public Node SetNode(int iX, int iY, int iZ, bool?iWalkable = null)
{
GridPos pos = new GridPos(iX, iY, iZ);
return(SetNode(pos, iWalkable));
}
protected void removeNode(int iX, int iY, int iZ)
{
GridPos pos = new GridPos(iX, iY, iZ);
removeNode(pos);
}
public Node GetNode(int iX, int iY, int iZ)
{
GridPos pos = new GridPos(iX, iY, iZ);
return(GetNode(pos));
}
public override bool IsWalkableAt(GridPos iPos)
{
return(m_nodes.ContainsKey(iPos));
}
public override bool SetWalkableAt(GridPos iPos, bool iWalkable)
{
return(SetWalkableAt(iPos.x, iPos.y, iPos.z, iWalkable));
}
public override Node GetNodeAt(int iX, int iY, int iZ)
{
GridPos pos = new GridPos(iX, iY, iZ);
return(GetNodeAt(pos));
}
public override bool IsWalkableAt(int iX, int iY, int iZ)
{
GridPos pos = new GridPos(iX, iY, iZ);
return(IsWalkableAt(pos));
}
/* UPPER MIDDLE LOWER
* ********************** ******************* **********************
* * tDU3 * tSU2 * tDU2 * * tD3 * tS2 * tD2 * * tDD3 * tSD2 * tDD2 *
* ********************** ******************* **********************
* * tSU3 * tS4 * tSU1 * * tS3 * Cur * tS1 * * tSD3 * tS5 * tSD1 *
* ********************** ******************* **********************
* * tDU0 * tSU0 * tDU1 * * tD0 * tS0 * tD1 * * tDD0 * tSD0 * tDD1 *
* ********************** ******************* **********************
*/
public List <Node> GetNeighbors(Node iNode, DiagonalMovement diagonalMovement)
{
int tX = iNode.x;
int tY = iNode.y;
int tZ = iNode.z;
List <Node> neighbors = new List <Node>();
bool tS0 = false, tD0 = false,
tS1 = false, tD1 = false,
tS2 = false, tD2 = false,
tS3 = false, tD3 = false,
tS4 = false,
tS5 = false,
tSU0 = false,
tSU1 = false,
tSU2 = false,
tSU3 = false,
tDU0 = false,
tDU1 = false,
tDU2 = false,
tDU3 = false,
tSD0 = false,
tSD1 = false,
tSD2 = false,
tSD3 = false,
tDD0 = false,
tDD1 = false,
tDD2 = false,
tDD3 = false;
GridPos pos = new GridPos();
if (this.IsWalkableAt(pos.Set(tX, tY - 1, tZ)))
{
neighbors.Add(GetNodeAt(pos));
tS0 = true;
}
if (this.IsWalkableAt(pos.Set(tX + 1, tY, tZ)))
{
neighbors.Add(GetNodeAt(pos));
tS1 = true;
}
if (this.IsWalkableAt(pos.Set(tX, tY + 1, tZ)))
{
neighbors.Add(GetNodeAt(pos));
tS2 = true;
}
if (this.IsWalkableAt(pos.Set(tX - 1, tY, tZ)))
{
neighbors.Add(GetNodeAt(pos));
tS3 = true;
}
if (this.IsWalkableAt(pos.Set(tX, tY, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
tS4 = true;
}
if (this.IsWalkableAt(pos.Set(tX, tY, tZ - 1)))
{
neighbors.Add(GetNodeAt(pos));
tS5 = true;
}
switch (diagonalMovement)
{
case DiagonalMovement.Always:
tD0 = true;
tD1 = true;
tD2 = true;
tD3 = true;
break;
case DiagonalMovement.Never:
break;
case DiagonalMovement.IfAtLeastOneWalkable:
tD0 = tS3 || tS0;
tD1 = tS0 || tS1;
tD2 = tS1 || tS2;
tD3 = tS2 || tS3;
break;
case DiagonalMovement.OnlyWhenNoObstacles:
tD0 = tS3 && tS0;
tD1 = tS0 && tS1;
tD2 = tS1 && tS2;
tD3 = tS2 && tS3;
break;
default:
break;
}
if (tD0 && this.IsWalkableAt(pos.Set(tX - 1, tY - 1, tZ)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tD0 = false;
}
if (tD1 && this.IsWalkableAt(pos.Set(tX + 1, tY - 1, tZ)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tD1 = false;
}
if (tD2 && this.IsWalkableAt(pos.Set(tX + 1, tY + 1, tZ)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tD2 = false;
}
if (tD3 && this.IsWalkableAt(pos.Set(tX - 1, tY + 1, tZ)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tD3 = false;
}
switch (diagonalMovement)
{
case DiagonalMovement.Always:
tSU0 = true;
tSU1 = true;
tSU2 = true;
tSU3 = true;
tSD0 = true;
tSD1 = true;
tSD2 = true;
tSD3 = true;
break;
case DiagonalMovement.Never:
break;
case DiagonalMovement.IfAtLeastOneWalkable:
tSU0 = tS0 || tS4;
tSU1 = tS1 || tS4;
tSU2 = tS2 || tS4;
tSU3 = tS3 || tS4;
tSD0 = tS0 || tS4;
tSD1 = tS1 || tS4;
tSD2 = tS2 || tS4;
tSD3 = tS3 || tS4;
break;
case DiagonalMovement.OnlyWhenNoObstacles:
tSU0 = tS0 && tS4;
tSU1 = tS1 && tS4;
tSU2 = tS2 && tS4;
tSU3 = tS3 && tS4;
tSD0 = tS0 && tS4;
tSD1 = tS1 && tS4;
tSD2 = tS2 && tS4;
tSD3 = tS3 && tS4;
break;
default:
break;
}
if (tSU0 && this.IsWalkableAt(pos.Set(tX, tY - 1, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSU0 = false;
}
if (tSU1 && this.IsWalkableAt(pos.Set(tX + 1, tY, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSU1 = false;
}
if (tSU2 && this.IsWalkableAt(pos.Set(tX, tY + 1, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSU2 = false;
}
if (tSU3 && this.IsWalkableAt(pos.Set(tX - 1, tY, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSU3 = false;
}
if (tSD0 && this.IsWalkableAt(pos.Set(tX, tY - 1, tZ - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSD0 = false;
}
if (tSD1 && this.IsWalkableAt(pos.Set(tX + 1, tY, tZ - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSD1 = false;
}
if (tSD2 && this.IsWalkableAt(pos.Set(tX, tY + 1, tZ - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSD2 = false;
}
if (tSD3 && this.IsWalkableAt(pos.Set(tX - 1, tY, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
else
{
tSD3 = false;
}
switch (diagonalMovement)
{
case DiagonalMovement.Always:
tDU0 = true;
tDU1 = true;
tDU2 = true;
tDU3 = true;
tDD0 = true;
tDD1 = true;
tDD2 = true;
tDD3 = true;
break;
case DiagonalMovement.Never:
break;
case DiagonalMovement.IfAtLeastOneWalkable:
tDU0 = tS0 || tS3 || tSU0 || tSU3; // || tD0 || tS4;
tDU1 = tS0 || tS1 || tSU0 || tSU1; // || tD1 || tS4;
tDU2 = tS2 || tS3 || tSU2 || tSU3; // || tD3 || tS4;
tDU3 = tS1 || tS2 || tSU1 || tSU2; // || tD2 || tS4;
tDD0 = tS0 || tS3 || tSD0 || tSD3; // || tD0 || tS5;
tDD1 = tS0 || tS1 || tSD0 || tSD1; // || tD1 || tS5;
tDD2 = tS2 || tS3 || tSD2 || tSD3; // || tD3 || tS5;
tDD3 = tS1 || tS2 || tSD1 || tSD2; // || tD2 || tS5;
break;
case DiagonalMovement.OnlyWhenNoObstacles:
tDU0 = tS0 && tS3 && tSU0 && tSU3 && tD0 && tS4;
tDU1 = tS0 && tS1 && tSU0 && tSU1 && tD1 && tS4;
tDU2 = tS2 && tS3 && tSU2 && tSU3 && tD3 && tS4;
tDU3 = tS1 && tS2 && tSU1 && tSU2 && tD2 && tS4;
tDD0 = tS0 && tS3 && tSD0 && tSD3 && tD0 && tS5;
tDD1 = tS0 && tS1 && tSD0 && tSD1 && tD1 && tS5;
tDD2 = tS2 && tS3 && tSD2 && tSD3 && tD3 && tS5;
tDD3 = tS1 && tS2 && tSD1 && tSD2 && tD2 && tS5;
break;
default:
break;
}
if (tDU0 && this.IsWalkableAt(pos.Set(tX - 1, tY - 1, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tDU1 && this.IsWalkableAt(pos.Set(tX + 1, tY - 1, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tDU2 && this.IsWalkableAt(pos.Set(tX + 1, tY + 1, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tDU3 && this.IsWalkableAt(pos.Set(tX - 1, tY + 1, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tDD0 && this.IsWalkableAt(pos.Set(tX - 1, tY - 1, tZ - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tDD1 && this.IsWalkableAt(pos.Set(tX + 1, tY - 1, tZ - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tDD2 && this.IsWalkableAt(pos.Set(tX + 1, tY + 1, tZ - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tDD3 && this.IsWalkableAt(pos.Set(tX - 1, tY + 1, tZ + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
return(neighbors);
}
internal abstract void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null);
public abstract bool SetWalkableAt(GridPos iPos, bool iWalkable);
public abstract bool IsWalkableAt(GridPos iPos);
public abstract Node GetNodeAt(GridPos iPos);
internal override void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
}
public AStarParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, float iweight, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid, iStartPos, iEndPos, iDiagonalMovement, iMode)
{
Weight = iweight;
}