public Dijkstra(int gridSize, Map map)
{
Name = "Dijkstra";
profile = new Profile("Dijkstra Path Time");
GridSize = gridSize;
nodes = new NodeCollection(gridSize);
path = new List<Coord2>();
this.map = map;
}
/// <summary>
/// Create a new Dijkstra pathfinding object.
/// </summary>
/// <param name="gridSize">The size of the grid being searched for paths.</param>
/// <param name="map">The map being used.</param>
public Dijkstra(int gridSize, Map map)
{
Name = "Dijkstra";
GridSize = gridSize;
nodes = new NodeCollection(gridSize);
path = new List<Coord2>();
pathConnectors = new List<Line>();
this.map = map;
}
public void Build(Coord2 startPos, Coord2 targetPos)
{
if(InputHandler.IsKeyPressed(Microsoft.Xna.Framework.Input.Keys.Enter))
{
this.startPos = startPos;
this.targetPos = targetPos;
path = new List<Coord2>();
nodes = new NodeCollection(GridSize);
// Initialize bot position
nodes.Get(startPos.X, startPos.Y).cost = 0;
bool firstLoop = true;
while (nodes.Get(targetPos.X, targetPos.Y).closed == false)
{
if (firstLoop)
{
currentLowestPos = startPos;
firstLoop = false;
}
else
FindLowestCost(); // Find lowest cost
// Mark lowest cost as closed
nodes.Get(currentLowestPos.X, currentLowestPos.Y).closed = true;
// Find the neigbour positions
Coord2[] neighbours = GetNeighbours(currentLowestPos);
// Recalculate Costs
RecalculateCosts(neighbours, currentLowestPos);
}
// Trace the completed path
TracePath();
}
}
public AStar(int gridSize, Map map)
: base(gridSize, map)
{
nodes = new NodeCollection(gridSize);
Name = "A Star";
}
public AStar(int gridSize, Map map) : base(gridSize, map)
{
nodes = new NodeCollection(gridSize);
Name = "A Star";
}
/// <summary>
/// Builds a new path between two given locations.
/// </summary>
/// <param name="startPos">The starting position.</param>
/// <param name="targetPos">The target position.</param>
/// <param name="testMode">Whether or not the algorithm is being run in testing mode, or if it is live within a map visualization.</param>
public override void Build(Coord2 startPos, Coord2 targetPos, bool testMode = false)
{
path = new List<Coord2>();
nodes = new NodeCollection(GridSize);
searchedNodes = 0;
this.start = nodes.Get(startPos);
this.target = nodes.Get(targetPos);
// Initialize bot position
nodes.Get(startPos).cost = 0;
bool firstLoop = true;
while (!target.closed)
{
if (firstLoop)
{
currentLowest = start;
firstLoop = false;
}
else
FindLowestCost(); // Find lowest cost
// Mark lowest cost as closed
currentLowest.closed = true;
map.SetRenderColor(currentLowest.position, CLOSED_COLOR);
// Find the neigbour positions
List<Node> neighbours = GetNeighours(currentLowest);
// Update visualization
UpdateVisualization(neighbours);
// Recalculate Costs
RecalculateCosts(neighbours, currentLowest);
// Update number of searched nodes
searchedNodes++;
}
// Trace the completed path, if target has been found
if(target.parent != null)
TracePath();
}
