public void ScoreSpot_Pather(Spot spotLinkedToCurrent, Spot destinationSpot, int currentSearchID, ILocationHeuristics locationHeuristics, PriorityQueue <Spot, float> prioritySpotQueue)
{
//score spots
float currentSearchSpotScore = currentSearchSpot.SearchScoreGet(currentSearchID);
float linkedSpotScore = 1E30f;
float new_score = currentSearchSpotScore + currentSearchSpot.GetDistanceTo(spotLinkedToCurrent) + TurnCost(currentSearchSpot, spotLinkedToCurrent);
if (locationHeuristics != null)
{
new_score += locationHeuristics.Score(currentSearchSpot.X, currentSearchSpot.Y, currentSearchSpot.Z);
}
if (spotLinkedToCurrent.IsFlagSet(Spot.FLAG_WATER))
{
new_score += 30;
}
if (spotLinkedToCurrent.SearchScoreIsSet(currentSearchID))
{
linkedSpotScore = spotLinkedToCurrent.SearchScoreGet(currentSearchID);
}
if (new_score < linkedSpotScore)
{
// shorter path to here found
spotLinkedToCurrent.traceBack = currentSearchSpot;
spotLinkedToCurrent.SearchScoreSet(currentSearchID, new_score);
prioritySpotQueue.Enqueue(spotLinkedToCurrent, -(new_score + spotLinkedToCurrent.GetDistanceTo(destinationSpot) * heuristicsFactor));
}
}
public void ScoreSpot_A_Star_With_Model_And_Gradient_Avoidance(Spot spotLinkedToCurrent, Spot destinationSpot, int currentSearchID, ILocationHeuristics locationHeuristics, PriorityQueue <Spot, float> prioritySpotQueue)
{
//score spot
float G_Score = currentSearchSpot.traceBackDistance + currentSearchSpot.GetDistanceTo(spotLinkedToCurrent); // the movement cost to move from the starting point A to a given square on the grid, following the path generated to get there.
float H_Score = spotLinkedToCurrent.GetDistanceTo2D(destinationSpot) * heuristicsFactor; // the estimated movement cost to move from that given square on the grid to the final destination, point B. This is often referred to as the heuristic, which can be a bit confusing. The reason why it is called that is because it is a guess. We really don�t know the actual distance until we find the path, because all sorts of things can be in the way (walls, water, etc.). You are given one way to calculate H in this tutorial, but there are many others that you can find in other articles on the web.
float F_Score = G_Score + H_Score;
if (spotLinkedToCurrent.IsFlagSet(Spot.FLAG_WATER))
{
F_Score += 30;
}
int score = GetTriangleClosenessScore(spotLinkedToCurrent.location);
score += GetTriangleGradiantScore(spotLinkedToCurrent.location, gradiantMax);
F_Score += score * 2;
if (!spotLinkedToCurrent.SearchScoreIsSet(currentSearchID) || F_Score < spotLinkedToCurrent.SearchScoreGet(currentSearchID))
{
// shorter path to here found
spotLinkedToCurrent.traceBack = currentSearchSpot;
spotLinkedToCurrent.traceBackDistance = G_Score;
spotLinkedToCurrent.SearchScoreSet(currentSearchID, F_Score);
prioritySpotQueue.Enqueue(spotLinkedToCurrent, -F_Score);
}
}
// Connect according to MPQ data
public Spot AddAndConnectSpot(Spot s)
{
s = AddSpot(s);
List <Spot> close = FindAllSpots(s.location, MaxStepLength);
if (!s.IsFlagSet(Spot.FLAG_MPQ_MAPPED))
{
foreach (Spot cs in close)
{
if (cs.HasPathTo(this, s) && s.HasPathTo(this, cs) || cs.IsBlocked())
{
}
else if (!triangleWorld.IsStepBlocked(s.X, s.Y, s.Z, cs.X, cs.Y, cs.Z, toonHeight, toonSize, null))
{
float mid_x = (s.X + cs.X) / 2;
float mid_y = (s.Y + cs.Y) / 2;
float mid_z = (s.Z + cs.Z) / 2;
float stand_z;
int flags;
if (triangleWorld.FindStandableAt(mid_x, mid_y, mid_z - WantedStepLength * .75f, mid_z + WantedStepLength * .75f, out stand_z, out flags, toonHeight, toonSize))
{
s.AddPathTo(cs);
cs.AddPathTo(s);
}
}
}
}
return(s);
}
public Spot TryAddSpot(Spot wasAt, Location isAt)
{
//if (IsUnderwaterOrInAir(isAt)) { return wasAt; }
Spot isAtSpot = FindClosestSpot(isAt, WantedStepLength);
if (isAtSpot == null)
{
isAtSpot = GetSpot(isAt);
if (isAtSpot == null)
{
Spot s = new Spot(isAt);
s = AddSpot(s);
isAtSpot = s;
}
if (isAtSpot.IsFlagSet(Spot.FLAG_BLOCKED))
{
isAtSpot.SetFlag(Spot.FLAG_BLOCKED, false);
Log("Cleared blocked flag");
}
if (wasAt != null)
{
wasAt.AddPathTo(isAtSpot);
isAtSpot.AddPathTo(wasAt);
}
List <Spot> sl = FindAllSpots(isAtSpot.location, MaxStepLength);
int connected = 0;
foreach (Spot other in sl)
{
if (other != isAtSpot)
{
other.AddPathTo(isAtSpot);
isAtSpot.AddPathTo(other);
connected++;
// Log(" connect to " + other.location);
}
}
Log("Learned a new spot at " + isAtSpot.location + " connected to " + connected + " other spots");
wasAt = isAtSpot;
}
else
{
if (wasAt != null && wasAt != isAtSpot)
{
// moved to an old spot, make sure they are connected
wasAt.AddPathTo(isAtSpot);
isAtSpot.AddPathTo(wasAt);
}
wasAt = isAtSpot;
}
return(wasAt);
}
public void CreateSpotsAroundSpot(Spot currentSearchSpot)
{
CreateSpotsAroundSpot(currentSearchSpot, currentSearchSpot.IsFlagSet(Spot.FLAG_MPQ_MAPPED));
}
