public List <PathFinderNode> FindPath(IVec3 start, IVec3 end)
{
lock (this)
{
HighResolutionTime.Start();
// Is faster if we don't clear the matrix, just assign different values for open and close and ignore the rest
// I could have user Array.Clear() but using unsafe code is faster, no much but it is.
//fixed (PathFinderNodeFast* pGrid = tmpGrid)
// ZeroMemory((byte*) pGrid, sizeof(PathFinderNodeFast) * 1000000);
mFound = false;
mStop = false;
mStopped = false;
mCloseNodeCounter = 0;
mOpenNodeValue += 2;
mCloseNodeValue += 2;
mOpen.Clear();
mClose.Clear();
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, start.x, start.y, PathFinderNodeType.Start, -1, -1);
}
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, end.x, end.y, PathFinderNodeType.End, -1, -1);
}
#endif
mLocation = (start.y << mGridYLog2) + start.x;
mEndLocation = (end.y << mGridYLog2) + end.x;
mCalcGrid[mLocation].G = 0;
mCalcGrid[mLocation].F = mHEstimate;
mCalcGrid[mLocation].PX = (ushort)start.x;
mCalcGrid[mLocation].PY = (ushort)start.y;
mCalcGrid[mLocation].Status = mOpenNodeValue;
mOpen.Push(mLocation);
while (mOpen.Count > 0 && !mStop)
{
mLocation = mOpen.Pop();
//Is it in closed list? means this node was already processed
if (mCalcGrid[mLocation].Status == mCloseNodeValue)
{
continue;
}
mLocationX = (ushort)(mLocation & mGridXMinus1);
mLocationY = (ushort)(mLocation >> mGridYLog2);
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, mLocation & mGridXMinus1, mLocation >> mGridYLog2, PathFinderNodeType.Current, -1, -1);
}
#endif
if (mLocation == mEndLocation)
{
mCalcGrid[mLocation].Status = mCloseNodeValue;
mFound = true;
break;
}
if (mCloseNodeCounter > mSearchLimit)
{
mStopped = true;
mCompletedTime = HighResolutionTime.GetTime();
return(null);
}
if (mPunishChangeDirection)
{
mHoriz = (mLocationX - mCalcGrid[mLocation].PX);
}
//Lets calculate each successors
for (int i = 0; i < (mDiagonals ? 8 : 4); i++)
{
mNewLocationX = (ushort)(mLocationX + mDirection[i, 0]);
mNewLocationY = (ushort)(mLocationY + mDirection[i, 1]);
mNewLocation = (mNewLocationY << mGridYLog2) + mNewLocationX;
if (mNewLocationX >= mGridX || mNewLocationY >= mGridY)
{
continue;
}
// Unbreakeable?
if (mGrid[mNewLocationX, mNewLocationY] == 0)
{
continue;
}
if (mHeavyDiagonals && i > 3)
{
mNewG = mCalcGrid[mLocation].G + (int)(mGrid[mNewLocationX, mNewLocationY] * 2.41);
}
else
{
mNewG = mCalcGrid[mLocation].G + mGrid[mNewLocationX, mNewLocationY];
}
if (mPunishChangeDirection)
{
if ((mNewLocationX - mLocationX) != 0)
{
if (mHoriz == 0)
{
mNewG += Math.Abs(mNewLocationX - end.x) + Math.Abs(mNewLocationY - end.y);
}
}
if ((mNewLocationY - mLocationY) != 0)
{
if (mHoriz != 0)
{
mNewG += Math.Abs(mNewLocationX - end.x) + Math.Abs(mNewLocationY - end.y);
}
}
}
//Is it open or closed?
if (mCalcGrid[mNewLocation].Status == mOpenNodeValue || mCalcGrid[mNewLocation].Status == mCloseNodeValue)
{
// The current node has less code than the previous? then skip this node
if (mCalcGrid[mNewLocation].G <= mNewG)
{
continue;
}
}
mCalcGrid[mNewLocation].PX = mLocationX;
mCalcGrid[mNewLocation].PY = mLocationY;
mCalcGrid[mNewLocation].G = mNewG;
switch (mFormula)
{
default:
case HeuristicFormula.Manhattan:
mH = mHEstimate * (Math.Abs(mNewLocationX - end.x) + Math.Abs(mNewLocationY - end.y));
break;
case HeuristicFormula.MaxDXDY:
mH = mHEstimate * (Math.Max(Math.Abs(mNewLocationX - end.x), Math.Abs(mNewLocationY - end.y)));
break;
case HeuristicFormula.DiagonalShortCut:
int h_diagonal = Math.Min(Math.Abs(mNewLocationX - end.x), Math.Abs(mNewLocationY - end.y));
int h_straight = (Math.Abs(mNewLocationX - end.x) + Math.Abs(mNewLocationY - end.y));
mH = (mHEstimate * 2) * h_diagonal + mHEstimate * (h_straight - 2 * h_diagonal);
break;
case HeuristicFormula.Euclidean:
mH = (int)(mHEstimate * Math.Sqrt(Math.Pow((mNewLocationY - end.x), 2) + Math.Pow((mNewLocationY - end.y), 2)));
break;
case HeuristicFormula.EuclideanNoSQR:
mH = (int)(mHEstimate * (Math.Pow((mNewLocationX - end.x), 2) + Math.Pow((mNewLocationY - end.y), 2)));
break;
case HeuristicFormula.Custom1:
IVec3 dxy = new IVec3();
dxy.Set(Math.Abs(end.x - mNewLocationX), Math.Abs(end.y - mNewLocationY), 0); //### fix z parameter
int Orthogonal = Math.Abs(dxy.x - dxy.y);
int Diagonal = Math.Abs(((dxy.x + dxy.y) - Orthogonal) / 2);
mH = mHEstimate * (Diagonal + Orthogonal + dxy.x + dxy.y);
break;
}
if (mTieBreaker)
{
int dx1 = mLocationX - end.x;
int dy1 = mLocationY - end.y;
int dx2 = start.x - end.x;
int dy2 = start.y - end.y;
int cross = Math.Abs(dx1 * dy2 - dx2 * dy1);
mH = (int)(mH + cross * 0.001);
}
mCalcGrid[mNewLocation].F = mNewG + mH;
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(mLocationX, mLocationY, mNewLocationX, mNewLocationY, PathFinderNodeType.Open, mCalcGrid[mNewLocation].F, mCalcGrid[mNewLocation].G);
}
#endif
//It is faster if we leave the open node in the priority queue
//When it is removed, it will be already closed, it will be ignored automatically
//if (tmpGrid[newLocation].Status == 1)
//{
// //int removeX = newLocation & gridXMinus1;
// //int removeY = newLocation >> gridYLog2;
// mOpen.RemoveLocation(newLocation);
//}
//if (tmpGrid[newLocation].Status != 1)
//{
mOpen.Push(mNewLocation);
//}
mCalcGrid[mNewLocation].Status = mOpenNodeValue;
}
mCloseNodeCounter++;
mCalcGrid[mLocation].Status = mCloseNodeValue;
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, mLocationX, mLocationY, PathFinderNodeType.Close, mCalcGrid[mLocation].F, mCalcGrid[mLocation].G);
}
#endif
}
mCompletedTime = HighResolutionTime.GetTime();
if (mFound)
{
mClose.Clear();
int posX = end.x;
int posY = end.y;
int posZ = end.z;
PathFinderNodeFast fNodeTmp = mCalcGrid[(end.y << mGridYLog2) + end.x];
PathFinderNode fNode;
fNode.F = fNodeTmp.F;
fNode.G = fNodeTmp.G;
fNode.H = 0;
fNode.PX = fNodeTmp.PX;
fNode.PY = fNodeTmp.PY;
fNode.PZ = fNodeTmp.PZ;
fNode.X = end.x;
fNode.Y = end.y;
fNode.Z = end.z;
while (fNode.X != fNode.PX || fNode.Y != fNode.PY)
{
mClose.Add(fNode);
#if DEBUGON
if (mDebugFoundPath && PathFinderDebug != null)
{
PathFinderDebug(fNode.PX, fNode.PY, fNode.X, fNode.Y, PathFinderNodeType.Path, fNode.F, fNode.G);
}
#endif
posX = fNode.PX;
posY = fNode.PY;
posZ = fNode.PZ;
fNodeTmp = mCalcGrid[(posY << mGridYLog2) + posX];
fNode.F = fNodeTmp.F;
fNode.G = fNodeTmp.G;
fNode.H = 0;
fNode.PX = fNodeTmp.PX;
fNode.PY = fNodeTmp.PY;
fNode.PZ = fNodeTmp.PZ;
fNode.X = posX;
fNode.Y = posY;
fNode.Z = posZ; //### fix for pathfinder to work in Z
}
mClose.Add(fNode);
#if DEBUGON
if (mDebugFoundPath && PathFinderDebug != null)
{
PathFinderDebug(fNode.PX, fNode.PY, fNode.X, fNode.Y, PathFinderNodeType.Path, fNode.F, fNode.G);
}
#endif
mStopped = true;
return(mClose);
}
mStopped = true;
return(null);
}
}
public List <PathFinderNode> FindPath(IVec3 start, IVec3 end)
{
Profiler.Start("Pathfinder.FindPath");
HighResolutionTime.Start();
PathFinderNode parentNode;
bool found = false;
int gridX = mGrid.GetGridWidth();
int gridY = mGrid.GetGridHeight();
mStop = false;
mStopped = false;
mOpen.Clear();
mClose.Clear();
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, start.x, start.y, PathFinderNodeType.Start, -1, -1);
}
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, end.x, end.y, PathFinderNodeType.End, -1, -1);
}
#endif
sbyte[,] direction;
if (mDiagonals)
{
direction = new sbyte[8, 2] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }, { 1, -1 }, { 1, 1 }, { -1, 1 }, { -1, -1 }
}
}
;
else
{
direction = new sbyte[4, 2] {
{ 0, -1 }, { 1, 0 }, { 0, 1 }, { -1, 0 }
}
};
parentNode.G = 0;
parentNode.H = mHEstimate;
parentNode.F = parentNode.G + parentNode.H;
parentNode.X = start.x;
parentNode.Y = start.y;
parentNode.Z = start.z;
parentNode.PX = parentNode.X;
parentNode.PY = parentNode.Y;
parentNode.PZ = parentNode.Z;
mOpen.Push(parentNode);
while (mOpen.Count > 0 && !mStop)
{
parentNode = mOpen.Pop();
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, parentNode.X, parentNode.Y, PathFinderNodeType.Current, -1, -1);
}
#endif
if (parentNode.X == end.x && parentNode.Y == end.y)
{
mClose.Add(parentNode);
found = true;
break;
}
if (mClose.Count > mSearchLimit)
{
mStopped = true;
Profiler.Stop("Pathfinder.FindPath");
return(null);
}
if (mPunishChangeDirection)
{
mHoriz = (parentNode.X - parentNode.PX);
}
//Lets calculate each successors
for (int i = 0; i < (mDiagonals ? 8 : 4); i++)
{
PathFinderNode newNode = new PathFinderNode();
newNode.X = parentNode.X + direction[i, 0];
newNode.Y = parentNode.Y + direction[i, 1];
newNode.Z = 0; //### FIX FOR PATHFINDING TO WORK IN Z
if (newNode.X < 0 || newNode.Y < 0 || newNode.X >= gridX || newNode.Y >= gridY)
{
continue;
}
int newG;
if (mHeavyDiagonals && i > 3)
{
newG = parentNode.G + (int)(mGrid.GetBlockedValue(newNode) * 2.41);
}
else
{
newG = parentNode.G + mGrid.GetBlockedValue(newNode);
}
if (newG == parentNode.G)
{
//Unbrekeable
continue;
}
if (mPunishChangeDirection)
{
if ((newNode.X - parentNode.X) != 0)
{
if (mHoriz == 0)
{
newG += 20;
}
}
if ((newNode.Y - parentNode.Y) != 0)
{
if (mHoriz != 0)
{
newG += 20;
}
}
}
int foundInOpenIndex = -1;
for (int j = 0; j < mOpen.Count; j++)
{
if (mOpen[j].X == newNode.X && mOpen[j].Y == newNode.Y)
{
foundInOpenIndex = j;
break;
}
}
if (foundInOpenIndex != -1 && mOpen[foundInOpenIndex].G <= newG)
{
continue;
}
int foundInCloseIndex = -1;
for (int j = 0; j < mClose.Count; j++)
{
if (mClose[j].X == newNode.X && mClose[j].Y == newNode.Y)
{
foundInCloseIndex = j;
break;
}
}
if (foundInCloseIndex != -1 && mClose[foundInCloseIndex].G <= newG)
{
continue;
}
newNode.PX = parentNode.X;
newNode.PY = parentNode.Y;
newNode.PZ = parentNode.Z;
newNode.G = newG;
switch (mFormula)
{
default:
case HeuristicFormula.Manhattan:
newNode.H = mHEstimate * (Math.Abs(newNode.X - end.x) + Math.Abs(newNode.Y - end.y));
break;
case HeuristicFormula.MaxDXDY:
newNode.H = mHEstimate * (Math.Max(Math.Abs(newNode.X - end.x), Math.Abs(newNode.Y - end.y)));
break;
case HeuristicFormula.DiagonalShortCut:
int h_diagonal = Math.Min(Math.Abs(newNode.X - end.x), Math.Abs(newNode.Y - end.y));
int h_straight = (Math.Abs(newNode.X - end.x) + Math.Abs(newNode.Y - end.y));
newNode.H = (mHEstimate * 2) * h_diagonal + mHEstimate * (h_straight - 2 * h_diagonal);
break;
case HeuristicFormula.Euclidean:
newNode.H = (int)(mHEstimate * Math.Sqrt(Math.Pow((newNode.X - end.x), 2) + Math.Pow((newNode.Y - end.y), 2)));
break;
case HeuristicFormula.EuclideanNoSQR:
newNode.H = (int)(mHEstimate * (Math.Pow((newNode.X - end.x), 2) + Math.Pow((newNode.Y - end.y), 2)));
break;
case HeuristicFormula.Custom1:
IVec3 dxy = new IVec3();
dxy.Set(Math.Abs(end.x - newNode.X), Math.Abs(end.y - newNode.Y), 0); //### fix z
int Orthogonal = Math.Abs(dxy.x - dxy.y);
int Diagonal = Math.Abs(((dxy.x + dxy.y) - Orthogonal) / 2);
newNode.H = mHEstimate * (Diagonal + Orthogonal + dxy.x + dxy.y);
break;
}
if (mTieBreaker)
{
int dx1 = parentNode.X - end.x;
int dy1 = parentNode.Y - end.y;
int dx2 = start.x - end.x;
int dy2 = start.y - end.y;
int cross = Math.Abs(dx1 * dy2 - dx2 * dy1);
newNode.H = (int)(newNode.H + cross * 0.001);
}
newNode.F = newNode.G + newNode.H;
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(parentNode.X, parentNode.Y, newNode.X, newNode.Y, PathFinderNodeType.Open, newNode.F, newNode.G);
}
#endif
//It is faster if we leave the open node in the priority queue
//When it is removed, all nodes around will be closed, it will be ignored automatically
//if (foundInOpenIndex != -1)
// mOpen.RemoveAt(foundInOpenIndex);
//if (foundInOpenIndex == -1)
mOpen.Push(newNode);
}
mClose.Add(parentNode);
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
{
PathFinderDebug(0, 0, parentNode.X, parentNode.Y, PathFinderNodeType.Close, parentNode.F, parentNode.G);
}
#endif
}
mCompletedTime = HighResolutionTime.GetTime();
if (found)
{
PathFinderNode fNode = mClose[mClose.Count - 1];
for (int i = mClose.Count - 1; i >= 0; i--)
{
if (fNode.PX == mClose[i].X && fNode.PY == mClose[i].Y || i == mClose.Count - 1)
{
#if DEBUGON
if (mDebugFoundPath && PathFinderDebug != null)
{
PathFinderDebug(fNode.X, fNode.Y, mClose[i].X, mClose[i].Y, PathFinderNodeType.Path, mClose[i].F, mClose[i].G);
}
#endif
fNode = mClose[i];
}
else
{
mClose.RemoveAt(i);
}
}
mStopped = true;
mClose.RemoveAt(0); // we have duplicate path information
PathFinderNode endPFN = new PathFinderNode();
endPFN.PX = end.x;
endPFN.PY = end.y;
mClose.Add(endPFN);
Profiler.Stop("Pathfinder.FindPath");
return(mClose);
}
mStopped = true;
Profiler.Stop("Pathfinder.FindPath");
return(null);
}