public void Initialize(LSAgent agent)
{
Agent = agent;
Body = agent.Body;
LocatedNode = GridManager.GetNode (Body.Position.x, Body.Position.y);
LocatedNode.Add (this);
}
public void ScanAll(int deltaCount, FastList<LSAgent> outputAgents,
bool CheckAllegiance = false,
AllegianceType allegianceType = AllegianceType.Neutral)
{
for (i = 0; i < deltaCount; i++) {
tempNode = GridManager.GetNode (
LocatedNode.gridX + DeltaCache.CacheX[i],
LocatedNode.gridY + DeltaCache.CacheY[i]);
if (tempNode != null && tempNode.LocatedAgents != null) {
tempBucket = tempNode.LocatedAgents;
for (j = 0; j < tempBucket.PeakCount; j++) {
if (LSUtility.GetBitTrue (tempBucket.arrayAllocation, j)) {
tempAgent = tempBucket.innerArray [j].Agent;
if (System.Object.ReferenceEquals (tempAgent, Agent) == false) {
if (CheckAllegiance)
{
if (Agent.MyAgentController.DiplomacyFlags
[tempAgent.MyAgentController.ControllerID] != allegianceType) continue;
}
outputAgents.Add (tempAgent);
}
}
}
}
}
}
public static void Add(GridNode item)
{
item.HeapIndex = Count;
items [Count++] = item;
SortUp (item);
item.HeapContained = true;
}
public static void Add(GridNode item)
{
item.HeapIndex = Count;
items [Count++] = item;
SortUp (item);
item.HeapVersion = _Version;
}
static void SortDown(GridNode item)
{
while (true) {
childIndexLeft = item.HeapIndex * 2 + 1;
childIndexRight = item.HeapIndex * 2 + 2;
swapIndex = 0;
if (childIndexLeft < Count) {
swapIndex = childIndexLeft;
if (childIndexRight < Count) {
if (items [childIndexLeft].fCost > (items [childIndexRight]).fCost) {
swapIndex = childIndexRight;
}
}
swapNode = items[swapIndex];
if (item.fCost == swapNode.fCost)
{
if (item.gCost > swapNode.gCost)
Swap (item, swapNode);
else
return;
}
else if(item.fCost > swapNode.fCost) {
Swap (item, swapNode);
} else {
return;
}
} else {
return;
}
}
}
public static GridNode RemoveFirst()
{
curNode = items [0];
items [0] = items [--Count];
items [0].HeapIndex = 0;
SortDown (items [0]);
curNode.HeapVersion--;
return curNode;
}
public static GridNode RemoveFirst()
{
curNode = items [0];
items [0] = items [--Count];
items [0].HeapIndex = 0;
SortDown (items [0]);
curNode.HeapContained = false;
return curNode;
}
public static void Generate()
{
Grid = new GridNode[NodeCount * NodeCount];
for (int i = 0; i < NodeCount; i++)
{
for (int j = 0; j < NodeCount; j++)
{
Grid[i * NodeCount + j] = new GridNode(i,j);
}
}
}
public static bool FindPath(Vector2d End, GridNode startNode, GridNode endNode, FastList<Vector2d> outputVectorPath)
{
if (startNode.Unwalkable || endNode.Unwalkable) return false;
if (FindPath (startNode, endNode, OutputPath)) {
outputVectorPath.FastClear ();
length = OutputPath.Count - 1;
for (i = 0; i < length; i++) {
outputVectorPath.Add (OutputPath [i].WorldPos);
}
outputVectorPath.Add (End);
return true;
}
return false;
}
public static void Generate()
{
ScanGrid = new ScanNode[ScanNodeCount * ScanNodeCount];
for (int i = 0; i < NodeCount / ScanResolution; i++) {
for (int j = 0; j < NodeCount / ScanResolution; j++) {
ScanGrid [GetScanIndex (i, j)] = new ScanNode (i, j);
}
}
Grid = new GridNode[NodeCount * NodeCount];
for (int i = 0; i < NodeCount; i++) {
for (int j = 0; j < NodeCount; j++) {
Grid [i * NodeCount + j] = new GridNode (i, j);
}
}
}
public static bool GetPathNode(long X, long Y, out GridNode returnNode)
{
returnNode = GridManager.GetNode(X,Y);
if (returnNode.Unwalkable)
{
xSign = X > returnNode.WorldPos.x ? 1 : -1;
ySign = Y > returnNode.WorldPos.y ? 1 : -1;
currentNode = GridManager.GetNode (returnNode.gridX + xSign, returnNode.gridY + ySign);
if (currentNode == null || currentNode.Unwalkable)
{
currentNode = GridManager.GetNode (returnNode.gridX + xSign, returnNode.gridY);
if (currentNode == null || currentNode.Unwalkable)
{
currentNode = GridManager.GetNode (returnNode.gridX, returnNode.gridY + ySign);
if (currentNode == null || currentNode.Unwalkable)
{
return false;
}
}
}
returnNode = currentNode;
}
return true;
}
public static bool Contains(GridNode item)
{
return(item.HeapContained);
}
public static void UpdateItem(GridNode item)
{
SortDown (item);
}
public static bool Contains(GridNode item)
{
return item.HeapContained;
}
static void Swap(GridNode itemA, GridNode itemB)
{
itemAIndex = itemA.HeapIndex;
items [itemAIndex] = itemB;
items [itemB.HeapIndex] = itemA;
itemA.HeapIndex = itemB.HeapIndex;
itemB.HeapIndex = itemAIndex;
}
public bool DoesEqual(GridNode obj)
{
return obj.gridIndex == this.gridIndex;
}
public static void Add(GridNode item)
{
item.ClosedSetVersion = _Version;
}
public void Deactivate()
{
LocatedNode.RemoveAt (this.nodeIndex);
LocatedNode = null;
}
public void Initialize()
{
LocatedNode = GridManager.GetNode (Body.Position.x, Body.Position.y);
nodeIndex = LocatedNode.Add (Agent);
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode startNode, GridNode endNode, FastList <GridNode> outputPath)
{
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
outputPath.FastClear();
if (System.Object.ReferenceEquals(startNode, endNode))
{
outputPath.Add(endNode);
return(true);
}
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
outputPath.FastClear();
TracePath.FastClear();
currentNode = endNode;
StartNodeIndex = startNode.gridIndex;
while (currentNode.gridIndex != StartNodeIndex)
{
TracePath.Add(currentNode);
oldNode = currentNode;
currentNode = currentNode.parent;
}
oldNode = startNode;
currentNode = TracePath [TracePath.Count - 1];
oldX = currentNode.gridX - oldNode.gridX;
oldY = currentNode.gridY - oldNode.gridY;
for (i = TracePath.Count - 2; i >= 0; i--)
{
oldNode = currentNode;
currentNode = TracePath.innerArray [i];
newX = currentNode.gridX - oldNode.gridX;
newY = currentNode.gridY - oldNode.gridY;
if (newX != oldX || newY != oldY)
{
outputPath.Add(oldNode);
oldX = newX;
oldY = newY;
}
//outputPath.Add (currentNode);
}
outputPath.Add(endNode);
return(true);
}
for (i = 0; i < 8; i++)
{
neighbor = currentNode.NeighborNodes [i];
if (neighbor == null || neighbor.Unwalkable || GridClosedSet.Contains(neighbor))
{
continue;
}
newMovementCostToNeighbor = currentNode.gCost + (GridNode.IsNeighborDiagnal [i] ? 141 : 100);
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
}
#endregion
return(false);
}
public static bool GetPathNodes(long StartX, long StartY, long EndX, long EndY, out GridNode startNode, out GridNode endNode)
{
startNode = GridManager.GetNode(StartX, StartY);
if (startNode.Unwalkable)
{
for (i = 0; i < 8; i++)
{
currentNode = startNode.NeighborNodes [i];
if (System.Object.ReferenceEquals(currentNode, null) == false && currentNode.Unwalkable == false)
{
startNode = currentNode;
break;
}
}
if (startNode.Unwalkable)
{
endNode = null;
return(false);
}
}
endNode = GridManager.GetNode(EndX, EndY);
if (endNode.Unwalkable)
{
for (i = 0; i < 8; i++)
{
currentNode = endNode.NeighborNodes [i];
if (System.Object.ReferenceEquals(currentNode, null) == false && currentNode.Unwalkable == false)
{
endNode = currentNode;
break;
}
}
if (endNode.Unwalkable)
{
return(false);
}
}
return(true);
}
public static bool NeedsPath(GridNode startNode, GridNode endNode)
{
//return true;
//Tests if there is a direct path. If there is, no need to run AStar.
x0 = startNode.gridX;
y0 = startNode.gridY;
x1 = endNode.gridX;
y1 = endNode.gridY;
if (y1 > y0)
{
compare1 = y1 - y0;
}
else
{
compare1 = y0 - y1;
}
if (x1 > x0)
{
compare2 = x1 - x0;
}
else
{
compare2 = x0 - x1;
}
steep = compare1 > compare2;
if (steep)
{
t = x0; // swap x0 and y0
x0 = y0;
y0 = t;
t = x1; // swap x1 and y1
x1 = y1;
y1 = t;
}
if (x0 > x1)
{
t = x0; // swap x0 and x1
x0 = x1;
x1 = t;
t = y0; // swap y0 and y1
y0 = y1;
y1 = t;
}
dx = x1 - x0;
dy = (y1 - y0);
if (dy < 0)
{
dy = -dy;
}
error = dx / 2;
ystep = (y0 < y1) ? 1 : -1;
y = y0;
for (x = x0; x <= x1; x++)
{
retX = (steep ? y : x);
retY = (steep ? x : y);
if (GridManager.Grid [retX * GridManager.NodeCount + retY].Unwalkable)
{
break;
}
else if (x == x1)
{
return(false);
}
error = error - dy;
if (error < 0)
{
y += ystep;
error += dx;
}
}
return(true);
}
public static bool GetPathNodes(long StartX, long StartY, long EndX, long EndY, out GridNode startNode, out GridNode endNode)
{
startNode = GridManager.GetNode (StartX, StartY);
if (startNode.Unwalkable) {
for (i = 0; i < 8; i++) {
currentNode = startNode.NeighborNodes [i];
if (System.Object.ReferenceEquals (currentNode, null) == false && currentNode.Unwalkable == false) {
startNode = currentNode;
break;
}
}
if (startNode.Unwalkable)
{
endNode = null;
return false;
}
}
endNode = GridManager.GetNode (EndX, EndY);
if (endNode.Unwalkable) {
for (i = 0; i < 8; i++) {
currentNode = endNode.NeighborNodes [i];
if (System.Object.ReferenceEquals (currentNode, null) == false && currentNode.Unwalkable == false) {
endNode = currentNode;
break;
}
}
if (endNode.Unwalkable)
return false;
}
return true;
}
public static bool Contains(GridNode item)
{
return item.ClosedSetVersion == _Version;
}
public static bool NeedsPath(GridNode startNode, GridNode endNode)
{
//return true;
//Tests if there is a direct path. If there is, no need to run AStar.
x0 = startNode.gridX;
y0 = startNode.gridY;
x1 = endNode.gridX;
y1 = endNode.gridY;
if (y1 > y0)
compare1 = y1 - y0;
else
compare1 = y0 - y1;
if (x1 > x0)
compare2 = x1 - x0;
else
compare2 = x0 - x1;
steep = compare1 > compare2;
if (steep) {
t = x0; // swap x0 and y0
x0 = y0;
y0 = t;
t = x1; // swap x1 and y1
x1 = y1;
y1 = t;
}
if (x0 > x1) {
t = x0; // swap x0 and x1
x0 = x1;
x1 = t;
t = y0; // swap y0 and y1
y0 = y1;
y1 = t;
}
dx = x1 - x0;
dy = (y1 - y0);
if (dy < 0)
dy = -dy;
error = dx / 2;
ystep = (y0 < y1) ? 1 : -1;
y = y0;
for (x = x0; x <= x1; x++) {
retX = (steep ? y : x);
retY = (steep ? x : y);
if (GridManager.Grid [retX * GridManager.NodeCount + retY].Unwalkable) {
break;
} else if (x == x1) {
return false;
}
error = error - dy;
if (error < 0) {
y += ystep;
error += dx;
}
}
return true;
}
/// <summary>
/// Finds a path and outputs it to <c>OutputPath</c>. Note: OutputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="OutputPath">Return path.</param>
public static bool FindPath(GridNode startNode, GridNode endNode, FastList<GridNode> OutputPath)
{
#region Broadphase and Preperation
if (endNode.Unwalkable) {
return false;
}
if (startNode.Unwalkable) {
return false;
}
if (true) {
#region Obstruction Test
//Tests if there is a direct path. If there is, no need to run AStar.
x0 = startNode.gridX;
y0 = startNode.gridY;
x1 = endNode.gridX;
y1 = endNode.gridY;
if (y1 > y0)
compare1 = y1 - y0;
else
compare1 = y0 - y1;
if (x1 > x0)
compare2 = x1 - x0;
else
compare2 = x0 - x1;
steep = compare1 > compare2;
if (steep) {
t = x0; // swap x0 and y0
x0 = y0;
y0 = t;
t = x1; // swap x1 and y1
x1 = y1;
y1 = t;
}
if (x0 > x1) {
t = x0; // swap x0 and x1
x0 = x1;
x1 = t;
t = y0; // swap y0 and y1
y0 = y1;
y1 = t;
}
dx = x1 - x0;
dy = (y1 - y0);
if (dy < 0)
dy = -dy;
error = dx / 2;
ystep = (y0 < y1) ? 1 : -1;
y = y0;
for (x = x0; x <= x1; x++) {
retX = (steep ? y : x);
retY = (steep ? x : y);
if (GridManager.Grid [retX * GridManager.NodeCount + retY].Unwalkable) {
break;
} else if (x == x1) {
OutputPath.FastClear ();
OutputPath.Add (startNode);
OutputPath.Add (endNode);
return true;
}
error = error - dy;
if (error < 0) {
y += ystep;
error += dx;
}
}
#endregion
}
GridHeap.FastClear ();
GridClosedSet.FastClear ();
#endregion
#region AStar Algorithm
GridHeap.Add (startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
while (GridHeap.Count > 0) {
currentNode = GridHeap.RemoveFirst ();
GridClosedSet.Add (currentNode);
if (currentNode.gridIndex == endNode.gridIndex) {
OutputPath.FastClear ();
//Retraces the path then outputs it into OutputPath
//Also Simplifies the path
oldNode = endNode;
currentNode = endNode.parent;
oldX = int.MaxValue;
oldY = int.MaxValue;
StartNodeIndex = startNode.gridIndex;
//if (!endNode.Obstructed) OutputPath.Add (endNode);
while (oldNode.gridIndex != StartNodeIndex) {
newX = currentNode.gridX - oldNode.gridX;
newY = currentNode.gridY - oldNode.gridY;
if ((newX != oldX || newY != oldY))
{
OutputPath.Add (oldNode);
oldX = newX;
oldY = newY;
}
oldNode = currentNode;
currentNode = currentNode.parent;
}
OutputPath.Add (startNode);
OutputPath.Reverse ();
return true;
}
for (i = 0; i < 8; i++) {
neighbor = currentNode.NeighborNodes [i];
if (neighbor == null|| neighbor.Unwalkable || GridClosedSet.Contains (neighbor)) {
continue;
}
newMovementCostToNeighbor = currentNode.gCost + (currentNode.NeighborDiagnal [i] ? 141 : 100);
if (!GridHeap.Contains (neighbor)) {
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeurustic ();
neighbor.parent = currentNode;
GridHeap.Add (neighbor);
} else if (newMovementCostToNeighbor < neighbor.gCost) {
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeurustic ();
neighbor.parent = currentNode;
GridHeap.UpdateItem (neighbor);
}
}
}
#endregion
return false;
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode startNode, GridNode endNode, FastList<GridNode> outputPath)
{
#region Broadphase and Preperation
if (endNode.Unwalkable) {
return false;
}
if (startNode.Unwalkable) {
return false;
}
outputPath.FastClear ();
if (System.Object.ReferenceEquals (startNode, endNode)) {
outputPath.Add (endNode);
return true;
}
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start ();
GridHeap.FastClear ();
GridClosedSet.FastClear ();
#endregion
#region AStar Algorithm
GridHeap.Add (startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
while (GridHeap.Count > 0) {
currentNode = GridHeap.RemoveFirst ();
GridClosedSet.Add (currentNode);
if (currentNode.gridIndex == endNode.gridIndex) {
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
outputPath.FastClear ();
TracePath.FastClear ();
currentNode = endNode;
StartNodeIndex = startNode.gridIndex;
while (currentNode.gridIndex != StartNodeIndex) {
TracePath.Add (currentNode);
oldNode = currentNode;
currentNode = currentNode.parent;
}
oldNode = startNode;
currentNode = TracePath [TracePath.Count - 1];
oldX = currentNode.gridX - oldNode.gridX;
oldY = currentNode.gridY - oldNode.gridY;
for (i = TracePath.Count - 2; i >= 0; i--) {
oldNode = currentNode;
currentNode = TracePath.innerArray [i];
newX = currentNode.gridX - oldNode.gridX;
newY = currentNode.gridY - oldNode.gridY;
if (newX != oldX || newY != oldY) {
outputPath.Add (oldNode);
oldX = newX;
oldY = newY;
}
//outputPath.Add (currentNode);
}
outputPath.Add (endNode);
return true;
}
for (i = 0; i < 8; i++) {
neighbor = currentNode.NeighborNodes [i];
if (neighbor == null || neighbor.Unwalkable || GridClosedSet.Contains (neighbor)) {
continue;
}
newMovementCostToNeighbor = currentNode.gCost + (GridNode.IsNeighborDiagnal [i] ? 141 : 100);
if (!GridHeap.Contains (neighbor)) {
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic ();
neighbor.parent = currentNode;
GridHeap.Add (neighbor);
} else if (newMovementCostToNeighbor < neighbor.gCost) {
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic ();
neighbor.parent = currentNode;
GridHeap.UpdateItem (neighbor);
}
}
}
#endregion
return false;
}
public static void Add(GridNode item)
{
item.ClosedSetVersion = _Version;
}
static void SortUp(GridNode item)
{
if (parentIndex != 0)
parentIndex = (item.HeapIndex-1) / 2;
while (true) {
curNode = items [parentIndex];
if (item.fCost == curNode.fCost)
{
if (item.gCost < curNode.gCost)
Swap (item,curNode);
else
return;
}
else if(item.fCost < curNode.fCost) {
Swap (item, curNode);
} else {
break;
}
if (parentIndex != 0)
parentIndex = (item.HeapIndex - 1) / 2;
}
}
public static void UpdateItem(GridNode item)
{
SortDown(item);
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode _startNode, GridNode _endNode, FastList <GridNode> _outputPath, int _unitSize = 1)
{
startNode = _startNode;
endNode = _endNode;
outputPath = _outputPath;
unitSize = _unitSize;
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
outputPath.FastClear();
if (System.Object.ReferenceEquals(startNode, endNode))
{
outputPath.Add(endNode);
return(true);
}
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
GridNode.PrepareUnpassableCheck(unitSize); //Prepare Unpassable check optimizations
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
DestinationReached();
return(true);
}
for (i = 0; i < 8; i++)
{
neighbor = currentNode.NeighborNodes [i];
if (neighbor.IsNull() || currentNode.Unpassable() || GridClosedSet.Contains(neighbor))
{
continue;
}
//0-3 = sides, 4-7 = diagonals
if (i < 4)
{
newMovementCostToNeighbor = currentNode.gCost + 100;
}
else
{
if (i == 4)
{
if (!GridManager.UseDiagonalConnections)
{
break;
}
}
newMovementCostToNeighbor = currentNode.gCost + 141;
}
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
}
#endregion
return(false);
}
public static bool NeedsPath(GridNode startNode, GridNode endNode, int unitSize)
{
//Tests if there is a direct path. If there is, no need to run AStar.
x0 = startNode.gridX;
y0 = startNode.gridY;
x1 = endNode.gridX;
y1 = endNode.gridY;
if (y1 > y0)
{
compare1 = y1 - y0;
}
else
{
compare1 = y0 - y1;
}
if (x1 > x0)
{
compare2 = x1 - x0;
}
else
{
compare2 = x0 - x1;
}
steep = compare1 > compare2;
if (steep)
{
t = x0; // swap x0 and y0
x0 = y0;
y0 = t;
t = x1; // swap x1 and y1
x1 = y1;
y1 = t;
}
if (x0 > x1)
{
t = x0; // swap x0 and x1
x0 = x1;
x1 = t;
t = y0; // swap y0 and y1
y0 = y1;
y1 = t;
}
dx = x1 - x0;
dy = (y1 - y0);
if (dy < 0)
{
dy = -dy;
}
error = dx / 2;
ystep = (y0 < y1) ? 1 : -1;
y = y0;
GridNode.PrepareUnpassableCheck(unitSize);
for (x = x0; x <= x1; x++)
{
retX = (steep ? y : x);
retY = (steep ? x : y);
currentNode = GridManager.Grid[GridManager.GetGridIndex(retX, retY)];
if (currentNode != null && currentNode.Unpassable())
{
break;
}
else if (x == x1)
{
return(false);
}
error = error - dy;
if (error < 0)
{
y += ystep;
error += dx;
}
}
return(true);
}
public bool DoesEqual(GridNode obj)
{
return(obj.gridIndex == this.gridIndex);
}
public void Simulate()
{
tempNode = GridManager.GetNode (Body.Position.x, Body.Position.y);
if (Body.PositionChangedBuffer) {
if (System.Object.ReferenceEquals (tempNode, LocatedNode) == false) {
LocatedNode.LocatedAgents.Remove (this);
LocatedNode = tempNode;
LocatedNode.Add (this);
}
}
}
public void Deactivate()
{
LocatedNode.Remove (this);
LocatedNode = null;
}
public static bool Contains(GridNode item)
{
return item.HeapVersion == _Version;
}
public static bool FindPath(Vector2d Start, Vector2d End, FastList<GridNode> outputPath)
{
currentNode = GridManager.GetNode (Start.x, Start.y);
if (currentNode.Unwalkable) {
//If the start node is unwalkable, attempt to locate the nearest walkable node
if (Start.x > currentNode.WorldPos.x) {
IndexX = 1;
} else {
IndexX = -1;
}
if (Start.y > currentNode.WorldPos.y) {
IndexY = 1;
} else {
IndexY = -1;
}
node1 = currentNode.NeighborNodes [GridNode.GetNeighborIndex (IndexX, IndexY)];
if (node1 == null || node1.Unwalkable)
{
node1 = currentNode.NeighborNodes[GridNode.GetNeighborIndex (IndexX,0)];
if (node1 == null || node1.Unwalkable)
{
node1 = currentNode.NeighborNodes[GridNode.GetNeighborIndex (0,IndexY)];
if (node1 == null || node1.Unwalkable)
{
return false;
}
}
}
}
else{
node1 = currentNode;
}
currentNode = GridManager.GetNode (End.x, End.y);
if (currentNode.Unwalkable) {
//If the start node is unwalkable, attempt to locate the nearest walkable node
if (End.x > currentNode.WorldPos.x) {
IndexX = 1;
} else {
IndexX = -1;
}
if (End.y > currentNode.WorldPos.y) {
IndexY = 1;
} else {
IndexY = -1;
}
node2 = currentNode.NeighborNodes [GridNode.GetNeighborIndex (IndexX, IndexY)];
if (node2 == null || node2.Unwalkable)
{
node2 = currentNode.NeighborNodes[GridNode.GetNeighborIndex (IndexX,0)];
if (node2 == null || node2.Unwalkable)
{
node2 = currentNode.NeighborNodes[GridNode.GetNeighborIndex (0,IndexY)];
if (node2 == null || node2.Unwalkable)
{
return false;
}
}
}
}
else {
node2 = currentNode;
}
OutputPath = outputPath;
return FindPath (node1, node2, OutputPath);
}
public static bool Contains(GridNode item)
{
return(item.ClosedSetVersion == _Version);
}