/// <summary>
/// Finds the shortest path from the start node to the goal node
/// </summary>
/// <param name="AStartNode">Start node</param>
/// <param name="AGoalNode">Goal node</param>
public void FindPath(AStarNode AStartNode, AStarNode AGoalNode)
{
int totalCost = (AStarHabbo.Map.GetLength(0) * AStarHabbo.Map.GetLength(1)) ^ 2;
FStartNode = AStartNode;
FGoalNode = AGoalNode;
int i = 0;
FOpenList.Add(FStartNode);
while (FOpenList.Count > 0)
{
i++;
if (i > totalCost)
{
break;
}
else
{
// Get the node with the lowest TotalCost
AStarNode NodeCurrent = (AStarNode)FOpenList.Pop();
// If the node is the goal copy the path to the solution array
if (NodeCurrent.IsGoal())
{
while (NodeCurrent != null)
{
FSolution.Insert(0, NodeCurrent);
NodeCurrent = NodeCurrent.Parent;
}
break;
}
// Get successors to the current node
NodeCurrent.GetSuccessors(FSuccessors);
foreach (AStarNode NodeSuccessor in FSuccessors)
{
// Test if the currect successor node is on the open list, if it is and
// the TotalCost is higher, we will throw away the current successor.
AStarNode NodeOpen = null;
if (FOpenList.Contains(NodeSuccessor))
{
NodeOpen = (AStarNode)FOpenList[FOpenList.IndexOf(NodeSuccessor)];
}
if ((NodeOpen != null) && (NodeSuccessor.TotalCost > NodeOpen.TotalCost))
{
continue;
}
// Test if the currect successor node is on the closed list, if it is and
// the TotalCost is higher, we will throw away the current successor.
AStarNode NodeClosed = null;
if (FClosedList.Contains(NodeSuccessor))
{
NodeClosed = (AStarNode)FClosedList[FClosedList.IndexOf(NodeSuccessor)];
}
if ((NodeClosed != null) && (NodeSuccessor.TotalCost > NodeClosed.TotalCost))
{
continue;
}
// Remove the old successor from the open list
FOpenList.Remove(NodeOpen);
// Remove the old successor from the closed list
FClosedList.Remove(NodeClosed);
// Add the current successor to the open list
FOpenList.Push(NodeSuccessor);
}
// Add the current node to the closed list
FClosedList.Add(NodeCurrent);
}
}
}
public Coord getNext(int X, int Y, int goalX, int goalY)
{
if (X == goalX && Y == goalY)
{
return(new Coord(-1, 0));
}
int maxCycles = (maxX * maxY) ^ 2;
int Cycles = 0;
ArrayList Solution = new ArrayList();
this.Goal = new mapNode(goalX, goalY, 0, null, null, null);
this.Start = new mapNode(X, Y, 0, null, Goal, null);
Goal.Start = Goal;
Start.Start = Start;
Open.Add(Start);
while (Open.Count > 0)
{
if (Cycles >= maxCycles)
{
return(new Coord(-1, 0));
}
else
{
Cycles++;
}
mapNode Current = (mapNode)Open.Pop();
if (Current.X == Goal.X && Current.Y == Goal.Y)
{
while (Current != null)
{
Solution.Insert(0, Current);
Current = Current.Parent;
}
break;
}
else
{
foreach (mapNode Successor in Current.Successors(this))
{
mapNode openNode = null;
if (Open.Contains(Successor))
{
openNode = (mapNode)Open[Open.IndexOf(Successor)];
if (Successor.totalCost > openNode.totalCost)
{
continue;
}
}
mapNode closedNode = null;
if (Closed.Contains(Successor))
{
closedNode = (mapNode)Closed[Closed.IndexOf(Successor)];
if (Successor.totalCost > closedNode.totalCost)
{
continue;
}
}
Open.Remove(Successor);
Closed.Remove(Successor);
Open.Push(Successor);
}
Closed.Add(Current);
}
}
if (Solution.Count == 0)
{
return(new Coord(-1, 0));
}
else
{
mapNode Next = (mapNode)Solution[1];
return(new Coord(Next.X, Next.Y));
}
}
