public bool isMatch(Node n)
{
if (n!=null)
return (x==n.x && y==n.y);
else
return false;
}
public Node(Node parentNode, Node goalNode, int gCost, ushort x, ushort y, Conquer_Online_Server.Game.Map Map)
{
this.Map = Map;
this.parentNode = parentNode;
this._goalNode = goalNode;
this.gCost = gCost;
this.x=x;
this.y=y;
InitNode();
}
public Node(Node parentNode, Node goalNode, int gCost, ushort x, ushort y, PhoenixProject.Game.Map Map)
{
this.Map = Map;
this.parentNode = parentNode;
this._goalNode = goalNode;
this.gCost = gCost;
this.x=x;
this.y=y;
InitNode();
}
public int IndexOf(Node n)
{
for (int i =0; i< _list.Count ;i++)
{
Node nodeInTheList = (Node) _list[i];
if (nodeInTheList.isMatch (n))
return i;
}
return -1;
}
public int push(Node n)
{
int k = _list.BinarySearch (n,_nodeComparer);
if (k==-1) // no element
_list.Insert (0,n);
else if (k<0) // find location by complement
{
k=~k;
_list.Insert (k,n);
}
else if (k>=0)
_list.Insert (k,n);
return k;
}
public ArrayList GetSuccessors()
{
ArrayList successors = new ArrayList ();
for (int xd = -1; xd <= 1; xd++)
{
for (int yd = -1; yd <= 1; yd++)
{
if (Map.Floor[x + xd, y + yd, Conquer_Online_Server.Game.MapObjectType.Monster, null])
{
Node n = new Node(this, this._goalNode, 1,(ushort)(x + xd), (ushort)(y + yd), Map);
if (!n.isMatch(this.parentNode) && !n.isMatch(this))
successors.Add(n);
}
}
}
return successors;
}
public static List<Coordonates> FindWay(ushort myX, ushort myY, ushort toX, ushort toY, Conquer_Online_Server.Game.Map map)
{
List<Coordonates> SolutionPathList = new List<Coordonates>();
Node node_goal = new Node(null, null, 1, toX, toY, map);
Node node_start = new Node(null, node_goal, 1, myX, myY, map);
SortedCostNodeList OPEN = new SortedCostNodeList();
SortedCostNodeList CLOSED = new SortedCostNodeList();
OPEN.push(node_start);
while (OPEN.Count > 0)
{
//if (count == 2000)
// break;
Node node_current = OPEN.pop();
if (node_current.isMatch(node_goal))
{
node_goal.parentNode = node_current.parentNode;
break;
}
ArrayList successors = node_current.GetSuccessors();
foreach (Node node_successor in successors)
{
int oFound = OPEN.IndexOf(node_successor);
if (oFound > 0)
{
Node existing_node = OPEN.NodeAt(oFound);
if (existing_node.CompareTo(node_current) <= 0)
continue;
}
int cFound = CLOSED.IndexOf(node_successor);
if (cFound > 0)
{
Node existing_node = CLOSED.NodeAt(cFound);
if (existing_node.CompareTo(node_current) <= 0)
continue;
}
if (oFound != -1)
OPEN.RemoveAt(oFound);
if (cFound != -1)
CLOSED.RemoveAt(cFound);
OPEN.push(node_successor);
}
CLOSED.push(node_current);
}
Node p = node_goal;
while (p != null)
{
SolutionPathList.Add(new Coordonates() { X = p.x, Y = p.y });
p = p.parentNode;
}
return SolutionPathList;
}
