public FlySmart(SpaceShip owner, Node target, float dist)
: base(owner, target.AbsolutePosition)
{
map = new AStarMap(400, owner);
Dist = dist;
TargetNode = target;
astar = new AStar();
//map.Print(-22,-22,22,22);
Point p1 = map.GetCell(target.AbsolutePosition);
Point p2 = map.GetCell(owner.AbsolutePosition);
p1 = map.GetNearestFreePosition(p1);
p2 = map.GetNearestFreePosition(p2);
if (p1 == p2)
{
System.Console.WriteLine("start=end!");
}
AStarMap.AStarNode2D GoalNode = new AStarMap.AStarNode2D(null, null, 0, p1.X, p1.Y, map);
AStarMap.AStarNode2D StartNode = new AStarMap.AStarNode2D(null, null, 0, p2.X, p2.Y, map);
StartNode.GoalNode = GoalNode;
astar.FindPath(StartNode, GoalNode);
if (astar.Solution.Count == 0)
{
System.Console.WriteLine("no solution! from " + p2 + " to " + p1);
Done = true;
}
PrintSolution(astar.Solution);
currentnode = 0;
}
/// <summary>
/// Constructor for a node in a 2-dimensional map
/// </summary>
/// <param name="AParent">Parent of the node</param>
/// <param name="AGoalNode">Goal node</param>
/// <param name="ACost">Accumulative cost</param>
/// <param name="AX">X-coordinate</param>
/// <param name="AY">Y-coordinate</param>
public AStarNode2D(AStarNode AParent, AStarNode AGoalNode, double ACost, int AX, int AY, AStarMap map)
: base(AParent, AGoalNode, ACost)
{
FX = AX;
FY = AY;
Map = map;
}
public FlySmart(SpaceShip owner, Node target, float dist)
: base(owner,target.AbsolutePosition)
{
map = new AStarMap(400, owner);
Dist = dist;
TargetNode = target;
astar = new AStar();
//map.Print(-22,-22,22,22);
Point p1 = map.GetCell(target.AbsolutePosition);
Point p2 = map.GetCell(owner.AbsolutePosition);
p1 = map.GetNearestFreePosition(p1);
p2 = map.GetNearestFreePosition(p2);
if (p1 == p2)
System.Console.WriteLine("start=end!");
AStarMap.AStarNode2D GoalNode = new AStarMap.AStarNode2D(null, null, 0, p1.X, p1.Y, map);
AStarMap.AStarNode2D StartNode = new AStarMap.AStarNode2D(null, null, 0, p2.X, p2.Y, map);
StartNode.GoalNode = GoalNode;
astar.FindPath(StartNode, GoalNode);
if (astar.Solution.Count == 0)
{
System.Console.WriteLine("no solution! from " + p2 + " to " + p1);
Done = true;
}
PrintSolution(astar.Solution);
currentnode = 0;
}
/// <summary>
/// Constructor for a node in a 2-dimensional map
/// </summary>
/// <param name="AParent">Parent of the node</param>
/// <param name="AGoalNode">Goal node</param>
/// <param name="ACost">Accumulative cost</param>
/// <param name="AX">X-coordinate</param>
/// <param name="AY">Y-coordinate</param>
public AStarNode2D(AStarNode AParent, AStarNode AGoalNode, double ACost, int AX, int AY,AStarMap map)
: base(AParent, AGoalNode, ACost)
{
FX = AX;
FY = AY;
Map = map;
}
