//---------------------------------------------------------------------
void _NewStep(EbAstarStep step)
{
for (int idx = 0; idx < step.RoundSteps.Count; ++idx)
{
EbAstarRoundStep roundStep = step.RoundSteps[idx];
EbAstarStep childStep = roundStep.node;
if (childStep.IsClose)
{
continue;
}
float newG = roundStep.cost + step.G;
if (childStep.IsOpen)
{
if (childStep.G > newG)
{
childStep.G = newG;
childStep.Key = childStep.G + childStep.H;
childStep.Parent = step;
}
}
else
{
childStep.G = newG;
childStep.H = EbAstarStep.Distance(childStep, mStepDest);
childStep.Key = childStep.G + childStep.H;
childStep.Parent = step;
_AddToOpen(childStep);
}
}
}
//---------------------------------------------------------------------
public static float Distance(EbAstarStep from, EbAstarStep to)
{
float delta_x = from.Pos.x - to.Pos.x;
float delta_y = from.Pos.y - to.Pos.y;
return((float)Math.Sqrt(delta_x * delta_x + delta_y * delta_y));
}
//---------------------------------------------------------------------
void _fresh(int x, int y)
{
EbAstarStep step = mListStep[x + y * mSizeX];
if (step.Cost > 0f)
{
return;
}
for (int yIdx = y - 1; yIdx < y + 2; ++yIdx)
{
for (int xIdx = x - 1; xIdx < x + 2; ++xIdx)
{
if (xIdx == x && yIdx == y)
{
continue;
}
EbAstarStep roundStep = mListStep[xIdx + yIdx * mSizeX];
if (roundStep.Cost == 0f)
{
EbAstarRoundStep node = new EbAstarRoundStep();
node.node = roundStep;
float deltaX = x - xIdx;
float deltaY = y - yIdx;
node.cost = (float)Math.Sqrt(deltaX * deltaX + deltaY * deltaY);
step.RoundSteps.Add(node);
}
else
{
roundStep.Cost = 1f;
}
}
}
}
//---------------------------------------------------------------------
public void MakeRoute(List <EbAstarStep> list_step)
{
int dir = 1 + (1 << 2);
EbAstarStep next = mStepBest;
if (next == null)
{
return;
}
while (true)
{
EbAstarStep fromStep = next;
next = next.Parent;
if (next != null)
{
EbAstarStep toStep = next;
int deltaX = toStep.Pos.x - fromStep.Pos.x + 1;
int deltaY = (toStep.Pos.y - fromStep.Pos.y + 1) << 2;
int delta = deltaY + deltaX;
if (delta != dir)
{
list_step.Insert(0, fromStep);
dir = delta;
}
}
else
{
list_step.Insert(0, fromStep);
break;
}
}
}
//---------------------------------------------------------------------
public void clipRoute(List <EbAstarStep> complex, List <EbVector2> simple)
{
if (complex.Count <= 2)
{
for (int idx = 0; idx < complex.Count; ++idx)
{
EbAstarStep pre = complex[idx];
simple.Add(new EbVector2(pre.Pos.x, pre.Pos.y));
}
return;
}
EbAstarStep from = complex[0];
simple.Add(new EbVector2(from.Pos.x, from.Pos.y));
for (int idx = 1; idx < complex.Count; ++idx)
{
EbAstarStep pre = complex[idx - 1];
EbAstarStep current = complex[idx];
if (pick(from.Pos.x, from.Pos.y, current.Pos.x, current.Pos.y))
{
simple.Add(new EbVector2(pre.Pos.x, pre.Pos.y));
from = pre;
}
}
EbAstarStep back = complex[complex.Count - 1];
simple.Add(new EbVector2(back.Pos.x, back.Pos.y));
}
//---------------------------------------------------------------------
public void blockStart(int size_x, int size_y)
{
mSizeX = size_x;
mSizeY = size_y;
mListStep = new EbAstarStep[mSizeX * mSizeY];
for (int y = 0; y < mSizeY; ++y)
{
for (int x = 0; x < mSizeX; ++x)
{
EbAstarStep step = new EbAstarStep();
step.Cost = 0f;
step.Pos.x = x;
step.Pos.y = y;
mListStep[x + y * mSizeX] = step;
}
}
}
//---------------------------------------------------------------------
public bool Search(EbAstarStep src, EbAstarStep dest)
{
src.G = 0;
src.H = EbAstarStep.Distance(src, dest);
src.Key = src.G + src.H;
mStepStart = src;
mStepBest = src;
mStepStart.Clear();
mStepDest = dest;
mStepCnt = 0;
_AddToOpen(src);
while (mOpenHeap.Size > 0)
{
mStepCurrent = mOpenHeap.Pop();
if (DestChecker.isDest(mStepCurrent))
{
mStepBest = mStepCurrent;
return(true);
}
if (mStepCnt > mStepCntMax)
{
return(false);
}
if (mStepCurrent.H < mStepBest.H)
{
mStepBest = mStepCurrent;
}
++mStepCnt;
_NewStep(mStepCurrent);
mStepCurrent.AttachNode.Detach();
_AddToClose(mStepCurrent);
}
return(false);
}
//---------------------------------------------------------------------
public bool search(int src_x, int src_y, int dst_x, int dst_y, uint max_step)
{
mRoute.Clear();
if ((src_x < mSizeX && src_y < mSizeY) == false || (dst_x < mSizeX && dst_y < mSizeY) == false)
{
return(false);
}
getRound(src_x, src_y, 0f, 100, ref src_x, ref src_y);
if (src_x == dst_x && src_y == dst_y)
{
mRoute.Add(new EbVector2(src_x, src_y));
mRoute.Add(new EbVector2(dst_x, dst_y));
return(true);
}
if (!pick(src_x, src_y, dst_x, dst_y))
{
mRoute.Add(new EbVector2(src_x, src_y));
mRoute.Add(new EbVector2(dst_x, dst_y));
return(true);
}
EbAstarStep src_step = mListStep[src_x + src_y * mSizeX];
EbAstarStep dst_step = mListStep[dst_x + dst_y * mSizeX];
mAstar0.DestChecker.Dest = dst_step;
mAstar0.StepCntMax = max_step;
bool reach_dest = mAstar0.Search(src_step, dst_step);
mStepPool.Clear();
mAstar0.MakeRoute(mStepPool);
mAstar0.Reset();
clipRoute(mStepPool, mRoute);
return(reach_dest);
}
//---------------------------------------------------------------------
public bool search(int src_x, int src_y, int dst_x, int dst_y, float diff, uint max_step)
{
if ((src_x < mSizeX && src_y < mSizeY) == false || (dst_x < mSizeX && dst_y < mSizeY) == false)
{
return(false);
}
getRound(src_x, src_y, 0f, 100, ref src_x, ref src_y);
EbAstarStep src_step = mListStep[src_x + src_y * mSizeX];
EbAstarStep dst_step = mListStep[dst_x + dst_y * mSizeX];
mAstar1.DestChecker.Dest = dst_step;
mAstar1.DestChecker.Diff = diff;
mAstar1.StepCntMax = max_step;
bool reach_dst = mAstar1.Search(src_step, dst_step);
mRoute.Clear();
mStepPool.Clear();
mAstar1.MakeRoute(mStepPool);
mAstar1.Reset();
clipRoute(mStepPool, mRoute);
return(reach_dst);
}
//---------------------------------------------------------------------
public virtual bool isDest(EbAstarStep step)
{
return(true);
}
//---------------------------------------------------------------------
public void Clear()
{
G = 0;
mParent = null;
State = _eEbAstarStepState.NONE;
}
//---------------------------------------------------------------------
void _AddToClose(EbAstarStep step)
{
step.State = _eEbAstarStepState.CLOSE;
mCloseList.PushBack(step.AttachNode);
}
//---------------------------------------------------------------------
void _AddToOpen(EbAstarStep step)
{
mOpenList.PushBack(step.AttachNode);
step.State = _eEbAstarStepState.OPEN;
mOpenHeap.Push(step);
}
//-------------------------------------------------------------------------
public override bool isDest(EbAstarStep step)
{
return(EbAstarStep.Distance(step, Dest) < Diff);
}
//-------------------------------------------------------------------------
public override bool isDest(EbAstarStep step)
{
return(Object.ReferenceEquals(step, Dest));
}
