public void repoint(int index, int parent, int f, int g)
{
if (g < Items[index].Gcost)
{
Items[index].Parent = parent;
Items[index].Fcost = f;
Items[index].Gcost = g;
int i = index + 1;
while (i != 1)
{
if (Items[i - 1].Fcost <= Items[i / 2 - 1].Fcost)
{
OpenItem temp = Items[i / 2 - 1];
Items[i / 2 - 1] = Items[i - 1];
Items[i - 1] = temp;
i /= 2;
}
else
{
break;
}
}
}
}
public void add_item(int index, int parent, int fcost, int gcost, bool accessible)
{
Current_Id += 1;
Size++;
if ((size) > Items.Count)
{
Items.Add(new OpenItem {
Id = Current_Id, Index = index, Parent = parent, Fcost = fcost, Gcost = gcost, Accessible = accessible
});
}
else
{
Items[size - 1] = new OpenItem {
Id = Current_Id, Index = index, Parent = parent, Fcost = fcost, Gcost = gcost, Accessible = accessible
}
};
int i = size;
while (i != 1)
{
if (fcost <= Items[i / 2 - 1].Fcost)
{
OpenItem temp = Items[i / 2 - 1];
Items[i / 2 - 1] = Items[i - 1];
Items[i - 1] = temp;
i /= 2;
}
else
{
break;
}
}
}
private void resort()
{
int i1 = 1;
for (; ;)
{
int i2 = i1;
if (i2 * 2 + 1 <= size)
{
if (Items[i2 - 1].Fcost >= Items[i2 * 2 - 1].Fcost)
{
i1 = i2 * 2;
}
if (Items[i1 - 1].Fcost >= Items[i2 * 2].Fcost)
{
i1 = i2 * 2 + 1;
}
}
else if (i2 * 2 <= size)
{
if (Items[i2 - 1].Fcost >= Items[i2 * 2 - 1].Fcost)
{
i1 = i2 * 2;
}
}
if (i1 != i2)
{
OpenItem temp = Items[i2 - 1];
Items[i2 - 1] = Items[i1 - 1];
Items[i1 - 1] = temp;
}
else
{
break;
}
}
}
public List <Tuple <int, T> > get_route(T target_loc, T loc, int mov = -1)
{
//int start_index = Objects.IndexOf(loc); //@Debug
//int end_index = Objects.IndexOf(target_loc);
int start_index = Objects.FindIndex(x => x.SameLocation(loc));
int end_index = Objects.FindIndex(x => x.SameLocation(target_loc));
if (start_index == -1 || end_index == -1)
{
return(null);
}
//Prepare pathfinding variables
OpenList open_list = new OpenList();
ClosedListRoute closed_list = new ClosedListRoute();
int temp_parent = -1;
int temp_index = -1;
int temp_f = 0;
int temp_g = 0;
int temp_h = 0;
bool temp_accessible = true;
bool route_found = false;
// Start pathfinding
temp_g = 0;
temp_h = distance(start_index, end_index);
temp_f = temp_g + temp_h;
open_list.add_item(start_index, temp_parent, temp_f, temp_g, temp_accessible);
for (; open_list.size > 0;)
{
OpenItem lowest_f_item = open_list.get_lowest_f_item();
temp_index = lowest_f_item.Index;
temp_parent = lowest_f_item.Parent;
temp_f = lowest_f_item.Fcost;
temp_g = lowest_f_item.Gcost;
temp_accessible = lowest_f_item.Accessible;
temp_parent = closed_list.add_item(temp_index, temp_parent, temp_f, temp_g, temp_accessible);
open_list.remove_open_item();
if (temp_index == end_index)
{
route_found = true;
break;
}
else
{
foreach (int test_index in Nodes[temp_index].Adjacent)
{
// If the checked location isn't the target but is off the map, and off the map is not allowed
if (test_index != end_index && (test_index >= Objects.Count || test_index < 0))
{
continue;
}
// If the location is already on the closed list
if (closed_list.search(test_index) > -1)
{
continue;
}
check_tile(test_index, temp_parent, mov, end_index, open_list, closed_list);
}
}
}
if (route_found)
{
return(closed_list.get_route(temp_parent)
.Select(x => new Tuple <int, T>(x, Objects[x]))
.Reverse()
.ToList());
}
return(null);
}
