private void AddAdjacentCellToOpenList(Node parentNode, int columnOffset, int rowOffset, int gCost)
{
var adjacentCellIndex = _map.GetAdjacentCellIndex(parentNode.CellIndex, columnOffset, rowOffset);
// ignore unwalkable nodes (or nodes outside the grid)
if (adjacentCellIndex == -1)
return;
// ignore nodes on the closed list
if (_closedList.Any(n => n.CellIndex == adjacentCellIndex))
return;
var adjacentNode = _openList.SingleOrDefault(n => n.CellIndex == adjacentCellIndex);
if (adjacentNode != null)
{
if(parentNode.G + gCost < adjacentNode.G)
{
adjacentNode.Parent = parentNode;
adjacentNode.G = parentNode.G + gCost;
adjacentNode.F = adjacentNode.G + adjacentNode.H;
}
return;
}
var node = new Node(adjacentCellIndex, parentNode)
{
G = gCost,
H = _map.GetDistance(adjacentCellIndex, _map.TargetCell)
};
node.F = node.G + node.H;
_openList.Add(node);
}
public void Reinizialize()
{
pathfound = false;
if (pathfinder != null)
{
pathfinder.PathFound -= pathfinder_PathFound;
pathfinder.Abort();
pathfinder.Stop();
}
Random rand = new Random((int)DateTime.Now.Ticks);
mapnodes = new Node[mapsize, mapsize];
for (int y = 0; y < mapsize; y++)
{
for (int x = 0; x < mapsize; x++)
{
mapnodes[y, x] = new Node(x, y, size, rand.Next(0, 100) < percentage ? Walkable.Blocked : Walkable.Walkable);
}
}
mapnodes[yaim, xaim] = new Node(xaim, yaim, size, Walkable.Walkable);
mapnodes[5, 2] = new Node(2, 5,size, Walkable.Walkable);
AStarMap.InitializeMap(mapnodes);
pathfinder = new AStar();
pathfinder.PathFound += new PathFoundEventHandler(pathfinder_PathFound);
pathfinder.FindWay(mapnodes[5, 2], mapnodes[yaim, xaim]);
}
public static void InitializeMapFromLevel(this AStarMap map, Tile[,] maptiles)
{
int yLength = maptiles.GetLength(0);
int xLength = maptiles.GetLength(1);
Node[,] aStarNodes;
aStarNodes = new Node[yLength, xLength];
for (int y = 0; y < yLength; y++)
{
for (int x = 0; x < xLength; x++)
{
Walkable walkable = Walkable.Walkable;
switch (maptiles[y, x].TileType)
{
case TileType.Wall:
case TileType.Spike:
walkable = Walkable.Blocked;
break;
case TileType.Platform:
walkable = Walkable.Platform;
break;
}
if (walkable == Walkable.Walkable)
{
if (CheckForUnreachable(maptiles, y, x))
walkable = Walkable.NotReachable;
}
aStarNodes[y, x] = new Node(x, y, Tile.TILE_SIZE, walkable);
}
}
AStarMap.InitializeMap(aStarNodes);
}
public void CalculatePath()
{
var firstNode = new Node(_map.StartCell, null);
_openList.Add(firstNode);
_currentNode = firstNode;
while(true)
{
if (_openList.Count == 0)
{
break;
}
_currentNode = FindSmallestF();
if (_currentNode.CellIndex == _map.TargetCell)
{
break;
}
_openList.Remove(_currentNode);
_closedList.Add(_currentNode);
AddAdjacentCellToOpenList(_currentNode, -1, -1, 14);
AddAdjacentCellToOpenList(_currentNode, 0, -1, 10);
AddAdjacentCellToOpenList(_currentNode, 1, -1, 14);
AddAdjacentCellToOpenList(_currentNode, -1, 0, 10);
AddAdjacentCellToOpenList(_currentNode, 1, 0, 10);
AddAdjacentCellToOpenList(_currentNode, -1, 1, 14);
AddAdjacentCellToOpenList(_currentNode, 0, 1, 10);
AddAdjacentCellToOpenList(_currentNode, 1, 1, 14);
}
_map.HighlightPath(_currentNode);
}
public AStarMap()
{
if (mapnodes == null)
{
mapnodes = new Node[1, 1];
mapnodes[0, 0] = new Node(0,0,Walkable.Walkable);
}
}
public void FindWay(Node start, Node aim)
{
//Only run a new PathSearch if we don't running currently one.
if (myThread.ThreadState != ThreadState.Running)
{
this.start = start;
this.aim = aim;
aimglobal = aim.ToPathNode();
//openList.Clear();
openLinkedList.Clear();
//If thread is never Started, start it
if (myThread.ThreadState == ThreadState.Unstarted)
myThread.Start();
//If thread is Suspended from an older search, resume it
//with the new parameters specified above.
if (myThread.ThreadState == ThreadState.Suspended)
myThread.Resume();
abort = false;
}
//FindWay();
}
private void StartNewPathSearch(Vector2 playerPos)
{
int startX, starty, aimX, aimY;
startX = (int)Math.Round((pos.X) / (float)Tile.TILE_SIZE);
starty = (int)Math.Round(pos.Y / (float)Tile.TILE_SIZE);
aimX = (int)playerPos.X / Tile.TILE_SIZE;
aimY = (int)playerPos.Y / Tile.TILE_SIZE;
start = new Node(startX, starty, Tile.TILE_SIZE, Walkable.Walkable);
end = new Node(aimX, aimY, Tile.TILE_SIZE, Walkable.Walkable);
astar.Abort();
astar.FindWay(startX, starty, aimX, aimY);
pathSearching = true;
}
public void HighlightPath(Node node)
{
var currentNode = node;
while(currentNode != null)
{
_path.Add(currentNode.CellIndex);
currentNode = currentNode.Parent;
}
}
public static void InitializeMap(Node[,] nodes)
{
if (nodes != null)
mapnodes = nodes;
}
