public PathFinder(IMap map, double diagonalCost)
{
_map = map ?? throw new ArgumentNullException("map", "Map cannot be null");
_graph = new EdgeWeightedDigraph(_map.Width * _map.Height);
foreach (Cell cell in _map.GetAllCells())
{
if (cell.IsWalkable)
{
int v = IndexFor(cell.Point);
foreach (Cell neighbor in _map.GetBorderCellsInSquare(cell.Point, 1))
{
if (neighbor.IsWalkable)
{
int w = IndexFor(neighbor.Point);
if (neighbor.Point.X != cell.Point.X && neighbor.Point.Y != cell.Point.Y)
{
_graph.AddEdge(new DirectedEdge(v, w, diagonalCost));
_graph.AddEdge(new DirectedEdge(w, v, diagonalCost));
}
else
{
_graph.AddEdge(new DirectedEdge(v, w, 1.0));
_graph.AddEdge(new DirectedEdge(w, v, 1.0));
}
}
}
}
}
}
public PathFinder(IMap map)
{
_map = map ?? throw new ArgumentNullException("map", "Map cannot be null");
_graph = new EdgeWeightedDigraph(_map.Width * _map.Height);
foreach (Cell cell in _map.GetAllCells())
{
if (cell.IsWalkable)
{
int v = IndexFor(cell.Point);
foreach (Cell neighbor in _map.GetBorderCellsInDiamond(cell.Point, 1))
{
if (neighbor.IsWalkable)
{
int w = IndexFor(neighbor.Point);
_graph.AddEdge(new DirectedEdge(v, w, 1.0));
_graph.AddEdge(new DirectedEdge(w, v, 1.0));
}
}
}
}
}
public PathFinder(IMap map, double cardinalCost, double diagonalCost)
{
_map = map ?? throw new ArgumentNullException("map");
_graph = new EdgeWeightedDigraph(_map.Width * _map.Height);
foreach (Cell cell in _map.GetAllCells())
{
if (!cell.IsWalkable)
{
continue;
}
int cellIndex = IndexFor(cell.Point);
var neighborCoords = new List <(Point, double)>
{
(new Point(cell.Point.X + 0, cell.Point.Y - 1), cardinalCost),
(new Point(cell.Point.X + 0, cell.Point.Y + 1), cardinalCost),
(new Point(cell.Point.X + 1, cell.Point.Y + 0), cardinalCost),
(new Point(cell.Point.X - 1, cell.Point.Y + 0), cardinalCost),
(new Point(cell.Point.X - 1, cell.Point.Y - 1), diagonalCost),
(new Point(cell.Point.X - 1, cell.Point.Y + 1), diagonalCost),
(new Point(cell.Point.X + 1, cell.Point.Y - 1), diagonalCost),
(new Point(cell.Point.X + 1, cell.Point.Y + 1), diagonalCost),
};
foreach (var(coord, cost) in neighborCoords)
{
if (!map.IsWithinMap(coord))
{
continue;
}
if (!map.IsWalkable(coord))
{
continue;
}
int neighborIndex = IndexFor(coord);
_graph.AddEdge(new DirectedEdge(cellIndex, neighborIndex, cost));
}
}
}