/// <summary>Sample invocation of path-finding code in <see cref="EMonk.Pathfinding.PathMap"/>.</summary>
static void PathfinderSample()
{
Console.Clear();
Console.WriteLine("Pathfinding Sample");
Console.WriteLine("==================");
// create a simple set of map nodes
Console.Write("Generating sample map tiles");
SparseMap <MapPosition, MapNode> map = new SparseMap <MapPosition, MapNode>();
// add strip of high-cost tiles
for (int i = 20; i <= 30; ++i)
{
map[new MapPosition(i, 15)] = new MapNode(true, 15);
}
// create a lower cost hole through strip
map[new MapPosition(22, 15)] = new MapNode(true, 2);
// add a medium-cost block in the way of the normal path
map[new MapPosition(23, 14)] = new MapNode(true, 4);
map[new MapPosition(22, 14)] = new MapNode(true, 4);
Console.WriteLine();
// generate path map for this
MapPosition origin = new MapPosition(25, 25);
double maxCost = 50;
Console.Write("Generating PathMap for Origin={0}, MaxCost={1}", origin, maxCost);
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
PathMap <MapNode> m = PathMap <MapNode> .Generate(map, origin, maxCost);
sw.Stop();
if (m == null)
{
Console.WriteLine(" failed!");
Console.WriteLine();
ShowError("Error occurred while calculating PathMap.");
return;
}
Console.WriteLine(" [{0:0.00}ms]", sw.Elapsed.TotalMilliseconds);
Console.WriteLine("Statistics:");
Console.WriteLine("\tInput Nodes \t{0}", map.Count);
Console.WriteLine("\tOutput Positions\t{0}", m.Count);
Console.WriteLine("\tScan Iterations \t{0}", m.Iterations);
Console.WriteLine();
// find path to end-point
MapPosition target = new MapPosition(25, 14);
Console.Write("Finding path to target position {0}", target);
if (null == m[target])
{
Console.WriteLine(" failed.");
Console.WriteLine();
ShowError("Target was not present in PathMap's potential move set.");
return;
}
double pcost;
sw.Restart();
MapPosition[] path = m.GetPath(new MapPosition(25, 14), out pcost);
sw.Stop();
if (path == null)
{
Console.WriteLine(" failed!");
Console.WriteLine();
ShowError("Error occurred while calculating path.");
return;
}
Console.WriteLine(" [{0:0.00}ms]", sw.Elapsed.TotalMilliseconds);
Console.WriteLine();
// Display generated path
Console.WriteLine("Generated path from {0}:", path.First());
Console.WriteLine("\tDirection\tNew Position\tCost\tTotal Cost");
MapPosition prev = null;
foreach (var curr in path)
{
if (prev != null)
{
Console.WriteLine("\t{0,-10}\t{1,-9}\t{2}\t{3}", prev.DirectionTo(curr).ToString(), curr, (m[curr].TotalCost - m[prev].TotalCost), m[curr].TotalCost);
}
prev = curr;
}
Console.WriteLine();
Console.WriteLine("Press any key to continue");
Console.ReadKey();
}