public void Shutdown()
{
while (FreeAgentCount > 0)
{
m_FreeAgents.Pop().Shutdown();
}
foreach (ITaskAgent <T> workingAgent in m_WorkingAgents)
{
workingAgent.Shutdown();
}
m_WorkingAgents.Clear();
m_WaitingTasks.Clear();
}
public List <Vector2i> PathFind(Vector2i start, Vector2i end)
{
bool found = false;
mOpenTable.Clear();
mResultPath.Clear();
mOpenStatusValue += 2;
mCloseStatusValue += 2;
int closeNodeCounter = 0;
ushort location = (ushort)((start[1] << mGridXLog2) + start[0]);
ushort endLocation = (ushort)((end[1] << mGridXLog2) + end[0]);
mGridNode[location].G = 0;
mGridNode[location].F = _hEstimate;
mGridNode[location].PX = (ushort)start[0];
mGridNode[location].PY = (ushort)start[1];
mGridNode[location].Status = mOpenStatusValue;
mOpenTable.Enqueue(location, location, mGridNode[location].F);
ushort locationX;
ushort locationY;
ushort mHoriz = 0;
sbyte[,] direction = _useDiagonal ? AStarDirection.DiagonalDirection : AStarDirection.NormalDirection;
int directionCount = _useDiagonal ? 8 : 4;
while (mOpenTable.Count > 0)
{
location = mOpenTable.Dequeue();
if (mGridNode[location].Status == mCloseStatusValue)
{
continue;
}
if (location == endLocation)
{
mGridNode[location].Status = mCloseStatusValue;
found = true;
break;
}
if (closeNodeCounter > _searchLimit)
{
break;
}
locationX = (ushort)(location & mGridXMod);
locationY = (ushort)(location >> mGridXLog2);
if (_usePunish)
{
mHoriz = (ushort)(locationX - mGridNode[location].PX);
}
int newG;
for (int i = 0; i < directionCount; i++)
{
ushort newLocationX = (ushort)(locationX + direction[i, 0]);
ushort newLocationY = (ushort)(locationY + direction[i, 1]);
ushort newLocation = (ushort)((newLocationY << mGridXLog2) + newLocationX);
if (newLocationX >= mGridX || newLocationY >= mGridY)
{
continue;
}
if (mGridNode[newLocation].Status == mCloseStatusValue && !ReuseClose)
{
continue;
}
if (mGrid[newLocationX, newLocationY] == 0)
{
continue;
}
if (_useDiagonal && i > 3)
{
newG = mGridNode[location].G + (int)(mGrid[newLocationX, newLocationY] * 2.41);
}
else
{
newG = mGridNode[location].G + mGrid[newLocationX, newLocationY];
}
if (Punish)
{
if ((newLocationX - locationX) != 0)
{
if (mHoriz == 0)
{
newG += Math.Abs(newLocationX - end[0]) + Math.Abs(newLocationY - end[1]);
}
}
if ((newLocationY - locationY) != 0)
{
if (mHoriz != 0)
{
newG += Math.Abs(newLocationX - end[0]) + Math.Abs(newLocationY - end[1]);
}
}
}
if (mGridNode[newLocation].Status == mOpenStatusValue || mGridNode[newLocation].Status == mCloseStatusValue)
{
if (mGridNode[newLocation].G <= newG)
{
continue;
}
}
mGridNode[newLocation].PX = locationX;
mGridNode[newLocation].PY = locationY;
mGridNode[newLocation].G = newG;
int newH = 0;
switch (_useFormula)
{
case AStarFormula.Manhattan:
newH = _hEstimate * (Math.Abs(newLocationX - end[0]) + Math.Abs(newLocationY - end[1]));
break;
case AStarFormula.MaxDXDY:
newH = _hEstimate * (Math.Max(Math.Abs(newLocationX - end[0]), Math.Abs(newLocationY - end[1])));
break;
case AStarFormula.DiagonalShortCut:
int h_diagonal = Math.Min(Math.Abs(newLocationX - end[0]), Math.Abs(newLocationY - end[1]));
int h_straight = (Math.Abs(newLocationX - end[0]) + Math.Abs(newLocationY - end[1]));
newH = (_hEstimate * 2) * h_diagonal + _hEstimate * (h_straight - 2 * h_diagonal);
break;
case AStarFormula.Euclidean:
newH = (int)(_hEstimate * Math.Sqrt(Math.Pow((newLocationY - end[0]), 2) + Math.Pow((newLocationY - end[1]), 2)));
break;
case AStarFormula.EuclideanNoSQR:
newH = (int)(_hEstimate * (Math.Pow((newLocationX - end[0]), 2) + Math.Pow((newLocationY - end[1]), 2)));
break;
case AStarFormula.Custom:
Vector2i dxy = new Vector2i(Math.Abs(end[0] - newLocationX), Math.Abs(end[1] - newLocationY));
int Orthogonal = Math.Abs(dxy[0] - dxy[1]);
int Diagonal = Math.Abs(((dxy[0] + dxy[1]) - Orthogonal) / 2);
newH = _hEstimate * (Diagonal + Orthogonal + dxy[0] + dxy[1]);
break;
}
if (_useTieBreaker)
{
int dx1 = locationX - end[0];
int dy1 = locationY - end[1];
int dx2 = start[0] - end[0];
int dy2 = start[1] - end[1];
int cross = Math.Abs(dx1 * dy2 - dx2 * dy1);
newH = (int)(newH + cross * _multiple);
}
mGridNode[newLocation].F = newG + newH;
mOpenTable.Enqueue(newLocation, newLocation, mGridNode[newLocation].F);
mGridNode[newLocation].Status = mOpenStatusValue;
}
closeNodeCounter++;
mGridNode[location].Status = mCloseStatusValue;
}
if (found)
{
mResultPath.Clear();
PathNode tmp = mGridNode[(end[1] << mGridXLog2) + end[0]];
PathNodeResult node = new PathNodeResult();
node.F = tmp.F;
node.G = tmp.G;
node.H = 0;
node.PX = tmp.PX;
node.PY = tmp.PY;
node.X = end[0];
node.Y = end[1];
while (node.X != node.PX || node.Y != node.PY)
{
mResultPath.Add(node);
ushort posX = node.PX;
ushort posY = node.PY;
tmp = mGridNode[(posY << mGridXLog2) + posX];
node = new PathNodeResult();
node.F = tmp.F;
node.G = tmp.G;
node.H = 0;
node.PX = tmp.PX;
node.PY = tmp.PY;
node.X = posX;
node.Y = posY;
}
mResultPath.Add(node);
mResultPath.Reverse(0, mResultPath.Count);
List <Vector2i> res = new List <Vector2i>();
foreach (PathNodeResult n in mResultPath)
{
res.Add(new Vector2i(n.X, n.Y));
}
return(res);
}
return(null);
}
public override void SysFinalize()
{
CancelInvoke("Tick");
m_queue.Clear();
base.SysFinalize();
}