public PathfindingResult Run(int startX, int startY, int endX, int endY, TileProvider provider, out List <PNode> path)
{
if (provider == null)
{
path = null;
return(PathfindingResult.ERROR_INTERNAL);
}
// Validate start and end points.
if (!provider.TileInBounds(startX, startY))
{
path = null;
return(PathfindingResult.ERROR_START_OUT_OF_BOUNDS);
}
if (!provider.TileInBounds(endX, endY))
{
path = null;
return(PathfindingResult.ERROR_END_OUT_OF_BOUNDS);
}
if (!provider.IsTileWalkable(startX, startY))
{
path = null;
return(PathfindingResult.ERROR_START_NOT_WALKABLE);
}
if (!provider.IsTileWalkable(endX, endY))
{
path = null;
return(PathfindingResult.ERROR_END_NOT_WALKABLE);
}
// Clear everything up.
Clear();
var start = PNode.Create(startX, startY);
var end = PNode.Create(endX, endY);
// Check the start/end relationship.
if (start.Equals(end))
{
path = null;
return(PathfindingResult.ERROR_START_IS_END);
}
// Add the starting point to all relevant structures.
open.Enqueue(start, 0f);
cameFrom[start] = start;
costSoFar[start] = 0f;
int count;
while ((count = open.Count) > 0)
{
// Detect if the current open amount exceeds the capacity.
// This only happens in very large open areas. Corridors and hallways will never cause this, not matter how large the actual path length.
if (count >= MAX - 8)
{
path = null;
return(PathfindingResult.ERROR_PATH_TOO_LONG);
}
var current = open.Dequeue();
if (current.Equals(end))
{
// We found the end of the path!
path = TracePath(end);
return(PathfindingResult.SUCCESSFUL);
}
// Get all neighbours (tiles that can be walked on to)
var neighbours = GetNear(current, provider);
foreach (PNode n in neighbours)
{
float newCost = costSoFar[current] + GetCost(current, n); // Note that this could change depending on speed changes per-tile.
if (!costSoFar.ContainsKey(n) || newCost < costSoFar[n])
{
costSoFar[n] = newCost;
float priority = newCost + Heuristic(current, n);
open.Enqueue(n, priority);
cameFrom[n] = current;
}
}
}
path = null;
return(PathfindingResult.ERROR_INTERNAL);
}
private List <PNode> GetNear(PNode node, TileProvider provider)
{
// Want to add nodes connected to the center node, if they are walkable.
// This code stops the pathfinder from cutting corners, and going through walls that are diagonal from each other.
near.Clear();
// Left
left = false;
if (provider.IsTileWalkable(node.X - 1, node.Y))
{
near.Add(PNode.Create(node.X - 1, node.Y));
left = true;
}
// Right
right = false;
if (provider.IsTileWalkable(node.X + 1, node.Y))
{
near.Add(PNode.Create(node.X + 1, node.Y));
right = true;
}
// Above
above = false;
if (provider.IsTileWalkable(node.X, node.Y + 1))
{
near.Add(PNode.Create(node.X, node.Y + 1));
above = true;
}
// Below
below = false;
if (provider.IsTileWalkable(node.X, node.Y - 1))
{
near.Add(PNode.Create(node.X, node.Y - 1));
below = true;
}
// Above-Left
if (left && above)
{
if (provider.IsTileWalkable(node.X - 1, node.Y + 1))
{
near.Add(PNode.Create(node.X - 1, node.Y + 1));
}
}
// Above-Right
if (right && above)
{
if (provider.IsTileWalkable(node.X + 1, node.Y + 1))
{
near.Add(PNode.Create(node.X + 1, node.Y + 1));
}
}
// Below-Left
if (left && below)
{
if (provider.IsTileWalkable(node.X - 1, node.Y - 1))
{
near.Add(PNode.Create(node.X - 1, node.Y - 1));
}
}
// Below-Right
if (right && below)
{
if (provider.IsTileWalkable(node.X + 1, node.Y - 1))
{
near.Add(PNode.Create(node.X + 1, node.Y - 1));
}
}
return(near);
}
