public List <UnitPoint> FindPath(UnitPoint startPt, UnitPoint endPt, bool passEndPoint = false)
{
if (_pathFinder == null)
{
return(null);
}
Point pStart = ScreenUtils.ConvertPoint(_canvas.ToScreen(startPt));
Point pEnd = ScreenUtils.ConvertPoint(_canvas.ToScreen(endPt));
if (pStart == pEnd || !EndPointIsValid(pStart) || !EndPointIsValid(pEnd))
{
return(null);
}
//if the canvas control'size has changed, we need to update the matrix
if (NeedReconstructMatrix())
{
m_pixelMatrix = null;
Init();
}
//-----------------------------------------------------------------------
#region debug
bool export = false;
if (export)
{
int nItems = m_pixelMatrix.GetUpperBound(0) + 1;
int maxX = -1, maxY = -1, minX = 100000, minY = 100000;
for (int ii = 0; ii < nItems; ++ii) //row
{
for (int jj = 0; jj < nItems; ++jj) //column
{
int val = m_pixelMatrix[jj, ii];
if (val != 0)
{
continue;
}
if (jj < minX)
{
minX = jj;
}
if (jj > maxX)
{
maxX = jj;
}
if (ii < minY)
{
minY = ii;
}
if (ii > maxY)
{
maxY = ii;
}
}
}
PointF tmpPt = new PointF(minX, minY);
UnitPoint pt1 = _canvas.ToUnit(tmpPt);
tmpPt = new PointF(maxX, maxY);
UnitPoint pt2 = _canvas.ToUnit(tmpPt);
for (int ii = 0; ii < nItems; ++ii)
{
for (int jj = 0; jj < nItems; ++jj)
{
int val = m_pixelMatrix[jj, ii];
Console.Write("{0},", val);
}
Console.Write("\n");
}
}
#endregion
//-----------------------------------------------------------------------
_pathFinder.FindPathStop();
List <PathFinderNode> path = _pathFinder.FindPath(pStart, pEnd);
if (path == null || path.Count < 1)
{
return(null);
}
List <PathFinderNode> cornerNodesPath = ExtractConnerNodes(path);
List <UnitPoint> allPts = new List <UnitPoint>();
PointF ptLeftBottom = PointF.Empty;
PointF ptRightTop = PointF.Empty;
foreach (var tmpNode in cornerNodesPath)
{
PointF pt = new PointF(tmpNode.X, tmpNode.Y);
UnitPoint convertedPt = _canvas.ToUnit(pt);
allPts.Add(convertedPt);
//get bounding box
if (ptLeftBottom == PointF.Empty)
{
ptLeftBottom.X = (float)convertedPt.X;
ptLeftBottom.Y = (float)convertedPt.Y;
ptRightTop.X = (float)convertedPt.X;
ptRightTop.Y = (float)convertedPt.Y;
}
else
{
if (convertedPt.X < ptLeftBottom.X)
{
ptLeftBottom.X = (float)convertedPt.X;
}
if (convertedPt.Y < ptLeftBottom.Y)
{
ptLeftBottom.Y = (float)convertedPt.Y;
}
if (convertedPt.X > ptRightTop.X)
{
ptRightTop.X = (float)convertedPt.X;
}
if (convertedPt.Y > ptRightTop.Y)
{
ptRightTop.Y = (float)convertedPt.Y;
}
}
}
_boundingBox = new RectangleF(ptLeftBottom,
new SizeF(ptRightTop.X - ptLeftBottom.X, ptRightTop.Y - ptLeftBottom.Y));
List <UnitPoint> snapedPts = SnapToStartEndNodes(allPts, startPt, endPt);
//List<UnitPoint> snapedPts = allPts;
return(snapedPts);
}
