public bool HasGlobalVision(Vector2 coords)
{
Vector2 vector = TranslateToNavGrid(coords);
NavigationGridCell cell = GetCell((short)vector.X, (short)vector.Y);
return(cell != null && cell.HasFlag(NavigationGridCellFlags.HAS_GLOBAL_VISION));
}
public bool IsBrush(Vector2 coords)
{
Vector2 vector = TranslateToNavGrid(new Vector2 {
X = coords.X, Y = coords.Y
});
NavigationGridCell cell = GetCell((short)vector.X, (short)vector.Y);
return(cell != null && cell.HasFlag(NavigationGridCellFlags.HAS_GRASS));
}
public bool IsSeeThrough(Vector2 coords)
{
Vector2 vector = TranslateToNavGrid(new Vector2 {
X = coords.X, Y = coords.Y
});
NavigationGridCell cell = GetCell((short)vector.X, (short)vector.Y);
return(cell != null && cell.HasFlag(NavigationGridCellFlags.SEE_THROUGH));
}
public bool IsWalkable(Vector2 coords)
{
Vector2 vector = TranslateToNavGrid(new Vector2 {
X = coords.X, Y = coords.Y
});
NavigationGridCell cell = GetCell((short)vector.X, (short)vector.Y);
return(cell != null && !cell.HasFlag(NavigationGridCellFlags.NOT_PASSABLE));
}
private List <NavigationGridCell> GetCellNeighbors(NavigationGridCell cell)
{
List <NavigationGridCell> neighbors = new List <NavigationGridCell>();
for (short dirY = -1; dirY <= 1; dirY++)
{
for (short dirX = -1; dirX <= 1; dirX++)
{
short nx = (short)(cell.Locator.X + dirX);
short ny = (short)(cell.Locator.Y + dirY);
NavigationGridCell neighborCell = GetCell(nx, ny);
if (neighborCell != null)
{
neighbors.Add(neighborCell);
}
}
}
return(neighbors);
}
public NavigationGrid(Stream stream)
{
using (BinaryReader br = new BinaryReader(stream))
{
byte major = br.ReadByte();
ushort minor = major != 2 ? br.ReadUInt16() : (ushort)0;
if (major != 2 && major != 3 && major != 5 && major != 7)
{
throw new Exception(string.Format("Unsupported Navigation Grid Version: {0}.{1}", major, minor));
}
this.MinGridPosition = br.ReadVector3();
this.MaxGridPosition = br.ReadVector3();
this.CellSize = br.ReadSingle();
this.CellCountX = br.ReadUInt32();
this.CellCountY = br.ReadUInt32();
this.Cells = new NavigationGridCell[this.CellCountX * this.CellCountY];
this.RegionTags = new uint[this.CellCountX * this.CellCountY];
if (major == 2 || major == 3 || major == 5)
{
for (int i = 0; i < this.Cells.Length; i++)
{
this.Cells[i] = NavigationGridCell.ReadVersion5(br, i);
}
if (major == 5)
{
for (int i = 0; i < this.RegionTags.Length; i++)
{
this.RegionTags[i] = br.ReadUInt16();
}
}
}
else if (major == 7)
{
for (int i = 0; i < this.Cells.Length; i++)
{
this.Cells[i] = NavigationGridCell.ReadVersion7(br, i);
}
for (int i = 0; i < this.Cells.Length; i++)
{
this.Cells[i].SetFlags((NavigationGridCellFlags)br.ReadUInt16());
}
for (int i = 0; i < this.RegionTags.Length; i++)
{
this.RegionTags[i] = br.ReadUInt32();
}
}
if (major >= 5)
{
uint groupCount = major == 5 ? 4u : 8u;
this.RegionTagTable = new NavigationRegionTagTable(br, groupCount);
}
this.SampledHeightsCountX = br.ReadUInt32();
this.SampledHeightsCountY = br.ReadUInt32();
this.SampledHeightsDistance = br.ReadVector2();
this.SampledHeights = new float[this.SampledHeightsCountX * this.SampledHeightsCountY];
for (int i = 0; i < this.SampledHeights.Length; i++)
{
this.SampledHeights[i] = br.ReadSingle();
}
this.HintGrid = new NavigationHintGrid(br);
this.MapWidth = this.MaxGridPosition.X + this.MinGridPosition.X;
this.MapHeight = this.MaxGridPosition.Z + this.MinGridPosition.Z;
this.MiddleOfMap = new Vector2(this.MapWidth / 2, this.MapHeight / 2);
this.TranslationMaxGridPosition = new Vector3
{
X = this.CellCountX / (this.MaxGridPosition.X - this.MinGridPosition.X),
Z = this.CellCountY / (this.MaxGridPosition.Z - this.MinGridPosition.Z)
};
}
}
public bool IsAnythingBetween(NavigationGridCell a, NavigationGridCell b)
{
return(IsAnythingBetween(a.Locator, b.Locator));
}
public List <Vector2> GetPath(Vector2 from, Vector2 to)
{
List <Vector2> returnList = new List <Vector2>()
{
from
};
Vector2 vectorFrom = TranslateToNavGrid(from);
NavigationGridCell cellFrom = GetCell((short)vectorFrom.X, (short)vectorFrom.Y);
Vector2 vectorTo = TranslateToNavGrid(to);
NavigationGridCell goal = GetCell((short)vectorTo.X, (short)vectorTo.Y);
if (cellFrom != null && goal != null)
{
SimplePriorityQueue <Stack <NavigationGridCell> > priorityQueue = new SimplePriorityQueue <Stack <NavigationGridCell> >();
Stack <NavigationGridCell> start = new Stack <NavigationGridCell>();
Dictionary <int, NavigationGridCell> closedList = new Dictionary <int, NavigationGridCell>();
Stack <NavigationGridCell> path = null;
start.Push(cellFrom);
priorityQueue.Enqueue(start, NavigationGridCell.Distance(cellFrom, goal));
closedList.Add(cellFrom.ID, cellFrom);
// while there are still paths to explore
while (true)
{
if (!priorityQueue.TryFirst(out _))
{
// no solution
return(null);
}
float currentCost = priorityQueue.GetPriority(priorityQueue.First);
priorityQueue.TryDequeue(out path);
NavigationGridCell cell = path.Peek();
currentCost -= (NavigationGridCell.Distance(cell, goal) + cell.Heuristic); // decrease the heuristic to get the cost
// found the min solution return it (path)
if (cell.ID == goal.ID)
{
break;
}
foreach (NavigationGridCell neighborCell in GetCellNeighbors(cell))
{
// if the neighbor in the closed list - skip
if (closedList.TryGetValue(neighborCell.ID, out _))
{
continue;
}
// not walkable - skip
if (neighborCell.HasFlag(NavigationGridCellFlags.NOT_PASSABLE) || neighborCell.HasFlag(NavigationGridCellFlags.SEE_THROUGH))
{
closedList.Add(neighborCell.ID, neighborCell);
continue;
}
// calculate the new path and cost +heuristic and add to the priority queue
Stack <NavigationGridCell> npath = new Stack <NavigationGridCell>(new Stack <NavigationGridCell>(path));
npath.Push(neighborCell);
// add 1 for every cell used
priorityQueue.Enqueue(npath, currentCost + 1 + neighborCell.Heuristic + neighborCell.ArrivalCost + neighborCell.AdditionalCost
+ NavigationGridCell.Distance(neighborCell, goal));
closedList.Add(neighborCell.ID, neighborCell);
}
}
NavigationGridCell[] pathArray = path.ToArray();
Array.Reverse(pathArray);
List <NavigationGridCell> pathList = SmoothPath(new List <NavigationGridCell>(pathArray));
pathList.RemoveAt(0); // removes the first point
foreach (NavigationGridCell navGridCell in pathList.ToArray())
{
returnList.Add(TranslateFrmNavigationGrid(navGridCell.Locator));
}
return(returnList);
}
return(null);
}
public static int Distance(NavigationGridCell a, NavigationGridCell b)
{
return(NavigationGridLocator.Distance(a.Locator, b.Locator));
}
