public Stack<Square> Start(int startX, int startY, int targetX, int targetY, Bot bot)
{
closedSquares = new Square[bot.room.Width, bot.room.Height];
openSquares = new Square[bot.room.Width, bot.room.Height];
openSquaresList = new List<Square>();
int h = CalculateH(startX, startY, targetX, targetY);
Square start = new Square(startX, startY, 0, h, null);
openSquares[startX, startY] = start;
openSquaresList.Add(start);
Square current = start;
int maxCount = 1000;
int currentCount = 0;
while (openSquaresList.Count > 0)
{
//Find square with lowest F score in openlist
current = openSquaresList.First();
foreach (Square s in openSquaresList)
{
if (s.G + s.H < current.G + current.H)
{
current = s;
}
}
//Check if current square is target. if so, construct and return path
if (current.x == targetX && current.y == targetY)
{
Stack<Square> temppath = ReconstructPath(new Stack<Square>(), current);
Stack<Square> newpath = new Stack<Square>();
while (temppath.Count > 0)
{
Square s = temppath.Pop();
if (bot.room.getBlock(0, s.x, s.y).blockId == 4 || bot.room.getBlock(0, s.x, s.y).blockId == 32 ||bot.room.getBlock(0, s.x, s.y).blockId == 0)
{
newpath.Push(s);
}
else
break;
}
newpath = new Stack<Square>(newpath);
//Console.WriteLine(newpath.Count);
//string str = "";
//foreach (Square s in newpath)
// str += "X:" + s.x + " Y:" + s.y + " \n";
//Console.WriteLine(str);
return newpath;
}
if (currentCount > maxCount)
return null;
//Switch current square from openlist to closedlist
closedSquares[current.x, current.y] = current;
openSquares[current.x, current.y] = null;
for (int i = 0; i < openSquaresList.Count; i++)
{
Square temp = openSquaresList[i];
if (temp.x == current.x && temp.y == current.y)
{
openSquaresList.RemoveAt(i);
break;
}
}
//Check the neighbours of the current square
for (int i = 0; i < 8; i++)
{
Square neighbour = new Square(
current.x + adjacentSquares[i].x,
current.y + adjacentSquares[i].y,
current.G + adjacentSquares[i].cost,
CalculateH(current.x + adjacentSquares[i].x, current.y + adjacentSquares[i].y, targetX, targetY),
current);
if (neighbour.x < 0 || neighbour.y < 0 || neighbour.x >= bot.room.Width || neighbour.y >= bot.room.Height)
continue;
if (bot.room.getBlock(0, neighbour.x, neighbour.y).blockId != 4)
neighbour.G += 10000;
//neighbour.G += bot.room.getBlock(0, neighbour.x, neighbour.y);
int neighborInClosedF = 0;
Square temp = closedSquares[neighbour.x, neighbour.y];
if (temp != null)
neighborInClosedF = temp.G + temp.H;
//If it's in closedsquares and its F is over the one in closedsquares, dont care about it
if (closedSquares[neighbour.x, neighbour.y] != null && (neighbour.G + neighbour.H) >= neighborInClosedF)
continue;
//If it isn't in opensquares or its F is lower than the one in closedsquares, add it or swap them
if ((openSquares[neighbour.x, neighbour.y] == null || ((neighbour.G + neighbour.H) < neighborInClosedF) && bot.room.getBlock(0, neighbour.x, neighbour.y).blockId == 4))
{
neighbour.parent = current;
openSquares[neighbour.x, neighbour.y] = neighbour;
openSquaresList.Add(neighbour);
currentCount++;
}
}
}
return null;
}
public Square(int x, int y, int G, int H, Square parent)
{
this.x = x;
this.y = y;
this.G = H;
this.H = H;
this.parent = parent;
}
public bool Equals(Square square)
{
return square.x == x && square.y == y;
}
Stack<Square> ReconstructPath(Stack<Square> currentstack, Square current)
{
if (current.parent != null)
{
currentstack.Push(current.parent);
currentstack = ReconstructPath(currentstack, current.parent);
}
else
currentstack.Push(current);
return currentstack;
}
