/// <summary>
/// Finds a path between two points.
/// </summary>
/// <param name="start">The start point.</param>
/// <param name="goal">The goal point.</param>
/// <param name="appendCollisionMap">A list of unwalkable points that will be joined with the original collision map.</param>
/// <returns></returns>
private List <AStar.PathFinderNode> FindPath(Point start, Point goal, List <Point> appendCollisionMap)
{
byte[,] mapCollisionMap = Core.Map.GetCollisionMap();
// Add solid collision component entities
foreach (var collision in EntityManager.GetComponents <Collision>())
{
if (collision.Solid && collision.Parent != this.Parent)
{
var pos = Grid.WorldToGrid(new Vector2(collision.Rectangle.X, collision.Rectangle.Y));
for (int x = 0; x < Math.Ceiling(collision.Rectangle.Width / (double)Grid.TileSize); x++)
{
for (int y = 0; y < Math.Ceiling(collision.Rectangle.Height / (double)Grid.TileSize); y++)
{
try
{
mapCollisionMap[pos.X + x, pos.Y + y] = 0;
}
catch
{
}
}
}
}
}
if (appendCollisionMap != null)
{
foreach (var point in appendCollisionMap)
{
mapCollisionMap[point.X, point.Y] = 0;
}
}
pathFinder = new AStar.PathFinderFast(mapCollisionMap);
pathFinder.Formula = AStar.HeuristicFormula.Manhattan;
pathFinder.Diagonals = false;
pathFinder.HeavyDiagonals = false;
pathFinder.HeuristicEstimate = 2;
pathFinder.PunishChangeDirection = false;
pathFinder.TieBreaker = false;
pathFinder.SearchLimit = 50000;
pathFinder.DebugProgress = false;
pathFinder.DebugFoundPath = false;
var _start = new System.Drawing.Point(start.X, start.Y);
var _goal = new System.Drawing.Point(goal.X, goal.Y);
//path = Core.PathFinder.FindPath(_start, _goal);
path = pathFinder.FindPath(_start, _goal);
if (path == null)
{
Debug.WriteLine(this.Parent.ToString() + ": Path not found!");
}
//this.CollisionMap = new byte[100, 100];
return(path);
}
/// <summary>
/// Finds a path between two points.
/// </summary>
/// <param name="start">The start point.</param>
/// <param name="goal">The goal point.</param>
/// <param name="appendCollisionMap">A list of unwalkable points that will be joined with the original collision map.</param>
/// <returns></returns>
private List<AStar.PathFinderNode> FindPath(Point start, Point goal, List<Point> appendCollisionMap)
{
byte[,] mapCollisionMap = Core.Map.GetCollisionMap();
// Add solid collision component entities
foreach (var collision in EntityManager.GetComponents<Collision>())
{
if (collision.Solid && collision.Parent != this.Parent)
{
var pos = Grid.WorldToGrid(new Vector2(collision.Rectangle.X, collision.Rectangle.Y));
for (int x = 0; x < Math.Ceiling(collision.Rectangle.Width / (double)Grid.TileSize); x++)
for (int y = 0; y < Math.Ceiling(collision.Rectangle.Height / (double)Grid.TileSize); y++)
{
try
{
mapCollisionMap[pos.X + x, pos.Y + y] = 0;
}
catch
{
}
}
}
}
if (appendCollisionMap != null)
foreach (var point in appendCollisionMap)
mapCollisionMap[point.X, point.Y] = 0;
pathFinder = new AStar.PathFinderFast(mapCollisionMap);
pathFinder.Formula = AStar.HeuristicFormula.Manhattan;
pathFinder.Diagonals = false;
pathFinder.HeavyDiagonals = false;
pathFinder.HeuristicEstimate = 2;
pathFinder.PunishChangeDirection = false;
pathFinder.TieBreaker = false;
pathFinder.SearchLimit = 50000;
pathFinder.DebugProgress = false;
pathFinder.DebugFoundPath = false;
var _start = new System.Drawing.Point(start.X, start.Y);
var _goal = new System.Drawing.Point(goal.X, goal.Y);
//path = Core.PathFinder.FindPath(_start, _goal);
path = pathFinder.FindPath(_start, _goal);
if (path == null)
Debug.WriteLine(this.Parent.ToString() + ": Path not found!");
//this.CollisionMap = new byte[100, 100];
return path;
}
