public override double CalculateHeuristic(PathfinderNode end)
{
PathfinderTile other = (PathfinderTile)end;
int ox = other.X,
oy = other.Y;
// Check if it's faster to take a shortcut over the map's edge.
if (Map.WrapsX)
{
int dx = ox - X;
if (dx > Map.SizeX / 2)
{
ox -= Map.SizeX;
}
else if (dx < -Map.SizeX / 2)
{
ox += Map.SizeX;
}
}
if (Map.WrapsY)
{
int dy = oy - Y;
if (dy > Map.SizeY / 2)
{
oy -= Map.SizeY;
}
else if (dy < -Map.SizeY / 2)
{
dy += Map.SizeY;
}
}
return(1.2 * Vector2.Distance(VectorPosition, new Vector2(ox, oy)));
//return 1.2 * Vector2.DistanceSquared( VectorPosition, new Vector2(ox, oy) );
}
public override IEnumerable <PathfinderLink> GetNeighbors()
{
//return Neighbors;
int minX = Map.WrapsX ? X - 1 : Math.Max(0, X - 1);
int minY = Map.WrapsY ? Y - 1 : Math.Max(0, Y - 1);
int maxX = Map.WrapsX ? X + 1 : Math.Min(Map.SizeX - 1, X + 1);
int maxY = Map.WrapsY ? Y + 1 : Math.Min(Map.SizeY - 1, Y + 1);
for (int x = minX; x <= maxX; x++)
{
for (int y = minY; y <= maxY; y++)
{
int x2 = Map.WrapsX ? MathExtra.Wrap(x, Map.SizeX) : x;
int y2 = Map.WrapsY ? MathExtra.Wrap(y, Map.SizeY) : y;
PathfinderTile tile = Map.TileGrid[x2, y2];
if (tile != this)
{
double cost = tile.GetCost();
bool isDiagonal = (Math.Abs(X - x) + Math.Abs(Y - y) == 2);
if (isDiagonal)
{
cost *= Math.Sqrt(2);
}
//Neighbors.Add(new SimpleLink(tile, cost));
yield return(new SimpleLink(tile, cost));
}
}
}
}