public override Direction[] Find( Mobile m, Map map, Point3D start, Point3D goal )
{
m_Goal = goal;
BaseCreature bc = m as BaseCreature;
PathNode curNode;
PathNode goalNode = new PathNode();
goalNode.x = goal.X;
goalNode.y = goal.Y;
goalNode.z = goal.Z;
PathNode startNode = new PathNode();
startNode.x = start.X;
startNode.y = start.Y;
startNode.z = start.Z;
startNode.h = Heuristic( startNode.x, startNode.y, startNode.z );
PathNode[] closed = m_Closed, open = m_Open, successors = m_Successors;
Direction[] path = m_Path;
int closedCount = 0, openCount = 0, sucCount = 0, pathCount = 0;
int popIndex, curF;
int x, y, z;
int depth = 0;
int xBacktrack, yBacktrack, zBacktrack, iBacktrack = 0;
open[openCount++] = startNode;
while ( openCount > 0 )
{
curNode = open[0];
curF = curNode.g + curNode.h;
popIndex = 0;
for ( int i = 1; i < openCount; ++i )
{
if ( (open[i].g + open[i].h) < curF )
{
curNode = open[i];
curF = curNode.g + curNode.h;
popIndex = i;
}
}
if ( curNode.x == goalNode.x && curNode.y == goalNode.y && Math.Abs( curNode.z-goalNode.z ) < 16 )
{
if ( closedCount == MaxNodes )
break;
closed[closedCount++] = curNode;
xBacktrack = curNode.px;
yBacktrack = curNode.py;
zBacktrack = curNode.pz;
if ( pathCount == MaxNodes )
break;
path[pathCount++] = (Direction)curNode.dir;
while ( xBacktrack != startNode.x || yBacktrack != startNode.y || zBacktrack != startNode.z )
{
bool found = false;
for ( int j = 0; !found && j < closedCount; ++j )
{
if ( closed[j].x == xBacktrack && closed[j].y == yBacktrack && closed[j].z == zBacktrack )
{
if ( pathCount == MaxNodes )
break;
curNode = closed[j];
path[pathCount++] = (Direction)curNode.dir;
xBacktrack = curNode.px;
yBacktrack = curNode.py;
zBacktrack = curNode.pz;
found = true;
}
}
if ( !found )
{
log.Info( "bugaboo.." );
return null;
}
if ( pathCount == MaxNodes )
break;
}
if ( pathCount == MaxNodes )
break;
Direction[] dirs = new Direction[pathCount];
while ( pathCount > 0 )
dirs[iBacktrack++] = path[--pathCount];
return dirs;
}
--openCount;
for ( int i = popIndex; i < openCount; ++i )
open[i] = open[i + 1];
sucCount = 0;
if ( bc != null )
{
MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
}
for ( int i = 0; i < 8; ++i )
{
switch ( i )
{
default:
case 0: x = 0; y = -1; break;
case 1: x = 1; y = -1; break;
case 2: x = 1; y = 0; break;
case 3: x = 1; y = 1; break;
case 4: x = 0; y = 1; break;
case 5: x = -1; y = 1; break;
case 6: x = -1; y = 0; break;
case 7: x = -1; y = -1; break;
}
if ( CalcMoves.CheckMovement( m, map, new Point3D( curNode.x, curNode.y, curNode.z ), (Direction)i, out z ) )
{
successors[sucCount].x = x + curNode.x;
successors[sucCount].y = y + curNode.y;
successors[sucCount++].z = z;
}
}
MoveImpl.AlwaysIgnoreDoors = false;
MoveImpl.IgnoreMovableImpassables = false;
if ( sucCount == 0 || ++depth > MaxDepth )
break;
for ( int i = 0; i < sucCount; ++i )
{
x = successors[i].x;
y = successors[i].y;
z = successors[i].z;
successors[i].g = curNode.g + 1;
int openIndex = -1, closedIndex = -1;
for ( int j = 0; openIndex == -1 && j < openCount; ++j )
{
if ( open[j].x == x && open[j].y == y && open[j].z == z )
openIndex = j;
}
if ( openIndex >= 0 && open[openIndex].g < successors[i].g )
continue;
for ( int j = 0; closedIndex == -1 && j < closedCount; ++j )
{
if ( closed[j].x == x && closed[j].y == y && closed[j].z == z )
closedIndex = j;
}
if ( closedIndex >= 0 && closed[closedIndex].g < successors[i].g )
continue;
if ( openIndex >= 0 )
{
--openCount;
for ( int j = openIndex; j < openCount; ++j )
open[j] = open[j + 1];
}
if ( closedIndex >= 0 )
{
--closedCount;
for ( int j = closedIndex; j < closedCount; ++j )
closed[j] = closed[j + 1];
}
successors[i].px = curNode.x;
successors[i].py = curNode.y;
successors[i].pz = curNode.z;
successors[i].dir = (int)GetDirection( curNode.x, curNode.y, x, y );
successors[i].h = Heuristic( x, y, z );
if ( openCount == MaxNodes )
break;
open[openCount++] = successors[i];
}
if ( openCount == MaxNodes || closedCount == MaxNodes )
break;
closed[closedCount++] = curNode;
}
return null;
}
public override Direction[] Find(Mobile m, Map map, Point3D start, Point3D goal)
{
m_Goal = goal;
BaseCreature bc = m as BaseCreature;
PathNode curNode;
PathNode goalNode = new PathNode();
goalNode.x = goal.X;
goalNode.y = goal.Y;
goalNode.z = goal.Z;
PathNode startNode = new PathNode();
startNode.x = start.X;
startNode.y = start.Y;
startNode.z = start.Z;
startNode.h = Heuristic(startNode.x, startNode.y, startNode.z);
PathNode[] closed = m_Closed, open = m_Open, successors = m_Successors;
Direction[] path = m_Path;
int closedCount = 0, openCount = 0, sucCount = 0, pathCount = 0;
int popIndex, curF;
int x, y, z;
int depth = 0;
int xBacktrack, yBacktrack, zBacktrack, iBacktrack = 0;
open[openCount++] = startNode;
while (openCount > 0)
{
curNode = open[0];
curF = curNode.g + curNode.h;
popIndex = 0;
for (int i = 1; i < openCount; ++i)
{
if ((open[i].g + open[i].h) < curF)
{
curNode = open[i];
curF = curNode.g + curNode.h;
popIndex = i;
}
}
if (curNode.x == goalNode.x && curNode.y == goalNode.y && Math.Abs(curNode.z - goalNode.z) < 16)
{
if (closedCount == MaxNodes)
{
break;
}
closed[closedCount++] = curNode;
xBacktrack = curNode.px;
yBacktrack = curNode.py;
zBacktrack = curNode.pz;
if (pathCount == MaxNodes)
{
break;
}
path[pathCount++] = (Direction)curNode.dir;
while (xBacktrack != startNode.x || yBacktrack != startNode.y || zBacktrack != startNode.z)
{
bool found = false;
for (int j = 0; !found && j < closedCount; ++j)
{
if (closed[j].x == xBacktrack && closed[j].y == yBacktrack && closed[j].z == zBacktrack)
{
if (pathCount == MaxNodes)
{
break;
}
curNode = closed[j];
path[pathCount++] = (Direction)curNode.dir;
xBacktrack = curNode.px;
yBacktrack = curNode.py;
zBacktrack = curNode.pz;
found = true;
}
}
if (!found)
{
Console.WriteLine("bugaboo..");
return(null);
}
if (pathCount == MaxNodes)
{
break;
}
}
if (pathCount == MaxNodes)
{
break;
}
Direction[] dirs = new Direction[pathCount];
while (pathCount > 0)
{
dirs[iBacktrack++] = path[--pathCount];
}
return(dirs);
}
--openCount;
for (int i = popIndex; i < openCount; ++i)
{
open[i] = open[i + 1];
}
sucCount = 0;
if (bc != null)
{
MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors;
MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles;
}
MoveImpl.Goal = goal;
for (int i = 0; i < 8; ++i)
{
switch (i)
{
default:
case 0: x = 0; y = -1; break;
case 1: x = 1; y = -1; break;
case 2: x = 1; y = 0; break;
case 3: x = 1; y = 1; break;
case 4: x = 0; y = 1; break;
case 5: x = -1; y = 1; break;
case 6: x = -1; y = 0; break;
case 7: x = -1; y = -1; break;
}
if (CalcMoves.CheckMovement(m, map, new Point3D(curNode.x, curNode.y, curNode.z), (Direction)i, out z))
{
successors[sucCount].x = x + curNode.x;
successors[sucCount].y = y + curNode.y;
successors[sucCount++].z = z;
}
}
MoveImpl.AlwaysIgnoreDoors = false;
MoveImpl.IgnoreMovableImpassables = false;
MoveImpl.Goal = Point3D.Zero;
if (sucCount == 0 || ++depth > MaxDepth)
{
break;
}
for (int i = 0; i < sucCount; ++i)
{
x = successors[i].x;
y = successors[i].y;
z = successors[i].z;
successors[i].g = curNode.g + 1;
int openIndex = -1, closedIndex = -1;
for (int j = 0; openIndex == -1 && j < openCount; ++j)
{
if (open[j].x == x && open[j].y == y && open[j].z == z)
{
openIndex = j;
}
}
if (openIndex >= 0 && open[openIndex].g < successors[i].g)
{
continue;
}
for (int j = 0; closedIndex == -1 && j < closedCount; ++j)
{
if (closed[j].x == x && closed[j].y == y && closed[j].z == z)
{
closedIndex = j;
}
}
if (closedIndex >= 0 && closed[closedIndex].g < successors[i].g)
{
continue;
}
if (openIndex >= 0)
{
--openCount;
for (int j = openIndex; j < openCount; ++j)
{
open[j] = open[j + 1];
}
}
if (closedIndex >= 0)
{
--closedCount;
for (int j = closedIndex; j < closedCount; ++j)
{
closed[j] = closed[j + 1];
}
}
successors[i].px = curNode.x;
successors[i].py = curNode.y;
successors[i].pz = curNode.z;
successors[i].dir = (int)GetDirection(curNode.x, curNode.y, x, y);
successors[i].h = Heuristic(x, y, z);
if (openCount == MaxNodes)
{
break;
}
open[openCount++] = successors[i];
}
if (openCount == MaxNodes || closedCount == MaxNodes)
{
break;
}
closed[closedCount++] = curNode;
}
return(null);
}