public List <Tuple <int, int> > GetPath(int x1, int y1, int x2, int y2, CancellationTokenSource cancel)
{
List <Tuple <int, int> > result = new List <Tuple <int, int> >();
// Save the destination on which the path was planned. This is useful if the planning gets cancelled
// and we later want to re-run the plan (or substitute it with an alternative).
destX = x2;
destY = y2;
Games.Pathfinding.AStar astar = new Games.Pathfinding.AStar();
AStarNodeBC GoalNode = new AStarNodeBC(null, null, 0, x2 - 2, y2 - 2, this);
AStarNodeBC StartNode = new AStarNodeBC(null, GoalNode, 0, x1 - 2, y1 - 2, this);
StartNode.GoalNode = GoalNode;
astar.FindPath(StartNode, GoalNode, cancel);
foreach (AStarNodeBC n in astar.Solution)
{
result.Add(new Tuple <int, int>(n.X, n.Y));
}
return(result);
}
public static List<Vector2f> CalcPath(Vector2f start, Vector2f end)
{
var astar = new AStar();
var goalNode = new AStarNode2D(null,null,0, (int)end.X, (int)end.Y);
var startNode = new AStarNode2D(null,goalNode, 0, (int)start.X, (int)start.Y) {GoalNode = goalNode};
astar.FindPath(startNode, goalNode);
return astar.Solution.ToArray().ToList().Select(i => new Vector2f(((AStarNode2D) i).X, ((AStarNode2D) i).Y)).ToList();
}
