/// <summary>
/// Finds the shortest path from the given start to the given goal.
/// Does not include the "start" pos in the list.
/// Returns "null" if a path wasn't found.
/// IMPORTANT: The returned list is reused for other calls to this method,
/// so treat it as a temp variable!
/// </summary>
/// <param name="heuristicCalc">
/// The heuristic/path length calculator,
/// or "null" if the default one (manhattan distance) should be used.
/// </param>
public List <Vector2i> FindPath(Vector2i start, Pathfinding.Goal <Vector2i> goal,
Pathfinding.PathFinder <Vector2i> .CostCalculator heuristicCalc = null)
{
return(FindPath(start, goal, tempPath, heuristicCalc) ?
tempPath :
null);
}
public static void InitializeLayerPathing(ConfigSettings config, Polygons extraPathingConsideration, List <ExtruderLayers> extruders)
{
for (int layerIndex = 0; layerIndex < extruders[0].Layers.Count; layerIndex++)
{
if (MatterSlice.Canceled)
{
return;
}
LogOutput.Log("Generating Outlines {0}/{1}\n".FormatWith(layerIndex + 1, extruders[0].Layers.Count));
long avoidInset = config.ExtrusionWidth_um * 3 / 2;
var allOutlines = new Polygons();
for (int extruderIndex = 0; extruderIndex < extruders.Count; extruderIndex++)
{
allOutlines.AddRange(extruders[extruderIndex].Layers[layerIndex].AllOutlines);
}
var boundary = allOutlines.GetBounds();
var extraBoundary = extraPathingConsideration.GetBounds();
boundary.ExpandToInclude(extraBoundary);
boundary.Inflate(config.ExtrusionWidth_um * 10);
var pathFinder = new Pathfinding.PathFinder(allOutlines, avoidInset, boundary, config.AvoidCrossingPerimeters);
// assign the same pathing to all extruders for this layer
for (int extruderIndex = 0; extruderIndex < extruders.Count; extruderIndex++)
{
extruders[extruderIndex].Layers[layerIndex].PathFinder = pathFinder;
}
}
}
public static void Initialize()
{
_boardTiles = new BoardTile();
SetUpTheTiles();
Figures = new FigureGraph();
AllFigures = new List <Figure>();
_activeAllyFigures = new List <Figure>();
_activeEnemyFigures = new List <Figure>();
Pathfinding.PathFinder pathFindingAlgorithm = new Pathfinding.PathFinder(new Dijkstra(8, 8, 8));
pathFindingAlgorithm.SetGraph(Figures);
MatchManager.Instance.OnStateChage += matchState =>
{
switch (matchState)
{
case Enums.MatchState.Preparation:
RecoverFromBattle();
List <Figure> sacrifices = new List <Figure>();
foreach (Figure figure in AllFigures)
{
sacrifices.AddRange(CheckForUpgrades(figure, false));
}
foreach (Figure figure in sacrifices)
{
AllFigures.Remove(figure);
}
foreach (Figure figure in _activeEnemyFigures)
{
figure.Destroy();
}
break;
case Enums.MatchState.Disposal:
SellExcessFigures();
break;
case Enums.MatchState.Stretching:
PrepareForBattle();
break;
case Enums.MatchState.Battle:
if (_activeAllyFigures.Count == 0)
{
TakeDamage();
}
break;
}
};
_pieceCounter = new PieceCounter();
}
/// <summary>
/// Outputs the shortest path from the given start to the given goal
/// into the "outPath" list.
/// Does not include the "start" pos in the list.
/// Returns whether a path was actually found.
/// </summary>
/// <param name="heuristicCalc">
/// The heuristic/path length calculator,
/// or "null" if the default one (manhattan distance) should be used.
/// </param>
public bool FindPath(Vector2i start, Pathfinding.Goal <Vector2i> goal,
List <Vector2i> outPath,
Pathfinding.PathFinder <Vector2i> .CostCalculator heuristicCalc = null)
{
if (heuristicCalc == null)
{
pathing.CalcCosts = Graph.AStarEdgeCalc;
}
else
{
pathing.CalcCosts = heuristicCalc;
}
return(pathing.FindPath(start, goal, float.PositiveInfinity, false, outPath));
}
private void CommonInit()
{
Groups = new Group.GroupSet(this);
IsPaused = new Stat <bool, Map>(this, false);
pathingGraph = new Graph(this);
pathing = new Pathfinding.PathFinder <Vector2i>(pathingGraph, null);
unitsByPos = new GridSet <Unit>(Tiles.Dimensions);
//When the tile grid changes size, reset "unitsByPos".
Tiles.OnTileGridReset += (grid, oldSize, newSize) =>
{
unitsByPos = new GridSet <Unit>(newSize);
foreach (Unit u in units)
{
unitsByPos.AddValue(u, u.Pos);
}
};
}
