private int Heuristic(Node n)
{
Vector2 distance = destination - n.nodePosition;
var x = (int) distance.X;
var y = (int) distance.Y;
x = x < 0 ? x*-1 : x;
y = y < 0 ? y*-1 : y;
return (x + y)*10;
}
private Node GetLowestFNode()
{
var bestNode = new Node();
foreach (Node n in openList)
{
if (bestNode.Equals(new Node()))
bestNode = n;
else
{
if (n.F < bestNode.F)
bestNode = n;
}
}
return bestNode;
}
private void AddEnemyNodesToClosedList()
{
ClearTemporaryClosedTiles();
if (GameObjects != null)
{
foreach (GameObject obj in GameObjects)
{
if ((obj is Enemy))
{
var n = new Node(MapHelper.GetTileFromPixels(obj.Position)) {Temporary = true};
if (!IsInClosedList(n.nodePosition))
closedList.Add(n);
}
}
}
}
private void CheckAdjascentNodes(Node parentNode)
{
var node = parentNode.nodePosition;
var nodes = new List<Node>();
#region GetNearbyNodes
// esquerda
if (node.X > 0)
{
var vct = new Vector2(node.X - 1, node.Y);
int factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc
? (int) MovementType.Adjascent*5
: (int) MovementType.Adjascent;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellLeft = new Vector2(node.X - 1, node.Y);
}
// esquerda cima
if ((node.X > 0) && (node.Y > 0))
{
var vct = new Vector2(node.X - 1, node.Y - 1);
int factor = 14;
factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc ? factor*5 : factor;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellUpLeft = new Vector2(node.X - 1, node.Y - 1);
}
// esquerda baixo
if ((node.X > 0) && (node.Y < height - 1))
{
var vct = new Vector2(node.X - 1, node.Y + 1);
int factor = 14;
factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc ? factor*5 : factor;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellDownLeft = new Vector2(node.X - 1, node.Y + 1);
}
// cima
if (node.Y > 0)
{
var vct = new Vector2(node.X, node.Y - 1);
int factor = 10;
factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc ? factor*5 : factor;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellUp = new Vector2(node.X, node.Y - 1);
}
// direita cima
if ((node.Y > 0) && (node.X < width - 1))
{
var vct = new Vector2(node.X + 1, node.Y - 1);
int factor = 14;
factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc ? factor*5 : factor;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellUpRight = new Vector2(node.X + 1, node.Y - 1);
}
// baixo
if (node.Y < height - 1)
{
var vct = new Vector2(node.X, node.Y + 1);
int factor = 10;
factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc ? factor*5 : factor;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellDown = new Vector2(node.X, node.Y + 1);
}
// direita baixo
if ((node.Y < height - 1) && (node.X < width - 1))
{
var vct = new Vector2(node.X + 1, node.Y + 1);
int factor = 10;
factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc ? factor*5 : factor;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellDownRight = new Vector2(node.X + 1, node.Y + 1);
}
//direita
if (node.X < width - 1)
{
var vct = new Vector2(node.X + 1, node.Y);
int factor = 10;
factor = map[(int) vct.Y, (int) vct.X] == (int) CollisionValues.Slower80pc ? factor*5 : factor;
nodes.Add(new Node {nodePosition = vct, G = parentNode.G + factor, ParentNode = node});
//cellRight = new Vector2(node.X + 1, node.Y);
}
#endregion
// Verifico todos os nós adjascentes
foreach (Node n in nodes)
{
// Se o nó existe e não está intransponivel
if (IsPassable(n.nodePosition))
//map[(int)n.nodePosition.Y, (int)n.nodePosition.X] != (int)CollisionValues.Impassable)
{
if (cutCorners || !IsCuttingCorner(node, n.nodePosition))
{
// Se o nó não está na closed list
if (!IsInClosedList(n.nodePosition))
{
Node nOpen = GetFromOpenList(n.nodePosition);
// Se o nó já está na open list
if (!nOpen.Equals(new Node()))
{
int g = n.G;
if (g < nOpen.G)
{
Node newN = nOpen;
newN.ParentNode = n.ParentNode;
newN.G = g;
newN.H = Heuristic(n);
newN.F = n.H + n.G;
openList.Remove(nOpen);
openList.Add(newN);
}
}
else
{
Node newN = n;
newN.H = Heuristic(n);
newN.F = newN.H + n.G;
openList.Add(newN);
}
}
}
}
}
currentNode = GetLowestFNode();
}
public void ProcessSearch()
{
if (destination == player || destination.X < 0 || destination.Y < 0 ||
width <= destination.X || height <= destination.Y ||
map[(int) Destination.Y, (int) Destination.X] == (int) CollisionValues.Impassable)
{
SearchStatus = SearchStatus.NoPath;
}
var steps = 0;
do
{
if (openList.Count == 0)
{
var playerNode = new Node(player) {ParentNode = new Vector2(-1, -1)};
openList.Add(playerNode);
CheckAdjascentNodes(playerNode);
openList.Remove(playerNode);
closedList.Add(playerNode);
}
else
{
AddEnemyNodesToClosedList();
openList.Remove(currentNode);
CheckAdjascentNodes(currentNode);
closedList.Add(currentNode);
if (currentNode.nodePosition == destination)
searchStatus = SearchStatus.PathFound;
}
steps++;
} while (searchStatus == SearchStatus.Searching && steps < stepsPerUpdate);
if (searchStatus == SearchStatus.PathFound)
{
Node n = GetFromClosedList(destination);
path.Add(n.nodePosition);
do
{
n = GetFromClosedList(n.ParentNode);
path.Add(n.nodePosition);
} while (n.ParentNode != player && !n.Equals(new Node()) && n.ParentNode != new Vector2(-1, -1));
}
}