private void DrawMap()
{
//pictureBox1.Image = new Bitmap(pictureBox1.Width, pictureBox1.Height);
int scale = (int)Math.Ceiling((double)pictureBox1.Width / _cellMap.Width);
LayeredCellMap layeredCellMap = new LayeredCellMap(_cellMap);
foreach (var obstacle in _obstacles)
{
layeredCellMap.AddFragment(obstacle);
}
for (int x = 0; x < layeredCellMap.Width; x++)
{
for (int y = 0; y < layeredCellMap.Height; y++)
{
if (!layeredCellMap.IsPassable(x, y))
{
int xScaled = x * scale;
int yScaled = y * scale;
int xDraw = xScaled;
int yDraw = yScaled;
_graphics.FillRectangle(_mapBrush, xDraw, yDraw, scale, scale);
}
}
}
_scale = scale;
}
public IList <Vector2Int> GetPath(ICellMap mapBase, Vector2Int start, Vector2Int stop, NeighbourMode neighbourMode)
{
if (_layeredCellMap == null)
{
_layeredCellMap = new LayeredCellMap(mapBase);
}
bool StartNodeFilter(IWeightedGraphNode <double> node)
{
return(node != null && node.Position == start);
}
bool StopNodeFilter(IWeightedGraphNode <double> node)
{
return(node != null && node.Position == stop);
}
IWeightedGraph <double> graph = GraphGenerator.GetWeightedGraph(_layeredCellMap, neighbourMode);
var nodes = graph.GetWeightedGraphNodes();
IWeightedGraphNode <double>[] keyNodes = Utils.GetItemsByFilters(nodes, StartNodeFilter, StopNodeFilter);
var startNode = keyNodes[0];
var stopNode = keyNodes[1];
foreach (var node in nodes)
{
if (node == null)
{
continue;
}
node.Data = new GraphData()
{
DistanceToStop = GetDistance(node.Position, stop)
};
}
var nodePath = GetPath(graph, startNode, stopNode);
if (nodePath == null)
{
return(null);
}
List <Vector2Int> path = new List <Vector2Int>(nodePath.Count);
foreach (var node in nodePath)
{
path.Add(node.Position);
}
return(path);
}
public IList <Vector2Int> GetSmoothedPath(ICellMap map, Vector2Int start, Vector2Int stop, NeighbourMode neighbourMode)
{
if (_layeredCellMap == null)
{
_layeredCellMap = new LayeredCellMap(map);
}
map = _layeredCellMap;
var rawPath = GetPath(map, start, stop, neighbourMode);
if (rawPath == null)
{
return(null);
}
PathSmoother smoother = new PathSmoother();
var path = smoother.GetSmoothedPath(map, rawPath);
return(path);
}
private void CreateLayeredMap(ICellMap mapBase)
{
_layeredCellMap = new LayeredCellMap(mapBase);
}
public void Initialize(ICellMap mapBase)
{
_layeredCellMap = new LayeredCellMap(mapBase);
}
public IList <Vector2Int> GetPath(ICellMap mapBase, Vector2Int start, Vector2Int stop, NeighbourMode neighbourMode)
{
if (_layeredCellMap == null)
{
_layeredCellMap = new LayeredCellMap(mapBase);
}
int[,] matrix = new int[_layeredCellMap.Width, _layeredCellMap.Height];
for (int i = 0; i < _layeredCellMap.Width; i++)
{
for (int j = 0; j < _layeredCellMap.Height; j++)
{
matrix[i, j] = -1;
}
}
matrix[start.X, start.Y] = 0;
OnCellViewedEvent?.Invoke(this, start.X, start.Y, 0);
int d = 0;
bool goFurther = true;
while (goFurther)
{
goFurther = false;
for (int i = 0; i < _layeredCellMap.Width; i++)
{
if (matrix[stop.X, stop.Y] != -1)
{
break;
}
for (int j = 0; j < _layeredCellMap.Height; j++)
{
if (matrix[stop.X, stop.Y] != -1)
{
break;
}
if (matrix[i, j] == d)
{
UpdateCellSurroundings(_layeredCellMap, matrix, i, j, d + 1, neighbourMode);
goFurther = true;
}
}
}
d++;
}
if (matrix[stop.X, stop.Y] == -1)
{
return(null);
}
List <Vector2Int> path = new List <Vector2Int>();
Vector2Int current = stop;
path.Add(current);
while (current != start)
{
current = FindDecrement(matrix, current.X, current.Y, neighbourMode);
path.Add(current);
}
path.Reverse();
return(path);
}