public static float?GetTileCost(PathfindingArgs pathfindingArgs, PathfindingNode start, PathfindingNode end)
{
if (!pathfindingArgs.NoClip && !Traversable(pathfindingArgs.CollisionMask, pathfindingArgs.Access, end))
{
return(null);
}
if (!pathfindingArgs.AllowSpace && end.TileRef.Tile.IsEmpty)
{
return(null);
}
var cost = 1.0f;
switch (pathfindingArgs.AllowDiagonals)
{
case true:
cost *= OctileDistance(end, start);
break;
// Manhattan distance
case false:
cost *= ManhattanDistance(end, start);
break;
}
return(cost);
}
public static bool DirectionTraversable(int collisionMask, ICollection <string> access, PathfindingNode currentNode, Direction direction)
{
// If it's a diagonal we need to check NSEW to see if we can get to it and stop corner cutting, NE needs N and E etc.
// Given there's different collision layers stored for each node in the graph it's probably not worth it to cache this
// Also this will help with corner-cutting
PathfindingNode northNeighbor = null;
PathfindingNode southNeighbor = null;
PathfindingNode eastNeighbor = null;
PathfindingNode westNeighbor = null;
foreach (var neighbor in currentNode.GetNeighbors())
{
if (neighbor.TileRef.X == currentNode.TileRef.X &&
neighbor.TileRef.Y == currentNode.TileRef.Y + 1)
{
northNeighbor = neighbor;
continue;
}
if (neighbor.TileRef.X == currentNode.TileRef.X + 1 &&
neighbor.TileRef.Y == currentNode.TileRef.Y)
{
eastNeighbor = neighbor;
continue;
}
if (neighbor.TileRef.X == currentNode.TileRef.X &&
neighbor.TileRef.Y == currentNode.TileRef.Y - 1)
{
southNeighbor = neighbor;
continue;
}
if (neighbor.TileRef.X == currentNode.TileRef.X - 1 &&
neighbor.TileRef.Y == currentNode.TileRef.Y)
{
westNeighbor = neighbor;
continue;
}
}
switch (direction)
{
case Direction.NorthEast:
if (northNeighbor == null || eastNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, northNeighbor) ||
!Traversable(collisionMask, access, eastNeighbor))
{
return(false);
}
break;
case Direction.NorthWest:
if (northNeighbor == null || westNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, northNeighbor) ||
!Traversable(collisionMask, access, westNeighbor))
{
return(false);
}
break;
case Direction.SouthWest:
if (southNeighbor == null || westNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, southNeighbor) ||
!Traversable(collisionMask, access, westNeighbor))
{
return(false);
}
break;
case Direction.SouthEast:
if (southNeighbor == null || eastNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, southNeighbor) ||
!Traversable(collisionMask, access, eastNeighbor))
{
return(false);
}
break;
}
return(true);
}
public static float ManhattanDistance(PathfindingNode endNode, PathfindingNode currentNode)
{
return(Math.Abs(currentNode.TileRef.X - endNode.TileRef.X) + Math.Abs(currentNode.TileRef.Y - endNode.TileRef.Y));
}
/// <summary>
/// This will reconstruct the path and fill in the tile holes as well
/// </summary>
/// <param name="cameFrom"></param>
/// <param name="current"></param>
/// <returns></returns>
public static Queue <TileRef> ReconstructJumpPath(Dictionary <PathfindingNode, PathfindingNode> cameFrom, PathfindingNode current)
{
var running = new Stack <TileRef>();
running.Push(current.TileRef);
while (cameFrom.ContainsKey(current))
{
var previousCurrent = current;
current = cameFrom[current];
var intermediate = previousCurrent;
cameFrom.Remove(previousCurrent);
var pathfindingSystem = IoCManager.Resolve <IEntitySystemManager>().GetEntitySystem <PathfindingSystem>();
var mapManager = IoCManager.Resolve <IMapManager>();
var grid = mapManager.GetGrid(current.TileRef.GridIndex);
// Get all the intermediate nodes
while (true)
{
var xOffset = 0;
var yOffset = 0;
if (intermediate.TileRef.X < current.TileRef.X)
{
xOffset += 1;
}
else if (intermediate.TileRef.X > current.TileRef.X)
{
xOffset -= 1;
}
else
{
xOffset = 0;
}
if (intermediate.TileRef.Y < current.TileRef.Y)
{
yOffset += 1;
}
else if (intermediate.TileRef.Y > current.TileRef.Y)
{
yOffset -= 1;
}
else
{
yOffset = 0;
}
intermediate = pathfindingSystem.GetNode(grid.GetTileRef(
new Vector2i(intermediate.TileRef.X + xOffset, intermediate.TileRef.Y + yOffset)));
if (intermediate.TileRef != current.TileRef)
{
// Hacky corner cut fix
running.Push(intermediate.TileRef);
continue;
}
break;
}
running.Push(current.TileRef);
}
var result = new Queue <TileRef>(running);
return(result);
}
public static Queue <TileRef> ReconstructPath(Dictionary <PathfindingNode, PathfindingNode> cameFrom, PathfindingNode current)
{
var running = new Stack <TileRef>();
running.Push(current.TileRef);
while (cameFrom.ContainsKey(current))
{
var previousCurrent = current;
current = cameFrom[current];
cameFrom.Remove(previousCurrent);
running.Push(current.TileRef);
}
var result = new Queue <TileRef>(running);
return(result);
}
public static bool Traversable(int collisionMask, ICollection <string> access, PathfindingNode node)
{
if ((collisionMask & node.BlockedCollisionMask) != 0)
{
return(false);
}
foreach (var reader in node.AccessReaders)
{
if (!reader.IsAllowed(access))
{
return(false);
}
}
return(true);
}
public static bool DirectionTraversable(int collisionMask, ICollection <string> access, PathfindingNode currentNode, Direction direction)
{
// If it's a diagonal we need to check NSEW to see if we can get to it and stop corner cutting, NE needs N and E etc.
// Given there's different collision layers stored for each node in the graph it's probably not worth it to cache this
// Also this will help with corner-cutting
currentNode.Neighbors.TryGetValue(Direction.North, out var northNeighbor);
currentNode.Neighbors.TryGetValue(Direction.South, out var southNeighbor);
currentNode.Neighbors.TryGetValue(Direction.East, out var eastNeighbor);
currentNode.Neighbors.TryGetValue(Direction.West, out var westNeighbor);
switch (direction)
{
case Direction.NorthEast:
if (northNeighbor == null || eastNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, northNeighbor) ||
!Traversable(collisionMask, access, eastNeighbor))
{
return(false);
}
break;
case Direction.NorthWest:
if (northNeighbor == null || westNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, northNeighbor) ||
!Traversable(collisionMask, access, westNeighbor))
{
return(false);
}
break;
case Direction.SouthWest:
if (southNeighbor == null || westNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, southNeighbor) ||
!Traversable(collisionMask, access, westNeighbor))
{
return(false);
}
break;
case Direction.SouthEast:
if (southNeighbor == null || eastNeighbor == null)
{
return(false);
}
if (!Traversable(collisionMask, access, southNeighbor) ||
!Traversable(collisionMask, access, eastNeighbor))
{
return(false);
}
break;
}
return(true);
}
