public static IntPair[] FindPath(GridDelegate grid, int gridSizeX, int gridSizeY, IntPair start, IntPair end)
{
AStar <IntPair> .NeighborDelegate neighborDelegate = node => astarNeighbors(node, grid, gridSizeX, gridSizeY);
Func <IntPair, float> heuristic = node => (float)taxicab(node, end);
return(AStar <IntPair> .Solve(neighborDelegate, heuristic, start, end));
}
void changeGrid1(DataTable dt)
{
if (dataGridView1.InvokeRequired)
{
GridDelegate grid = new GridDelegate(changeGrid1);
dataGridView1.BeginInvoke(grid, new object[] { dt });
}
else
{
GetView.GetGridView(dt, dataGridView1);
}
}
void changeGrid2(DataTable dt)
{
if (dataGridView2.InvokeRequired)
{
GridDelegate grid = new GridDelegate(changeGrid2);
dataGridView2.BeginInvoke(grid, new object[] { dt });
}
else
{
dataGridView2.DataSource = null;
dataGridView2.DataSource = dt;
}
}
public static void RenderGrid(GridDelegate grid, int xSize, int ySize, Matrix4x4 localToWorld, Vector3 xvec, Vector3 yvec, Color color = default(Color))
{
CreateLineMaterial();
lineMaterial.SetPass(0);
GL.PushMatrix();
GL.MultMatrix(localToWorld);
GL.Begin(GL.LINES);
GL.Color(color);
// Draw grid squares
for (int x = 0; x < xSize; x++)
{
for (int y = 0; y < ySize; y++)
{
if (grid(x, y))
{
GL.Vertex(x * xvec + y * yvec);
GL.Vertex(x * xvec + (y + 1) * yvec);
GL.Vertex(x * xvec + y * yvec);
GL.Vertex((x + 1) * xvec + y * yvec);
GL.Vertex((x + 1) * xvec + y * yvec);
GL.Vertex((x + 1) * xvec + (y + 1) * yvec);
GL.Vertex(x * xvec + (y + 1) * yvec);
GL.Vertex((x + 1) * xvec + (y + 1) * yvec);
}
}
}
GL.End();
GL.PopMatrix();
}
private static IEnumerable <AStar <IntPair> .EdgeType> astarNeighbors(IntPair node, GridDelegate grid, int maxX, int maxY)
{
foreach (IntPair neighbor in neighborsOf(node, maxX, maxY))
{
if (!grid(neighbor.x, neighbor.y))
{
yield return(new AStar <IntPair> .EdgeType(node, neighbor, 1));
}
}
}
