public Node GetNode(GridPos iPos)
{
if (this.m_nodes.ContainsKey(iPos))
{
return this.m_nodes[iPos];
}
return null;
}
public JumpPointParam(
IBaseGrid iGrid,
GridPos iStartPos,
GridPos iEndPos,
bool iAllowEndNodeUnWalkable = true,
bool iCrossCorner = true,
bool iCrossAdjacentPoint = true,
HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
this.m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
this.m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
this.m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
this.m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
this.m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
this.m_crossAdjacentPoint = iCrossAdjacentPoint;
this.m_crossCorner = iCrossCorner;
this.openList = new List<Node>();
this.m_searchGrid = iGrid;
this.m_startNode = this.m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
this.m_endNode = this.m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (this.m_startNode == null)
{
this.m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (this.m_endNode == null)
{
this.m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
this.m_useRecursive = false;
}
public Node SetNode(GridPos iPos, bool? iWalkable = null)
{
if (iWalkable.HasValue)
{
if (iWalkable.Value == true)
{
if (this.m_nodes.ContainsKey(iPos))
{
return this.m_nodes[iPos];
}
var newNode = new Node(iPos.x, iPos.y, iWalkable);
this.m_nodes.Add(iPos, newNode);
return newNode;
}
else
{
this.removeNode(iPos);
}
}
else
{
var newNode = new Node(iPos.x, iPos.y, true);
this.m_nodes.Add(iPos, newNode);
return newNode;
}
return null;
}
public Node SetNode(int iX, int iY, bool? iWalkable = null)
{
var pos = new GridPos(iX, iY);
return SetNode(pos, iWalkable);
}
public Node GetNode(int iX, int iY)
{
var pos = new GridPos(iX, iY);
return this.GetNode(pos);
}
protected void removeNode(GridPos iPos)
{
if (this.m_nodes.ContainsKey(iPos))
{
this.m_nodes.Remove(iPos);
}
}
protected void removeNode(int iX, int iY)
{
var pos = new GridPos(iX, iY);
this.removeNode(pos);
}
private static GridPos? jumpLoop(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
GridPos? retVal = null;
Stack<JumpSnapshot> stack = new Stack<JumpSnapshot>();
JumpSnapshot currentSnapshot = new JumpSnapshot();
JumpSnapshot newSnapshot = null;
currentSnapshot.iX = iX;
currentSnapshot.iY = iY;
currentSnapshot.iPx = iPx;
currentSnapshot.iPy = iPy;
currentSnapshot.stage = 0;
stack.Push(currentSnapshot);
while (stack.Count != 0)
{
currentSnapshot = stack.Pop();
switch (currentSnapshot.stage)
{
case 0:
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY))
{
retVal = null;
continue;
}
else if (
iParam.SearchGrid.GetNodeAt(currentSnapshot.iX, currentSnapshot.iY)
.Equals(iParam.EndNode))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.tDx = currentSnapshot.iX - currentSnapshot.iPx;
currentSnapshot.tDy = currentSnapshot.iY - currentSnapshot.iPy;
currentSnapshot.jx = null;
currentSnapshot.jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY - currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY + 1)
&& !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY - 1)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + 1,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - 1,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - 1,
currentSnapshot.iY)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 1;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY)
|| iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY + currentSnapshot.tDy)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY))
|| (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY + currentSnapshot.tDy)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY + 1))
|| (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - currentSnapshot.tDx,
currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + 1,
currentSnapshot.iY - currentSnapshot.tDy))
|| (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY)
&& !iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX - 1,
currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 3;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX + currentSnapshot.tDx,
currentSnapshot.iY)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
retVal = null;
break;
case 1:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 2;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 2:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)
|| iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 3:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 4;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 4:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)
&& iParam.SearchGrid.IsWalkableAt(
currentSnapshot.iX,
currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
}
}
return retVal;
}
public void Reset(GridPos iStartPos, GridPos iEndPos, IBaseGrid iSearchGrid = null)
{
this.openList.Clear();
this.m_startNode = null;
this.m_endNode = null;
if (iSearchGrid != null)
{
this.m_searchGrid = iSearchGrid;
}
this.m_searchGrid.Reset();
this.m_startNode = this.m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
this.m_endNode = this.m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (this.m_startNode == null)
{
this.m_startNode = new Node(iStartPos.x, iStartPos.y, true);
}
if (this.m_endNode == null)
{
this.m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
}
public bool Equals(GridPos p)
{
// Return true if the fields match:
return (this.x == p.x) && (this.y == p.y);
}
public Node SetNode(int iX, int iY, bool?iWalkable = null)
{
var pos = new GridPos(iX, iY);
return(SetNode(pos, iWalkable));
}
public Node GetNode(int iX, int iY)
{
var pos = new GridPos(iX, iY);
return(this.GetNode(pos));
}
protected void removeNode(int iX, int iY)
{
var pos = new GridPos(iX, iY);
this.removeNode(pos);
}
public bool Equals(GridPos p)
{
// Return true if the fields match:
return((this.x == p.x) && (this.y == p.y));
}