public IList <Point2D> GetPath(int[][] grid, Point2D start, Point2D end, GameDiagonalMovement type)
{
var width = grid.Length;
var height = grid[0].Length;
bool[][] movableMatrix = new bool[width][];
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
movableMatrix[widthTrav] = new bool[height];
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
movableMatrix[widthTrav][heightTrav] = grid[widthTrav][heightTrav] == 0;
}
}
Board = new StaticGrid(width, height, movableMatrix);
StartPos = new GridPos(start.X, start.Y);
EndPos = new GridPos(end.X, end.Y);
JumpPointParam jpParam = new JumpPointParam(Board, StartPos, EndPos, EndNodeUnWalkableTreatment.DISALLOW,
type == GameDiagonalMovement.Never ? DiagonalMovement.Never : DiagonalMovement.Always,
HeuristicMode.EUCLIDEAN);
List <GridPos> resultPathList = JumpPointFinder.FindPath(jpParam);
return(resultPathList.Select(x => new Point2D(x.x, x.y)).ToList());
}
public List <GridPos> FindPath(Vector2 p1, Vector2 p2)
{
var jpParam = new JumpPointParam(grids, new GridPos(Convert.ToInt32(p1.x), Convert.ToInt32(p1.y)), new GridPos(Convert.ToInt32(p2.x), Convert.ToInt32(p2.y)));
var path = JumpPointFinder.FindPath(jpParam);
return(path);
}
private IList <GridPos> GetJumpPointsFromJumpPointFinder(Vector2Int startPoint, Vector2Int targetPoint)
{
if (!_gridInfoProvider.IsWalkable(targetPoint))
{
return(new GridPos[0]);
}
GridPos startPosition = ZeroBasedPosition(startPoint);
GridPos targetPosition = ZeroBasedPosition(targetPoint);
// todo: when iAllowEndNodeUnWalkable is set to false, it seems that search is performed anyway — it just finishes with failure. Fix!
JumpPointParam jumpPointsParams
= new JumpPointParam(_navigationGrid, startPosition, targetPosition, iAllowEndNodeUnWalkable: false, iMode: HeuristicMode.MANHATTAN);
// todo: note that resetting the grid causes all the nodes to be created again,
// which probably causes bad performance (5-30 ms for 30x50 grid).
// Possible solutions: use DynamicGridWPool instead of StaticGrid; refactor the library; use other library.
jumpPointsParams.Reset(startPosition, targetPosition);
IList <GridPos> resultPathList = JumpPointFinder.FindPath(jumpPointsParams);
if (!resultPathList.Any())
{
return(new GridPos[0]);
}
return(resultPathList);
}
public IEnumerable <Vector2D> Find(Vector2D origin, Vector2D destination)
{
BaseGrid searchGrid = new StaticGrid(map.Width, map.Height, matrix);
var jp = new JumpPointParam(searchGrid, new GridPos(origin.X, origin.Y), new GridPos(destination.X, destination.Y), EndNodeUnWalkableTreatment.Allow);
return(JumpPointFinder.FindPath(jp).Select(x => new Vector2D(x.X, x.Y)));
}
public List <MapCell> JPSPlus(MapCell cell1, MapCell cell2)
{
List <MapCell> path = new List <MapCell>();
List <GridPos> lpath = new List <GridPos>();
if (cell1.MapId != cell2.MapId)
{
return(path);
}
JumpPointParameters.Reset(new GridPos(cell1.X, cell1.Y), new GridPos(cell2.X, cell2.Y));
List <GridPos> resultPathList = JumpPointFinder.FindPath(JumpPointParameters);
lpath = JumpPointFinder.GetFullPath(resultPathList);
Debug.WriteLine($"From X: {cell1.X} Y: {cell1.Y}, To X: {cell2.X} Y: {cell2.Y}, Paths: {resultPathList.Count}, LPath: {lpath.Count}");
if (lpath.Count > 0)
{
foreach (GridPos item in lpath)
{
path.Add(new MapCell {
X = Convert.ToInt16(item.x), Y = Convert.ToInt16(item.y), MapId = cell1.MapId
});
}
}
return(path);
}
public static List <GridPos> GetPath(Point2D start, Point2D end)
{
for (int i = 0; i < MovableMatrix.Length; i++)
{
var row = MovableMatrix[i];
for (int index = 0; index < row.Length; index++)
{
MovableMatrix[i][index] = true;
}
}
List <CircularUnit> circularUnits = new List <CircularUnit>(Tick.World.Minions);
circularUnits.AddRange(Tick.World.Buildings);
circularUnits.AddRange(Tick.World.Wizards.Where(x => !x.IsMe));
circularUnits.AddRange(Tick.World.Trees);
circularUnits = circularUnits.Where(x => Tick.Self.GetDistanceTo(x) < Tick.Self.VisionRange).ToList();
foreach (var nearestMinion in circularUnits)
{
var p1 = (int)nearestMinion.X / gridStep;
var p2 = (int)nearestMinion.Y / gridStep;
FillMovableCircle(p1, p2, (int)(nearestMinion.Radius + Tick.Self.Radius * 1.2) / gridStep, gridSize, MovableMatrix, false);
}
var startGridPos = GetGridPosByPoint2d(start, gridStep);
var endGridPos = GetGridPosByPoint2d(end, gridStep);
MovableMatrix[startGridPos.x][startGridPos.y] = true;
FillMovableCircle(endGridPos.x, endGridPos.y, (int)(Tick.Self.Radius * 2) / gridStep, gridSize, MovableMatrix, true);
BaseGrid searchGrid = new StaticGrid(gridSize, gridSize, MovableMatrix);
JumpPointParam jpParam = new JumpPointParam(searchGrid, startGridPos, endGridPos);
var result = JumpPointFinder.FindPath(jpParam);
//result = JumpPointFinder.GetFullPath(result);
//var clmnIdx = 0;
//foreach (var row in MovableMatrix)
//{
// var rowIdx = 0;
// foreach (var b in row)
// {
// if (!b)
// {
// VisualClientHelper.Rect(new Point2D(clmnIdx * gridStep, rowIdx * gridStep),
// new Point2D((clmnIdx + 1) * gridStep, (rowIdx + 1) * gridStep), new VisualClientColor(0, 0, 1));
// }
// rowIdx++;
// }
// clmnIdx++;
//}
DrawPath(result, gridStep);
return(result);
}
public static List <GridPos> JPSPlus(JumpPointParam JumpPointParameters, GridPos cell1, GridPos cell2)
{
if (JumpPointParameters != null)
{
JumpPointParameters.Reset(cell1, cell2);
return(JumpPointFinder.GetFullPath(JumpPointFinder.FindPath(JumpPointParameters)));
}
return(new List <GridPos>());
}
public void FindPath_Trivial()
{
var grid = new StaticGrid(3, 3);
//grid.SetWalkableAll(true);
var param = new JumpPointParam(grid, new GridPos(0, 0), new GridPos(2, 2));
var path = JumpPointFinder.FindPath(param);
Assert.Contains(new GridPos(0, 0), path);
Assert.Contains(new GridPos(2, 2), path);
}
public List <GridPos> GetNodes()
{
myGrid.Reset(myCurrent, myDestination);
List <GridPos> resultPathList = JumpPointFinder.FindPath(myGrid);
Convert convert = new Convert();
List <GridPos> realList = convert.Points(resultPathList);
return(realList);
}
public List <GridPos> JPSPlus(GridPos cell1, GridPos cell2)
{
List <GridPos> lpath = new List <GridPos>();
JumpPointParameters.Reset(cell1, cell2);
List <GridPos> resultPathList = JumpPointFinder.FindPath(JumpPointParameters);
lpath = JumpPointFinder.GetFullPath(resultPathList);
Debug.WriteLine($"From X: {cell1.x} Y: {cell1.y}, To X: {cell2.x} Y: {cell2.y}, Paths: {resultPathList.Count}, LPath: {lpath.Count}");
return(lpath);
}
public List <GridPos> JPSPlus(JumpPointParam JumpPointParameters, GridPos cell1, GridPos cell2)
{
List <GridPos> lpath = new List <GridPos>();
if (JumpPointParameters != null)
{
JumpPointParameters.Reset(cell1, cell2);
List <GridPos> resultPathList = JumpPointFinder.FindPath(JumpPointParameters);
lpath = JumpPointFinder.GetFullPath(resultPathList);
}
return(lpath);
}
private void findPath()
{
m_jumpParam.CurIterationType = m_tRecursive.isOn ? IterationType.RECURSIVE : IterationType.LOOP;
m_jumpParam.DiagonalMovement = (DiagonalMovement)m_ddDiagonalMode.value;
foreach (Testbed i in m_testbedList)
{
m_jumpParam.Reset(i.start, i.end);
i.result = JumpPointFinder.FindPath(m_jumpParam);
getOpenClose(i);
drawResult(i);
}
}
public List<GridPos> findPath(BaseGrid grid, DiagonalMovement move, GridPos startPos, GridPos endPos){
JumpPointParam jpParam = new JumpPointParam(
grid,
startPos,
endPos,
true,
move,
HeuristicMode.EUCLIDEAN
);
List<GridPos> result = JumpPointFinder.FindPath(jpParam);
if (debug) Console.WriteLine("found path");
return result;
}
/// <summary>
/// Keep in mind this method returns the start end and turn points of the path, and not all movement steps.
/// </summary>
private List <GridPos> FindPath(int fromX, int fromZ, int toX, int toZ)
{
JumpPointParam jpParam = GetJumpPointParam();
GridPos from = new GridPos(fromX, fromZ);
GridPos to = new GridPos(toX, toZ);
jpParam.Reset(from, to);
List <GridPos> routeFound = JumpPointFinder.FindPath(jpParam);
return(routeFound);
}
public void OkEmptyGridTest()
{
GridPos startPos = new GridPos(10, 10);
GridPos endPos = new GridPos(20, 10);
JumpPointParam jpParam = new JumpPointParam(_searchGrid, startPos, endPos);
List <GridPos> resultPathList = JumpPointFinder.FindPath(jpParam);
Assert.AreEqual(2, resultPathList.Count);
Assert.AreEqual(startPos.x, resultPathList.First().x);
Assert.AreEqual(startPos.y, resultPathList.First().y);
Assert.AreEqual(endPos.x, resultPathList.Last().x);
Assert.AreEqual(endPos.y, resultPathList.Last().y);
}
public IEnumerable <Point> FindPath(Point startPos, Point endPos)
{
var start = new GridPos(startPos.X, startPos.Y);
var end = new GridPos(endPos.X, endPos.Y);
var param = new JumpPointParam(_staticGrid, start, end, EndNodeUnWalkableTreatment.Allow);
var listPositions = JumpPointFinder.FindPath(param);
return(listPositions.Select(z => new Point()
{
X = z.x,
Y = z.y
}));
}
/// <summary>
/// Finds a path between 2 position on a map
/// </summary>
/// <param name="startPosition">Starting position</param>
/// <param name="endPosition">Destination</param>
/// <param name="map">Game map currently being used</param>
/// <param name="endNodeUnWalkable"></param>
/// <returns>A list of Vector2 waypoints that the object must traverse to get to its destination</returns>
internal Stack <Vector2> FindPath(Vector2 startPosition, Vector2 endPosition, ref Map.Map map, EndNodeUnWalkableTreatment endNodeUnWalkable = EndNodeUnWalkableTreatment.DISALLOW)
{
if (!Map.Map.IsOnTop(endPosition) || !map.GetCollisionMap().GetWalkabilityGrid().IsWalkableAt(VectorToGridPos(endPosition)))
{
return(new Stack <Vector2>());
}
var startGridPos = VectorToGridPos(startPosition);
var endGridPos = VectorToGridPos(endPosition);
if (ClearDirectPath(startGridPos.x, startGridPos.y, endGridPos.x, endGridPos.y, ref map))
{
var pathVector = new Stack <Vector2>(1);
pathVector.Push(endPosition);
return(pathVector);
}
else
{
if (mJpParam != null)
{
mJpParam.Reset(VectorToGridPos(startPosition), VectorToGridPos(endPosition));
}
else
{
mJpParam = new JumpPointParam(map.GetCollisionMap().GetWalkabilityGrid(),
startGridPos,
iDiagonalMovement: DiagonalMovement.OnlyWhenNoObstacles,
iEndPos: endGridPos,
iAllowEndNodeUnWalkable: endNodeUnWalkable,
iMode: HeuristicMode.MANHATTAN);
}
var pathGrid = JumpPointFinder.FindPath(mJpParam);
var pathVector = new Stack <Vector2>(pathGrid.Count);
pathVector.Push(endPosition);
for (var i = pathGrid.Count - 1; i > 0; i--)
{
var gridPos = GridPosToVector2(pathGrid[i]);
pathVector.Push(gridPos);
}
return(pathVector);
}
}
public List <Vector3> FindPath(GridPos startPos, GridPos endPos)
{
BaseGrid searchGrid = CreateMovableGrid();
JumpPointParam jpParam = new JumpPointParam(searchGrid, startPos, endPos, EndNodeUnWalkableTreatment.ALLOW, DiagonalMovement.Always, HeuristicMode.MANHATTAN);
List <GridPos> resultPathList = JumpPointFinder.FindPath(jpParam);
List <Vector3> worldPath = new List <Vector3>();
for (int i = 0; i < resultPathList.Count; i++)
{
worldPath.Add(GridPosToWorld(resultPathList[i].x, resultPathList[i].y));
}
return(worldPath);
}
public void OkObstacleTest()
{
_searchGrid.SetWalkableAt(15, 10, false);
GridPos startPos = new GridPos(10, 10);
GridPos endPos = new GridPos(20, 10);
JumpPointParam jpParam = new JumpPointParam(_searchGrid, startPos, endPos);
List <GridPos> resultPathList = JumpPointFinder.FindPath(jpParam);
Assert.Greater(resultPathList.Count, 2);
Assert.AreEqual(startPos.x, resultPathList.First().x);
Assert.AreEqual(startPos.y, resultPathList.First().y);
Assert.AreEqual(endPos.x, resultPathList.Last().x);
Assert.AreEqual(endPos.y, resultPathList.Last().y);
}
public static List <GridPos> GetPath(Point2D start, Point2D end)
{
BaseGrid searchGrid = new StaticGrid(gridSize, gridSize, MovableMatrix);
var startGridPos = GetGridPosByPoint2d(start, gridStep);
var endGridPos = GetGridPosByPoint2d(end, gridStep);
JumpPointParam jpParam = new JumpPointParam(searchGrid, startGridPos, endGridPos);
var result = JumpPointFinder.FindPath(jpParam);
result = JumpPointFinder.GetFullPath(result);
DrawPath(result, gridStep);
return(result);
}
public List <Vector2> FindPath(Vector2 start, Vector2 end)
{
GridPos s = new GridPos((int)(start.x * 2), (int)(start.y * 2));
GridPos e = new GridPos((int)(end.x * 2), (int)(end.y * 2));
if (s.x < 0 || s.x >= mSearchGrid.width || s.y < 0 || s.y >= mSearchGrid.height ||
e.x < 0 || e.x >= mSearchGrid.width || e.y < 0 || e.y >= mSearchGrid.height)
{
return(EmptyPath);
}
mParam.Reset(s, e, mSearchGrid);
var path = JumpPointFinder.FindPath(mParam);
return(path.Select(item => new Vector2(item.x / 2.0f, item.y / 2.0f)).Skip(1).ToList());
}
public void GetPath(Vector3 targetPos)
{
if (nextPath > Time.time)
{
return;
}
nextPath = Time.time + 0.2f;
targetNode = 0;
GridPos startPos = new GridPos(Mathf.RoundToInt(transform.position.x), Mathf.RoundToInt(transform.position.z));
GridPos endPos = new GridPos(Mathf.RoundToInt(targetPos.x), Mathf.RoundToInt(targetPos.z));
jpParam.Reset(startPos, endPos);
JumpPointFinder.FindPath(jpParam, out targetPath);
}
public void ErrorUnrecheableTest()
{
_searchGrid.SetWalkableAt(19, 9, false);
_searchGrid.SetWalkableAt(20, 9, false);
_searchGrid.SetWalkableAt(21, 9, false);
_searchGrid.SetWalkableAt(21, 10, false);
_searchGrid.SetWalkableAt(21, 11, false);
_searchGrid.SetWalkableAt(20, 11, false);
_searchGrid.SetWalkableAt(19, 11, false);
_searchGrid.SetWalkableAt(19, 10, false);
GridPos startPos = new GridPos(10, 10);
GridPos endPos = new GridPos(20, 10);
JumpPointParam jpParam = new JumpPointParam(_searchGrid, startPos, endPos);
List <GridPos> resultPathList = JumpPointFinder.FindPath(jpParam);
Assert.IsEmpty(resultPathList);
}
private void monsterUpdate(object sender, MonsterUpdateEventArgs e)
{
PlayerSeen = canSeePlayer(e.engine.map.mGrid, e.playerPos);
if (moves.Count == 0)
{
if (PlayerSeen)
{
JumpPointParam jParam = new JumpPointParam(e.engine.searchgrid, false, false);
jParam.Reset(new GridPos(pos.X, pos.Y), new GridPos(e.playerPos.X, e.playerPos.Y));
List <GridPos> resultPathList = JumpPointFinder.FindPath(jParam);
resultPathList = JumpPointFinder.GetFullPath(resultPathList);
if (moves.Count != 0)
{
moves.Clear();
}
for (int i = 0; i < resultPathList.Count; i++)
{
moves.Enqueue(new Vector2(resultPathList[i].x, resultPathList[i].y));
}
}
}
if (moves.Count != 0)
{
var dxdy = e.engine.map.getDxDy(pos, moves.Dequeue());
if (!e.engine.checkEntity(pos, e.playerPos, dxdy.X, dxdy.Y))
{
move(dxdy.X, dxdy.Y);
}
}
if (PlayerSeen == false)
{
Vector2 a = rndMoves[rnd.Next(rndMoves.Count)];
if (e.engine.map.canMove(pos, a.X, a.Y))
{
move(a.X, a.Y);
}
}
if (isPlayerNear(e.playerPos))
{
attack(e.engine.player);
}
}
public List <Tile> FindPath(int sX, int sY, int eX, int eY)
{
GridPos start = new GridPos(sX, sY);
GridPos end = new GridPos(eX, eY);
if (!_searchGrid.IsWalkableAt(end))
{
return(new List <Tile>());
}
jpParam.Reset(start, end, _searchGrid);
List <GridPos> result = JumpPointFinder.FindPath(jpParam);
List <Tile> result2 = new List <Tile>();
foreach (GridPos gp in result)
{
result2.Add(_mapLayout[gp.x, gp.y]);
}
return(result2);
}
public List <Vector3> GetPath(Vector3 startLocation)
{
startPos = new GridPos((int)Mathf.Floor(startLocation.x), (int)Mathf.Floor(startLocation.y), (int)Mathf.Floor(startLocation.z));
if (jpParam != null)
{
jpParam.Reset(startPos, endPos);
}
else
{
jpParam = new JumpPointParam(searchGrid, startPos, endPos, EndNodeUnWalkableTreatment.ALLOW, DiagonalMovement.IfAtLeastOneWalkable, HeuristicMode.EUCLIDEAN);
}
resultPathList = JumpPointFinder.FindPath(jpParam);
List <Vector3> posList = new List <Vector3>();
foreach (GridPos pos in resultPathList)
{
posList.Add(new Vector3(pos.x, pos.y, pos.z));
}
return(posList);
}
public static double CalculateFitness(Chromosome chromosome)
{
double fitness = 0;
var board = chromosome2Board(chromosome);
if (board[0, 0] != 2)
{
return(0);
}
if (board[boardSize / 2 - 1, boardSize / 2 - 1] != 0)
{
return(0);
}
BaseGrid searchGrid = new StaticGrid(boardSize, boardSize);
searchGrid.SetWalkableAt(0, 0, true);
for (var i = 0; i < boardSize; i++)
{
for (var j = 0; j < boardSize; j++)
{
if (board[i, j] != 1)
{
searchGrid.SetWalkableAt(i, j, true);
}
}
}
GridPos startPos = new GridPos(0, 0);
GridPos endPos;
JumpPointParam jpParam;
var resultPathLists = new List <List <GridPos> >();
for (var i = 0; i < boardSize; i++)
{
for (var j = 0; j < boardSize; j++)
{
if (board[i, j] != 1)
{
endPos = new GridPos(i, j);
jpParam = new JumpPointParam(searchGrid, startPos, endPos);
resultPathLists.Add(JumpPointFinder.FindPath(jpParam));
}
}
}
var counter = 0;
foreach (var list in resultPathLists)
{
if (list.Count > 0)
{
counter++;
}
}
fitness = ((double)counter) / ((double)resultPathLists.Count);
if (!fieldProportions(board) && (fitness > 0.9)) // && (fitness > 0.75))
{
fitness = fitness / 2; // fitness/2;// fitness *3/4;
}
return(fitness);
}
private void btnSearch_Click(object sender, EventArgs e)
{
for (int resultTrav = 0; resultTrav < m_resultLine.Count; resultTrav++)
{
m_resultLine[resultTrav].Dispose();
}
m_resultLine.Clear();
for (int resultTrav = 0; resultTrav < m_resultBox.Count; resultTrav++)
{
m_resultBox[resultTrav].Dispose();
}
m_resultBox.Clear();
GridPos startPos = new GridPos();
GridPos endPos = new GridPos();
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxType != BoxType.Wall)
{
searchGrid.SetWalkableAt(new GridPos(widthTrav, heightTrav), true);
}
else
{
searchGrid.SetWalkableAt(new GridPos(widthTrav, heightTrav), false);
}
if (m_rectangles[widthTrav][heightTrav].boxType == BoxType.Start)
{
startPos.x = widthTrav;
startPos.y = heightTrav;
}
if (m_rectangles[widthTrav][heightTrav].boxType == BoxType.End)
{
endPos.x = widthTrav;
endPos.y = heightTrav;
}
}
}
jumpParam.DiagonalMovement = (DiagonalMovement)cbbJumpType.SelectedIndex;
jumpParam.UseRecursive = cbUseRecursive.Checked;
jumpParam.Reset(startPos, endPos);
List <GridPos> resultList = JumpPointFinder.FindPath(jumpParam);
for (int resultTrav = 0; resultTrav < resultList.Count - 1; resultTrav++)
{
m_resultLine.Add(new GridLine(m_rectangles[resultList[resultTrav].x][resultList[resultTrav].y], m_rectangles[resultList[resultTrav + 1].x][resultList[resultTrav + 1].y]));
}
for (int widthTrav = 0; widthTrav < jumpParam.SearchGrid.width; widthTrav++)
{
for (int heightTrav = 0; heightTrav < jumpParam.SearchGrid.height; heightTrav++)
{
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav) == null)
{
continue;
}
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav).isOpened)
{
ResultBox resultBox = new ResultBox(widthTrav * 20, heightTrav * 20 + 50, ResultBoxType.Opened);
m_resultBox.Add(resultBox);
}
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav).isClosed)
{
ResultBox resultBox = new ResultBox(widthTrav * 20, heightTrav * 20 + 50, ResultBoxType.Closed);
m_resultBox.Add(resultBox);
}
}
}
this.Invalidate();
}
public static Path generatePath(Dimension _Dimension, Vector2 _StartPosition, Vector2 _EndPosition)
{
try
{
int var_SizeX = 20; //(int)Math.Abs(_StartPosition.X - _EndPosition.X)/16 + 2;//20;
int var_SizeY = 20; //(int)Math.Abs(_StartPosition.Y - _EndPosition.Y)/16 + 2;//20;
int var_StartX = (int)((_StartPosition.X % (Region.regionSizeX * Chunk.chunkSizeX * Block.BlockSize)) % (Chunk.chunkSizeX * Block.BlockSize) / Block.BlockSize);
int var_StartY = (int)((_StartPosition.Y % (Region.regionSizeY * Chunk.chunkSizeY * Block.BlockSize)) % (Chunk.chunkSizeY * Block.BlockSize) / Block.BlockSize);
int var_TargetX = (int)((_EndPosition.X % (Region.regionSizeX * Chunk.chunkSizeX * Block.BlockSize)) % (Chunk.chunkSizeX * Block.BlockSize) / Block.BlockSize);
int var_TargetY = (int)((_EndPosition.Y % (Region.regionSizeY * Chunk.chunkSizeY * Block.BlockSize)) % (Chunk.chunkSizeY * Block.BlockSize) / Block.BlockSize);
var_TargetX = var_TargetX - var_StartX + var_SizeX / 2;
var_TargetY = var_TargetY - var_StartY + var_SizeY / 2;
BaseGrid searchGrid = new DynamicGridWPool(SingletonHolder <NodePool> .Instance);
JumpPointParam jumpParam = new JumpPointParam(searchGrid, true, true, false, HeuristicMode.EUCLIDEAN);
GridPos startPos = new GridPos(var_SizeX / 2, var_SizeX / 2);
GridPos endPos = new GridPos(var_TargetX, var_TargetY);
for (int x = 0; x < var_SizeX; x++)
{
for (int y = 0; y < var_SizeY; y++)
{
int var_X = (int)_StartPosition.X + (-var_SizeX / 2 + x) * Block.BlockSize;
int var_Y = (int)_StartPosition.Y + (-var_SizeX / 2 + y) * Block.BlockSize;
Block var_Block = _Dimension.getBlockAtCoordinate(new Vector3(var_X, var_Y, 0));
bool var_IsWalkAble = false;
if (var_Block != null)
{
if (var_Block.IsWalkAble)
{
var_IsWalkAble = true;
}
else if (var_Block.Objects.Count > 0)
{
if (x == var_SizeX / 2 && y == var_SizeY / 2)
{
var_IsWalkAble = true;
}
if (x == var_TargetX && y == var_TargetY)
{
var_IsWalkAble = true;
}
}
}
searchGrid.SetWalkableAt(new GridPos(x, y), var_IsWalkAble);
}
}
jumpParam.CrossCorner = true;
jumpParam.CrossAdjacentPoint = false;
jumpParam.UseRecursive = false; // KP ;D
jumpParam.Reset(startPos, endPos);
List <GridPos> resultList = JumpPointFinder.FindPath(jumpParam);
LinkedList <PathNode> var_PathNodes = new LinkedList <PathNode>();
foreach (GridPos var_GridPos in resultList)
{
PathNode var_PathNode = new PathNode();
var_PathNode.X = var_GridPos.x;
var_PathNode.Y = var_GridPos.y;
int var_X = (int)_StartPosition.X + (-var_SizeX / 2 + var_PathNode.X) * Block.BlockSize;
int var_Y = (int)_StartPosition.Y + (-var_SizeX / 2 + var_PathNode.Y) * Block.BlockSize;
Block var_Block = _Dimension.getBlockAtCoordinate(new Vector3(var_X, var_Y, 0));
var_PathNode.block = var_Block;
var_PathNodes.AddLast(var_PathNode);
}
/*for (int y = 0; y < var_SizeY; y++)
* {
* for (int x = 0; x < var_SizeY; x++)
* {
* Console.ForegroundColor = ConsoleColor.White;
* if (x == 10 && y == 10)
* {
* Console.ForegroundColor = ConsoleColor.Green;
* }
* foreach (PathNode var_PathNode in var_PathNodes)
* {
* if (var_PathNode.X == x && var_PathNode.Y == y)
* {
* Console.ForegroundColor = ConsoleColor.Red;
* }
* }
* if (!searchGrid.IsWalkableAt(x,y))
* {
* Console.Write("x");
* }
* else
* {
* Console.Write("-");
* }
* }
* Console.WriteLine();
* }*/
Path var_Result = new Path(var_PathNodes);
return(var_Result);
}
catch (Exception ex)
{
Logger.Logger.LogErr(ex.ToString());
}
return(null);
}
private void pictureBox1_MouseUp(object sender, MouseEventArgs e)
{
if (!IsValid())
{
return;
}
line_end_ = new Point(e.X, e.Y);
CellPos end = new CellPos();
cell_manager_.GetCell(new Vector3(e.X, 0, map_height_ - e.Y), out end.row, out end.col);
CellPos start = new CellPos();
cell_manager_.GetCell(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), out start.row, out start.col);
if (e.Button == MouseButtons.Left)
{
switch (left_button_function_)
{
case FunctionType.kSetStaticBlock:
{
int row = end.row;
int col = end.col;
byte obstacle = byte.Parse(obstacleType.Text);
byte oldObstacle = cell_manager_.GetCellStatus(row, col);
cell_manager_.SetCellStatus(row, col, obstacle);
if (map_patch_parser_.Exist(row, col))
{
map_patch_parser_.Update(row, col, obstacle);
}
else
{
map_patch_parser_.Update(row, col, obstacle, oldObstacle);
}
UpdateObstacleGraph();
}
break;
case FunctionType.kHitPoint:
{
long stTime = TimeUtility.Instance.GetElapsedTimeUs();
List <CellPos> result = cell_manager_.GetCellsCrossByLine(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y),
new Vector3(line_end_.X, 0, map_height_ - line_end_.Y));
long edTime = TimeUtility.Instance.GetElapsedTimeUs();
this.Text = "pos(" + line_start_.X + "," + line_start_.Y + "->" + line_end_.X + "," + line_end_.Y + ") GetCellsCrossByLine consume " + (edTime - stTime) + "us";
hit_points_.Clear();
foreach (CellPos pos in result)
{
hit_points_.Add(pos);
}
}
break;
case FunctionType.kGetCell:
{
byte obstacle = cell_manager_.GetCellStatus(end.row, end.col);
obstacleType.Text = obstacle.ToString();
this.Text = "pos(" + e.X + "," + e.Y + ") cell(" + end.row + "," + end.col + ") obstacle:" + obstacle;
}
break;
case FunctionType.kAddObj:
{
TestSpaceObject obj = new TestSpaceObject(next_space_objid_);
++next_space_objid_;
obj.SetPosition(new Vector3(e.X, 0, e.Y));
space_objs_.Add(obj);
prkdtree_.Clear();
kdtree_.Clear();
int objCt = space_objs_.Count;
if (objCt > 0)
{
ISpaceObject[] temp = new ISpaceObject[objCt];
for (int i = 0; i < objCt; ++i)
{
temp[i] = space_objs_[i];
}
long stTime1 = TimeUtility.Instance.GetElapsedTimeUs();
prkdtree_.Build(temp);
long edTime1 = TimeUtility.Instance.GetElapsedTimeUs();
long stTime2 = TimeUtility.Instance.GetElapsedTimeUs();
kdtree_.Build(temp);
long edTime2 = TimeUtility.Instance.GetElapsedTimeUs();
System.Diagnostics.Stopwatch stopWatch = new System.Diagnostics.Stopwatch();
stopWatch.Start();
cell_manager_.ClearDynamic();
foreach (ISpaceObject spaceObj in space_objs_)
{
List <CellPos> cells = cell_manager_.GetCellsInCircle(Transform(spaceObj.GetPosition()), 20);
foreach (CellPos cellpos in cells)
{
cell_manager_.SetCellStatus(cellpos.row, cellpos.col, BlockType.DYNAMIC_BLOCK);
}
}
stopWatch.Stop();
this.Text = "obj num " + objCt + " prkdtree consume " + (edTime1 - stTime1) + "us kdtree consume " + (edTime2 - stTime1) + "us dynmic consume " + (stopWatch.ElapsedTicks) + "ticks";
}
}
break;
case FunctionType.kQueryObj:
{
Vector3 pos = new Vector3(e.X, 0, e.Y);
int objCt = space_objs_.Count;
if (objCt > 0)
{
float radius = float.Parse(queryRadius.Text);
long stTime1 = TimeUtility.Instance.GetElapsedTimeUs();
selected_objs_.Clear();
prkdtree_.Query(pos, radius * scale, (float distSqr, PrKdTreeObject treeObj) =>
{
selected_objs_.Add(treeObj.SpaceObject as TestSpaceObject);
});
long edTime1 = TimeUtility.Instance.GetElapsedTimeUs();
long stTime2 = TimeUtility.Instance.GetElapsedTimeUs();
selected_objs2_.Clear();
kdtree_.Query(pos, radius * scale, (float distSqr, KdTreeObject treeObj) =>
{
selected_objs2_.Add(treeObj.SpaceObject as TestSpaceObject);
});
long edTime2 = TimeUtility.Instance.GetElapsedTimeUs();
this.Text = "obj num " + objCt + " query prkdtree " + selected_objs_.Count + " consume " + (edTime1 - stTime1) + "us query kdtree " + selected_objs2_.Count + " consume " + (edTime2 - stTime2) + "us";
}
}
break;
}
}
else
{
if (e.Button == MouseButtons.Right && left_button_function_ == FunctionType.kSetStaticBlock)
{
int row, col;
cell_manager_.GetCell(new Vector3(e.X, 0, e.Y), out row, out col);
byte oldObstacle = cell_manager_.GetCellStatus(row, col);
byte obstacle = BlockType.NOT_BLOCK;
cell_manager_.SetCellStatus(end.row, end.col, obstacle);
if (map_patch_parser_.Exist(row, col))
{
map_patch_parser_.Update(row, col, obstacle);
}
else
{
map_patch_parser_.Update(row, col, obstacle, oldObstacle);
}
UpdateObstacleGraph();
}
else
{
long stTime = TimeUtility.Instance.GetElapsedTimeUs();
found_path_ = spatial_system_.FindPathWithCellMap(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), new Vector3(line_end_.X, 0, map_height_ - line_end_.Y));
long edTime = TimeUtility.Instance.GetElapsedTimeUs();
long stTime2 = TimeUtility.Instance.GetElapsedTimeUs();
int stRow, stCol, edRow, edCol;
spatial_system_.GetCell(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), out stRow, out stCol);
spatial_system_.GetCell(new Vector3(line_end_.X, 0, map_height_ - line_end_.Y), out edRow, out edCol);
//List<CellPos> path = new List<CellPos>();
//tree_cache_finder_.GetPath(new CellPos(stRow, stCol), new CellPos(edRow, edCol), path);
found_path_ = jump_point_finder_.FindPath(new CellPos(stRow, stCol), new CellPos(edRow, edCol));
long edTime2 = TimeUtility.Instance.GetElapsedTimeUs();
long stTime3 = TimeUtility.Instance.GetElapsedTimeUs();
found_path_ = spatial_system_.FindPath(new Vector3(line_start_.X, 0, map_height_ - line_start_.Y), new Vector3(line_end_.X, 0, map_height_ - line_end_.Y));
long edTime3 = TimeUtility.Instance.GetElapsedTimeUs();
/*//
* found_path_.Clear();
* if (path.Count > 0) {
* foreach (CellPos p in path) {
* found_path_.Add(spatial_system_.GetCellCenter(p.row, p.col));
* }
* }
* ///*/
this.Text = "findpath:" + new Vector2(line_start_.X, map_height_ - line_start_.Y).ToString() + " to " + new Vector2(line_end_.X, map_height_ - line_end_.Y).ToString() + " consume " + (edTime - stTime) / 1000.0f + "ms no preprocess consume " + (edTime2 - stTime2) / 1000.0f + "ms triangulation network consume " + (edTime3 - stTime3) / 1000.0f + "ms";
}
}
is_mouse_down_ = false;
key_hit_ = 0;
}