public OpenPoint CreateOpenList(Vector2 start, Vector2 end, float c, OpenPoint parent)
{
OpenPoint openPoint = new OpenPoint(start, end, c, parent);
m_pointList.Add(openPoint);
return(m_pointList.Last());
}
public bool Equals(OpenPoint p)
{
// If parameter is null return false:
if ((object)p == null)
{
return(false);
}
// Return true if the fields match:
return((m_x == p.m_x) && (m_y == p.m_y));
}
public OpenPoint(Vector2 start, Vector2 end, float c, OpenPoint parent)
{
float relativeX = Math.Abs(end.X - start.X);
float relativeY = Math.Abs(end.Y - start.Y);
float delta = relativeX - relativeY;
m_x = (Int32)start.X;
m_y = (Int32)start.Y;
m_cost = c;
m_pred = Math.Max(relativeX, relativeY) * 14.0 - Math.Abs(delta) * 4.0 + c;
m_parent = parent;
//parent = this;
}
public bool CompareTo(object iObj)
{
OpenPoint openPoint = (OpenPoint)iObj;
double result = this.m_pred - openPoint.m_pred;
if (result > 0.0f)
{
return(true);
}
else if (result == 0.0f)
{
return(true);
}
return(false);
}
public void Open(OpenPoint pointToOpen, Vector2 end)
{
m_current = m_openList[0];
// Remove parent from openList
m_openList.Remove(m_current);
if (m_openList.Count >= 1)
{
Console.WriteLine("Remove after x:{0:d} y:{1:d}", m_openList[0].m_x, m_openList[0].m_y);
}
++m_depth;
// check direction
for (int i = 0; i < 4; i++)
{
float toOpenX = pointToOpen.m_x + m_direction[i, 0];
float toOpenY = pointToOpen.m_y + m_direction[i, 1];
Console.WriteLine("4Direction after x:{0:d} y:{1:d}", m_direction[i, 0], m_direction[i, 1]);
Vector2 pos = new Vector2(toOpenX, toOpenY);
if (!InBarrierAndCloseList(pos))
{
m_openList.Add(CreateOpenList(pos, end, pointToOpen.m_cost + 10, m_current));
m_closeAndBarrierList[pointToOpen.m_x, pointToOpen.m_y] = true;
}
}
// check
for (int i = 4; i < 8; i++)
{
float toOpenX = pointToOpen.m_x + m_direction[i, 0];
float toOpenY = pointToOpen.m_y + m_direction[i, 1];
Console.WriteLine("4-8Direction after x:{0:d} y:{1:d}", m_direction[i, 0], m_direction[i, 1]);
Vector2 pos = new Vector2(toOpenX, toOpenY);
if (!InBarrierAndCloseList(pos))
{
m_openList.Add(CreateOpenList(pos, end, pointToOpen.m_cost + 14, pointToOpen));
m_closeAndBarrierList[pointToOpen.m_x, pointToOpen.m_y] = true;
}
}
// Add point to close list
m_closeAndBarrierList[pointToOpen.m_x, pointToOpen.m_y] = true;
}
public override bool Equals(System.Object obj)
{
// If parameter is null return false.
if (obj == null)
{
return(false);
}
// If parameter cannot be cast to Point return false.
OpenPoint p = obj as OpenPoint;
if ((System.Object)p == null)
{
return(false);
}
// Return true if the fields match:
return((m_x == p.m_x) && (m_y == p.m_y));
}
// Path finding.
public List <OpenPoint> FindPath(Vector2 start, Vector2 end)
{
List <OpenPoint> path = new List <OpenPoint>();
OpenPoint pointToOpen = null;
m_openList.Add(CreateOpenList(start, end, 0, pointToOpen));
OpenPoint toOpen = null;
while (m_openList.Count != 0)
{
m_openList = m_openList.OrderBy(n => n.m_pred).ToList <OpenPoint>();
toOpen = m_openList.First();
Console.WriteLine("x:{0:d} y:{1:d}", toOpen.m_x, toOpen.m_y);
// Out of depth.
if (toOpen.m_x == (Int32)end.X && toOpen.m_y == (Int32)end.Y)
{
break;
}
if (m_depth >= m_depthLimit)
{
toOpen = null;
break;
}
Open(toOpen, end);
}
if (toOpen != null)
{
while (toOpen.m_parent != null)
{
path.Add(toOpen.m_parent);
}
path.Reverse();
}
return(path);
}
