public WayPoint(Point Position, WayPoint Parent, bool type)
{
this.PositionX = Position.X;
this.PositionY = Position.Y;
this.Parent = Parent;
this.type = type;
}
public void Add(WayPoint point)
{
Count++;
Array.Resize<WayPoint>(ref List, Count + 1);
List[Count] = point;
int CurrentIndex = Count;
int parentIndex = CurrentIndex / 2;
while (CurrentIndex != 1)
{
parentIndex = CurrentIndex / 2;
if (List[parentIndex] == null)
{
WayPoint tmpValue = this.List[parentIndex];
this.List[parentIndex] = this.List[CurrentIndex];
this.List[CurrentIndex] = tmpValue;
CurrentIndex = parentIndex;
}
else if (this.List[CurrentIndex].Cost <= List[parentIndex].Cost)
{
WayPoint tmpValue = this.List[parentIndex];
this.List[parentIndex] = this.List[CurrentIndex];
this.List[CurrentIndex] = tmpValue;
CurrentIndex = parentIndex;
}
else
{
break;
}
}
}
public List<Vector2> FoundCellWay(Point startCell, Point endCell)
{
pointMap = new byte[StrategyManager.GameField.Width, StrategyManager.GameField.Height];
OpenList = new BinaryHeap();
WayPoint startPoint = new WayPoint(startCell, null, true);
startPoint.CalculateCost(Creature, endCell, ImprovedPathFinding);
OpenList.Add(startPoint);
while (OpenList.Count != 0)
{
WayPoint node = OpenList.Get();
if (node.PositionX == endCell.X && node.PositionY == endCell.Y)
{
WayPoint nodeCurrent = node;
List<Vector2> points = new List<Vector2>();
while (nodeCurrent != null)
{
points.Insert(0, new Vector2(nodeCurrent.PositionX, nodeCurrent.PositionY));
nodeCurrent = nodeCurrent.Parent;
}
return points;
}
OpenList.Remove();
Point temp = new Point(node.PositionX, node.PositionY);
if (DiagonalMovesAllowed)
{
if (CheckPassability(temp.X - 1, temp.Y) && CheckPassability(temp.X, temp.Y - 1))
AddNode(node, -1, -1, false, endCell);
if (CheckPassability(temp.X + 1, temp.Y) && CheckPassability(temp.X, temp.Y - 1))
AddNode(node, 1, -1, false, endCell);
if (CheckPassability(temp.X - 1, temp.Y) && CheckPassability(temp.X, temp.Y + 1))
AddNode(node, -1, 1, false, endCell);
if (CheckPassability(temp.X + 1, temp.Y) && CheckPassability(temp.X, temp.Y + 1))
AddNode(node, 1, 1, false, endCell);
}
AddNode(node, -1, 0, true, endCell);
AddNode(node, 0, -1, true, endCell);
AddNode(node, 1, 0, true, endCell);
AddNode(node, 0, 1, true, endCell);
}
return null;
}
private void AddNode(WayPoint node, sbyte offSetX, sbyte offSetY, bool type, Point endCell)
{
Point pos = new Point(node.PositionX + offSetX, node.PositionY + offSetY);
if (!CheckPassability(pos.X, pos.Y))
return;
if(!StrategyManager.GameField.InRange(pos.X, pos.Y))
return;
if (pointMap[pos.X, pos.Y] != 1)
{
WayPoint temp = new WayPoint(pos, node, type);
temp.CalculateCost(Creature, endCell, ImprovedPathFinding);
OpenList.Add(temp);
pointMap[pos.X, pos.Y] = 1;
}
}
