public void GenerateMap()
{
int width = Core.XMLProperties.GlobalProperties.mGridWidth;
int height = Core.XMLProperties.GlobalProperties.mGridHeight;
int distance = Core.XMLProperties.GlobalProperties.mDistanceBetweenNodes;
for (int i = 0; i <= width; i += distance)
{
for (int j = 0; j <= height; j += distance)
{
PathNode node = new PathNode(mGameWorld.Camera, mGraphics, i, j);
mPathNodes.Add(node);
}
}
int distance2 = System.Convert.ToInt32(distance * 1.5);
foreach (PathNode p1 in mPathNodes)
{
foreach (PathNode p2 in mPathNodes)
{
if (p1 != p2 && Vector2.Distance(p1.mPosition, p2.mPosition) < distance2)
{
p1.mNeighbours.Add(p2);
}
}
}
}
public List<Vector2> GeneratePath(PathNode startNode, PathNode endNode)
{
ResetPathNodes();
List<Vector2> path = new List<Vector2>();
if (startNode == null || endNode == null)
return path;
List<PathNode> closedList = new List<PathNode>();
List<PathNode> openList = new List<PathNode>();
float dist = Vector2.Distance(startNode.mPosition, endNode.mPosition);
openList.Add(startNode);
while (openList.Count > 0)
{
PathNode current = openList[0];
openList.RemoveAt(0);
if (current == endNode)
{
while (current.mCurrentParent != null)
{
path.Add(current.mPosition);
current = current.mCurrentParent;
}
break;
}
foreach (PathNode neighbour in current.mNeighbours)
{
float distFromTarget = Vector2.Distance(current.mPosition, endNode.mPosition);
float distFromSource = current.mCurrentCost + Vector2.Distance(current.mPosition, neighbour.mPosition);
float heuristic = current.mCurrentCost + distFromTarget;
int idxOpen = openList.IndexOf(neighbour);
if (idxOpen != -1 && openList[idxOpen].mCurrentCost < distFromSource)
continue;
int idxClosed = closedList.IndexOf(neighbour);
if (idxClosed != -1 && closedList[idxClosed].mCurrentCost < distFromSource)
continue;
if (idxOpen != -1)
openList.RemoveAt(idxOpen);
if (idxClosed != -1)
closedList.RemoveAt(idxClosed);
neighbour.mCurrentParent = current;
neighbour.mCurrentCost = distFromSource;
neighbour.mCurrentHeuristic = heuristic;
int insIdx = -1;
for (int i = 0; i < openList.Count; i++)
{
if (heuristic < openList[i].mCurrentHeuristic)
{
insIdx = i;
break;
}
}
if (insIdx == -1)
{
openList.Add(neighbour);
}
else
openList.Insert(insIdx, neighbour);
}
closedList.Add(current);
}
return path;
}
