public Vertex2D GetExplorationNeighbour(Vertex2D current)
{
var currDist = minWaypointDistance(current);
var finder = new PathFinder2D <Vertex2D>
{
ConnectionProvider = new GridConnectionProvider()
{
Grid = provider.Grid, Heuristic = (a, b) => 0
},
StopCondition = n => minWaypointDistance(n) > WaypointDistance || Vector2.Distance(n.Position, current.Position) > 20
};
var path = finder.FindPath(current, new Vertex2D(new Vector2(4856984, 45684984)));
if (minWaypointDistance(current) > minWaypointDistance(path.Last()))
{
return(null);
}
if (path == null)
{
return(null);
}
return(path.Last());
//return provider.GetConnectedNodes(current).OrderBy(o => -minWaypointDistance(o)).FirstOrDefault();
}
private IEnumerable <Vertex2D> getConnectionsLeaped(PathFinder2D <Vertex2D> finder, Vertex2D getCameFrom, Vertex2D current)
{
//if (count > 20) yield break;
this.activeFinder = finder;
var dir = new Vector2(1, 0);
var right = new Vector2(0, 1);
Vertex2D nRight;
Vertex2D nLeft;
nRight = doJump(current, right, dir);
nLeft = doJump(current, -right, dir);
if (nRight != null)
{
yield return(nRight);
}
if (nLeft != null)
{
yield return(nLeft);
}
var top = findHorizontalJump(current, dir, right);
var bottom = findHorizontalJump(current, dir, right);
if (top != null)
{
yield return(top);
}
if (bottom != null)
{
yield return(bottom);
}
}
public IEnumerable <Vertex2D> GetConnectedNodes(PathFinder2D <Vertex2D> finder, Vertex2D current)
{
count++;
//var cameFrom = finder.GetCameFrom(current);
//if (cameFrom == null) return getConnectionsAll(current);
//return getConnectionsLeaped(finder, null, current);
return(getConnectionsAll(current));
}
public PathfinderVisualizer(DX11Game game, PathFinder2D <T> finder, Action <LineManager3DLines, T, Color4> renderFunction)
{
this.game = game;
this.renderFunction = renderFunction;
finder.Begin += finder_Begin;
finder.SelectNode += finder_SelectNode;
finder.EnqueueNode += finder_EnqueueNode;
//lines = new LineManager3DLines(game.Device);
//lines.SetMaxLines(1024 * 64);
}
public PathRendererSimulator()
{
Data = TW.Data.GetSingleton <MyData>();
p = new PathFinder2D <Vertex2D>();
viz = new PathfinderVisualizer <Vertex2D>(TW.Graphics, p,
delegate(LineManager3DLines lines, Vertex2D d, Color4 c)
{
TW.Graphics.LineManager3D.AddCenteredBox(
(d.Position.ToXZ() + new Vector3(0.5f, 0, 0.5f)) *
grid.NodeSize,
grid.NodeSize * 0.6f, c);
if (p.GetCameFrom(d) != null)
{
TW.Graphics.LineManager3D.AddLine((p.GetCameFrom(d).Position.ToXZ() + new Vector3(0.5f, 0, 0.5f)) *
grid.NodeSize, (d.Position.ToXZ() + new Vector3(0.5f, 0, 0.5f)) *
grid.NodeSize, c);
}
});
}
private void processWaypoints()
{
foreach (Waypoint wp in TW.Data.GetChangesOfType <Waypoint>().Where(c => c.Change == ModelChange.Added).Select(c => c.ModelObject))
{
var start = provider.GetVertex(wp.Position);
foreach (Waypoint wpTo in getWaypoints())
{
if (wpTo == wp)
{
continue;
}
var goal = provider.GetVertex(wpTo.Position);
var finder = new PathFinder2D <Vertex2D> {
ConnectionProvider = provider
};
finder.StopCondition = n => finder.GetCurrentCost(n) > WaypointDistance * 2f;
var path = finder.FindPath(start, goal);
if (path == null)
{
continue;
}
if (path.Last() != goal)
{
continue;
}
var edge = new Waypoint.Edge {
Target = wpTo, Distance = finder.GetCurrentCost(path[path.Count - 2])
};
wp.Edges.Add(edge);
}
}
}
public IEnumerable <Waypoint> GetConnectedNodes(PathFinder2D <Waypoint> finder, Waypoint current)
{
return(current.Edges.Select(e => e.Target));
}