public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, EndNodeUnWalkableTreatment iAllowEndNodeUnWalkable = EndNodeUnWalkableTreatment.Allow, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.Euclidean)
: base(iGrid, iStartPos, iEndPos, iDiagonalMovement, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.Loop;
}
public JumpPointParam(BaseGrid iGrid, EndNodeUnWalkableTreatment iAllowEndNodeUnWalkable = EndNodeUnWalkableTreatment.ALLOW, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iMode)
{
CurEndNodeUnWalkableTreatment = iAllowEndNodeUnWalkable;
openList = new IntervalHeap <Node>();
CurIterationType = IterationType.LOOP;
}
public JumpPointParam(BaseGrid grid, EndNodeUnWalkableTreatment allowEndNodeUnWalkable = EndNodeUnWalkableTreatment.Allow, DiagonalMovement diagonalMovement = DiagonalMovement.Always, HeuristicMode mode = HeuristicMode.Euclidean)
: base(grid, diagonalMovement, mode)
{
CurEndNodeUnWalkableTreatment = allowEndNodeUnWalkable;
OpenList = new IntervalHeap <Node>();
CurIterationType = IterationType.Loop;
}
/// <summary>
/// Finds a path between 2 position on a map
/// </summary>
/// <param name="startPosition">Starting position</param>
/// <param name="endPosition">Destination</param>
/// <param name="map">Game map currently being used</param>
/// <param name="endNodeUnWalkable"></param>
/// <returns>A list of Vector2 waypoints that the object must traverse to get to its destination</returns>
internal Stack <Vector2> FindPath(Vector2 startPosition, Vector2 endPosition, ref Map.Map map, EndNodeUnWalkableTreatment endNodeUnWalkable = EndNodeUnWalkableTreatment.DISALLOW)
{
if (!Map.Map.IsOnTop(endPosition) || !map.GetCollisionMap().GetWalkabilityGrid().IsWalkableAt(VectorToGridPos(endPosition)))
{
return(new Stack <Vector2>());
}
var startGridPos = VectorToGridPos(startPosition);
var endGridPos = VectorToGridPos(endPosition);
if (ClearDirectPath(startGridPos.x, startGridPos.y, endGridPos.x, endGridPos.y, ref map))
{
var pathVector = new Stack <Vector2>(1);
pathVector.Push(endPosition);
return(pathVector);
}
else
{
if (mJpParam != null)
{
mJpParam.Reset(VectorToGridPos(startPosition), VectorToGridPos(endPosition));
}
else
{
mJpParam = new JumpPointParam(map.GetCollisionMap().GetWalkabilityGrid(),
startGridPos,
iDiagonalMovement: DiagonalMovement.OnlyWhenNoObstacles,
iEndPos: endGridPos,
iAllowEndNodeUnWalkable: endNodeUnWalkable,
iMode: HeuristicMode.MANHATTAN);
}
var pathGrid = JumpPointFinder.FindPath(mJpParam);
var pathVector = new Stack <Vector2>(pathGrid.Count);
pathVector.Push(endPosition);
for (var i = pathGrid.Count - 1; i > 0; i--)
{
var gridPos = GridPosToVector2(pathGrid[i]);
pathVector.Push(gridPos);
}
return(pathVector);
}
}
