/// <summary>
/// Constructor
/// </summary>
public Pathfinder(int[,] map, EntityManager manager)
{
mapWidth = map.GetLength(0);
mapHeight = map.GetLength(1);
System.Diagnostics.Debug.WriteLine(mapWidth.ToString() + ", " + mapHeight.ToString());
InitSearchNodes(map, manager);
// instead of units, i want to path with source grid and target grid
}
/// <summary>
/// This function initializes the map's search tiles
/// Precondition:
/// </summary>
private void InitSearchNodes(int[,] map, EntityManager manager)
{
searchNodes = new SearchNode[mapWidth, mapHeight];
for (int x = 0; x < mapWidth; x++)
{
for (int y = 0; y < mapHeight; y++)
{
SearchNode node = new SearchNode();
node.Position = new Vector2(x, y);
// heuristic for "is this node walkable?"
Grid grid = (Grid)manager.RetrieveEntity(map[x, y]);
if (grid.IsWalkable == true)
{
node.Walkable = true;
}
else
{
node.Walkable = false;
}
//node.Walkable = true;
if (node.Walkable == true)
{
node.Neighbors = new SearchNode[4];
searchNodes[x, y] = node;
}
}
}
// Now, connect each search node to its neighbor
for (int x = 0; x < mapWidth; x++)
{
for (int y = 0; y < mapHeight; y++)
{
SearchNode node = searchNodes[x, y];
// Only look at the nodes that are walkable
if (node == null || node.Walkable == false)
{
continue;
}
Vector2[] neighbors = new Vector2[]
{
new Vector2(x, y - 1), // The node above the current node
new Vector2(x, y + 1), // The node below the current node
new Vector2(x - 1, y), // The node to the left of the current node
new Vector2(x + 1, y), // The node to the right of the current node
};
// Loop through all the neighbors
for (int i = 0; i < neighbors.Length; i++)
{
Vector2 position = neighbors[i];
// Make sure this neighbor is part of the level
if (position.X < 0
|| position.X > mapWidth - 1
|| position.Y < 0
|| position.Y > mapHeight - 1)
{
continue;
}
SearchNode neighbor = searchNodes[(int)position.X, (int)position.Y];
// Again, only care about the nodes that can be walked on
if (neighbor == null || neighbor.Walkable == false)
{
continue;
}
// And finally, store a reference to the neighbor itself
node.Neighbors[i] = neighbor;
}
}
}
}
/// <summary>
/// This function initializes the map's search tiles
/// Precondition:
/// </summary>
private void InitSearchNodes(int[,] map, EntityManager manager)
{
searchNodes = new SearchNode[mapWidth, mapHeight];
for (int x = 0; x < mapWidth; x++)
{
for (int y = 0; y < mapHeight; y++)
{
SearchNode node = new SearchNode();
node.Position = new Vector2(x, y);
// heuristic for "is this node walkable?"
Grid grid = (Grid)manager.RetrieveEntity(map[x, y]);
if (grid.IsWalkable == true)
{
node.Walkable = true;
}
else
{
node.Walkable = false;
}
//node.Walkable = true;
if (node.Walkable == true)
{
node.Neighbors = new SearchNode[4];
searchNodes[x, y] = node;
}
}
}
// Now, connect each search node to its neighbor
for (int x = 0; x < mapWidth; x++)
{
for (int y = 0; y < mapHeight; y++)
{
SearchNode node = searchNodes[x, y];
// Only look at the nodes that are walkable
if (node == null || node.Walkable == false)
{
continue;
}
Vector2[] neighbors = new Vector2[]
{
new Vector2(x, y - 1), // The node above the current node
new Vector2(x, y + 1), // The node below the current node
new Vector2(x - 1, y), // The node to the left of the current node
new Vector2(x + 1, y), // The node to the right of the current node
};
// Loop through all the neighbors
for (int i = 0; i < neighbors.Length; i++)
{
Vector2 position = neighbors[i];
// Make sure this neighbor is part of the level
if (position.X < 0 ||
position.X > mapWidth - 1 ||
position.Y < 0 ||
position.Y > mapHeight - 1)
{
continue;
}
SearchNode neighbor = searchNodes[(int)position.X, (int)position.Y];
// Again, only care about the nodes that can be walked on
if (neighbor == null || neighbor.Walkable == false)
{
continue;
}
// And finally, store a reference to the neighbor itself
node.Neighbors[i] = neighbor;
}
}
}
}
