private GlobalHelper()
{
curLevelTileGrid_ = null;
}
public void setCurrentLevelTileGrid(TileGrid grid)
{
curLevelTileGrid_ = grid;
}
private static TileIndex getNearest(TileGrid grid, TileIndex start, TileIndex destination, float radius, Height height)
{
radius = radius / (TileGrid.TILEHEIGHT + TileGrid.TILEWIDTH) / 2;
Tile dest = grid.getTile(destination);
if (!dest.collides(height, radius))
{
return destination;
}
short manhattan = 1;
// Expand outward by increasing the manhattan distance
// Until finding some subset of tiles which we can walk on
// TODO
// Don't use heap space here
List<TileIndex> closest = new List<TileIndex>();
while (closest.Count == 0)
{
Tile cur;
int newX;
int newY;
for (short i = 0; i < manhattan - 1; i++)
{
// Quadrant I
newX = destination.x_ + i;
newY = destination.y_ + (manhattan - i);
cur = grid.getTile(newX, newY);
if (!cur.collides(height, radius))
{
closest.Add(new TileIndex((short)newX, (short)newY));
}
// Quadrant II
newX = destination.x_ - i;
newY = destination.y_ + (manhattan - i);
cur = grid.getTile(newX, newY);
if (!cur.collides(height, radius))
{
closest.Add(new TileIndex((short)newX, (short)newY));
}
// Quadrant III
newX = destination.x_ - i;
newY = destination.y_ - (manhattan - i);
cur = grid.getTile(newX, newY);
if (!cur.collides(height, radius))
{
closest.Add(new TileIndex((short)newX, (short)newY));
}
// Quadrant IV
newX = destination.x_ + i;
newY = destination.y_ - (manhattan - i);
cur = grid.getTile(newX, newY);
if (!cur.collides(height, radius))
{
closest.Add(new TileIndex((short)newX, (short)newY));
}
}
manhattan++;
if (manhattan > 10)
{
return new TileIndex(-1, -1);
}
}
// We've found walkable tiles, and they are all the same manhattan
// distance from the destination, so pick closest to the start
// TODO
// Determine whether it's better to pick closest real distance to
// destination first
TileIndex best = new TileIndex(-1, -1);
float bestScore = float.MaxValue;
for (int i = 0; i < closest.Count; i++)
{
float score = CommonFunctions.distance(closest[i], start);
if (score < bestScore)
{
bestScore = score;
best = closest[i];
}
}
return best;
}
protected static void setupSearch(TileGrid grid, TileIndex start, TileIndex destination, float radius, Height height)
{
// Initialize the static structures used by the search
reset();
start_ = start;
goal_ = destination;
// Project our start and goal nodes into the search space, if possible
// TODO
// For now, if they are farther apart than the size of the search space in
// any dimension, we give up - in the future, they will try to get as close
// as possible
short manhattanX = (short)Math.Abs(start_.x_ - goal_.x_);
short manhattanY = (short)Math.Abs(start_.y_ - goal_.y_);
short leftOffset = (short)Math.Floor((SEARCH_SPACE_WIDTH - manhattanX) / 2.0f);
short rightOffset = (short)Math.Ceiling((SEARCH_SPACE_WIDTH - manhattanX) / 2.0f);
short bottomOffset = (short)Math.Floor((SEARCH_SPACE_HEIGHT - manhattanY) / 2.0f);
short topOffset = (short)Math.Ceiling((SEARCH_SPACE_HEIGHT - manhattanY) / 2.0f);
gridXOffset_ = (short)(Math.Min(start_.x_, goal_.x_) - leftOffset);
gridYOffset_ = (short)(Math.Min(start_.y_, goal_.y_) - topOffset);
if (gridXOffset_ < 0) gridXOffset_ = 0;
if (gridYOffset_ < 0) gridYOffset_ = 0;
start_.x_ -= gridXOffset_;
start_.y_ -= gridYOffset_;
goal_.x_ -= gridXOffset_;
goal_.y_ -= gridYOffset_;
searchRadius_ =
(float)(radius / ((TileGrid.TILEWIDTH + TileGrid.TILEHEIGHT) / 2.0f));
grid_ = grid;
searchHeight_ = height;
}
public static List<TileIndex> calculateNearbyPath(TileGrid grid, Vector2 start, Vector2 destination, float radius, Height height)
{
return calculateNearbyPath(grid, grid.getTileIndex(start), grid.getTileIndex(destination), radius, height);
}
public static List<TileIndex> calculateNearbyPath(TileGrid grid, TileIndex start, TileIndex destination, float radius, Height height)
{
TileIndex newdest = getNearest(grid, start, destination, radius, height);
if (newdest.x_ == -1 || newdest.y_ == -1)
{
//throw new Exception("AStarPathfinder failed to find a nearest tile!");
return null;
}
return calculateExactPath(grid, start, newdest, radius, height);
}
/// <summary>
/// Run the A* algorithm to get a navigation path.
/// </summary>
/// <param name="grid">The area being searched</param>
/// <param name="start">Index of the start tile.</param>
/// <param name="destination">Index of the destination tile.</param>
/// <param name="radius">Radius of the character performing the search</param>
/// <param name="tileHeight">Height of the character performing the search</param>
/// <returns>Waypoints which should allow the character to reach the goal.</returns>
public static List<TileIndex> calculateExactPath(TileGrid grid, TileIndex start, TileIndex destination, float radius, Height height)
{
#if DEBUG
clock.Start();
#endif
setupSearch(grid, start, destination, radius, height);
//Console.WriteLine("Pathfind Start: " + start_.x_ + "," + start_.y_);
//Console.WriteLine("Pathfind Goal: " + goal_.x_ + "," + goal_.y_);
TileIndex cur = start_;
searchSpace_[cur.x_, cur.y_].g = 0;
searchSpace_[cur.x_, cur.y_].f = heuristicDistance(cur.x_, cur.y_);
searchSpace_[cur.x_, cur.y_].parent = new TileIndex(-1, -1); // stack
touched_[cur.x_, cur.y_] = true;
// As long as we aren't at the goal, keep expanding outward and checking
// the next most promising node
while (!TileIndex.equals(goal_, cur))
{
searchSpace_[cur.x_, cur.y_].open = false;
expand(ref cur, searchSpace_[cur.x_, cur.y_].g);
// If we are out of nodes to check, no path exists
if (openlist_.Count == 0)
{
#if DEBUG
clock.Stop();
#endif
return null;
}
else
{
cur = getNext();
}
}
#if DEBUG
clock.Stop();
#endif
return recreatePath();
}
