public ConnectivityNodeWrapper(ConnectivityNode node, float heuristic)
{
this.node = node;
parent = null;
this.heurisitc = heuristic;
pathType = PathType.Free;
}
public ConnectivityNodeWrapper(ConnectivityNode node, float timeCost, float heuristic, ConnectivityNodeWrapper parent, PathType pathType)
{
this.node = node;
this.parent = parent;
totalTimeCost = parent.totalTimeCost + timeCost;
this.heurisitc = totalTimeCost + heuristic;
this.pathType = pathType;
}
private PathWaypoint getPath(SortedVector2List <Platform> platforms, CollidableObj start, CollidableObj end, int jumpStrength, int xVelocity, float gravity, PathWaypoint curWapoint = null)
{
Dictionary <Vector2, ConnectivityNodeWrapper> exploredSet = new Dictionary <Vector2, ConnectivityNodeWrapper>();
Dictionary <Vector2, ConnectivityNodeWrapper> openSet = new Dictionary <Vector2, ConnectivityNodeWrapper>();
MinHeap <ConnectivityNodeWrapper> queue = new MinHeap <ConnectivityNodeWrapper>(delegate(ConnectivityNodeWrapper n1, ConnectivityNodeWrapper n2)
{
if (n1.heurisitc < n2.heurisitc)
{
return(-1);
}
else if (n1.heurisitc == n2.heurisitc)
{
return(0);
}
else
{
return(1);
}
});
List <Vector2> res;
ConnectivityNodeWrapper curNode;
if (curWapoint != null && !(connectivityGraph.ContainsKey((int)curWapoint.position.X) && connectivityGraph[(int)curWapoint.position.X].ContainsKey((int)curWapoint.position.Y)))
{
curWapoint = null;
}
if (curWapoint != null)
{
curNode = new ConnectivityNodeWrapper(connectivityGraph[(int)curWapoint.position.X][(int)curWapoint.position.Y], calculateHeuristic(curWapoint.position, end.Position, xVelocity, jumpStrength));
}
else
{
res = getClosestNodeKeyForPosition(platforms, start, start.Position, end.Position, gravity, xVelocity);
if (res == null)
{
return(null);
}
foreach (Vector2 vec in res)
{
ConnectivityNodeWrapper cnw = new ConnectivityNodeWrapper(connectivityGraph[(int)vec.X][(int)vec.Y], calculateHeuristic(vec, end.Position, xVelocity, jumpStrength));
queue.add(cnw);
openSet.Add(cnw.node.position, cnw);
}
curNode = queue.peek();
queue.pop();
openSet.Remove(curNode.node.position);
}
res = getClosestNodeKeyForPosition(platforms, end, end.Position, end.Position, gravity, xVelocity, jumpStrength);
if (res == null)
{
return(null);
}
ConnectivityNode endNode = connectivityGraph[(int)res[0].X][(int)res[0].Y];
int it = 0;
while (curNode != endNode)
{
foreach (ConnectivityPath path in curNode.node.connections)
{
if (!exploredSet.ContainsKey(path.endNode.position))
{
bool jumpPath = path.jumpPath && path.jumpableStrengths[jumpStrength] && path.minXVel(jumpStrength, gravity) <= xVelocity;
bool straightPath = path.straightPath && (path.minXVel(0, gravity) <= xVelocity || path.walkable);
if (straightPath)
{
float h = calculateHeuristic(path.endNode.position, endNode.position, xVelocity, jumpStrength);
if (!openSet.ContainsKey(path.endNode.position))
{
ConnectivityNodeWrapper cnw = new ConnectivityNodeWrapper(path.endNode, path.getStraightPathCost(xVelocity, gravity), h, curNode, PathType.Straight);
queue.add(cnw);
openSet.Add(cnw.node.position, cnw);
}
else if (openSet[path.endNode.position].heurisitc > h)
{
ConnectivityNodeWrapper cnw = new ConnectivityNodeWrapper(path.endNode, path.getStraightPathCost(xVelocity, gravity), h, curNode, PathType.Straight);
queue.add(cnw);
openSet[path.endNode.position] = cnw;
}
}
else if (jumpPath)
{
queue.add(new ConnectivityNodeWrapper(path.endNode, path.jumpCosts[jumpStrength], calculateHeuristic(path.endNode.position, endNode.position, xVelocity, jumpStrength), curNode, PathType.Jump));
}
}
}
exploredSet.Add(curNode.node.position, curNode);
++it;
if (it == 20)
{
return(null);
}
do
{
if (queue.empty())
{
return(null);
}
curNode = queue.peek();
queue.pop();
} while (exploredSet.ContainsKey(curNode.node.position));
}
PathWaypoint pathWaypoint = new PathWaypoint(new Vector2(end.Position.X, end.getBot()), null, PathType.Free);
while (curNode != (object)null)
{
pathWaypoint = new PathWaypoint(curNode.node.position, pathWaypoint, curNode.pathType);
curNode = curNode.parent;
}
if (curWapoint != null)
{
pathWaypoint = pathWaypoint.nextWaypoint;
}
return(pathWaypoint);
}
