| public GetNodeIdFromPos ( int x, int y ) : int | ||
| x | int | |
| y | int | |
| return | int | |
private static List <IPathNode> RegularSearch(ConcreteMap concreteMap, Position startPosition, Position endPosition)
{
var tilingGraph = concreteMap.Graph;
Func <int, int, ConcreteNode> getNode =
(top, left) => tilingGraph.GetNode(concreteMap.GetNodeIdFromPos(top, left));
// Regular pathfinding
var searcher = new AStar <ConcreteNode>(concreteMap, getNode(startPosition.X, startPosition.Y).NodeId, getNode(endPosition.X, endPosition.Y).NodeId);
var path = searcher.FindPath();
var path2 = path.PathNodes;
return(new List <IPathNode>(path2.Select(p => (IPathNode) new ConcretePathNode(p))));
}
// Create a new concreteMap as a copy of another concreteMap (just copying obstacles)
public ConcreteMap Slice(int horizOrigin, int vertOrigin, int width, int height, IPassability passability)
{
var slicedConcreteMap = new ConcreteMap(this.TileType, width, height, passability);
// so we now put the obstacles in place
for (var x = 0; x < width; x++)
for (var y = 0; y < height; y++)
{
// get the local node
var localNodeInfo = slicedConcreteMap.Graph.GetNode(slicedConcreteMap.GetNodeIdFromPos(x, y)).Info;
// get the initial concreteMap node
var nodeInfo = this.Graph.GetNode(this.GetNodeIdFromPos(horizOrigin + x, vertOrigin + y)).Info;
// set obstacle for the local node
localNodeInfo.IsObstacle = nodeInfo.IsObstacle;
localNodeInfo.Cost = nodeInfo.Cost;
}
return slicedConcreteMap;
}
private static void PrintFormatted(List <char> chars, ConcreteMap concreteMap, HierarchicalMap hierarchicalGraph, int clusterSize, List <Position> path)
{
for (var y = 0; y < concreteMap.Height; y++)
{
if (y % clusterSize == 0)
{
Console.WriteLine("---------------------------------------------------------");
}
for (var x = 0; x < concreteMap.Width; x++)
{
Console.ForegroundColor = ConsoleColor.White;
if (x % clusterSize == 0)
{
Console.Write('|');
}
var nodeId = concreteMap.GetNodeIdFromPos(x, y);
var hasAbsNode = hierarchicalGraph.AbstractGraph.Nodes.SingleOrDefault(n => n.Info.ConcreteNodeId == nodeId);
if (hasAbsNode != null)
{
switch (hasAbsNode.Info.Level)
{
case 1: Console.ForegroundColor = ConsoleColor.Red;
break;
case 2: Console.ForegroundColor = ConsoleColor.DarkGreen;
break;
}
}
Console.Write(path.Any(node => node.X == x && node.Y == y) ? 'X' : chars[nodeId.IdValue]);
}
Console.WriteLine();
}
}
private static void PrintFormatted(List<char> chars, ConcreteMap concreteMap, HierarchicalMap hierarchicalGraph, int clusterSize, List<Position> path)
{
for (var y = 0; y < concreteMap.Height; ++y)
{
if (y % clusterSize == 0) Console.WriteLine("---------------------------------------------------------");
for (var x = 0; x < concreteMap.Width; ++x)
{
Console.ForegroundColor = ConsoleColor.White;
if (x % clusterSize == 0) Console.Write('|');
var nodeId = concreteMap.GetNodeIdFromPos(x, y);
var hasAbsNode = hierarchicalGraph.AbstractGraph.Nodes.FirstOrDefault(n => n.Info.CenterId == nodeId);
if (hasAbsNode != null)
switch (hasAbsNode.Info.Level)
{
case 1: Console.ForegroundColor = ConsoleColor.Red;
break;
case 2: Console.ForegroundColor = ConsoleColor.DarkGreen;
break;
}
Console.Write(path.Any(n => n.X == x && n.Y == y) ? 'X' : chars[nodeId]);
}
Console.WriteLine();
}
}
private static List<Position> RegularSearch(ConcreteMap concreteMap)
{
var tilingGraph = concreteMap.Graph;
Func<int, int, Graph<TilingNodeInfo, TilingEdgeInfo>.Node> getNode =
(top, left) => tilingGraph.GetNode(concreteMap.GetNodeIdFromPos(top, left));
// Regular pathfinding
var searcher = new AStar();
var path = searcher.FindPath(concreteMap, getNode(StartPosition.X, StartPosition.Y).NodeId, getNode(EndPosition.X, EndPosition.Y).NodeId);
var path2 = path.PathNodes;
return path2.Select(n => concreteMap.Graph.GetNodeInfo(n).Position).ToList();
}
