/// <summary>
/// Builds a new path between two given locations.
/// </summary>
/// <param name="startPos">The starting position.</param>
/// <param name="targetPos">The target position.</param>
/// <param name="testMode">Whether or not the algorithm is being run in testing mode, or if it is live within a map visualization.</param>
public override void Build(Coord2 startPos, Coord2 targetPos, bool testMode = false)
{
path = new List <Coord2>();
nodes = new NodeCollection(GridSize);
searchedNodes = 0;
this.start = nodes.Get(startPos);
this.target = nodes.Get(targetPos);
// Initialize bot position
nodes.Get(startPos).cost = 0;
bool firstLoop = true;
while (!target.closed)
{
if (firstLoop)
{
currentLowest = start;
firstLoop = false;
}
else
{
FindLowestCost(); // Find lowest cost
}
// Mark lowest cost as closed
currentLowest.closed = true;
map.SetRenderColor(currentLowest.position, CLOSED_COLOR);
// Find the neigbour positions
List <Node> neighbours = GetNeighours(currentLowest);
// Update visualization
UpdateVisualization(neighbours);
// Recalculate Costs
RecalculateCosts(neighbours, currentLowest);
// Update number of searched nodes
searchedNodes++;
}
// Trace the completed path, if target has been found
if (target.parent != null)
{
TracePath();
}
}
private void FindLowestCost()
{
currentLowestPos = targetPos;
for (int x = 0; x < GridSize; x++)
{
for (int y = 0; y < GridSize; y++)
{
// If cost is lower than current, position not closed, and position is valid within level, new lowest is found
if (nodes.Get(currentLowestPos.X, currentLowestPos.Y).cost >= nodes.Get(x, y).cost&& nodes.Get(x, y).closed == false &&
map.ValidPosition(new Coord2(x, y)))
{
currentLowestPos = new Coord2(x, y);
}
}
}
}
public void Build(Coord2 startPos, Coord2 targetPos)
{
if (InputHandler.IsKeyPressed(Microsoft.Xna.Framework.Input.Keys.Enter))
{
this.startPos = startPos;
this.targetPos = targetPos;
path = new List <Coord2>();
nodes = new NodeCollection(GridSize);
// Initialize bot position
nodes.Get(startPos.X, startPos.Y).cost = 0;
bool firstLoop = true;
while (nodes.Get(targetPos.X, targetPos.Y).closed == false)
{
if (firstLoop)
{
currentLowestPos = startPos;
firstLoop = false;
}
else
{
FindLowestCost(); // Find lowest cost
}
// Mark lowest cost as closed
nodes.Get(currentLowestPos.X, currentLowestPos.Y).closed = true;
// Find the neigbour positions
Coord2[] neighbours = GetNeighbours(currentLowestPos);
// Recalculate Costs
RecalculateCosts(neighbours, currentLowestPos);
}
// Trace the completed path
TracePath();
}
}
public void Build(Coord2 startPos, Coord2 targetPos)
{
if(InputHandler.IsKeyPressed(Microsoft.Xna.Framework.Input.Keys.Enter))
{
this.startPos = startPos;
this.targetPos = targetPos;
path = new List<Coord2>();
nodes = new NodeCollection(GridSize);
// Initialize bot position
nodes.Get(startPos.X, startPos.Y).cost = 0;
bool firstLoop = true;
while (nodes.Get(targetPos.X, targetPos.Y).closed == false)
{
if (firstLoop)
{
currentLowestPos = startPos;
firstLoop = false;
}
else
FindLowestCost(); // Find lowest cost
// Mark lowest cost as closed
nodes.Get(currentLowestPos.X, currentLowestPos.Y).closed = true;
// Find the neigbour positions
Coord2[] neighbours = GetNeighbours(currentLowestPos);
// Recalculate Costs
RecalculateCosts(neighbours, currentLowestPos);
}
// Trace the completed path
TracePath();
}
}
/// <summary>
/// Get the valid neighbour locations for the given node.
/// </summary>
protected virtual List <Node> GetNeighours(Node node)
{
List <Node> list = new List <Node>();
// Horizontal and vertical
if (map.ValidPosition(node.position + new Coord2(1, 0)))
{
list.Add(nodes.Get(node.position + new Coord2(1, 0)));
}
if (map.ValidPosition(node.position + new Coord2(-1, 0)))
{
list.Add(nodes.Get(node.position + new Coord2(-1, 0)));
}
if (map.ValidPosition(node.position + new Coord2(0, 1)))
{
list.Add(nodes.Get(node.position + new Coord2(0, 1)));
}
if (map.ValidPosition(node.position + new Coord2(0, -1)))
{
list.Add(nodes.Get(node.position + new Coord2(0, -1)));
}
// Diagonal
if (map.ValidPosition(node.position + new Coord2(1, 1)))
{
list.Add(nodes.Get(node.position + new Coord2(1, 1)));
}
if (map.ValidPosition(node.position + new Coord2(-1, -1)))
{
list.Add(nodes.Get(node.position + new Coord2(-1, -1)));
}
if (map.ValidPosition(node.position + new Coord2(1, -1)))
{
list.Add(nodes.Get(node.position + new Coord2(1, -1)));
}
if (map.ValidPosition(node.position + new Coord2(-1, 1)))
{
list.Add(nodes.Get(node.position + new Coord2(-1, 1)));
}
return(list);
}
/// <summary>
/// Builds a new path between two given locations.
/// </summary>
/// <param name="startPos">The starting position.</param>
/// <param name="targetPos">The target position.</param>
/// <param name="testMode">Whether or not the algorithm is being run in testing mode, or if it is live within a map visualization.</param>
public override void Build(Coord2 startPos, Coord2 targetPos, bool testMode = false)
{
path = new List<Coord2>();
nodes = new NodeCollection(GridSize);
searchedNodes = 0;
this.start = nodes.Get(startPos);
this.target = nodes.Get(targetPos);
// Initialize bot position
nodes.Get(startPos).cost = 0;
bool firstLoop = true;
while (!target.closed)
{
if (firstLoop)
{
currentLowest = start;
firstLoop = false;
}
else
FindLowestCost(); // Find lowest cost
// Mark lowest cost as closed
currentLowest.closed = true;
map.SetRenderColor(currentLowest.position, CLOSED_COLOR);
// Find the neigbour positions
List<Node> neighbours = GetNeighours(currentLowest);
// Update visualization
UpdateVisualization(neighbours);
// Recalculate Costs
RecalculateCosts(neighbours, currentLowest);
// Update number of searched nodes
searchedNodes++;
}
// Trace the completed path, if target has been found
if(target.parent != null)
TracePath();
}