private void DrawRoute(Point end)
{
//DRAW MAP
//IXamlDirect xd = XamlDirect.GetDefault();
//var rec = xd.CreateInstance(XamlTypeIndex.Rectangle);
//var col = xd.GetXamlDirectObject(cvLayout);
for (int y = 0; y < Map.Instance.MAP_HEIGHT; y++)
{
for (int x = 0; x < Map.Instance.MAP_WIDTH; x++)
{
var wh = 40d;
var pt = new Point(x * wh, y * wh);
VisualNode vn = new VisualNode();
vn.Name = $"vnx{x}y{y}";
vn.SetValue(Canvas.LeftProperty, pt.X);
//xd.SetObjectProperty(rec, XamlPropertyIndex.Canvas_Left, pt.X);
vn.SetValue(Canvas.TopProperty, pt.Y);
//xd.SetObjectProperty(rec, XamlPropertyIndex.Canvas_Top, pt.Y);
vn.Width = wh;
//xd.SetObjectProperty(rec, XamlPropertyIndex.FrameworkElement_Width, wh);
vn.Height = wh;
//xd.SetObjectProperty(rec, XamlPropertyIndex.FrameworkElement_Height, wh);
vn.DrawPosition(x, y);
vn.SetDot(false);
vn.SetWall(Map.Instance.GetMap(x, y));
vn.SetPosition(x, y);
//vn.NodeClicked += Vn_NodeClicked;
cvLayout.Children.Add(vn);
//xd.AddToCollection(col, rec);
}
}
//START STAR SEARCH THROUGH MAP
AStarExample.Start(cvLayout, end);
}
static bool Pathfind(NodePosition startPos, NodePosition goalPos, AStarPathfinder pathfinder)
{
// Reset the allocated MapSearchNode pointer
pathfinder.InitiatePathfind();
// Create a start state
MapSearchNode nodeStart = pathfinder.AllocateMapSearchNode(startPos);
// Define the goal state
MapSearchNode nodeEnd = pathfinder.AllocateMapSearchNode(goalPos);
// Set Start and goal states
pathfinder.SetStartAndGoalStates(nodeStart, nodeEnd);
// Set state to Searching and perform the search
AStarPathfinder.SearchState searchState = AStarPathfinder.SearchState.Searching;
uint searchSteps = 0;
do
{
searchState = pathfinder.SearchStep();
searchSteps++;
}while (searchState == AStarPathfinder.SearchState.Searching);
// Search complete
bool pathfindSucceeded = (searchState == AStarPathfinder.SearchState.Succeeded);
if (pathfindSucceeded)
{
// Success
Path newPath = new Path();
int numSolutionNodes = 0; // Don't count the starting cell in the path length
// Get the start node
MapSearchNode node = pathfinder.GetSolutionStart();
newPath.Add(node.position);
++numSolutionNodes;
// Get all remaining solution nodes
for (; ;)
{
node = pathfinder.GetSolutionNext();
if (node == null)
{
break;
}
++numSolutionNodes;
newPath.Add(node.position);
// DRAW PATH TO GOAL
var vnName = $"vnx{node.position.x}y{node.position.y}";
VisualNode foundVisualNode = _visualGrid.FindName(vnName) as VisualNode;
foundVisualNode?.SetDot(true);
}
;
// Once you're done with the solution we can free the nodes up
pathfinder.FreeSolutionNodes();
Debug.WriteLine("Solution path length: " + numSolutionNodes);
Debug.WriteLine("Solution: " + newPath.ToString());
}
else if (searchState == AStarPathfinder.SearchState.Failed)
{
// FAILED, no path to goal
Debug.WriteLine("Pathfind FAILED!");
}
return(pathfindSucceeded);
}
