//---------------------------------------------------------------------------------------------
public void RemoveDiagonalCorners(PathNode parent, PathBuilder builder)
{
int count = this.Count;
for (int i = count - 1; i >= 0; i--)
{
PathNode current = this[i];
if (current.DiagonalToParent)
{
PathNodeList currentAdje = builder.FindAdjacentNodes(current);
currentAdje.MergePossible(this);
if (currentAdje.Count == 1 || currentAdje.Count == 0)
{
this.RemoveAt(i);
}
}
}
}
public bool ComputePath(PathNode start, PathNode end, int fromDistance)
{
OpenNodes = new PathNodeList();
CloseNodes = new PathNodeList();
PathNode current = start;
start.G = 0;
start.H = ComputeH(start, end);
if (!OpenNodes.ContainsNode(start))
{
OpenNodes.Add(start);
}
bool finish = false;
bool result = false;
if (!this.PossibleNodes.ContainsNode(start))
{
this.PossibleNodes.Add(start);
}
if (!this.PossibleNodes.ContainsNode(end))
{
this.PossibleNodes.Add(end);
}
while (!finish && Searchs < 10000)
{
Searchs++;
OpenNodes.Remove(current);
if (!CloseNodes.ContainsNode(current))
{
CloseNodes.Add(current);
}
PathNodeList searchNodes = FindAdjacentNodes(current);
foreach (PathNode node in searchNodes)
{
if (!this.PossibleNodes.ContainsNode(node))
{
this.PossibleNodes.Add(node);
}
}
searchNodes.MergePossible(this.PossibleNodes);
searchNodes.RemoveDiagonalCorners(current, this);
if (searchNodes.Count > 0)
{
searchNodes.MergeIdent(CloseNodes);
}
else
{
PathNodeList adjNodes = FindAdjacentNodes(current);
foreach (PathNode adj in adjNodes)
{
PathNode sNode = this.PossibleNodes.FindNode(adj.X, adj.Y);
if (sNode == null)
{
sNode = adj;
this.PossibleNodes.Add(sNode);
}
sNode.Walkable = null;
searchNodes.Add(sNode);
}
searchNodes.RemoveDiagonalCorners(current, this);
}
searchNodes.NormalizeReferences(OpenNodes);
PathNode bestNode = null;
foreach (PathNode searchNode in searchNodes)
{
if (!OpenNodes.ContainsNode(searchNode))
{
searchNode.Parent = current;
searchNode.H = ComputeH(searchNode, end);
searchNode.G = ComputeG(searchNode.Parent, searchNode);
OpenNodes.Add(searchNode);
}
else if (searchNode.G > (current.G + (searchNode.DiagonalToParent ? 14 : 10)))
{
searchNode.Parent = current;
searchNode.H = ComputeH(searchNode, end);
searchNode.G = ComputeG(searchNode.Parent, searchNode);
}
}
foreach (PathNode openNode in OpenNodes)
{
if (bestNode == null || (openNode.F < bestNode.F))
{
bestNode = openNode;
}
}
if (bestNode == null)
{
finish = true;
}
else if (bestNode.H == (fromDistance * 10))
{
OpenNodes.Remove(bestNode);
if (!CloseNodes.ContainsNode(bestNode))
{
CloseNodes.Add(bestNode);
}
bestNode.Finish = true;
result = true;
finish = true;
}
current = bestNode;
}
return(result);
}
