public void Run()
{
List<NodeConnection> connections = new List<NodeConnection>();
PathfindingNode nodeA = new PathfindingNode() { Identifier = "A" };
PathfindingNode nodeB = new PathfindingNode() { Identifier = "B" };
PathfindingNode nodeC = new PathfindingNode() { Identifier = "C" };
PathfindingNode nodeD = new PathfindingNode() { Identifier = "D" };
PathfindingNode nodeE = new PathfindingNode() { Identifier = "E" };
PathfindingNode nodeF = new PathfindingNode() { Identifier = "F" };
PathGraph pathFinder = new PathGraph();
pathFinder.AddConnection(nodeA, nodeB, 1);
pathFinder.AddConnection(nodeA, nodeC, 4);
pathFinder.AddConnection(nodeA, nodeD, 8);
pathFinder.AddConnection(nodeB, nodeC, 6);
pathFinder.AddConnection(nodeB, nodeC, 10);
pathFinder.AddConnection(nodeC, nodeD, 3);
pathFinder.AddConnection(nodeC, nodeE, 8);
pathFinder.AddConnection(nodeD, nodeE, 1);
pathFinder.RemoveAllConnectionsBetween(nodeA, nodeC);
pathFinder.RemoveAllConnectionsBetween(nodeD, nodeE);
List<PathfindingNode> fastestPath = pathFinder.FindRoute(nodeA, nodeE);
if (fastestPath == null)
{ Console.WriteLine("No path found!"); }
else
{
Console.WriteLine("Fastest route is:");
//while (fastestPath.Parent != null)
//{
// Console.WriteLine(fastestPath.Node + " cost " + fastestPath.Cost);
// fastestPath = fastestPath.Parent;
//}
for (int i = 0; i < fastestPath.Count; i++)
{
PathfindingNode node = fastestPath[i];
Console.WriteLine(i + ": " + node.Identifier);
}
}
}
/// <summary>
/// This method should be called when all of the traversable locations are entered. Note, do NOT place DOORs before calling
/// this method. Doors require actions to be traversable, so they would block the path.
/// </summary>
private PathGraph GeneratePathfindingGraph()
{
DateTime startTime = DateTime.Now;
PathGraph pathfindingGraph = new PathGraph();
//PathfindingNodes = new List<PathfindingNode>();
//PathfindingConnections = new List<NodeConnection>();
for (int y = 0; y < MAP_HEIGHT_IN_TILES; y++)
{
for (int x = 0; x < MAP_WIDTH_IN_TILES; x++)
{
String locationKey = GetKeyForLocation(x, y);
MapTileList locationTiles = GetMapTilesForLocation(x, y);
Boolean locationIsTraversable = true;
Boolean isTraversableNorth = true;
Boolean isTraversableEast = true;
Boolean isTraversableSouth = true;
Boolean isTraversableWest = true;
foreach(MapTile tile in locationTiles)
{
// If we have already determined that all paths are blocked, then there's no sense looping any further.
if (!locationIsTraversable || (!isTraversableNorth && !isTraversableEast && !isTraversableSouth && !isTraversableWest))
{ break; }
if (tile.BlocksMovement)
{ locationIsTraversable = false; }
if (tile.BlocksNorth)
{ isTraversableNorth = false; }
if (tile.BlocksEast)
{ isTraversableEast = false; }
if (tile.BlocksSouth)
{ isTraversableSouth = false; }
if (tile.BlocksWest)
{ isTraversableWest = false; }
}
if (locationIsTraversable) // Only add a node if the location itself may be moved on
{
System.Diagnostics.Debug.WriteLine("Location " + locationKey + " is traversable!");
PathfindingNode node = new PathfindingNode(locationKey);
_pathfindingPoints[node] = new Point(x, y);
pathfindingGraph.AddNode(node);
// Look for connections in all directions: North, East, South,
List<MapTile> connectingTiles;
Point connectingLocation = null;
String connectingKey = null;
PathfindingNode connectingNode = null;
Boolean isConnectionTraversable = false;
if (y > 0 && isTraversableNorth)
{
connectingLocation = new Point(x, y - 1);
connectingKey = GetKeyForPoint(connectingLocation);
connectingNode = pathfindingGraph.FindNodeByIdentifier(connectingKey);
if (connectingNode != null && !pathfindingGraph.HasDirectConnectionBetween(node, connectingNode))
{
connectingTiles = GetMapTilesForPoint(connectingLocation);
isConnectionTraversable = true;
foreach (MapTile tile in connectingTiles)
{
if (tile.BlocksMovement || tile.BlocksSouth)
{
isConnectionTraversable = false;
break;
}
}
if (isConnectionTraversable) // If both connections are valid, then link them!
{ pathfindingGraph.AddConnection(node, connectingNode, 1); }
}
}
if (y < MAP_HEIGHT_IN_TILES - 1 && isTraversableSouth)
{
connectingLocation = new Point(x, y + 1);
connectingKey = GetKeyForPoint(connectingLocation);
connectingNode = pathfindingGraph.FindNodeByIdentifier(connectingKey);
if (connectingNode != null && !pathfindingGraph.HasDirectConnectionBetween(node, connectingNode))
{
connectingTiles = GetMapTilesForPoint(connectingLocation);
isConnectionTraversable = true;
foreach (MapTile tile in connectingTiles)
{
if (tile.BlocksMovement || tile.BlocksNorth)
{
isConnectionTraversable = false;
break;
}
}
if (isConnectionTraversable) // If both connections are valid, then link them!
{ pathfindingGraph.AddConnection(node, connectingNode, 1); }
}
}
if (x > 0 && isTraversableWest)
{
connectingLocation = new Point(x - 1, y);
connectingKey = GetKeyForPoint(connectingLocation);
connectingNode = pathfindingGraph.FindNodeByIdentifier(connectingKey);
if (connectingNode != null && !pathfindingGraph.HasDirectConnectionBetween(node, connectingNode))
{
connectingTiles = GetMapTilesForPoint(connectingLocation);
isConnectionTraversable = true;
foreach (MapTile tile in connectingTiles)
{
if (tile.BlocksMovement || tile.BlocksEast)
{
isConnectionTraversable = false;
break;
}
}
if (isConnectionTraversable) // If both connections are valid, then link them!
{ pathfindingGraph.AddConnection(node, connectingNode, 1); }
}
}
if (x < MAP_WIDTH_IN_TILES-1 && isTraversableEast)
{
connectingLocation = new Point(x + 1, y);
connectingKey = GetKeyForPoint(connectingLocation);
connectingNode = pathfindingGraph.FindNodeByIdentifier(connectingKey);
if (connectingNode != null && !pathfindingGraph.HasDirectConnectionBetween(node, connectingNode))
{
connectingTiles = GetMapTilesForPoint(connectingLocation);
isConnectionTraversable = true;
foreach (MapTile tile in connectingTiles)
{
if (tile.BlocksMovement || tile.BlocksWest)
{
isConnectionTraversable = false;
break;
}
}
if (isConnectionTraversable) // If both connections are valid, then link them!
{ pathfindingGraph.AddConnection(node, connectingNode, 1); }
}
}
}
}
}
DateTime endTime = DateTime.Now;
TimeSpan duration = endTime.Subtract(startTime);
System.Diagnostics.Debug.WriteLine("CalculateNodesAndConnections duration: "+duration.TotalMilliseconds+"ms");
return pathfindingGraph;
}
public void CalculatePathfindingGraph()
{
PathfindingGraph = GeneratePathfindingGraph();
}