public static Point3D[] FindWaypoints(Mobile m, Map map, Point3D start, Point3D goal)
{
DateTime s = DateTime.Now;
if (m_Nodes == null)
return null; // sanity check
if (!SameIsland(start, goal))
return null;
if (!Utility.InRange(start, goal, 512))
return null;
SearchNodeHeap open = new SearchNodeHeap();
ArrayList closed = new ArrayList();
SectorNode goalnode = m_Nodes[goal.X >> Map.SectorShift, goal.Y >> Map.SectorShift];
open.Add(new SearchNode(m_Nodes[start.X >> Map.SectorShift, start.Y >> Map.SectorShift], null, 0, goal));
while (open.Count > 0)
{
SearchNode curnode = open.Pop();
closed.Add(curnode);
if (curnode.SectorNode == goalnode)
break;
for (int i = 0; i < curnode.SectorNode.NumLinks; i++)
{
SearchNode newnode = new SearchNode(curnode.SectorNode.Links[i], curnode, curnode.G + curnode.SectorNode.Distances[i], goal);
if (closed.Contains(newnode))
continue;
SearchNode existing = open.FindMatch(newnode);
if (existing == null)
open.Add(newnode);
else if (newnode.G < existing.G)
open.Adjust(newnode);
// else skip
}
}
SearchNode sn = (SearchNode)closed[closed.Count - 1];
if (sn.SectorNode == goalnode)
{
Stack nodes = new Stack();
while (sn != null)
{
closed.Remove(sn);
nodes.Push(sn);
sn = sn.Parent;
}
Point3D[] points = new Point3D[nodes.Count + 1];
for (int i = 0; i < points.Length - 1; i++)
points[i] = ((SearchNode)nodes.Pop()).SectorNode.Point;
points[points.Length - 1] = goal;
return points;
}
return null;
}
public static Point3D[] FindWaypoints(Mobile m, Map map, Point3D start, Point3D goal)
{
DateTime s = DateTime.Now;
if (m_Nodes == null)
{
return(null); // sanity check
}
if (!SameIsland(start, goal))
{
return(null);
}
if (!Utility.InRange(start, goal, 512))
{
return(null);
}
SearchNodeHeap open = new SearchNodeHeap();
ArrayList closed = new ArrayList();
SectorNode goalnode = m_Nodes[goal.X >> Map.SectorShift, goal.Y >> Map.SectorShift];
open.Add(new SearchNode(m_Nodes[start.X >> Map.SectorShift, start.Y >> Map.SectorShift], null, 0, goal));
while (open.Count > 0)
{
SearchNode curnode = open.Pop();
closed.Add(curnode);
if (curnode.SectorNode == goalnode)
{
break;
}
for (int i = 0; i < curnode.SectorNode.NumLinks; i++)
{
SearchNode newnode = new SearchNode(curnode.SectorNode.Links[i], curnode, curnode.G + curnode.SectorNode.Distances[i], goal);
if (closed.Contains(newnode))
{
continue;
}
SearchNode existing = open.FindMatch(newnode);
if (existing == null)
{
open.Add(newnode);
}
else if (newnode.G < existing.G)
{
open.Adjust(newnode);
}
// else skip
}
}
SearchNode sn = (SearchNode)closed[closed.Count - 1];
if (sn.SectorNode == goalnode)
{
Stack nodes = new Stack();
while (sn != null)
{
closed.Remove(sn);
nodes.Push(sn);
sn = sn.Parent;
}
Point3D[] points = new Point3D[nodes.Count + 1];
for (int i = 0; i < points.Length - 1; i++)
{
points[i] = ((SearchNode)nodes.Pop()).SectorNode.Point;
}
points[points.Length - 1] = goal;
return(points);
}
return(null);
}
