public Node SetNode(GridPos iPos, bool? iWalkable = null)
{
if (iWalkable.HasValue)
{
if (iWalkable.Value == true)
{
if (m_nodes.ContainsKey(iPos))
return m_nodes[iPos];
Node newNode = new Node(iPos.x, iPos.y, iWalkable);
m_nodes.Add(iPos, newNode);
return newNode;
}
else
{
removeNode(iPos);
}
}
else
{
Node newNode = new Node(iPos.x, iPos.y, true);
m_nodes.Add(iPos, newNode);
return newNode;
}
return null;
}
public JumpPointParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, bool iAllowEndNodeUnWalkable = true, bool iCrossCorner = true, bool iCrossAdjacentPoint = true, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
{
switch (iMode)
{
case HeuristicMode.MANHATTAN:
m_heuristic = new HeuristicDelegate(Heuristic.Manhattan);
break;
case HeuristicMode.EUCLIDEAN:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
case HeuristicMode.CHEBYSHEV:
m_heuristic = new HeuristicDelegate(Heuristic.Chebyshev);
break;
default:
m_heuristic = new HeuristicDelegate(Heuristic.Euclidean);
break;
}
m_allowEndNodeUnWalkable = iAllowEndNodeUnWalkable;
m_crossAdjacentPoint = iCrossAdjacentPoint;
m_crossCorner = iCrossCorner;
openList = new List<Node>();
m_searchGrid = iGrid;
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
if (m_endNode == null)
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
m_useRecursive = false;
}
public Node SetNode(GridPos iPos, bool? iWalkable = null)
{
if (iWalkable.HasValue)
{
if (iWalkable.Value == true)
{
Node retVal = null;
if (m_nodes.TryGetValue(iPos, out retVal))
{
return retVal;
}
Node newNode = new Node(iPos.x, iPos.y, iWalkable);
m_nodes.Add(iPos, newNode);
return newNode;
}
else
{
removeNode(iPos);
}
}
else
{
Node newNode = new Node(iPos.x, iPos.y, true);
m_nodes.Add(iPos, newNode);
return newNode;
}
return null;
}
public Node GetNode(GridPos iPos)
{
Node retVal = null;
m_nodes.TryGetValue(iPos, out retVal);
return retVal;
}
protected void removeNode(GridPos iPos)
{
if (m_nodes.ContainsKey(iPos))
m_nodes.Remove(iPos);
}
public override bool IsWalkableAt(int x, int y)
{
var pos = new GridPos(x, y);
return(IsWalkableAt(pos));
}
public override Node GetNodeAt(GridPos iPos)
{
if (!IsInside(iPos))
return null;
return m_nodePool.GetNode(iPos);
}
public override Node GetNodeAt(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
return GetNodeAt(pos);
}
public void Reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
openList.Clear();
m_startNode = null;
m_endNode = null;
if (iSearchGrid != null)
m_searchGrid = iSearchGrid;
m_searchGrid.Reset();
m_startNode = m_searchGrid.GetNodeAt(iStartPos.x, iStartPos.y);
m_endNode = m_searchGrid.GetNodeAt(iEndPos.x, iEndPos.y);
if (m_startNode == null)
m_startNode = new Node(iStartPos.x, iStartPos.y, true);
if (m_endNode == null)
m_endNode = new Node(iEndPos.x, iEndPos.y, true);
}
public List<Node> GetNeighbors(Node iNode, bool iCrossCorners, bool iCrossAdjacentPoint)
{
int tX = iNode.x;
int tY = iNode.y;
List<Node> neighbors = new List<Node>();
bool tS0 = false, tD0 = false,
tS1 = false, tD1 = false,
tS2 = false, tD2 = false,
tS3 = false, tD3 = false;
GridPos pos = new GridPos();
if (this.IsWalkableAt(pos.Set(tX, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
tS0 = true;
}
if (this.IsWalkableAt(pos.Set(tX + 1, tY)))
{
neighbors.Add(GetNodeAt(pos));
tS1 = true;
}
if (this.IsWalkableAt(pos.Set(tX, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
tS2 = true;
}
if (this.IsWalkableAt(pos.Set(tX - 1, tY)))
{
neighbors.Add(GetNodeAt(pos));
tS3 = true;
}
if (iCrossCorners && iCrossAdjacentPoint)
{
tD0 = true;
tD1 = true;
tD2 = true;
tD3 = true;
}
else if (iCrossCorners)
{
tD0 = tS3 || tS0;
tD1 = tS0 || tS1;
tD2 = tS1 || tS2;
tD3 = tS2 || tS3;
}
else
{
tD0 = tS3 && tS0;
tD1 = tS0 && tS1;
tD2 = tS1 && tS2;
tD3 = tS2 && tS3;
}
if (tD0 && this.IsWalkableAt(pos.Set(tX - 1, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD1 && this.IsWalkableAt(pos.Set(tX + 1, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD2 && this.IsWalkableAt(pos.Set(tX + 1, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD3 && this.IsWalkableAt(pos.Set(tX - 1, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
return neighbors;
}
public abstract bool SetWalkableAt(GridPos iPos, bool iWalkable);
public abstract bool IsWalkableAt(GridPos iPos);
public abstract Node GetNodeAt(GridPos iPos);
internal override void ResetInternal(GridPos startPos, GridPos endPos, BaseGrid searchGrid = null) => OpenList = new IntervalHeap <Node>(); //openList.Clear();
public override bool SetWalkableAt(GridPos pos, bool walkable) => SetWalkableAt(pos.X, pos.Y, walkable);
public override bool IsWalkableAt(GridPos pos) => nodes.ContainsKey(pos);
public override Node GetNodeAt(GridPos pos) => nodes.ContainsKey(pos) ? nodes[pos] : null;
public List <Node> GetNeighbors(Node iNode, DiagonalMovement diagonalMovement)
{
int tX = iNode.x;
int tY = iNode.y;
List <Node> neighbors = new List <Node>();
bool tS0 = false, tD0 = false,
tS1 = false, tD1 = false,
tS2 = false, tD2 = false,
tS3 = false, tD3 = false;
GridPos pos = new GridPos();
if (this.IsWalkableAt(pos.Set(tX, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
tS0 = true;
}
if (this.IsWalkableAt(pos.Set(tX + 1, tY)))
{
neighbors.Add(GetNodeAt(pos));
tS1 = true;
}
if (this.IsWalkableAt(pos.Set(tX, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
tS2 = true;
}
if (this.IsWalkableAt(pos.Set(tX - 1, tY)))
{
neighbors.Add(GetNodeAt(pos));
tS3 = true;
}
switch (diagonalMovement)
{
case DiagonalMovement.Always:
tD0 = true;
tD1 = true;
tD2 = true;
tD3 = true;
break;
case DiagonalMovement.Never:
break;
case DiagonalMovement.IfAtLeastOneWalkable:
tD0 = tS3 || tS0;
tD1 = tS0 || tS1;
tD2 = tS1 || tS2;
tD3 = tS2 || tS3;
break;
case DiagonalMovement.OnlyWhenNoObstacles:
tD0 = tS3 && tS0;
tD1 = tS0 && tS1;
tD2 = tS1 && tS2;
tD3 = tS2 && tS3;
break;
default:
break;
}
if (tD0 && this.IsWalkableAt(pos.Set(tX - 1, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD1 && this.IsWalkableAt(pos.Set(tX + 1, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD2 && this.IsWalkableAt(pos.Set(tX + 1, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD3 && this.IsWalkableAt(pos.Set(tX - 1, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
return(neighbors);
}
public abstract bool IsWalkableAt(GridPos iPos);
internal abstract void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null);
public override Node GetNodeAt(GridPos iPos)
{
if (m_nodes.ContainsKey(iPos))
{
return m_nodes[iPos];
}
return null;
}
public bool IsInside(GridPos iPos)
{
return(IsInside(iPos.x, iPos.y));
}
private static GridPos jumpLoop(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
GridPos retVal = null;
Stack<JumpSnapshot> stack = new Stack<JumpSnapshot>();
JumpSnapshot currentSnapshot = new JumpSnapshot();
JumpSnapshot newSnapshot = null;
currentSnapshot.iX = iX;
currentSnapshot.iY = iY;
currentSnapshot.iPx = iPx;
currentSnapshot.iPy = iPy;
currentSnapshot.stage = 0;
stack.Push(currentSnapshot);
while (stack.Count != 0)
{
currentSnapshot = stack.Pop();
switch (currentSnapshot.stage)
{
case 0:
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY))
{
retVal = null;
continue;
}
else if (iParam.SearchGrid.GetNodeAt(currentSnapshot.iX, currentSnapshot.iY).Equals(iParam.EndNode))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.tDx = currentSnapshot.iX - currentSnapshot.iPx;
currentSnapshot.tDy = currentSnapshot.iY - currentSnapshot.iPy;
currentSnapshot.jx = null;
currentSnapshot.jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal= new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1)))
{
retVal= new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY)))
{
retVal= new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 1;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY - 1)))
{
retVal= new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY - currentSnapshot.tDy)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal= new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 3;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
retVal = null;
break;
case 1:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 2;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 2:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 3:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 4;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 4:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
}
}
return retVal;
}
public override Node GetNodeAt(GridPos iPos)
{
return GetNodeAt(iPos.x, iPos.y);
}
public override bool SetWalkableAt(int iX, int iY, bool iWalkable)
{
if (!IsInside(iX,iY))
return false;
GridPos pos = new GridPos(iX, iY);
m_nodePool.SetNode(pos, iWalkable);
return true;
}
private static GridPos jump(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
if (!iParam.SearchGrid.IsWalkableAt(iX, iY))
{
return(null);
}
else if (iParam.SearchGrid.GetNodeAt(iX, iY).Equals(iParam.EndNode))
{
return(new GridPos(iX, iY));
}
int tDx = iX - iPx;
int tDy = iY - iPy;
GridPos jx = null;
GridPos jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - tDy) && !iParam.SearchGrid.IsWalkableAt(iX, iY - tDy)))
{
return(new GridPos(iX, iY));
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY - 1)))
{
return(new GridPos(iX, iY));
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX + 1, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX - 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - 1, iY)))
{
return(new GridPos(iX, iY));
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
jx = jump(iParam, iX + tDx, iY, iX, iY);
jy = jump(iParam, iX, iY + tDy, iX, iY);
if (jx != null || jy != null)
{
return(new GridPos(iX, iY));
}
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) || iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else if (iParam.CrossAdjacentPoint)
{
return(jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else
{
return(null);
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + tDy) && iParam.SearchGrid.IsWalkableAt(iX, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX + tDx, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + tDy) && iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) && !iParam.SearchGrid.IsWalkableAt(iX, iY + tDy)))
{
return(new GridPos(iX, iY));
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX, iY + 1) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(iX, iY - 1) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY - 1)))
{
return(new GridPos(iX, iY));
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY) && !iParam.SearchGrid.IsWalkableAt(iX + 1, iY - tDy)) ||
(iParam.SearchGrid.IsWalkableAt(iX - 1, iY) && !iParam.SearchGrid.IsWalkableAt(iX - 1, iY - tDy)))
{
return(new GridPos(iX, iY));
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
jx = jump(iParam, iX + tDx, iY, iX, iY);
jy = jump(iParam, iX, iY + tDy, iX, iY);
if (jx != null || jy != null)
{
return(new GridPos(iX, iY));
}
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) && iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else
{
return(null);
}
}
}
public override void Reset()
{
int rectCount=(m_gridRect.maxX-m_gridRect.minX) * (m_gridRect.maxY-m_gridRect.minY);
if (m_nodePool.Nodes.Count > rectCount)
{
GridPos travPos = new GridPos(0, 0);
for (int xTrav = m_gridRect.minX; xTrav <= m_gridRect.maxX; xTrav++)
{
travPos.x = xTrav;
for (int yTrav = m_gridRect.minY; yTrav <= m_gridRect.maxY; yTrav++)
{
travPos.y = yTrav;
Node curNode=m_nodePool.GetNode(travPos);
if (curNode!=null)
curNode.Reset();
}
}
}
else
{
foreach (KeyValuePair<GridPos, Node> keyValue in m_nodePool.Nodes)
{
keyValue.Value.Reset();
}
}
}
public override Node GetNodeAt(int x, int y)
{
var pos = new GridPos(x, y);
return(GetNodeAt(pos));
}
public override bool SetWalkableAt(GridPos iPos, bool iWalkable)
{
return SetWalkableAt(iPos.x, iPos.y, iWalkable);
}
protected void removeNode(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
removeNode(pos);
}
protected void removeNode(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
removeNode(pos);
}
public Node GetNode(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
return(GetNode(pos));
}
public Node GetNode(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
return GetNode(pos);
}
public Node SetNode(int iX, int iY, bool?iWalkable = null)
{
GridPos pos = new GridPos(iX, iY);
return(SetNode(pos, iWalkable));
}
public Node SetNode(int iX, int iY, bool? iWalkable = null)
{
GridPos pos = new GridPos(iX, iY);
return SetNode(pos, iWalkable);
}
protected bool isInside(GridPos iPos)
{
return(isInside(iPos.x, iPos.y));
}
public abstract Node GetNodeAt(GridPos iPos);
public override Node GetNodeAt(GridPos iPos)
{
return(GetNodeAt(iPos.x, iPos.y));
}
public abstract bool SetWalkableAt(GridPos iPos, bool iWalkable);
public override bool IsWalkableAt(GridPos iPos)
{
return(IsWalkableAt(iPos.x, iPos.y));
}
public override bool SetWalkableAt(int iX, int iY, bool iWalkable)
{
var pos = new GridPos(iX, iY);
if (iWalkable)
{
if (m_nodes.ContainsKey(pos))
{
// this.m_nodes[pos].walkable = iWalkable;
return true;
}
else
{
if (iX < m_gridRect.minX || m_notSet)
m_gridRect.minX = iX;
if (iX > m_gridRect.maxX || m_notSet)
m_gridRect.maxX = iX;
if (iY < m_gridRect.minY || m_notSet)
m_gridRect.minY = iY;
if (iY > m_gridRect.maxY || m_notSet)
m_gridRect.maxY = iY;
m_nodes.Add(new GridPos(pos.x, pos.y), new Node(pos.x, pos.y, iWalkable));
m_notSet = false;
}
}
else
{
if (m_nodes.ContainsKey(pos))
{
m_nodes.Remove(pos);
if (iX == m_gridRect.minX || iX == m_gridRect.maxX || iY == m_gridRect.minY || iY == m_gridRect.maxY)
m_notSet = true;
}
}
return true;
}
private static GridPos?jumpLoop(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
GridPos?retVal = null;
var stack = new Stack <JumpSnapshot>();
var currentSnapshot = new JumpSnapshot();
JumpSnapshot newSnapshot = null;
currentSnapshot.iX = iX;
currentSnapshot.iY = iY;
currentSnapshot.iPx = iPx;
currentSnapshot.iPy = iPy;
currentSnapshot.stage = 0;
stack.Push(currentSnapshot);
while (stack.Count != 0)
{
currentSnapshot = stack.Pop();
switch (currentSnapshot.stage)
{
case 0:
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY))
{
retVal = null;
continue;
}
else if (iParam.SearchGrid.GetNodeAt(currentSnapshot.iX, currentSnapshot.iY).Equals(iParam.EndNode))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.tDx = currentSnapshot.iX - currentSnapshot.iPx;
currentSnapshot.tDy = currentSnapshot.iY - currentSnapshot.iPy;
currentSnapshot.jx = null;
currentSnapshot.jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 1;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY - currentSnapshot.tDy)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 3;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
retVal = null;
break;
case 1:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 2;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 2:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 3:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 4;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 4:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
}
}
return(retVal);
}
public override bool IsWalkableAt(GridPos iPos)
{
return m_nodes.ContainsKey(iPos);
}
public GridPos(GridPos b)
{
x = b.x;
y = b.y;
}
public JumpSnapshot()
{
iX=0;
iY=0;
iPx=0;
iPy=0;
tDx=0;
tDy=0;
jx=null;
jy=null;
stage=0;
}
public bool Equals(GridPos p)
{
// Return true if the fields match:
return((x == p.x) && (y == p.y));
}
public AStarParam(BaseGrid iGrid, GridPos iStartPos, GridPos iEndPos, float iweight, DiagonalMovement iDiagonalMovement = DiagonalMovement.Always, HeuristicMode iMode = HeuristicMode.EUCLIDEAN)
: base(iGrid,iStartPos,iEndPos, iDiagonalMovement,iMode)
{
Weight = iweight;
}
internal override void _reset(GridPos iStartPos, GridPos iEndPos, BaseGrid iSearchGrid = null)
{
}
public override bool IsWalkableAt(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
return IsWalkableAt(pos);
}
public override Node GetNodeAt(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
return(GetNodeAt(pos));
}
public bool IsInside(GridPos iPos)
{
return IsInside(iPos.x, iPos.y);
}
public override bool SetWalkableAt(GridPos iPos, bool iWalkable)
{
return(SetWalkableAt(iPos.x, iPos.y, iWalkable));
}
public override bool IsWalkableAt(GridPos iPos)
{
if (!IsInside(iPos))
return false;
return m_nodePool.Nodes.ContainsKey(iPos);
}
public override bool IsWalkableAt(int iX, int iY)
{
GridPos pos = new GridPos(iX, iY);
return(IsWalkableAt(pos));
}
protected bool isInside(GridPos iPos)
{
return isInside(iPos.x, iPos.y);
}
public override Node GetNodeAt(GridPos iPos)
{
return(m_nodePool.GetNode(iPos));
}
public override bool IsWalkableAt(GridPos iPos)
{
return IsWalkableAt(iPos.x, iPos.y);
}
public override bool IsWalkableAt(GridPos iPos)
{
return(m_nodePool.Nodes.ContainsKey(iPos));
}
private void btnSearch_Click(object sender, EventArgs e)
{
for (int resultTrav = 0; resultTrav < m_resultLine.Count; resultTrav++)
{
m_resultLine[resultTrav].Dispose();
}
m_resultLine.Clear();
for (int resultTrav = 0; resultTrav < m_resultBox.Count; resultTrav++)
{
m_resultBox[resultTrav].Dispose();
}
m_resultBox.Clear();
GridPos startPos = new GridPos();
GridPos endPos = new GridPos();
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
if (m_rectangles[widthTrav][heightTrav].boxType != BoxType.Wall)
{
searchGrid.SetWalkableAt(new GridPos(widthTrav, heightTrav), true);
}
else
{
searchGrid.SetWalkableAt(new GridPos(widthTrav, heightTrav), false);
}
if(m_rectangles[widthTrav][heightTrav].boxType==BoxType.Start)
{
startPos.x=widthTrav;
startPos.y=heightTrav;
}
if(m_rectangles[widthTrav][heightTrav].boxType==BoxType.End)
{
endPos.x=widthTrav;
endPos.y=heightTrav;
}
}
}
jumpParam.CrossCorner = cbCrossCorners.Checked;
jumpParam.CrossAdjacentPoint = cbCrossAdjacentPoint.Checked;
jumpParam.UseRecursive = cbUseRecursive.Checked;
jumpParam.Reset(startPos, endPos);
List<GridPos> resultList = JumpPointFinder.FindPath(jumpParam);
for (int resultTrav = 0; resultTrav < resultList.Count-1; resultTrav++)
{
m_resultLine.Add(new GridLine(m_rectangles[resultList[resultTrav].x][resultList[resultTrav].y],m_rectangles[resultList[resultTrav+1].x][resultList[resultTrav+1].y]));
}
for (int widthTrav = 0; widthTrav < jumpParam.SearchGrid.width; widthTrav++)
{
for (int heightTrav = 0; heightTrav < jumpParam.SearchGrid.height; heightTrav++)
{
if(jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav)==null)
continue;
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav).isOpened)
{
ResultBox resultBox = new ResultBox(widthTrav * 20, heightTrav * 20 + 50, ResultBoxType.Opened);
m_resultBox.Add(resultBox);
}
if (jumpParam.SearchGrid.GetNodeAt(widthTrav, heightTrav).isClosed)
{
ResultBox resultBox = new ResultBox(widthTrav * 20, heightTrav * 20 + 50, ResultBoxType.Closed);
m_resultBox.Add(resultBox);
}
}
}
this.Invalidate();
}
public List <Node> GetNeighbors(Node iNode, bool iCrossCorners, bool iCrossAdjacentPoint)
{
int tX = iNode.x;
int tY = iNode.y;
List <Node> neighbors = new List <Node>();
bool tS0 = false, tD0 = false,
tS1 = false, tD1 = false,
tS2 = false, tD2 = false,
tS3 = false, tD3 = false;
GridPos pos = new GridPos();
if (this.IsWalkableAt(pos.Set(tX, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
tS0 = true;
}
if (this.IsWalkableAt(pos.Set(tX + 1, tY)))
{
neighbors.Add(GetNodeAt(pos));
tS1 = true;
}
if (this.IsWalkableAt(pos.Set(tX, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
tS2 = true;
}
if (this.IsWalkableAt(pos.Set(tX - 1, tY)))
{
neighbors.Add(GetNodeAt(pos));
tS3 = true;
}
if (iCrossCorners && iCrossAdjacentPoint)
{
tD0 = true;
tD1 = true;
tD2 = true;
tD3 = true;
}
else if (iCrossCorners)
{
tD0 = tS3 || tS0;
tD1 = tS0 || tS1;
tD2 = tS1 || tS2;
tD3 = tS2 || tS3;
}
else
{
tD0 = tS3 && tS0;
tD1 = tS0 && tS1;
tD2 = tS1 && tS2;
tD3 = tS2 && tS3;
}
if (tD0 && this.IsWalkableAt(pos.Set(tX - 1, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD1 && this.IsWalkableAt(pos.Set(tX + 1, tY - 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD2 && this.IsWalkableAt(pos.Set(tX + 1, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
if (tD3 && this.IsWalkableAt(pos.Set(tX - 1, tY + 1)))
{
neighbors.Add(GetNodeAt(pos));
}
return(neighbors);
}