float GetChebyshevH(Node node)
{
Vector2 altPos = WorldHelp.CorrectWorldOverflow(FromOff + node.position);
float Hx = Math.Abs(CorrectedGoal.X - altPos.X);
float Hy = Math.Abs(CorrectedGoal.Y - altPos.Y);
return((float)(Math.Max(Hx, Hy) * ((Hx == 0 || Hy == 0) ? 1 : Sqrt2)));
}
float GetEuclideanH(Node node)
{
Vector2 altPos = WorldHelp.CorrectWorldOverflow(FromOff + node.position);
float Hx = CorrectedGoal.X - altPos.X;
float Hy = CorrectedGoal.Y - altPos.Y;
return((float)(Math.Sqrt(Math.Pow(Hx, 2) + Math.Pow(Hy, 2)) * ((Hx == 0 || Hy == 0) ? 1 : Sqrt2)));
}
float GetManhattanH(Node node)
{
Vector2 altPos = WorldHelp.CorrectWorldOverflow(FromOff + node.position);
float Hx = Math.Abs(CorrectedGoal.X - altPos.X);
float Hy = Math.Abs(CorrectedGoal.Y - altPos.Y);
return((Hx + Hy) * 1);
}
public List <Vector2> GetPath(Vector2 Start, Vector2 Goal, Vector2 ElementSize)
{
Visited = new bool[WorldInformation.mapWidth, WorldInformation.mapHeight];
InitVisitMap();
_elementSize = ElementSize / EngineSettings.TileSize;
_goal = Goal;
FromOff = new Vector2((WorldInformation.mapWidth / 2) - Start.X, (WorldInformation.mapHeight / 2) - Start.Y);
CorrectedGoal = WorldHelp.CorrectWorldOverflow(_goal + FromOff);
return(FindPath(Start));
}
public List <Vector2> getPath(Vector2 Start, Vector2 Goal, Vector2 ElementSize)
{
Visited = new bool[GSS.world.mapWidth, GSS.world.mapHeight];
initVisitMap();
_elementSize = ElementSize / GSS.TileSize;
_goal = Goal;
FromOff = new Vector2((GSS.world.mapWidth / 2) - Start.X, (GSS.world.mapHeight / 2) - Start.Y);
CorrectedGoal = WorldHelp.correctWorldOverflow(_goal + FromOff);
return(FindPath(Start));
}
List <Vector2> FindPath(Vector2 From)
{
Node startNode = InitPF(From);
while (OpenList.Count != 0)
{
Node current = FindLowestF(OpenList);
if (current.position == _goal)
{
//Return goal
PathFound = true;
PathNode = current;
return(ExtractPath());
}
OpenList.Remove(current);
ClosedList.Add(current.position);
Visited[(int)current.position.X, (int)current.position.Y] = true;
for (int X = -1; X <= 1; X++)
{
for (int Y = -1; Y <= 1; Y++)
{
if (X != 0 || Y != 0)
{
Vector2 newPos = new Vector2(current.position.X + X, current.position.Y + Y);
Vector2 correctedNewPos = WorldHelp.correctWorldOverflow(newPos);
if (Visited[(int)correctedNewPos.X, (int)correctedNewPos.Y])
{
continue;
}
else if (OpenList.Any(a => a.position == correctedNewPos))
{
continue;
}
else if (GSS.world.IsTileSailable((int)correctedNewPos.X, (int)correctedNewPos.Y, _elementSize))
{
Node newNode = new Node()
{
parent = current,
position = correctedNewPos,
G = current.G + ((X == 0 || Y == 0) ? 1 : _sqrt2)
};
OpenList.Add(newNode);
}
}
}
}
}
return(new List <Vector2>());
}