//---------------------------------------------------------------------------------------------
public void NormalizeReferences(PathNodeList originalList)
{
for (int i = 0; i < this.Count; i++)
{
PathNode originalFound = originalList.FindNode(this[i].X, this[i].Y);
if (originalFound != null)
{
this[i] = originalFound;
}
}
}
//---------------------------------------------------------------------------------------------
public void MergeIdent(PathNodeList possibleList)
{
int count = this.Count;
for (int i = count - 1; i >= 0; i--)
{
PathNode findNode = possibleList.FindNode(this[i].X, this[i].Y);
if (findNode != null)
{
this.RemoveAt(i);
}
}
}
//---------------------------------------------------------------------------------------------
public void MergePossible(PathNodeList possibleList)
{
int count = this.Count;
for (int i = count - 1; i >= 0; i--)
{
PathNode findNode = possibleList.FindNode(this[i].X, this[i].Y);
if (findNode == null || findNode.Walkable.HasValue && !findNode.Walkable.Value)
{
this.RemoveAt(i);
}
}
}
//---------------------------------------------------------------------------------------------
public PathNodeList FromPositionCollection(List <UOPositionBase> positions)
{
PathNodeList list = new PathNodeList();
foreach (UOPositionBase position in positions)
{
PathNode node = new PathNode();
node.X = position.X.GetValueOrDefault();
node.Y = position.Y.GetValueOrDefault();
node.Walkable = position.IsSepable;
if (!list.ContainsNode(node))
{
list.Add(node);
}
}
return(list);
}
//---------------------------------------------------------------------------------------------
public PathNodeList FindAdjacentNodes(PathNode node)
{
PathNodeList list = new PathNodeList();
PathNode adjNode = new PathNode()
{
X = (ushort)(node.X), Y = (ushort)(node.Y + 1)
}; //0
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X + 1), Y = (ushort)(node.Y + 1), DiagonalToParent = true
}; //45
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X + 1), Y = (ushort)(node.Y)
}; //90
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X + 1), Y = (ushort)(node.Y - 1), DiagonalToParent = true
}; //135
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X), Y = (ushort)(node.Y - 1)
}; //180
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X - 1), Y = (ushort)(node.Y - 1), DiagonalToParent = true
}; //225
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X - 1), Y = (ushort)(node.Y)
}; //270
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X - 1), Y = (ushort)(node.Y + 1), DiagonalToParent = true
}; //315
list.Add(adjNode);
return(list);
}
//---------------------------------------------------------------------------------------------
protected virtual void Dispose(bool disposing)
{
if (disposing)
{
if (this.OpenNodes != null)
{
this.OpenNodes.Dispose();
this.OpenNodes = null;
}
if (this.CloseNodes != null)
{
this.CloseNodes.Dispose();
this.CloseNodes = null;
}
}
}
//---------------------------------------------------------------------------------------------
public void RemoveDiagonalCorners(PathNode parent, PathBuilder builder)
{
int count = this.Count;
for (int i = count - 1; i >= 0; i--)
{
PathNode current = this[i];
if (current.DiagonalToParent)
{
PathNodeList currentAdje = builder.FindAdjacentNodes(current);
currentAdje.MergePossible(this);
if (currentAdje.Count == 1 || currentAdje.Count == 0)
{
this.RemoveAt(i);
}
}
}
}
public PathBuilder(PathNodeList possibleNodes)
{
PossibleNodes = possibleNodes;
}
//---------------------------------------------------------------------------------------------
public PathBuilder()
{
PossibleNodes = new PathNodeList();
}
public bool ComputePath(PathNode start, PathNode end, int fromDistance)
{
OpenNodes = new PathNodeList();
CloseNodes = new PathNodeList();
PathNode current = start;
start.G = 0;
start.H = ComputeH(start, end);
if (!OpenNodes.ContainsNode(start))
{
OpenNodes.Add(start);
}
bool finish = false;
bool result = false;
if (!this.PossibleNodes.ContainsNode(start))
{
this.PossibleNodes.Add(start);
}
if (!this.PossibleNodes.ContainsNode(end))
{
this.PossibleNodes.Add(end);
}
while (!finish && Searchs < 10000)
{
Searchs++;
OpenNodes.Remove(current);
if (!CloseNodes.ContainsNode(current))
{
CloseNodes.Add(current);
}
PathNodeList searchNodes = FindAdjacentNodes(current);
foreach (PathNode node in searchNodes)
{
if (!this.PossibleNodes.ContainsNode(node))
{
this.PossibleNodes.Add(node);
}
}
searchNodes.MergePossible(this.PossibleNodes);
searchNodes.RemoveDiagonalCorners(current, this);
if (searchNodes.Count > 0)
{
searchNodes.MergeIdent(CloseNodes);
}
else
{
PathNodeList adjNodes = FindAdjacentNodes(current);
foreach (PathNode adj in adjNodes)
{
PathNode sNode = this.PossibleNodes.FindNode(adj.X, adj.Y);
if (sNode == null)
{
sNode = adj;
this.PossibleNodes.Add(sNode);
}
sNode.Walkable = null;
searchNodes.Add(sNode);
}
searchNodes.RemoveDiagonalCorners(current, this);
}
searchNodes.NormalizeReferences(OpenNodes);
PathNode bestNode = null;
foreach (PathNode searchNode in searchNodes)
{
if (!OpenNodes.ContainsNode(searchNode))
{
searchNode.Parent = current;
searchNode.H = ComputeH(searchNode, end);
searchNode.G = ComputeG(searchNode.Parent, searchNode);
OpenNodes.Add(searchNode);
}
else if (searchNode.G > (current.G + (searchNode.DiagonalToParent ? 14 : 10)))
{
searchNode.Parent = current;
searchNode.H = ComputeH(searchNode, end);
searchNode.G = ComputeG(searchNode.Parent, searchNode);
}
}
foreach (PathNode openNode in OpenNodes)
{
if (bestNode == null || (openNode.F < bestNode.F))
{
bestNode = openNode;
}
}
if (bestNode == null)
{
finish = true;
}
else if (bestNode.H == (fromDistance * 10))
{
OpenNodes.Remove(bestNode);
if (!CloseNodes.ContainsNode(bestNode))
{
CloseNodes.Add(bestNode);
}
bestNode.Finish = true;
result = true;
finish = true;
}
current = bestNode;
}
return(result);
}
//---------------------------------------------------------------------------------------------
private bool TryGoTo(ushort x, ushort y, int fromDistance, int tries, PathNodeList localList)
{
IUOPosition destination = this.CreatePositionInstance(x, y, 0);
if (localList == null)
{
localList = new PathNodeList();
}
if (EnableLog)
{
Game.PrintMessage("TryGoTo : " + x + ", " + y + " - " + tries);
}
if (this.ActualPosition.Equals(destination) || Robot.GetRelativeVectorLength(this.ActualPosition, destination) <= fromDistance)
{
if (EnableLog)
{
Game.PrintMessage("TryGoTo OK - 1: " + x + ", " + y);
}
return(true);
}
PathNode start = new PathNode()
{
X = World.Player.X, Y = World.Player.Y
};
PathNode end = new PathNode()
{
X = x, Y = y
};
if (tries > 0)
{
using (PathBuilder builder = new PathBuilder(UseCachedPathList ? this.PossibleNodes : localList))
{
if (builder.ComputePath(start, end, fromDistance))
{
PathNodeList computedPath = new PathNodeList();
computedPath.AddRange(builder.ComputedPathNodes);
computedPath.Reverse();
if (EnableLog)
{
Game.PrintMessage("TryGoTo Found: " + x + ", " + y + " / " + builder.Searchs);
}
int step = 0;
foreach (PathNode node in computedPath)
{
step++;
IUOPosition pos = this.CreatePositionInstance(node.X, node.Y, x);
GotoStepArgs args = new GotoStepArgs(pos, tries, fromDistance);
if (this.BeforeMove != null)
{
this.BeforeMove(this, args);
}
bool moveFail = false;
if (args.Abort)
{
Game.PrintMessage("TryGoTo Abort " + destination);
return(false);
}
if (args.IvalidDestination)
{
if (EnableLog)
{
Game.PrintMessage("Path IvalidDestination: " + this.ActualPosition.ToString() + " to " + node.ToString());
}
moveFail = true;
}
else
{
if (!this.Move(GetMovementDirection(this.GetAngle(pos))))
{
if (!this.Move(GetMovementDirection(this.GetAngle(pos))))
{
moveFail = true;
}
}
}
if (moveFail)
{
if (EnableLog)
{
Game.PrintMessage("PathFail: " + this.ActualPosition.ToString() + " to " + node.ToString());
}
PathNode findNode = builder.PossibleNodes.FindNode(node.X, node.Y);
if (findNode != null && !findNode.Walkable.HasValue)
{
findNode.Walkable = false;
}
return(TryGoTo(x, y, fromDistance, --tries, localList));
}
if (this.AfterMoveSuccess != null)
{
this.AfterMoveSuccess(this, new GotoStepArgs(pos, tries, fromDistance));
}
if (args.Abort)
{
return(false);
}
}
// 09:44 Phoenix: TryGoTo: 1380, 2706 - 459
//09:44 Phoenix: Compute Path FAIL: 1380,2707 to 1380,2706
//09:44 Phoenix: TryGoTo END: 1380, 2706
if (this.ActualPosition.Equals(destination) || Robot.GetRelativeVectorLength(this.ActualPosition, destination) <= fromDistance)
{
if (EnableLog)
{
Game.PrintMessage("TryGoTo OK - 2: " + x + ", " + y);
}
this.OnGoToSuccess(this, EventArgs.Empty);
return(true);
}
else
{
return(TryGoTo(x, y, fromDistance, --tries, localList));
}
}
else
{
if (EnableLog)
{
Game.PrintMessage("Compute Path FAIL - Restart: " + start.ToString() + " to " + end.ToString());
}
return(TryGoTo(x, y, fromDistance, --tries, null));
}
}
}
if (EnableLog)
{
Game.PrintMessage("TryGoTo END: " + x + ", " + y);
}
return(false);
}
