public static List <Grid.Row> BresenhamLine(Grid grid, Grid.Row start, Grid.Row end)
{
int x0, y0, x1, y1;
x0 = (int)start.position.x;
x1 = (int)end.position.x;
y0 = (int)start.position.y;
y1 = (int)end.position.y;
List <Grid.Row> result = new List <Grid.Row>();
bool steep = Math.Abs(y1 - y0) > Math.Abs(x1 - x0);
if (steep)
{
Swap(ref x0, ref y0);
Swap(ref x1, ref y1);
}
if (x0 > x1)
{
Swap(ref x0, ref x1);
Swap(ref y0, ref y1);
}
int deltax = x1 - x0;
int deltay = Math.Abs(y1 - y0);
int error = 0;
int ystep;
int y = y0;
if (y0 < y1)
{
ystep = 1;
}
else
{
ystep = -1;
}
for (int x = x0; x <= x1; x++)
{
if (steep)
{
result.Add(grid.Rows[y, x]);
}
else
{
result.Add(grid.Rows[x, y]);
}
error += deltay;
if (2 * error >= deltax)
{
y += ystep;
error -= deltax;
}
}
return(result);
}
private static List <Grid.Row> RowGetBestPath(Grid grid, Grid.Row start, Grid.Row end, GridPosition[] occupied, float maxCost = 9999)
{
List <Grid.Row> closed = new List <Grid.Row>();
List <RowPath> open = new List <RowPath>();
RowPath originPath = new RowPath();
originPath.AddRow(start);
open.Add(originPath);
while (open.Count > 0)
{
open = open.OrderBy(x => x.costOfPath).ToList();
RowPath current = open[0];
open.Remove(open[0]);
if (closed.Contains(current.lastRow))
{
continue;
}
if (current.lastRow == end)
{
current.listOfRows.Distinct();
current.listOfRows.Remove(start);
if (current.listOfRows.Count > maxCost)
{
return(null);
}
return(current.listOfRows);
}
closed.Add(current.lastRow);
foreach (Grid.Row t in current.lastRow.GetNeighbors(grid))
{
if (t.impassible || occupied.Contains(t.position) || t.occuped || System.Math.Abs(t.height - current.lastRow.height) > 1)
{
continue;
}
RowPath newRowPath = new RowPath(current);
newRowPath.AddRow(t);
open.Add(newRowPath);
}
}
return(null);
}
public static bool Occlusion(Grid grid, Grid.Row start, Grid.Row end)
{
List <Grid.Row> inRange = BresenhamLine(grid, start, end);
inRange = inRange.OrderBy(x => DistancePoints(start.position, x.position)).ToList();
Grid.Row last = null;
bool isDown = false;
for (int i = 0; i < inRange.Count; i++)
{
if (inRange[i] != start)
{
if (last != null && last.height > start.height && inRange[i].height < last.height)
{
isDown = true;
}
//if (isDown == true && inRange[i].height >= start.height && last.height <= inRange[i].height)
// isDown = false;
if (isDown == true /* && inRange[i] == end*/)
{
return(true);
}
if (inRange[i].impassible)
{
return(true);
}
if (inRange[i].occuped)
{
if (end != inRange[i])
{
return(true);
}
}
}
last = inRange[i];
}
return(false);
}
public static List <Grid.Row> GetBestPath(Grid grid, Grid.Row start, Grid.Row end, float maxCost = 9999)
{
return(RowGetBestPath(grid, start, end, new GridPosition[0], maxCost));
}
public void AddStaticRow(Grid.Row t)
{
costOfPath += 1;
listOfRows.Add(t);
lastRow = t;
}
public void AddRow(Grid.Row t)
{
costOfPath += t.movementCost;
listOfRows.Add(t);
lastRow = t;
}
public RowPath(RowPath tp)
{
listOfRows = tp.listOfRows.ToList();
costOfPath = tp.costOfPath;
lastRow = tp.lastRow;
}