private static SearchNode FindPathReversed(Data.System start, Data.System end, int MaxJumpCount = 0)
{
SearchNode startNode = new SearchNode(start, 0, 0, null);
MinHeap openList = new MinHeap();
openList.Add(startNode);
bool[] brWorld = new bool[GlobalData.Systems.Count - 1];
brWorld[GlobalData.Systems.FindIndex(a => a == start)] = true;
int Jumps = 0;
while (openList.HasNext())
{
if (MaxJumpCount > 0 && Jumps >= MaxJumpCount)
{
return(null);
}
SearchNode current = openList.ExtractFirst();
if ((current.System.Coordinates - end.Coordinates).Length <= 3)
{
return(new SearchNode(end, current.pathCost + 1, current.cost + 1, current));
}
var surroundings = surrounding(current.System);
for (int i = 0; i < surroundings.Length; i++)
{
Surr surr = surroundings[i];
int brWorldIdx = GlobalData.Systems.FindIndex(a => a == surr.System);
if (brWorld[brWorldIdx] == false)
{
brWorld[brWorldIdx] = true;
int pathCost = current.pathCost + surr.Cost;
int cost = pathCost + (int)(surr.System.Coordinates - end.Coordinates).Length;
SearchNode node = new SearchNode(surr.System, cost, pathCost, current);
openList.Add(node);
Jumps++;
}
}
}
return(null); //no path found
}
/// <summary>
/// Method that switfly finds the best path from start to end. Doesn't reverse outcome
/// </summary>
/// <returns>The end breadcrump where each .next is a step back)</returns>
private static SearchNode FindPathReversed(World world, Point3D start, Point3D end)
{
SearchNode startNode = new SearchNode(start, 0, 0, null);
MinHeap openList = new MinHeap();
openList.Add(startNode);
int sx = world.Right;
int sy = world.Top;
int sz = world.Back;
bool[] brWorld = new bool[sx * sy * sz];
brWorld[start.X + (start.Y + start.Z * sy) * sx] = true;
while (openList.HasNext())
{
SearchNode current = openList.ExtractFirst();
if (current.position.GetDistanceSquared(end) <= 3)
{
return(new SearchNode(end, current.pathCost + 1, current.cost + 1, current));
}
for (int i = 0; i < surrounding.Length; i++)
{
Surr surr = surrounding[i];
Point3D tmp = new Point3D(current.position, surr.Point);
int brWorldIdx = tmp.X + (tmp.Y + tmp.Z * sy) * sx;
if (world.PositionIsFree(tmp) && brWorld[brWorldIdx] == false)
{
brWorld[brWorldIdx] = true;
int pathCost = current.pathCost + surr.Cost;
int cost = pathCost + tmp.GetDistanceSquared(end);
SearchNode node = new SearchNode(tmp, cost, pathCost, current);
openList.Add(node);
}
}
}
return(null); //no path found
}
