,1,0,1,1,1,0,0,0,1,0,1,1,1,0,1,1,1,0,1},
{1,0,0,0,1,0,0,0,1,0,1,0,1,0,0,0,1,0,0,0,1},
{1,0,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,0,1,0,1},
{1,0,1,0,0,0,1,0,0,0,0,0,0,0,1,0,0,0,1,0,1},
{1,0,1,0,1,1,1,1,1,0,1,1,1,0,1,0,1,1,1,0,1},
{1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1},
{1,0,1,0,1,0,1,1,1,0,1,1,1,0,1,1,1,0,1,0,1},
{1,0,1,0,1,0,1,1,1,0,1,1,1,0,1,0,0,0,1,0,1},
{1,0,0,0,0,0,1,1,1,0,1,1,1,0,0,0,1,0,0,0,1},
{1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1}
};
 
 
int CostToGoal(int x,int y, point Goal)
{
int a=x-Goal.x;
int b=y-Goal.y;
int Cost=a*a+b*b;
return Cost;
};
 
int CostFromStart(int x,int y, point Start)
{
int a=x-Start.x;
int b=y-Start.y;
int Cost=a*a+b*b;
return Cost;
};
 
int Cost(int x,int y,int x1,int y1)
{
int a=x-x1;
int b=y-y1;
int Cost=a*a+b*b;
return Cost;
};
 
 
void Add(List list, noeud node)
{
for (int i=list[Lin*Col].H;i>0;i--)
list[i]=list[i-1];
list[0]=node;
list[Lin*Col].H+=1;
//cout<<"node"<<node.x<<"ajout"<<node.y<<"\n";
};
 
bool found(int x,int y, List list)
{
for (int i=0;i<list[Lin*Col].H;i++)
if ((list[i].x==x)&&(list[i].y==y)) return true;
return false;
};
 
int index(int x,int y, List list)
{
int i=0;
while ((list[i].x!=x)||(list[i].y!=y))
i++;
return i;
};
 
 
 
 
bool Valid(int x,int y)
{
if (map[y] [x]==0) return true;
return false;
};
 
noeud GetLowest(List Open)
{
int x=Open[0].H;
int y=0;
for (int i=0;i<Open[Lin*Col].H;i++)
if (Open[i].H<x) {x=Open[i].H;y=i;}
return (Open[y]);
};
 
void Remove(List list,noeud Newnode)
{
int i=0;
while ((list[i].x!=Newnode.x) || (list[i].y!=Newnode.y))
i++;
//int j=i;
for (int j=i;j<list[Lin*Col].H-i;j++)
list[j]=list[j+1];
list[Lin*Col].H-=1;
};
 
void Adjust(List list,noeud Newnode)
{
int i=0;
while ((list[i].x!=Newnode.x) || (list[i].y!=Newnode.y))
i++;
noeud tmp;
tmp=Newnode;//list[0];
for (int j=i;j>0;j--)
list[j]=list[j-1];
list[0]=Newnode;//tmp;
};
 
//=====================================================================
//                          A Star
//=====================================================================
int Astar()
{
//SDL_Delay(3000);
//A Star
/*Start.x=2;
Start.y=5;
Goal.x=9;
Goal.y=12;*/
//init
for (int k=0;k<Lin*Col+1;k++)
{
Open[Lin*Col].x=0; 
Closed[Lin*Col].x=0;
//Chemin[Lin*Col].x=0;
Open[Lin*Col].y=0; 
Closed[Lin*Col].y=0;
//Chemin[Lin*Col].y=0;
}
 
int NewCost=0;
int nbsuiv;
Open[Lin*Col].H=0;  //La liste Open est vide
Closed[Lin*Col].H=0; //La liste CLosed est vide
//Chemin[Lin*Col].H=0;
noeud Newnode;
noeud node;
node.x=Start.x;
node.y=Start.y;
node.G=CostFromStart(node.x,node.y,Start);
node.H=CostToGoal(node.x,node.y,Goal);
node.F=node.G+node.H;
node.parent.x=-1;
node.parent.y=-1;
Add(Open,node); //ajouter le nouveau noeud dans Open
while (Open[Lin*Col].H!=0)
{
  node=GetLowest(Open);
  //noeud pop;
  //pop.x=node.parent.x;pop.y=node.parent.y;
  //if (found(pop.x,pop.y,Chemin));// Remove(Chemin,node);
  /*else*/ //Add(Chemin,pop);
  rect.x=node.x*32;
  rect.y=node.y*32;
  SDL_BlitSurface(tuc,NULL,screen,&rect);
  SDL_Flip(screen);
  Remove(Open,node);
  if ((node.x==Goal.x) && (node.y==Goal.y)) 
  {
    SDL_Delay(3000);
    int x=node.parent.x;
    int y=node.parent.y;
    while (x!=-1)
    {
    rect.x=x*32;
    rect.y=y*32;
    SDL_BlitSurface(toc,NULL,screen,&rect);
    SDL_Flip(screen);
    SDL_Delay(100);
    x=Closed[index(x,y,Closed)].parent.x;
    y=Closed[index(x,y,Closed)].parent.y;
    }
  SDL_Delay(1000);
  return 1;
  }
  else
  { nbsuiv=0;
    if (Valid(node.x+1,node.y)) {suiv[nbsuiv].x=node.x+1;suiv[nbsuiv].y=node.y;nbsuiv+=1;}
    if (Valid(node.x-1,node.y)) {suiv[nbsuiv].x=node.x-1;suiv[nbsuiv].y=node.y;nbsuiv+=1;}
    if (Valid(node.x,node.y+1)) {suiv[nbsuiv].x=node.x;suiv[nbsuiv].y=node.y+1;nbsuiv+=1;}
    if (Valid(node.x,node.y-1)) {suiv[nbsuiv].x=node.x;suiv[nbsuiv].y=node.y-1;nbsuiv+=1;}
    //cout<<"le node"<<node.x<<"-"<<node.y<<"\n";
    for (int i=0;i<nbsuiv;i++)
    {
      //cout<<"voisin"<<suiv[i].x<<"-"<<suiv[i].y<<"\n";
      Newnode.x=suiv[i].x;Newnode.y=suiv[i].y;
      NewCost=CostFromStart(node.x,node.y,Start)+Cost(Newnode.x,Newnode.y,node.x,node.y);
      if ((found(Newnode.x,Newnode.y,Open)||found(Newnode.x,Newnode.y,Closed))&&(Newnode.G<=NewCost))
      {
      }
      else
      {
        Newnode.x=suiv[i].x;Newnode.y=suiv[i].y;
        Newnode.parent.x=node.x;
        Newnode.parent.y=node.y;
        Newnode.G=NewCost;
        Newnode.H=CostToGoal(Newnode.x,Newnode.y,Goal);
        Newnode.F=Newnode.H+Newnode.G;
        if (found(Newnode.x,Newnode.y,Closed)) Remove(Closed,Newnode);
        if (found(Newnode.x,Newnode.y,Open)) Adjust(Open,Newnode);
        else Add(Open,Newnode);
      }               
    }
  }
 Add(Closed,node);
}
return 0;
}
//=====================================================================
//                          Main SDL_DrawMap
//=====================================================================
int main (int argc, char **argv)
{
Start.x=2;
Start.y=4;
Goal.x=15;
Goal.y=9;
 
for (int i=0;i<Lin*Col;i++)
{
Open[i].x=0;Open[i].y=0;Closed[i].x=0;Closed[i].y=0;
}
rect.x=120;
rect.y=130;
rect.w=32;
rect.h=32;
 
Brect.w=32;
Brect.h=32;
 
ghost[0]=SDL_LoadBMP("./sprites/ghost0.bmp");
ghost[1]=SDL_LoadBMP("./sprites/ghost1.bmp");
wall=SDL_LoadBMP("./sprites/wall.bmp");
tuc=SDL_LoadBMP("./sprites/tuc.bmp");
toc=SDL_LoadBMP("./sprites/toc.bmp");
 
if (SDL_Init(SDL_INIT_VIDEO)<0) return 0;
screen=SDL_SetVideoMode(800,600,16, SDL_DOUBLEBUF | SDL_HWSURFACE | SDL_FULLSCREEN);
 
for (int i=0;i<19;i++)
for (int j=0;j<21;j++)
{
if (map[i] [j]==1)
{
rect.x=32*j;
rect.y=32*i;
SDL_BlitSurface(wall,NULL,screen,&rect);
}
}
 
rect.x=32*Start.x;
rect.y=32*Start.y;
SDL_BlitSurface(ghost[0],NULL,screen,&rect);
 
rect.x=32*Goal.x;
rect.y=32*Goal.y;
SDL_BlitSurface(ghost[1],NULL,screen,&rect);
SDL_Flip(screen);
SDL_Delay(1000);
if (Astar()==1)
{}
}
reste les ressources des images bmp!!!