public void ReloadPathfinding(int[,] map, Point start, Point end)
{
Map = new LeeNode[map.GetLength(0), map.GetLength(1)];
for (int x = 0; x < map.GetLength(0); x++)
{
for (int y = 0; y < map.GetLength(1); y++)
{
Map[x, y] = new LeeNode(new Point(x, y));
Map[x, y].type = map[x, y];
}
}
Start = start;
curr = new LeeNode(start);
End = end;
ValidPath = false;
IsComplete = false;
OpenSet = new List <LeeNode>();
ClosedSet = new List <LeeNode>();
CurNodeNeighbors = new List <LeeNode>();
CompleatedPath = new List <LeeNode>();
RunPathfinding();
}
private List <LeeNode> ConstructPath(LeeNode curr)
{
List <LeeNode> final = new List <LeeNode>();
final.Add(curr);
while (curr.Previous != null)
{
curr = curr.Previous;
final.Add(curr);
}
return(final);
}
private LeeNode GetLowestInList(List <LeeNode> allnodes)
{
double currvalue = (int)Math.Pow(Map.GetLength(0) * Map.GetLength(1), 2);
LeeNode low = allnodes[0];
for (int i = 0; i < allnodes.Count; i++)
{
if (allnodes[i].G < currvalue)
{
low = allnodes[i];
currvalue = allnodes[i].G;
}
}
return(low);
}
private void RunPathfinding()
{
curr.G = 0;
OpenSet.Add(curr);
while (OpenSet.Count != 0)
{
curr = GetLowestInList(OpenSet);
if (curr.Location.X == End.X && curr.Location.Y == End.Y)
{
CompleatedPath = ConstructPath(curr);
LargestGScore = MaxGscore(ClosedSet);
IsComplete = true;
ValidPath = true;
break;
}
OpenSet.Remove(curr);
ClosedSet.Add(curr);
GetNeighborstonode(curr, CurNodeNeighbors);
for (int i = 0; i < CurNodeNeighbors.Count; i++)
{
if (ClosedSet.Contains(CurNodeNeighbors[i]))
{
continue;
}
if (!OpenSet.Contains(CurNodeNeighbors[i]))
{
CurNodeNeighbors[i].Previous = curr;
//CurNodeNeighbors[i].G = curr.G + 1;
OpenSet.Add(CurNodeNeighbors[i]);
}
}
CurNodeNeighbors.Clear();
}
if (OpenSet.Count == 0)
{
IsComplete = true;
ValidPath = false;
}
}
private void GetNeighborstonode(LeeNode curr, List <LeeNode> Nnodes)
{
#region oldcode
// int Xpos = curr.Location.X < Map.GetLength(0) - 1 ? curr.Location.X + 1 : curr.Location.X;
// int Xneg = curr.Location.X > 0 ? curr.Location.X - 1 : curr.Location.X;
// int Ypos = curr.Location.Y < Map.GetLength(1) - 1 ? curr.Location.Y + 1 : curr.Location.Y;
// int Yneg = curr.Location.Y > 0 ? curr.Location.Y - 1 : curr.Location.Y;
//
// if (!OpenSet.Contains(Map[curr.Location.X, Yneg]) &&
// (Map[curr.Location.X, Yneg].type != 1))
// Nnodes.Add(Map[curr.Location.X, Yneg]);
//
// if (!OpenSet.Contains(Map[Xpos, curr.Location.Y]) &&
// (Map[Xpos, curr.Location.Y].type != 1))
// Nnodes.Add(Map[Xpos, curr.Location.Y]);
//
//
// if (!OpenSet.Contains(Map[curr.Location.X, Ypos]) &&
// (Map[curr.Location.X, Ypos].type != 1))
// Nnodes.Add(Map[curr.Location.X, Ypos]);
//
// if (!OpenSet.Contains(Map[Xneg, curr.Location.Y]) &&
// (Map[Xneg, curr.Location.Y].type != 1))
// Nnodes.Add(Map[Xneg, curr.Location.Y]);
#endregion
// Retrieve 8 in a square
for (int x = -1; x <= 1; x++)
{
for (int y = -1; y <= 1; y++)
{
if (x == 0 && y == 0)
{
continue;
}
if (curr.Location.X + x > -1 && curr.Location.X + x < Map.GetLength(0) &&
curr.Location.Y + y > -1 && curr.Location.Y + y < Map.GetLength(1))
{
if (!OpenSet.Contains(Map[curr.Location.X + x, curr.Location.Y + y]) &&
(Map[curr.Location.X + x, curr.Location.Y + y].type != 1))
{
if (Map[curr.Location.X + x, curr.Location.Y].type != 1 &&
Map[curr.Location.X, curr.Location.Y + y].type != 1)
{
Nnodes.Add(Map[curr.Location.X + x, curr.Location.Y + y]);
//Nnodes[Nnodes.Count - 1].G
if (x != 0 && y != 0)
{
Nnodes[Nnodes.Count - 1].G = curr.G + 1.41421356237;
//Math.Sqrt((Math.Pow(Start.X - Nnodes[Nnodes.Count - 1].Location.X, 2) + Math.Pow(Start.Y - Nnodes[Nnodes.Count - 1].Location.Y, 2)));
}
else
{
Nnodes[Nnodes.Count - 1].G = curr.G + 1;
//Math.Sqrt((Math.Pow(Start.X - Nnodes[Nnodes.Count - 1].Location.X, 2) + Math.Pow(Start.Y - Nnodes[Nnodes.Count - 1].Location.Y, 2)));
}
//Math.Sqrt((Math.Pow(Start.X - Nnodes[Nnodes.Count - 1].Location.X, 2) + Math.Pow(Start.Y - Nnodes[Nnodes.Count - 1].Location.Y, 2)));
}
}
}
}
}
}
