public bool Equals(Node other)
{
if (ReferenceEquals(null, other))
{
return false;
}
if (ReferenceEquals(this, other))
{
return true;
}
return other.Index == this.Index && other.Position.Equals(this.Position) && Equals(other.Parent, this.Parent) && other.Walkable.Equals(this.Walkable) && other.G == this.G && other.H == this.H;
}
public AStar(int[,] levelMap, int tileSize)
{
this.tileSize = tileSize;
this.Nodes = new List<Node>();
verticalTileCount = levelMap.GetUpperBound(0) + 1;
horizontalTileCount = levelMap.GetUpperBound(1) + 1;
for (var i = 0; i < levelMap.Length; i++)
{
var node = new Node(i) { Position = this.IndexToCenterPosition(i) };
if (levelMap[i / this.horizontalTileCount, i % this.horizontalTileCount] == 0)
{
node.Walkable = true;
}
this.Nodes.Add(node);
}
}
private int ComputeCostG(Node sourceNode, Node targetNode)
{
// Vertical or horizontal -> Cost 10
if (sourceNode.Index == targetNode.Index + 1 ||
sourceNode.Index == targetNode.Index - 1 ||
sourceNode.Index == targetNode.Index + horizontalTileCount ||
sourceNode.Index == targetNode.Index - horizontalTileCount)
{
return 10;
}
// Diagonal -> Cost 14
return 14;
}
private Node SolvePathCore(Node startNode, Node endNode)
{
this.openList.Clear();
this.closedList.Clear();
startNode.Parent = null;
this.openList.Add(startNode);
startNode.G = 0;
startNode.H = this.ComputeCostH(startNode, endNode);
while (this.openList.Count > 0)
{
var current = this.openList.OrderBy(node => node.F).First();
if (current == endNode)
{
return current;
}
this.openList.Remove(current);
this.closedList.Add(current);
foreach (var neighbour in this.GetNeighbourNodes(current))
{
var g_score_temp = current.G + this.ComputeCostG(current, neighbour);
if (this.closedList.Contains(neighbour) && g_score_temp < neighbour.G)
{
neighbour.G = g_score_temp;
neighbour.Parent = current;
}
else if (this.openList.Contains(neighbour) && g_score_temp < neighbour.G)
{
neighbour.G = g_score_temp;
neighbour.Parent = current;
}
else if (!this.openList.Contains(neighbour) && !this.closedList.Contains(neighbour))
{
this.openList.Add(neighbour);
neighbour.Parent = current;
neighbour.G = current.G + this.ComputeCostG(neighbour, current);
neighbour.H = this.ComputeCostH(neighbour, endNode);
}
}
}
return null;
}
private void ReconstructPath(Node node)
{
if (node == null)
{
this.path = new Queue<Vector2>();
return;
}
var current = node.Parent;
while (current != null && !IsPathFound)
{
this.path.Enqueue(current.Position);
this.ReconstructPath(current);
}
IsPathFound = true;
}
private IEnumerable<Node> GetNeighbourNodes(Node current)
{
var nodeIndices = new List<int>();
//var nodeIndices = new List<int>
// {
// this.GetNodeIndexN(current.Index),
// this.GetNodeIndexNE(current.Index),
// this.GetNodeIndexE(current.Index),
// this.GetNodeIndexSE(current.Index),
// this.GetNodeIndexS(current.Index),
// this.GetNodeIndexSW(current.Index),
// this.GetNodeIndexW(current.Index),
// this.GetNodeIndexNW(current.Index),
// };
if (this.GetNodeIndexN(current.Index) != -1)
{
nodeIndices.Add(this.GetNodeIndexN(current.Index));
}
else
{
nodeIndices.Add(this.GetNodeIndexNW(current.Index));
nodeIndices.Add(this.GetNodeIndexN(current.Index));
nodeIndices.Add(this.GetNodeIndexNE(current.Index));
}
if (this.GetNodeIndexE(current.Index) != -1)
{
nodeIndices.Add(this.GetNodeIndexE(current.Index));
}
else
{
nodeIndices.Add(this.GetNodeIndexNE(current.Index));
nodeIndices.Add(this.GetNodeIndexE(current.Index));
nodeIndices.Add(this.GetNodeIndexSE(current.Index));
}
if (this.GetNodeIndexS(current.Index) != -1)
{
nodeIndices.Add(this.GetNodeIndexS(current.Index));
}
else
{
nodeIndices.Add(this.GetNodeIndexSE(current.Index));
nodeIndices.Add(this.GetNodeIndexS(current.Index));
nodeIndices.Add(this.GetNodeIndexSW(current.Index));
}
if (this.GetNodeIndexW(current.Index) != -1)
{
nodeIndices.Add(this.GetNodeIndexW(current.Index));
}
else
{
nodeIndices.Add(this.GetNodeIndexSW(current.Index));
nodeIndices.Add(this.GetNodeIndexW(current.Index));
nodeIndices.Add(this.GetNodeIndexNW(current.Index));
}
// Native List<T>.RemoveAll() not supported on Xbox360
nodeIndices.RemoveAll2(nodeIndex => nodeIndex == -1);
var adjacentNodes = this.Nodes.Where(node => nodeIndices.Contains(node.Index) && node.Walkable);
return adjacentNodes.ToList();
}
private int ComputeCostH(Node sourceNode, Node targetNode)
{
var targetX = targetNode.Index % horizontalTileCount;
var targetY = targetNode.Index / horizontalTileCount;
var sourceX = sourceNode.Index % horizontalTileCount;
var sourceY = sourceNode.Index / horizontalTileCount;
// Manhattan method
return 10*(Math.Abs(targetX - sourceX) + Math.Abs(targetY - sourceY));
}
