/**
* Initialize the pathfinder and the navigation graph
*
**/
public PathFinder(World world)
{
nodes = new List<Node>();
List<Node> remainingNodes = new List<Node>();// = ALL
List<Node> toProcess = new List<Node>();
List<Node> toProcessLater = new List<Node>();
List<Node> toRemove = new List<Node>();
// , les mettres dans toProcessLater et ajouter n à l.outNodes
Vector2 size = world.Size;
objective = new Node(world.Objective);
for(int x = 0; x < size.X; x += (int)size.X/20){
for(int y = 0; y < size.Y; y += (int)size.Y/20){
remainingNodes.Add(new Node(new Vector2(x, y)));
}
}
toProcess.Add(objective); // la premiere node a traiter est la destination finale
//Tant qu'il reste des nodes à traiter
while(toProcess.Count != 0){
//pour chaque nodes n de toProcess,
//on doit chercher les nodes accessible l dans remainingNode
foreach( Node outNode in toProcess ){
Console.Out.WriteLine("toProcess : " + toProcess.Count);
foreach( Node inNode in remainingNodes ){
Console.Out.WriteLine("remaining : "+remainingNodes.Count);
if(!world.isCollidingWithObstacle(outNode.Position, inNode.Position)){
//Chaque node accessible est mise de coté pour le prochain traitement
if(toProcessLater.IndexOf(inNode) < 0){
toProcessLater.Add(inNode);
toRemove.Add(inNode);
}
//Chaque node accessible se voit ajouté outNode a sa liste de nodes sortantes
inNode.OutNodes.Add(outNode);
//On se prépare a retirer la node trouvée de remainingNode
}
}
nodes.Add(outNode);
}
//Retrait des nodes trouvées de remainingNodes
foreach( Node nod in toRemove ){
remainingNodes.Remove(nod);
}
toProcess.Clear();
toProcess.AddRange(toProcessLater);
toProcessLater.Clear();
Console.Out.WriteLine("cout : " + toProcess.Count);
}
}
/**
* Find the closest reachable node from the position
**/
public Node findClosestSubGoal(Vector2 pos, World world, Node lastGoal = null)
{
Node closest = objective;
foreach (Node nod in nodes)
{
if (nod != lastGoal && !world.isCollidingWithObstacle(pos, nod.Position) &&
(nod.Position - pos).Length() < (closest.Position - pos).Length())
{
closest = nod;
}
}
return(closest);
}
/**
* Find the closest reachable node from the position
**/
public Node findClosestSubGoal(Vector2 pos, World world, Node lastGoal=null)
{
Node closest = objective;
foreach( Node nod in nodes){
if(nod != lastGoal && !world.isCollidingWithObstacle(pos, nod.Position)
&& (nod.Position - pos).Length() < (closest.Position - pos).Length()){
closest = nod;
}
}
return closest;
}
/**
* Initialize the pathfinder and the navigation graph
*
**/
public PathFinder(World world)
{
nodes = new List <Node>();
List <Node> remainingNodes = new List <Node>(); // = ALL
List <Node> toProcess = new List <Node>();
List <Node> toProcessLater = new List <Node>();
List <Node> toRemove = new List <Node>();
// , les mettres dans toProcessLater et ajouter n à l.outNodes
Vector2 size = world.Size;
objective = new Node(world.Objective);
for (int x = 0; x < size.X; x += (int)size.X / 20)
{
for (int y = 0; y < size.Y; y += (int)size.Y / 20)
{
remainingNodes.Add(new Node(new Vector2(x, y)));
}
}
toProcess.Add(objective); // la premiere node a traiter est la destination finale
//Tant qu'il reste des nodes à traiter
while (toProcess.Count != 0)
{
//pour chaque nodes n de toProcess,
//on doit chercher les nodes accessible l dans remainingNode
foreach (Node outNode in toProcess)
{
Console.Out.WriteLine("toProcess : " + toProcess.Count);
foreach (Node inNode in remainingNodes)
{
Console.Out.WriteLine("remaining : " + remainingNodes.Count);
if (!world.isCollidingWithObstacle(outNode.Position, inNode.Position))
{
//Chaque node accessible est mise de coté pour le prochain traitement
if (toProcessLater.IndexOf(inNode) < 0)
{
toProcessLater.Add(inNode);
toRemove.Add(inNode);
}
//Chaque node accessible se voit ajouté outNode a sa liste de nodes sortantes
inNode.OutNodes.Add(outNode);
//On se prépare a retirer la node trouvée de remainingNode
}
}
nodes.Add(outNode);
}
//Retrait des nodes trouvées de remainingNodes
foreach (Node nod in toRemove)
{
remainingNodes.Remove(nod);
}
toProcess.Clear();
toProcess.AddRange(toProcessLater);
toProcessLater.Clear();
Console.Out.WriteLine("cout : " + toProcess.Count);
}
}