public List <PointF> FindPath(GameField field, PointF b)
{
PointF roundedPosition = new PointF(
(float)Math.Round(WorldPosition.X),
(float)Math.Round(WorldPosition.Y));
PointF roundedTarget = new PointF(
(float)Math.Round(b.X),
(float)Math.Round(b.Y));
int startCellNum = field.cells.IndexOf(roundedPosition);
int targetCellNum = field.cells.IndexOf(roundedTarget);
if (startCellNum == -1 || targetCellNum == -1)
{
return(new List <PointF>());
}
// Queue<List<int>> open = new Queue<List<int>>();
List <int> p = new List <int> {
startCellNum
};
List <PathA> open = new List <PathA>();
open.Add(new PathA(p, 0));
bool[] visited = new bool[field.cells.Count];
bool pathFound = false;
while (open.Count != 0)
{
PathA current = open.Min();
open.Remove(current);
p = current.P;
int v = current.P[p.Count - 1];
if (visited[v])
{
continue;
}
visited[v] = true;
if (v == targetCellNum)
{
pathFound = true;
break;
}
List <int> acident = field.GetAllAccidentCells(v);
foreach (var nextV in acident)
{
var gCost = field.GCost(v, nextV);
var hCost = field.HCost(nextV, targetCellNum);
int f = gCost + current.Cost + hCost;
List <int> nextPath = new List <int>(p);
nextPath.Add(nextV);
open.Add(new PathA(nextPath, f));
}
}
if (!pathFound)
{
return(new List <PointF> {
field.cells[field.cells.Count - 1]
});
}
foreach (var node in p)
{
path.Add(field.cells[node]);
}
path.RemoveRange(0, 1);
return(path);
}
public MegaBoy(GameField field, double health = 100) : base(field, health)
{
Sprite = Form1.MyImageList.Images["MegaBoy.png"];
Reward = Configs.MegaBoyReward;
scale = 2;
}