public virtual void Initilize()
{
if (initialized)
{
Exception err = new Exception("ERROR: AIPathfinder.Initialize() - Can't initialize more then once!");
}
if (map == null)
{
Exception err = new Exception("ERROR: AIPathfinder.Initialize() - Set map before calling this method!");
}
if (character == null)
{
Exception err = new Exception("ERROR: AIPathfinder.Initilize() - Set character before calling this method!");
}
openQueue = new PriorityQueueB <AIPathfinderNode>(new AINodeComparer());
closeList = new List <AIPathfinderNode>();
if (grid == null)
{
grid = new byte[map.Width, map.Height];
// get the cost of each node as seend from character's perspective
for (int w = 0; w < map.Width; w++)
{
for (int h = 0; h < map.Height; h++)
{
grid[w, h] = character.TypeToCost(
map.Node(w, h).Type
);
}
}
}
parentNode = new AIPathfinderNode();
parentNode.G = 0;
parentNode.H = heuristicEstimateValue;
parentNode.F = parentNode.G + parentNode.H;
parentNode.X = startNode.X;
parentNode.Y = startNode.Y;
parentNode.PX = parentNode.X;
parentNode.PY = parentNode.Y;
initialized = true;
this.state = AIPathfinderState.Idle;
}
public void FillMapForAvoidDemo(ref AIMap mapToFill)
{
if (mapToFill == null)
{
return;
}
int X = mapToFill.Width / 2;
int Y = mapToFill.Height / 2;
mapToFill.Node(X, Y).Type = 0;
mapToFill.Node(X + 1, Y).Type = 0;
mapToFill.Node(X - 1, Y).Type = 0;
mapToFill.Node(X, Y + 1).Type = 0;
mapToFill.Node(X, Y - 1).Type = 0;
}
public void FillMap(ref AIMap mapToFill)
{
if (mapToFill == null)
{
return;
}
// node types:
// 0 - can't cross
// 1 - crossabe
Random rnd = new Random();
for (int index = 0; index < 1000; index++)
{
int X = (int)rnd.Next(mapToFill.Width - 1);
int Y = (int)rnd.Next(mapToFill.Height - 1);
mapToFill.Node(X, Y).Type = 0;
}
}