public virtual void Initilize()
{
if (initialized)
{
Exception err = new Exception("ERROR: AIPathfinder.Initialize() - Can't initialize more then once!");
}
if (map == null)
{
Exception err = new Exception("ERROR: AIPathfinder.Initialize() - Set map before calling this method!");
}
if (character == null)
{
Exception err = new Exception("ERROR: AIPathfinder.Initilize() - Set character before calling this method!");
}
openQueue = new PriorityQueueB <AIPathfinderNode>(new AINodeComparer());
closeList = new List <AIPathfinderNode>();
if (grid == null)
{
grid = new byte[map.Width, map.Height];
// get the cost of each node as seend from character's perspective
for (int w = 0; w < map.Width; w++)
{
for (int h = 0; h < map.Height; h++)
{
grid[w, h] = character.TypeToCost(
map.Node(w, h).Type
);
}
}
}
parentNode = new AIPathfinderNode();
parentNode.G = 0;
parentNode.H = heuristicEstimateValue;
parentNode.F = parentNode.G + parentNode.H;
parentNode.X = startNode.X;
parentNode.Y = startNode.Y;
parentNode.PX = parentNode.X;
parentNode.PY = parentNode.Y;
initialized = true;
this.state = AIPathfinderState.Idle;
}
public virtual void Iterate()
{
if (found)
{
return;
}
//for (int iteration = 0; iteration < 100; iteration++)
{
while (openQueue.Count > 0 && !forceStop)
{
parentNode = openQueue.Pop();
if (parentNode.X == endNode.X && parentNode.Y == endNode.Y)
{
closeList.Add(parentNode);
found = true;
break;
}
for (int index = 0; index < 8; index++)
{
int newX = parentNode.X + direction[index, 0];
int newY = parentNode.Y + direction[index, 1];
if (newX < 0 || newY < 0 || newX >= map.Width || newY >= map.Height)
{
// probing out of map
continue;
}
AIPathfinderNode newNode = new AIPathfinderNode();
newNode.X = newX;
newNode.Y = newY;
newNode.G = (map.Node(newNode.X, newNode.Y)).Type;
int newG = parentNode.G + grid[newNode.X, newNode.Y];
if (newG == parentNode.G)
{
continue;
}
int foundInOpenIndex = -1;
for (int j = 0; j < openQueue.Count; j++)
{
if (openQueue[j].X == newNode.X && openQueue[j].Y == newNode.Y)
{
foundInOpenIndex = j;
break;
}
}
if (foundInOpenIndex != -1 && openQueue[foundInOpenIndex].G <= newG)
{
continue;
}
newNode.PX = parentNode.X;
newNode.PY = parentNode.Y;
newNode.G = newG;
newNode.H = heuristicEstimateValue * (
Math.Abs(newNode.X - endNode.X) +
Math.Abs(newNode.Y - endNode.Y));
newNode.F = newNode.G + newNode.H;
openQueue.Push(newNode);
}
closeList.Add(parentNode);
return;
//break;
}
}
if (found)
{
AIPathfinderNode fNode = closeList[closeList.Count - 1];
for (int i = closeList.Count - 1; i >= 0; i--)
{
if (fNode.PX == closeList[i].X && fNode.PY == closeList[i].Y || i == closeList.Count - 1)
{
fNode = closeList[i];
}
else
{
closeList.RemoveAt(i);
}
}
this.stopped = true;
this.state = AIPathfinderState.Finished;
return;
//return mClose;
}
stopped = true;
this.state = AIPathfinderState.Failed;
return;
}