public void CalculatePathmap()
{
RefreshNodes();
var openNodes = new Queue<TDPNode>();
foreach (var entity in _entities)
{
var node = GetNode(entity.X, entity.Y);
openNodes.Enqueue(node);
node.IsClosed = true;
}
while (openNodes.Count > 0)
{
var currentNode = openNodes.Dequeue();
var x = currentNode.X;
var y = currentNode.Y;
var width = _field.Width - 1;
var height = _field.Height - 1;
var neighbors = new TDPNode[8];
if (x < width)
{
neighbors[0] = GetNode(x + 1, y + 0);
if (y < height) neighbors[4] = GetNode(x + 1, y + 1);
if (y > 0) neighbors[6] = GetNode(x + 1, y + -1);
}
if (x > 0)
{
neighbors[1] = GetNode(x + -1, y + 0);
if (y < height) neighbors[5] = GetNode(x - 1, y + 1);
if (y > 0) neighbors[7] = GetNode(x - 1, y + -1);
}
if (y < height) neighbors[2] = GetNode(x + 0, y + 1);
if (y > 0) neighbors[3] = GetNode(x + 0, y + -1);
for (var i = 0; i < neighbors.Length; i++)
{
var neighbor = neighbors[i];
if (neighbor == null) continue;
if (neighbor.IsClosed) continue;
if (IsObstacle(neighbor.X, neighbor.Y))
{
neighbor.IsObstacle = true;
continue;
}
neighbor.Parent = currentNode;
neighbor.G = i > 4 ? neighbor.Parent.G + 14 : neighbor.Parent.G + 10;
neighbor.IsVisited = true;
neighbor.IsClosed = true;
openNodes.Enqueue(neighbor);
}
}
WasUpdatedThisTurn = true;
}
private TDPNode JPSJump(TDPNode mStartNode, TDPNode mEndNode, TDPNode mTargetNode)
{
if (mStartNode == null)
return null;
var dx = mStartNode.X - mEndNode.X;
var dy = mStartNode.Y - mEndNode.Y;
if (IsObstacle(mStartNode.X, mStartNode.Y)) return null;
if (mStartNode == mTargetNode) return mStartNode;
if (dx != 0 && dy != 0)
{
if ((!IsObstacle(mStartNode.X - dx, mStartNode.Y + dy) && IsObstacle(mStartNode.X - dx, mStartNode.Y)) ||
(!IsObstacle(mStartNode.X + dx, mStartNode.Y - dy) && IsObstacle(mStartNode.X, mStartNode.Y - dy)))
return mStartNode;
}
else
{
if (dx != 0)
{
if ((!IsObstacle(mStartNode.X + dx, mStartNode.Y + 1) && IsObstacle(mStartNode.X, mStartNode.Y + 1)) ||
(!IsObstacle(mStartNode.X + dx, mStartNode.Y - 1) && IsObstacle(mStartNode.X, mStartNode.Y - 1)))
return mStartNode;
}
else
{
if ((!IsObstacle(mStartNode.X + 1, mStartNode.Y + dy) && IsObstacle(mStartNode.X + 1, mStartNode.Y)) ||
(!IsObstacle(mStartNode.X - 1, mStartNode.Y + dy) && IsObstacle(mStartNode.X - 1, mStartNode.Y)))
return mStartNode;
}
}
if (dx != 0 && dy != 0)
{
var jx = JPSJump(GetNode(mStartNode.X + dx, mStartNode.Y), mStartNode, mTargetNode);
var jy = JPSJump(GetNode(mStartNode.X, mStartNode.Y + dy), mStartNode, mTargetNode);
if (jx != null || jy != null) return mStartNode;
}
if (!IsObstacle(mStartNode.X + dx, mStartNode.Y) || !IsObstacle(mStartNode.X, mStartNode.Y + dy))
return JPSJump(GetNode(mStartNode.X + dx, mStartNode.Y + dy), mStartNode, mTargetNode);
return null;
}
private void InitializeNodes()
{
_nodes = new TDPNode[_field.Width,_field.Height];
for (var iY = 0; iY < _field.Height; iY++)
for (var iX = 0; iX < _field.Width; iX++)
_nodes[iX, iY] = new TDPNode(iX, iY);
}
private IEnumerable<TDPNode> JPSFindNeighbors(TDPNode mNode)
{
var result = new List<TDPNode>();
if (mNode.Parent == null) return GetAdjacentNodes(mNode.X, mNode.Y);
var dx = (mNode.X - mNode.Parent.X)/Math.Max(Math.Abs(mNode.X - mNode.Parent.X), 1);
var dy = (mNode.Y - mNode.Parent.Y)/Math.Max(Math.Abs(mNode.Y - mNode.Parent.Y), 1);
if (dx != 0 && dy != 0)
{
if (!IsObstacle(mNode.X, mNode.Y + dy))
result.Add(GetNode(mNode.X, mNode.Y + dy));
if (!IsObstacle(mNode.X + dx, mNode.Y))
result.Add(GetNode(mNode.X + dx, mNode.Y));
if (!IsObstacle(mNode.X, mNode.Y + dy) || !IsObstacle(mNode.X + dx, mNode.Y))
result.Add(GetNode(mNode.X + dx, mNode.Y + dy));
if (IsObstacle(mNode.X - dx, mNode.Y) && !IsObstacle(mNode.X, mNode.Y + dy))
result.Add(GetNode(mNode.X - dx, mNode.Y + dy));
if (IsObstacle(mNode.X, mNode.Y - dy) && !IsObstacle(mNode.X + dx, mNode.Y))
result.Add(GetNode(mNode.X + dx, mNode.Y - dy));
}
else
{
if (dx == 0)
{
if (!IsObstacle(mNode.X, mNode.Y + dy))
{
if (!IsObstacle(mNode.X, mNode.Y + dy))
result.Add(GetNode(mNode.X, mNode.Y + dy));
if (IsObstacle(mNode.X + 1, mNode.Y))
result.Add(GetNode(mNode.X + 1, mNode.Y + dy));
if (IsObstacle(mNode.X - 1, mNode.Y))
result.Add(GetNode(mNode.X - 1, mNode.Y + dy));
}
}
else
{
if (!IsObstacle(mNode.X + dx, mNode.Y))
{
if (!IsObstacle(mNode.X + dx, mNode.Y))
result.Add(GetNode(mNode.X + dx, mNode.Y));
if (IsObstacle(mNode.X, mNode.Y + 1))
result.Add(GetNode(mNode.X + dx, mNode.Y + 1));
if (IsObstacle(mNode.X, mNode.Y - 1))
result.Add(GetNode(mNode.X + dx, mNode.Y - 1));
}
}
}
return result;
}
