public int FindContainingNode(int x, int y)
{
for (int i = 0; i < NumNodes; ++i)
{
WaypointAStarNode n = _nodes[i];
if (x >= n.x && x < n.x + n.size && y >= n.y && y < n.y + n.size)
{
return(i);
}
}
return(-1);
}
public void LoadFromTileMap(TileMap tileMap, int nodeSizeX, int nodeSizeY)
{
List <WaypointAStarNode> genNodes = new List <WaypointAStarNode>();
int width = (tileMap.Width + nodeSizeX - 1) / nodeSizeX;
int height = (tileMap.Height + nodeSizeY - 1) / nodeSizeY;
int[] cover = new int[width * height];
int index = 0;
for (int y = 0; y < height; ++y)
{
for (int x = 0; x < width; ++x, ++index)
{
cover[index] = (IsPassable(tileMap, x * nodeSizeX, y * nodeSizeY, nodeSizeX, nodeSizeY) ? 0 : -1);
}
}
int nodeCount = 0;
index = 0;
while (index < width * height)
{
if (cover[index] == 0)
{
int x = index % width;
int y = index / width;
++nodeCount;
cover[index] = nodeCount;
int size = 1;
while (x + size < width && y + size < height)
{
bool passable = true;
for (int i = 0; i <= size && passable; ++i)
{
if (cover[x + i + (y + size) * width] != 0 || cover[x + size + (y + i) * width] != 0)
{
passable = false;
}
}
if (passable)
{
for (int i = 0; i <= size; ++i)
{
cover[x + i + (y + size) * width] = cover[x + size + (y + i) * width] = nodeCount;
}
++size;
}
else
{
break;
}
}
WaypointAStarNode node = new WaypointAStarNode();
node.x = x;
node.y = y;
node.size = size;
node.neighbors = new List <int>();
genNodes.Add(node);
}
++index;
}
for (int i = 0; i < genNodes.Count; ++i)
{
WaypointAStarNode a = genNodes[i];
int llax = a.x - 1;
int llay = a.y - 1;
int urax = a.x + a.size;
int uray = a.y + a.size;
for (int j = i + 1; j < genNodes.Count; ++j)
{
WaypointAStarNode b = genNodes[j];
int llbx = b.x;
int llby = b.y;
int urbx = b.x + b.size - 1;
int urby = b.y + b.size - 1;
if (llax <= urbx && llay <= urby && urax >= llbx && uray >= llby)
{
genNodes[i].neighbors.Add(j);
genNodes[j].neighbors.Add(i);
}
}
}
_nodes = genNodes.ToArray();
}
