public List<Vector> FindPath(Vector s, Vector e, Entity o)
{
start = s;
end = e;
entity = o;
int w = map.blocks.GetLength(0);
int h = map.blocks.GetLength(1);
gScore = new int[w, h];
hScore = new int[w, h];
fScore = new int[w, h];
cameFrom = new Vector[w, h];
List<Vector> open = new List<Vector>();
List<Vector> closed = new List<Vector>();
open.Add(start);
gScore[start.x, start.y] = 0;
hScore[start.x, start.y] = calculateHeuristic(start);
fScore[start.x, start.y] = hScore[start.x, start.y];
while(open.Count > 0) {
Vector point = getLowestPointIn(open);
if(point == end) return reconstructPath(cameFrom[point.x, point.y]);
open.Remove(point);
closed.Add(point);
List<Vector> neighbours = getNeighbourPoints(point);
foreach(Vector p in neighbours) {
if(closed.Contains(p)) continue;
int gPossible = gScore[point.x, point.y] + distanceBetween(p, point);
if(!open.Contains(p) || (open.Contains(p) && gPossible < gScore[p.x, p.y])) {
if(!open.Contains(p)) open.Add(p);
cameFrom[p.x, p.y] = point;
gScore[p.x, p.y] = gPossible;
hScore[p.x, p.y] = calculateHeuristic(p);
fScore[p.x, p.y] = gPossible + hScore[p.x, p.y];
}
}
}
return null;
}
public bool canMoveTo(Vector to, Vector from, Entity e)
{
if(to.x < 0 || to.y < 0 || to.x > 20 || to.y > 20) return false;
if(e != player && player.getMovingTo() == to) return false;
foreach(Entity ai in ais)
if(e != ai && ai.getMovingTo() == to) return false;
foreach(Entity crate in crates)
if(e != null && e.canPushCrates && crate.pos / 32 == to) {
Vector diff = crate.pos / 32 - from;
return canMoveTo(to + diff, crate.pos / 32, crate);
}
else if(e != crate && crate.getMovingTo() == to) return false;
foreach(Entity n in noCrates)
if(n.pos / 32 == to && crates.Contains(e))
return false;
foreach(Entity s in safe)
if(s.pos / 32 == to)
return e == player;
return !blocks[to.x, to.y];
}
public Trail(Vector p, Color c)
{
pos = p;
color = c;
}
public void loadTestLevel(char[,] map)
{
levelLoaded = false;
isTest = true;
isCustom = false;
trails.Clear();
ais.Clear();
crates.Clear();
noCrates.Clear();
safe.Clear();
blocks = new bool[21, 21];
for(int i = 0; i < 21; i++)
for(int j = 0; j < 21; j++) {
blocks[i, j] = false;
switch(map[i, j]) {
case '#':
blocks[i, j] = true;
break;
case 'S':
player.pos = new Vector(32 * i, 32 * j);
break;
case 'E':
end = new Vector(i, j);
break;
case 'A':
Entity ai = new Entity();
ai.pos = new Vector(32 * i, 32 * j);
ai.color = Color.Red;
ai.canPushCrates = true;
ais.Add(ai);
break;
case 'C':
Entity crate = new Entity();
crate.pos = new Vector(32 * i, 32 * j);
crate.color = Color.Blue;
crates.Add(crate);
break;
case 'N':
Entity noCrate = new Entity();
noCrate.pos = new Vector(32 * i, 32 * j);
noCrate.color = Color.LightBlue;
noCrates.Add(noCrate);
break;
case 'G':
Entity s = new Entity();
s.pos = new Vector(32 * i, 32 * j);
s.color = Color.LightGray;
safe.Add(s);
break;
}
}
moving = false;
levelLoaded = true;
}
public void loadLevel(int n)
{
levelLoaded = false;
level = n;
isTest = false;
isCustom = false;
if(n >= mapstore.maps.GetLength(0) || n < 0)
return;
trails.Clear();
ais.Clear();
crates.Clear();
noCrates.Clear();
safe.Clear();
blocks = new bool[21, 21];
bool foundStart = false;
bool foundEnd = false;
for(int i = 0; i < 21; i++)
for(int j = 0; j < 21; j++) {
blocks[i, j] = false;
switch(mapstore.maps[n, j][i]) {
case '#':
blocks[i, j] = true;
break;
case 'S':
player.pos = new Vector(32 * i, 32 * j);
foundStart = true;
break;
case 'E':
end = new Vector(i, j);
foundEnd = true;
break;
case 'A':
Entity ai = new Entity();
ai.pos = new Vector(32 * i, 32 * j);
ai.color = Color.Red;
ai.canPushCrates = true;
ais.Add(ai);
break;
case 'C':
Entity crate = new Entity();
crate.pos = new Vector(32 * i, 32 * j);
crate.color = Color.Blue;
crates.Add(crate);
break;
case 'N':
Entity noCrate = new Entity();
noCrate.pos = new Vector(32 * i, 32 * j);
noCrate.color = Color.LightBlue;
noCrates.Add(noCrate);
break;
case 'G':
Entity s = new Entity();
s.pos = new Vector(32 * i, 32 * j);
s.color = Color.LightGray;
safe.Add(s);
break;
}
}
if(!foundStart || !foundEnd) {
levelLoaded = false;
Console.WriteLine("INVALID LEVEL MISSING A START OR END. OH GOD WHAT DO I DO");
return;
}
moving = false;
levelLoaded = true;
}
public void loadCustomLevel()
{
FileStream stream = File.Open("mapeditor.xml", FileMode.OpenOrCreate, FileAccess.Read);
XmlSerializer serializer = new XmlSerializer(typeof(string[]));
string[] map = (string[]) serializer.Deserialize(stream);
levelLoaded = false;
isTest = false;
isCustom = true;
trails.Clear();
ais.Clear();
crates.Clear();
noCrates.Clear();
safe.Clear();
blocks = new bool[21, 21];
for(int i = 0; i < 21; i++)
for(int j = 0; j < 21; j++) {
blocks[i, j] = false;
if(map[j].Length == 0) continue;
switch(map[j][i]) {
case '#':
blocks[i, j] = true;
break;
case 'S':
player.pos = new Vector(32 * i, 32 * j);
break;
case 'E':
end = new Vector(i, j);
break;
case 'A':
Entity ai = new Entity();
ai.pos = new Vector(32 * i, 32 * j);
ai.color = Color.Red;
ai.canPushCrates = true;
ais.Add(ai);
break;
case 'C':
Entity crate = new Entity();
crate.pos = new Vector(32 * i, 32 * j);
crate.color = Color.Blue;
crates.Add(crate);
break;
case 'N':
Entity noCrate = new Entity();
noCrate.pos = new Vector(32 * i, 32 * j);
noCrate.color = Color.LightBlue;
noCrates.Add(noCrate);
break;
case 'G':
Entity s = new Entity();
s.pos = new Vector(32 * i, 32 * j);
s.color = Color.LightGray;
safe.Add(s);
break;
}
}
moving = false;
levelLoaded = true;
stream.Close();
}
private Vector getLowestPointIn(List<Vector> list)
{
int lowest = -1;
Vector found = new Vector(-1, -1);
foreach(Vector p in list) {
Vector c = cameFrom[p.x, p.y];
int dist = c == new Vector(-1, -1) ? 0 : gScore[c.x, c.y] + distanceBetween(p, c) + calculateHeuristic(p);
if(dist <= lowest || lowest == -1) {
lowest = dist;
found = p;
}
}
return found;
}
private int distanceBetween(Vector pos1, Vector pos2)
{
return (int) Math.Round(10 * Math.Sqrt(Math.Pow(pos1.x - pos2.x, 2) + Math.Pow(pos1.y - pos2.y, 2)));
}
private int calculateHeuristic(Vector pos)
{
return 10 * (Math.Abs(pos.x - end.x) + Math.Abs(pos.y - end.y));
}
private List<Vector> reconstructPath(Vector p)
{
if(p != start) {
List<Vector> path = reconstructPath(cameFrom[p.x, p.y]);
path.Add(p);
return path;
}
else
return new List<Vector>();
}
private List<Vector> getNeighbourPoints(Vector p)
{
List<Vector> found = new List<Vector>();
if(canMoveTo(p.x + 1, p.y, p.x, p.y)) found.Add(new Vector(p.x + 1, p.y));
if(canMoveTo(p.x - 1, p.y, p.x, p.y)) found.Add(new Vector(p.x - 1, p.y));
if(canMoveTo(p.x, p.y + 1, p.x, p.y)) found.Add(new Vector(p.x, p.y + 1));
if(canMoveTo(p.x, p.y - 1, p.x, p.y)) found.Add(new Vector(p.x, p.y - 1));
return found;
}