public void Connect(WayPoint NewWayPoint)
{
PathFinderNode currentNode = Path;
while (currentNode != null)
{
currentNode.RemoveFromLayer();
currentNode = currentNode.NextNode;
}
if (NextWayPoint != null && NextWayPoint.PreviousWayPoint == this)
{
NextWayPoint.PreviousWayPoint = null;
}
Path = Map.PathFinder.FindPath(Point, NewWayPoint.Point);
if (Path != null)
{
Path.PathLayer = PathLayer;
NextWayPoint = NewWayPoint;
NewWayPoint.PreviousWayPoint = this;
currentNode = Path;
while (currentNode != null)
{
PathLayer.AddObject(currentNode);
currentNode = currentNode.NextNode;
}
}
}
public PathFinderNode FindPath(Point Begin, Point End)
{
PathFinderNode[,] nodeGrid = new PathFinderNode[Map.Bounds.X, Map.Bounds.Y];
nodeGrid.Function((x, y, v) => new PathFinderNode(Map[new Point(x, y)]));
Map.MapObjects.ToArray().Action(
(i, mapObject) =>
{
if (mapObject.IsWall)
{
nodeGrid[mapObject.Point.X, mapObject.Point.Y].Blocked = true;
}
}
);
nodeGrid.Action(
(x, y, node) =>
node.AdjacentNodes =
node.MapTile.AdjacentTiles
.Select(mapTile => nodeGrid[mapTile.Point.X, mapTile.Point.Y])
.Where(node => !node.Blocked)
.ToArray()
);
nodeGrid[Begin.X, Begin.Y].Opened = true;
IEnumerable <PathFinderNode> openNodeQuery = nodeGrid.Cast <PathFinderNode>().Where(node => node.Opened && !node.Closed);
PathFinderNode[] openNodes = openNodeQuery.ToArray();
PathFinderNode endNode = openNodes.FirstOrDefault(node => node.Point == End);
while (openNodes.Length > 0)
{
openNodes.Action(
(i, openNode) =>
{
openNode.Closed = true;
openNode.AdjacentNodes.Action(
(i, adjacentNode) =>
{
if (!adjacentNode.Opened && !adjacentNode.Closed)
{
adjacentNode.Opened = true;
adjacentNode.PreviousNode = openNode;
}
}
);
}
);
if ((endNode = openNodes.FirstOrDefault(node => node.Point == End)) != null)
{
break;
}
openNodes = openNodeQuery.ToArray();
}
if (endNode != null)
{
return(endNode.BackConnectToFirstNode());
}
return(null);
}
public PathFinderNode BackConnectToFirstNode()
{
PathFinderNode node = this;
while (node.PreviousNode != null)
{
node = (node.PreviousNode.NextNode = node).PreviousNode;
}
return(node);
}
public void Disconnect()
{
PathFinderNode currentNode = Path;
while (currentNode != null)
{
currentNode.RemoveFromLayer();
currentNode = currentNode.NextNode;
}
}
public PathFinderNode FirstNodeBackwardsWhere(Func <PathFinderNode, bool> func)
{
PathFinderNode node = this;
while (node != null)
{
if (func(node))
{
return(node);
}
node = node.PreviousNode;
}
return(null);
}
public PathFinderNode FirstNodeWhere(Func <PathFinderNode, bool> func)
{
PathFinderNode node = this;
while (node != null)
{
if (func(node))
{
return(node);
}
node = node.NextNode;
}
return(null);
}
public NodeEnumerator(PathFinderNode CurrentNode)
{
FirstNode = this.CurrentNode = CurrentNode;
}
