private static GridPos? jumpLoop(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
GridPos? retVal = null;
Stack<JumpSnapshot> stack = new Stack<JumpSnapshot>();
JumpSnapshot currentSnapshot = new JumpSnapshot();
JumpSnapshot newSnapshot = null;
currentSnapshot.iX = iX;
currentSnapshot.iY = iY;
currentSnapshot.iPx = iPx;
currentSnapshot.iPy = iPy;
currentSnapshot.stage = 0;
stack.Push(currentSnapshot);
while (stack.Count != 0)
{
currentSnapshot = stack.Pop();
switch (currentSnapshot.stage)
{
case 0:
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY))
{
retVal = null;
continue;
}
else if (
iParam.SearchGrid.GetNodeAt(currentSnapshot.iX, currentSnapshot.iY)
.Equals(iParam.EndNode))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.tDx = currentSnapshot.iX - currentSnapshot.iPx;
currentSnapshot.tDy = currentSnapshot.iY - currentSnapshot.iPy;
currentSnapshot.jx = null;
currentSnapshot.jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY - currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY + 1)
&& !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY - 1)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + 1,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - 1,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - 1,
currentSnapshot.iY)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 1;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY)
|| iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY + currentSnapshot.tDy)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY + currentSnapshot.tDy)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY + 1))
|| (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + 1,
currentSnapshot.iY - currentSnapshot.tDy))
|| (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - 1,
currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 3;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
retVal = null;
break;
case 1:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 2;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 2:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)
|| iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 3:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 4;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 4:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
}
}
return retVal;
}
private static GridPos? jump(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
if (!iParam.SearchGrid.IsWalkableAt(iX, iY))
{
return null;
}
else if (iParam.SearchGrid.GetNodeAt(iX, iY).Equals(iParam.EndNode))
{
return new GridPos(iX, iY);
}
int tDx = iX - iPx;
int tDy = iY - iPy;
GridPos? jx = null;
GridPos? jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY))
|| (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - tDy)
&& !iParam.SearchGrid.IsWalkableAt(iX, iY - tDy)))
{
return new GridPos(iX, iY);
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + 1)
&& !iParam.SearchGrid.IsWalkableAt(iX, iY + 1))
|| (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - 1)
&& !iParam.SearchGrid.IsWalkableAt(iX, iY - 1)))
{
return new GridPos(iX, iY);
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(iX + 1, iY))
|| (iParam.SearchGrid.IsWalkableAt(iX - 1, iY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(iX - 1, iY)))
{
return new GridPos(iX, iY);
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
jx = jump(iParam, iX + tDx, iY, iX, iY);
jy = jump(iParam, iX, iY + tDy, iX, iY);
if (jx != null || jy != null)
{
return new GridPos(iX, iY);
}
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) || iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return jump(iParam, iX + tDx, iY + tDy, iX, iY);
}
else if (iParam.CrossAdjacentPoint)
{
return jump(iParam, iX + tDx, iY + tDy, iX, iY);
}
else
{
return null;
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + tDy)
&& iParam.SearchGrid.IsWalkableAt(iX, iY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(iX + tDx, iY))
|| (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + tDy)
&& iParam.SearchGrid.IsWalkableAt(iX + tDx, iY)
&& !iParam.SearchGrid.IsWalkableAt(iX, iY + tDy)))
{
return new GridPos(iX, iY);
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX, iY + 1)
&& !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + 1))
|| (iParam.SearchGrid.IsWalkableAt(iX, iY - 1)
&& !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY - 1)))
{
return new GridPos(iX, iY);
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY)
&& !iParam.SearchGrid.IsWalkableAt(iX + 1, iY - tDy))
|| (iParam.SearchGrid.IsWalkableAt(iX - 1, iY)
&& !iParam.SearchGrid.IsWalkableAt(iX - 1, iY - tDy)))
{
return new GridPos(iX, iY);
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
jx = jump(iParam, iX + tDx, iY, iX, iY);
jy = jump(iParam, iX, iY + tDy, iX, iY);
if (jx != null || jy != null)
{
return new GridPos(iX, iY);
}
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) && iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return jump(iParam, iX + tDx, iY + tDy, iX, iY);
}
else
{
return null;
}
}
}
private static List<GridPos> findNeighbors(JumpPointParam iParam, Node iNode)
{
Node tParent = (Node)iNode.parent;
int tX = iNode.x;
int tY = iNode.y;
int tPx, tPy, tDx, tDy;
List<GridPos> tNeighbors = new List<GridPos>();
List<Node> tNeighborNodes;
Node tNeighborNode;
// directed pruning: can ignore most neighbors, unless forced.
if (tParent != null)
{
tPx = tParent.x;
tPy = tParent.y;
// get the normalized direction of travel
tDx = (tX - tPx) / Math.Max(Math.Abs(tX - tPx), 1);
tDy = (tY - tPy) / Math.Max(Math.Abs(tY - tPy), 1);
if (iParam.CrossCorner)
{
// search diagonally
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy)
|| iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
else if (iParam.CrossAdjacentPoint)
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX - tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(tX - tDx, tY))
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY)
&& !iParam.SearchGrid.IsWalkableAt(tX, tY - tDy))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
}
}
// search horizontally/vertically
else
{
if (tDx == 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
else if (iParam.CrossAdjacentPoint)
{
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy)
&& !iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
}
else
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1)
&& !iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1)
&& !iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
else if (iParam.CrossAdjacentPoint)
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1)
&& !iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1)
&& !iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
}
}
}
else // if(!iParam.CrossCorner)
{
// search diagonally
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy)
&& iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX - tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy)
&& iParam.SearchGrid.IsWalkableAt(tX - tDx, tY))
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY - tDy)
&& iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
}
}
// search horizontally/vertically
else
{
if (tDx == 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy)
&& iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy)
&& iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY));
}
}
else
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1)
&& iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1)
&& iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX, tY - 1));
}
}
}
}
}
// return all neighbors
else
{
tNeighborNodes = iParam.SearchGrid.GetNeighbors(iNode, iParam.CrossCorner, iParam.CrossAdjacentPoint);
for (int i = 0; i < tNeighborNodes.Count; i++)
{
tNeighborNode = tNeighborNodes[i];
tNeighbors.Add(new GridPos(tNeighborNode.x, tNeighborNode.y));
}
}
return tNeighbors;
}
private static void identifySuccessors(JumpPointParam iParam, Node iNode)
{
HeuristicDelegate tHeuristic = iParam.HeuristicFunc;
List<Node> tOpenList = iParam.openList;
int tEndX = iParam.EndNode.x;
int tEndY = iParam.EndNode.y;
GridPos tNeighbor;
GridPos? tJumpPoint;
Node tJumpNode;
List<GridPos> tNeighbors = findNeighbors(iParam, iNode);
for (int i = 0; i < tNeighbors.Count; i++)
{
tNeighbor = tNeighbors[i];
if (iParam.UseRecursive)
{
tJumpPoint = jump(iParam, tNeighbor.x, tNeighbor.y, iNode.x, iNode.y);
}
else
{
tJumpPoint = jumpLoop(iParam, tNeighbor.x, tNeighbor.y, iNode.x, iNode.y);
}
if (tJumpPoint != null)
{
tJumpNode = iParam.SearchGrid.GetNodeAt(tJumpPoint.Value.x, tJumpPoint.Value.y);
if (tJumpNode == null)
{
if (iParam.EndNode.x == tJumpPoint.Value.x && iParam.EndNode.y == tJumpPoint.Value.y)
{
tJumpNode = iParam.SearchGrid.GetNodeAt(tJumpPoint.Value);
}
}
if (tJumpNode.isClosed)
{
continue;
}
// include distance, as parent may not be immediately adjacent:
float tCurNodeToJumpNodeLen = tHeuristic(
Math.Abs(tJumpPoint.Value.x - iNode.x),
Math.Abs(tJumpPoint.Value.y - iNode.y));
float tStartToJumpNodeLen = iNode.startToCurNodeLen + tCurNodeToJumpNodeLen;
// next `startToCurNodeLen` value
if (!tJumpNode.isOpened || tStartToJumpNodeLen < tJumpNode.startToCurNodeLen)
{
tJumpNode.startToCurNodeLen = tStartToJumpNodeLen;
tJumpNode.heuristicCurNodeToEndLen = (tJumpNode.heuristicCurNodeToEndLen == null
? tHeuristic(Math.Abs(tJumpPoint.Value.x - tEndX), Math.Abs(tJumpPoint.Value.y - tEndY))
: tJumpNode.heuristicCurNodeToEndLen);
tJumpNode.heuristicStartToEndLen = tJumpNode.startToCurNodeLen
+ tJumpNode.heuristicCurNodeToEndLen.Value;
tJumpNode.parent = iNode;
if (!tJumpNode.isOpened)
{
tOpenList.Add(tJumpNode);
tJumpNode.isOpened = true;
}
}
}
}
}
public static List<GridPos> FindPath(JumpPointParam iParam)
{
List<Node> tOpenList = iParam.openList;
Node tStartNode = iParam.StartNode;
Node tEndNode = iParam.EndNode;
Node tNode;
bool revertEndNodeWalkable = false;
// set the `g` and `f` value of the start node to be 0
tStartNode.startToCurNodeLen = 0;
tStartNode.heuristicStartToEndLen = 0;
// push the start node into the open list
tOpenList.Add(tStartNode);
tStartNode.isOpened = true;
if (iParam.AllowEndNodeUnWalkable && !iParam.SearchGrid.IsWalkableAt(tEndNode.x, tEndNode.y))
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, true);
revertEndNodeWalkable = true;
}
// while the open list is not empty
while (tOpenList.Count > 0)
{
// pop the position of node which has the minimum `f` value.
tOpenList.Sort();
tNode = (Node)tOpenList[0];
tOpenList.RemoveAt(0);
tNode.isClosed = true;
if (tNode.Equals(tEndNode))
{
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, false);
}
return Node.Backtrace(tNode); // rebuilding path
}
identifySuccessors(iParam, tNode);
}
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, false);
}
// fail to find the path
return new List<GridPos>();
}