public AStar(PathfindingNode start, PathfindingNode end)
{
this.start = start;
this.end = end;
this.closedList = new LinkedList<PathfindingNode>();
this.openList = new LinkedList<PathfindingNode>();
}
public LinkedList<PathfindingNode> BuildPath(PathfindingNode start)
{
LinkedList<PathfindingNode> path = new LinkedList<PathfindingNode>();
int count = 0;
PathfindingNode currentParent = this;
while (currentParent != null)
{
path.AddFirst(currentParent);
if (currentParent != start) {
currentParent = currentParent.parent;
count++;
if (count > 1000) {
Console.Out.WriteLine("Breaking @ Building path, something went wrong probably.");
break;
}
}
else {
break;
}
}
/*LinkedList<PathfindingNode> reversedPath = new LinkedList<PathfindingNode>();
foreach (PathfindingNode node in path)
{
reversedPath.AddFirst(node);
}*/
return path;
}
/// <summary>
/// Adds a node to the list.
/// </summary>
/// <param name="node">The node</param>
public void AddNode(PathfindingNode node)
{
lock (nodeLock)
{
this.nodeList.AddLast(node);
}
}
public PathfindingNodeConnection(PathfindingNode node1, PathfindingNode node2)
{
this.node1 = node1;
this.node2 = node2;
/*PathfindingNode closestNode = null;
if (Util.GetHypoteneuseLength(node1.GetLocation(), new Point(0, 0)) < Util.GetHypoteneuseLength(node2.GetLocation(), new Point(0, 0)))
{
closestNode = node1;
} else closestNode = node2;
lengthDrawOffset = new Point(closestNode.x + (int)Math.Abs(node1.x - node2.x), closestNode.y + (int)Math.Abs(node1.y - node2.y));*/
}
/// <summary>
/// Removes a node from the queue.
/// </summary>
/// <param name="node"></param>
public void Remove(PathfindingNode node)
{
toProcess.Remove(node);
}
/// <summary>
/// Pushes a node onto the list.
/// </summary>
/// <param name="node">The node to push.</param>
public void Push(PathfindingNode node)
{
toProcess.AddLast(node);
}
/// <summary>
/// Removes a connection.
/// </summary>
/// <param name="node">Node to remove.</param>
public void RemoveConnection(PathfindingNode node)
{
// Can't use foreach here, because you're removing elements
for (int i = 0; i < connections.Count; i++)
{
PathfindingNodeConnection conn = connections.ElementAt(i);
if (conn.node1 == node || conn.node2 == node)
{
connections.Remove(conn);
node.RemoveConnection(this);
i--;
}
}
}
/// <summary>
/// Whether or not this node is connected to the parameter node.
/// </summary>
/// <param name="node">The node to check</param>
/// <returns>The connection, or null otherwise</returns>
public PathfindingNodeConnection IsConnected(PathfindingNode node)
{
foreach (PathfindingNodeConnection conn in connections) {
if (conn.node1 == node || conn.node2 == node) {
return conn;
}
}
return null;
}
/// <summary>
/// Pushes a node onto the list.
/// </summary>
/// <param name="node">The node to push.</param>
public void Push(PathfindingNode node)
{
if( !toProcess.Contains(node) ) toProcess.AddLast(node);
}
public void OnConnectionsCreated(PathfindingNode source)
{
if (!this.initialised && !generatedOnLoadTime)
{
double currTime =
new TimeSpan(DateTime.UtcNow.Ticks).TotalMilliseconds ;
// For each node we can make a connection to
CustomArrayList<PathfindingNode> connectedNodes = this.GetConnectedNodes();
for( int i = 0; i < connectedNodes.Count(); i++){
if (connectedNodes.ElementAt(i) is Node)
{
Node connectedNode = (Node)connectedNodes.ElementAt(i);
// Scedule it for reprocessing
if (currTime - connectedNode.lastConnectionCreateTime > 5000)
{
// Remove its current nodes
connectedNode.RemoveAllConnections();
connectedNode.lastConnectionCreateTime = currTime;
SmartPathfindingNodeProcessor.GetInstance().Push(connectedNode);
}
}
// Console.Out.WriteLine("Re-sceduled a node!");
}
this.initialised = true;
}
lastConnectionCreateTime = new TimeSpan(DateTime.UtcNow.Ticks).TotalMilliseconds;
}
/// <summary>
/// Removes a node
/// </summary>
/// <param name="node"></param>
public void RemoveNode(PathfindingNode node)
{
lock (nodeLock)
{
this.nodeList.Remove(node);
}
}