public Dictionary <Coordinates, Coordinates> SearchThroughCorridors(InverseGraph graph, Coordinates start, Coordinates end)
{
var frontier = new Priority_Queue.FastPriorityQueue <Coordinates>(10000);
frontier.Enqueue(start, 0);
cameFrom[start] = start;
costSoFar[start] = 0;
while (frontier.Count > 0)
{
var current = frontier.Dequeue();
if (current == end)
{
this.end = current;
break;
}
foreach (var next in graph.Neighbors(current))
{
float newCost = costSoFar[current] + graph.Cost(next);
if (!costSoFar.ContainsKey(next) || newCost < costSoFar[next])
{
costSoFar[next] = newCost;
float priority = newCost + Heuristic(next, end);
frontier.Enqueue(next, priority);
cameFrom[next] = current;
}
}
}
return(cameFrom);
}
private bool WalkablePathBetweenPoints(int floor, Vector2 start, Vector2 end)
{
InverseGraph g = new InverseGraph(floor, building.maxDimensions, building.maxDimensions, building.grid);
Astar astar = new Astar();
var startCoords = new Coordinates((int)start.x, (int)start.y);
var endCoords = new Coordinates((int)end.x, (int)end.y);
var values = astar.SearchThroughCorridors(g, startCoords, endCoords);
var chain = new List <Coordinates>();
var cursor = endCoords;
while (values.ContainsKey(cursor) && values[cursor] != cursor)
{
chain.Add(cursor);
cursor = values[cursor];
}
if (values.ContainsKey(cursor))
{
chain.Add(values[cursor]);
}
if (chain.Count > 0)
{
chain.Reverse();
}
if (chain.Count == 0 || chain[0] != startCoords)
{
return(false);
}
foreach (var entry in chain)
{
if (entry.x < 0 || entry.y < 0 || entry.x >= 120 || entry.y >= 120)
{
return(false);
}
}
return(true);
}