//Add a node to a parent node, ignoring if impassable or already closed,
//adding if new, updating if new and better route
private RouteNode AddAdjacentNode(int dx, int dy, int cost, RouteNode parent)
{
int x = parent.X + dx;
int y = parent.Y + dy;
int newCost = parent.MovementCost + cost;
//Get terrain cost. -1 is not passable, 0 no cost, 1,2,3 etc higher cost
int terraincost = GetTerrainCost(x, y);
if (terraincost == -1)
{
return(null);
}
//Check if item has been added to the grid already
RouteNode existing = (RouteNode)mGrid.Item(x, y);
if (existing != null)
{
if (!existing.Closed && newCost < existing.MovementCost)
{
existing.MovementCost = newCost;
existing.TotalCost = existing.MovementCost + existing.Heuristic;
existing.Parent = parent;
mOpenList.Update(existing);
}
return(existing);
}
//Create a new node
RouteNode node = new RouteNode();
node.Parent = parent;
node.X = x;
node.Y = y;
node.MovementCost = newCost; //Add the cost to the parent cost
node.Heuristic = GetHeuristic(node);
node.TotalCost = node.MovementCost + node.Heuristic;
//Add terrain cost
node.MovementCost += terraincost;
node.TotalCost += terraincost;
//Set generation
node.Generation = mGeneration;
mGeneration++;
//Add to the open list and the grid
mOpenList.Push(node);
mGrid.Add(node);
return(node);
}
//Add a node to a parent node, ignoring if impassable or already closed,
//adding if new, updating if new and better route
private void AddAdjacentNode(int dx, int dy, int cost, RouteNode parent)
{
int x = parent.X + dx;
int y = parent.Y + dy;
int newCost = parent.MovementCost + cost;
//Get terrain cost. -1 is not passable, 0 no cost, 1,2,3 etc higher cost
int terraincost = GetTerrainCost(x, y);
if (terraincost == -1)
{
return;
}
//Check if item has been added to the grid already
RouteNode existing = _grid.Get(x, y);
if (existing != null)
{
if (!existing.Closed && newCost < existing.MovementCost)
{
existing.MovementCost = newCost;
existing.TotalCost = newCost + existing.Heuristic;
existing.Parent = parent;
if (_movementList.Contains(existing))
{
_movementList.Update(existing);
}
else
{
_openList.Update(existing);
}
}
return;
}
//Create a new node
RouteNode node = new RouteNode();
node.X = x;
node.Y = y;
//Set the parent after the location so that the Direction can be set correctly
node.Parent = parent;
node.MovementCost = newCost; //Add the cost to the parent cost
node.Heuristic = GetHeuristic(node);
node.TotalCost = newCost + node.Heuristic;
PushNode(node);
//Add to the grid
_grid.Add(x, y, node);
}
private void AddRectangleToTerrain(Rectangle rect, int terraincost)
{
//Round down rect
int x1 = Convert.ToInt32(rect.X / mGrain) * mGrain;
int y1 = Convert.ToInt32(rect.Y / mGrain) * mGrain;
int x2 = Convert.ToInt32(rect.Right / mGrain) * mGrain;
int y2 = Convert.ToInt32(rect.Bottom / mGrain) * mGrain;
//Add the top and bottom, if already exists then is ignored
for (int i = x1; i <= x2; i += mGrain)
{
mTerrain.Add(new TerrainNode(i, y1, terraincost));
mTerrain.Add(new TerrainNode(i, y2, terraincost));
}
//Add the left and right, if already exists then is ignored
for (int i = y1; i <= y2; i += mGrain)
{
mTerrain.Add(new TerrainNode(x1, i, terraincost));
mTerrain.Add(new TerrainNode(x2, i, terraincost));
}
}
