public Routing(Vector destination, CosmicMap map, CosmicOwnership routingShip)
{
directionList = new List <Vector>();
closedList = new List <RoutingPoint>();
openList = new List <RoutingPoint>();
this.map = map;
ownShip = routingShip;
unitLength = routingShip.Radius * 4;
ownShip = routingShip;
minimumDistance = routingShip.Radius * 4;
destinationPoint = new RoutingPoint(destination, null, routingShip, 0);
Vector rightVector = new Vector(1, 0);
rightVector.Length = unitLength;
directionList.Add(rightVector);
Vector righttopVector = new Vector(1, 1);
righttopVector.Length = unitLength * (float)Math.Sqrt(2);
directionList.Add(righttopVector);
Vector rightdownVector = new Vector(1, -1);
rightdownVector.Length = unitLength * (float)Math.Sqrt(2);
directionList.Add(rightdownVector);
Vector leftVector = new Vector(-1, 0);
leftVector.Length = unitLength;
directionList.Add(leftVector);
Vector lefttopVector = new Vector(-1, 1);
lefttopVector.Length = unitLength * (float)Math.Sqrt(2);
directionList.Add(lefttopVector);
Vector leftdownVector = new Vector(-1, -1);
leftdownVector.Length = unitLength * (float)Math.Sqrt(2);
directionList.Add(leftdownVector);
Vector topVector = new Vector(0, 1);
topVector.Length = unitLength;
directionList.Add(topVector);
Vector downVector = new Vector(0, -1);
downVector.Length = unitLength;
directionList.Add(downVector);
openList.Add(new RoutingPoint(routingShip.Position, null, routingShip, 0));
openList.Sort();
}
public int CompareTo(object obj)
{
RoutingPoint otherRoutingPoint = obj as RoutingPoint;
if (otherRoutingPoint.Cost > Cost)
{
return(-1);
}
return(1);
}
public RoutingPoint(Vector point, RoutingPoint lastPoint, CosmicOwnership ownShip, float cost)
{
if (lastPoint != null)
{
Cost = cost + lastPoint.Cost;
}
Point = point;
LastPoint = lastPoint;
ship = ownShip;
}
public List <Vector> Route()
{
List <RoutingPoint> possibleNewPoints;
RoutingPoint reachedDestinationWithLeastCost;
float destinationCost;
while (true)
{
possibleNewPoints = new List <RoutingPoint>();
foreach (RoutingPoint openPoint in openList)
{
reachedDestinationWithLeastCost = null;
destinationCost = float.MaxValue;
foreach (Vector direction in directionList)
{
Vector possibleNewPoint = openPoint.Point + direction;
if (CheckClosedList(possibleNewPoint) && map.WayFree(possibleNewPoint, minimumDistance))
{
if (destinationPoint.Distance(possibleNewPoint) < minimumDistance)
{
RoutingPoint currentParent = new RoutingPoint(possibleNewPoint, openPoint, ownShip, direction.Length);
if (reachedDestinationWithLeastCost == null || destinationCost > currentParent.Cost)
{
reachedDestinationWithLeastCost = currentParent;
destinationCost = currentParent.Cost;
}
}
possibleNewPoints.Add(new RoutingPoint(possibleNewPoint, openPoint, ownShip, direction.Length));
}
}
if (reachedDestinationWithLeastCost != null)
{
destinationRouter = new List <Vector>();
destinationRouter.Add(destinationPoint.Point);
destinationRouter.Add(reachedDestinationWithLeastCost.Point);
reachedDestinationWithLeastCost = reachedDestinationWithLeastCost.GoBack(ref destinationRouter);
while (reachedDestinationWithLeastCost != null)
{
reachedDestinationWithLeastCost = reachedDestinationWithLeastCost.GoBack(ref destinationRouter);
}
destinationRouter.Reverse();
return(destinationRouter);
}
if (!closedList.Contains(openPoint))
{
closedList.Add(openPoint);
}
}
if (possibleNewPoints.Count == 0)
{
throw new Exception();
}
foreach (RoutingPoint possibleNewPoint in possibleNewPoints)
{
openList.Add(possibleNewPoint);
}
openList.Sort();
}
}