public Vertex2D GetExplorationNeighbour(Vertex2D current)
{
var currDist = minWaypointDistance(current);
var finder = new PathFinder2D <Vertex2D>
{
ConnectionProvider = new GridConnectionProvider()
{
Grid = provider.Grid, Heuristic = (a, b) => 0
},
StopCondition = n => minWaypointDistance(n) > WaypointDistance || Vector2.Distance(n.Position, current.Position) > 20
};
var path = finder.FindPath(current, new Vertex2D(new Vector2(4856984, 45684984)));
if (minWaypointDistance(current) > minWaypointDistance(path.Last()))
{
return(null);
}
if (path == null)
{
return(null);
}
return(path.Last());
//return provider.GetConnectedNodes(current).OrderBy(o => -minWaypointDistance(o)).FirstOrDefault();
}
private void insertNewWaypoint(Vertex2D pos)
{
TW.Data.GetSingleton <ExplorationData>().Waypoints.Add(new Waypoint()
{
Position = pos.Position
});
}
private List <Vertex2D> findPathAlongWaypoints(Vertex2D start, Vertex2D end, List <Waypoint> wPath)
{
var finder = createPathFinder <Vertex2D>();
finder.ConnectionProvider = gridConnectionProvider;
finder.NodeFilter = (n => isNodeWithinPathRange(n, wPath, WaypointRange));
return(finder.FindPath(start, end));
}
private float minWaypointDistance(Vertex2D arg)
{
//TODO: this should be walk distance, not fly distance
if (!getWaypoints().Any())
{
return(float.MaxValue);
}
return(getWaypoints().Min(w => Vector2.Distance(arg.Position, w.Position)));
}
private bool isNodeWithinPathRange(Vertex2D vertex2D, List <Waypoint> wPath, float range)
{
foreach (var p in wPath)
{
if (Vector2.Distance(p.Position, vertex2D.Position) < range)
{
return(true);
}
}
return(false);
}
public void Simulate()
{
if (!first)
{
return;
}
//first = false;
grid = TW.Data.GetSingleton <NavigableGrid2DData>().Grid;
if (grid == null)
{
return;
}
var gridConnectionProvider = new GridConnectionProvider()
{
Grid = grid
};
p.ConnectionProvider = gridConnectionProvider;
var start = gridConnectionProvider.GetVertex(Data.Start / grid.NodeSize);
var goal = gridConnectionProvider.GetVertex(Data.End / grid.NodeSize);
TW.Graphics.LineManager3D.AddCenteredBox(new Vector3(start.Position.X + 0.5f, 0, start.Position.Y + 0.5f) * grid.NodeSize, grid.NodeSize * 0.5f, new Color4(0, 1, 0));
TW.Graphics.LineManager3D.AddCenteredBox(new Vector3(goal.Position.X + 0.5f, 0, goal.Position.Y + 0.5f) * grid.NodeSize, grid.NodeSize * 0.5f, new Color4(1, 0, 0));
var path = p.FindPath(start, goal);
Vertex2D prev = null;
//viz.Render();
if (path == null)
{
return;
}
foreach (var node in path)
{
if (prev != null)
{
TW.Graphics.LineManager3D.AddLine(
new Vector3(prev.Position.X + 0.5f, 0, prev.Position.Y + 0.5f) * grid.NodeSize,
new Vector3(node.Position.X + 0.5f, 0, node.Position.Y + 0.5f) * grid.NodeSize,
new Color4(1, 0, 0));
}
prev = node;
}
}
private Waypoint findClosestWaypoint(Vertex2D end)
{
return(getWaypoints().OrderBy(w => Vector2.Distance(w.Position, end.Position)).FirstOrDefault());
}
private void moveGoblinTo(Goblin modelObject, Vertex2D nextPos)
{
modelObject.Goal = new Vector3(nextPos.Position.X, 0, nextPos.Position.Y);
}