public MapSearchNode(AStarPathfinder _pathfinder)
{
position = new NodePosition(0, 0);
pathfinder = _pathfinder;
}
public MapSearchNode(NodePosition pos, AStarPathfinder _pathfinder)
{
position = new NodePosition(pos.x, pos.y);
pathfinder = _pathfinder;
}
static bool Pathfind(NodePosition startPos, NodePosition goalPos, AStarPathfinder pathfinder)
{
// Reset the allocated MapSearchNode pointer
pathfinder.InitiatePathfind();
// Create a start state
MapSearchNode nodeStart = pathfinder.AllocateMapSearchNode(startPos);
// Define the goal state
MapSearchNode nodeEnd = pathfinder.AllocateMapSearchNode(goalPos);
// Set Start and goal states
pathfinder.SetStartAndGoalStates(nodeStart, nodeEnd);
// Set state to Searching and perform the search
AStarPathfinder.SearchState searchState = AStarPathfinder.SearchState.Searching;
uint searchSteps = 0;
do
{
searchState = pathfinder.SearchStep();
searchSteps++;
}while (searchState == AStarPathfinder.SearchState.Searching);
// Search complete
bool pathfindSucceeded = (searchState == AStarPathfinder.SearchState.Succeeded);
if (pathfindSucceeded)
{
// Success
Path newPath = new Path();
int numSolutionNodes = 0; // Don't count the starting cell in the path length
// Get the start node
MapSearchNode node = pathfinder.GetSolutionStart();
newPath.Add(node.position);
++numSolutionNodes;
// Get all remaining solution nodes
for (; ;)
{
node = pathfinder.GetSolutionNext();
if (node == null)
{
break;
}
++numSolutionNodes;
newPath.Add(node.position);
// DRAW PATH TO GOAL
var vnName = $"vnx{node.position.x}y{node.position.y}";
VisualNode foundVisualNode = _visualGrid.FindName(vnName) as VisualNode;
foundVisualNode?.SetDot(true);
}
;
// Once you're done with the solution we can free the nodes up
pathfinder.FreeSolutionNodes();
Debug.WriteLine("Solution path length: " + numSolutionNodes);
Debug.WriteLine("Solution: " + newPath.ToString());
}
else if (searchState == AStarPathfinder.SearchState.Failed)
{
// FAILED, no path to goal
Debug.WriteLine("Pathfind FAILED!");
}
return(pathfindSucceeded);
}
