public static bool GetPathNodes(long StartX, long StartY, long EndX, long EndY, out GridNode startNode, out GridNode endNode, out bool endWalkable)
{
endWalkable = false;
startNode = GridManager.GetNode(StartX, StartY);
if (startNode.IsNull())
{
endNode = null;
return(false);
}
if (startNode.Unwalkable)
{
for (i = 0; i < 8; i++)
{
currentNode = startNode.NeighborNodes[i];
if (System.Object.ReferenceEquals(currentNode, null) == false && currentNode.Unwalkable == false)
{
startNode = currentNode;
break;
}
}
if (startNode.Unwalkable)
{
endNode = null;
return(false);
}
}
endNode = GridManager.GetNode(EndX, EndY);
if (endNode.IsNull())
{
return(false);
}
if (endNode.Unwalkable)
{
for (i = 0; i < 8; i++)
{
currentNode = endNode.NeighborNodes[i];
if (System.Object.ReferenceEquals(currentNode, null) == false && currentNode.Unwalkable == false)
{
endNode = currentNode;
break;
}
}
if (endNode.Unwalkable)
{
return(false);
}
}
else
{
endWalkable = true;
}
return(true);
}
public void Simulate()
{
if (Body.PositionChangedBuffer)
{
tempNode = GridManager.GetNode(Body._position.x, Body._position.y);
if (tempNode.IsNull())
{
return;
}
if (System.Object.ReferenceEquals(tempNode, LocatedNode) == false)
{
LocatedNode.Remove(this);
tempNode.Add(this);
LocatedNode = tempNode;
}
}
}
public static bool GetScanCoordinates(long xPos, long yPos, out int xGrid, out int yGrid)
{
//xGrid = (int)((((xPos + FixedMath.Half - 1 - OffsetX) >> FixedMath.SHIFT_AMOUNT) + ScanResolution / 2) / ScanResolution);
//yGrid = (int)((((yPos + FixedMath.Half - 1 - OffsetY) >> FixedMath.SHIFT_AMOUNT) + ScanResolution / 2) / ScanResolution);
GridNode gridNode = GetNode(xPos, yPos);
if (gridNode.IsNull())
{
xGrid = 0;
yGrid = 0;
return(false);
}
ScanNode scanNode = gridNode.LinkedScanNode;
xGrid = scanNode.X;
yGrid = scanNode.Y;
return(true);
}
static bool CheckNeighborInvalid()
{
return(neighbor.IsNull() || neighbor.Unpassable() || GridClosedSet.Contains(neighbor));
}
static bool CheckInvalid(GridNode gridNode)
{
return(gridNode.IsNull() || gridNode.Unpassable() || GridClosedSet.Contains(gridNode));
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode _startNode, GridNode _endNode, FastList <GridNode> _outputPath, int _unitSize = 1)
{
startNode = _startNode;
endNode = _endNode;
outputPath = _outputPath;
unitSize = _unitSize;
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
outputPath.FastClear();
if (System.Object.ReferenceEquals(startNode, endNode))
{
outputPath.Add(endNode);
return(true);
}
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
GridNode.PrepareUnpassableCheck(unitSize); //Prepare Unpassable check optimizations
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
DestinationReached();
return(true);
}
for (i = 0; i < 8; i++)
{
neighbor = currentNode.NeighborNodes [i];
if (neighbor.IsNull() || currentNode.Unpassable() || GridClosedSet.Contains(neighbor))
{
continue;
}
//0-3 = sides, 4-7 = diagonals
if (i < 4)
{
newMovementCostToNeighbor = currentNode.gCost + 100;
}
else
{
if (i == 4)
{
if (!GridManager.UseDiagonalConnections)
{
break;
}
}
newMovementCostToNeighbor = currentNode.gCost + 141;
}
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
}
#endregion
return(false);
}
