public void Initialize()
{
LocatedNode = GridManager.GetNode(Body._position.x, Body._position.y);
LocatedNode.Add(this);
}
public void Initialize()
{
LocatedNode = GridManager.GetNode(Body.Position.x, Body.Position.y);
nodeIndex = LocatedNode.Add(Agent);
}
public static bool NeedsPath(GridNode startNode, GridNode endNode, int unitSize)
{
//Tests if there is a direct path. If there is, no need to run AStar.
x0 = startNode.gridX;
y0 = startNode.gridY;
x1 = endNode.gridX;
y1 = endNode.gridY;
if (y1 > y0)
{
compare1 = y1 - y0;
}
else
{
compare1 = y0 - y1;
}
if (x1 > x0)
{
compare2 = x1 - x0;
}
else
{
compare2 = x0 - x1;
}
steep = compare1 > compare2;
if (steep)
{
t = x0; // swap x0 and y0
x0 = y0;
y0 = t;
t = x1; // swap x1 and y1
x1 = y1;
y1 = t;
}
if (x0 > x1)
{
t = x0; // swap x0 and x1
x0 = x1;
x1 = t;
t = y0; // swap y0 and y1
y0 = y1;
y1 = t;
}
dx = x1 - x0;
dy = (y1 - y0);
if (dy < 0)
{
dy = -dy;
}
error = dx / 2;
ystep = (y0 < y1) ? 1 : -1;
y = y0;
GridNode.PrepareUnpassableCheck(unitSize);
for (x = x0; x <= x1; x++)
{
retX = (steep ? y : x);
retY = (steep ? x : y);
currentNode = GridManager.Grid[GridManager.GetGridIndex(retX, retY)];
if (currentNode != null && currentNode.Unpassable())
{
break;
}
else if (x == x1)
{
return(false);
}
error = error - dy;
if (error < 0)
{
y += ystep;
error += dx;
}
}
return(true);
}
/// <summary>
/// Finds a path and outputs it to <c>outputPath</c>. Note: outputPath is unpredictably changed.
/// </summary>
/// <returns>
/// Returns <c>true</c> if path was found and necessary, <c>false</c> if path to End is impossible or not found.
/// </returns>
/// <param name="startNode">Start node.</param>
/// <param name="endNode">End node.</param>
/// <param name="outputPath">Return path.</param>
public static bool FindPath(GridNode _startNode, GridNode _endNode, FastList <GridNode> _outputPath, int _unitSize = 1)
{
startNode = _startNode;
endNode = _endNode;
outputPath = _outputPath;
unitSize = _unitSize;
#region Broadphase and Preperation
if (endNode.Unwalkable)
{
return(false);
}
if (startNode.Unwalkable)
{
return(false);
}
outputPath.FastClear();
if (System.Object.ReferenceEquals(startNode, endNode))
{
outputPath.Add(endNode);
return(true);
}
GridHeap.FastClear();
GridClosedSet.FastClear();
#endregion
#region AStar Algorithm
GridHeap.Add(startNode);
GridNode.HeuristicTargetX = endNode.gridX;
GridNode.HeuristicTargetY = endNode.gridY;
GridNode.PrepareUnpassableCheck(unitSize); //Prepare Unpassable check optimizations
while (GridHeap.Count > 0)
{
currentNode = GridHeap.RemoveFirst();
GridClosedSet.Add(currentNode);
if (currentNode.gridIndex == endNode.gridIndex)
{
//Retraces the path then outputs it into outputPath
//Also Simplifies the path
DestinationReached();
return(true);
}
for (i = 0; i < 8; i++)
{
neighbor = currentNode.NeighborNodes[i];
if (neighbor.IsNull() || neighbor.Unpassable() || GridClosedSet.Contains(neighbor))
{
continue;
}
if (GridManager.GetNode(currentNode.gridX, neighbor.gridY).Unpassable() ||
GridManager.GetNode(neighbor.gridX, currentNode.gridY).Unpassable())
{
continue;
}
//0-3 = sides, 4-7 = diagonals
if (i < 4)
{
newMovementCostToNeighbor = currentNode.gCost + 100;
}
else
{
if (i == 4)
{
if (!GridManager.UseDiagonalConnections)
{
break;
}
}
newMovementCostToNeighbor = currentNode.gCost + 141;
}
if (!GridHeap.Contains(neighbor))
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.Add(neighbor);
}
else if (newMovementCostToNeighbor < neighbor.gCost)
{
neighbor.gCost = newMovementCostToNeighbor;
//Optimized heuristic calculation
neighbor.CalculateHeuristic();
neighbor.parent = currentNode;
GridHeap.UpdateItem(neighbor);
}
}
}
#endregion
return(false);
}
public void Initialize()
{
GenerateNeighbors();
LinkedScanNode = GridManager.GetScanNode(gridX / GridManager.ScanResolution, gridY / GridManager.ScanResolution);
}
public static void ScanAll(Vector2d position, long radius, Func <LSAgent, bool> agentConditional, Func <byte, bool> bucketConditional, FastList <LSAgent> output)
{
//If radius is too big and we scan too many tiles, performance will be bad
const long circleCastRadius = FixedMath.One * 16;
output.FastClear();
if (radius >= circleCastRadius)
{
bufferBodies.FastClear();
PhysicsTool.CircleCast(position, radius, bufferBodies);
for (int i = 0; i < bufferBodies.Count; i++)
{
var body = bufferBodies[i];
var agent = body.Agent;
//we have to check agent's controller since we did not filter it through buckets
if (agent.IsNotNull() && bucketConditional(agent.Controller.ControllerID))
{
if (agentConditional(agent))
{
output.Add(agent);
}
}
}
return;
}
int xMin = ((position.x - radius - GridManager.OffsetX) / (long)GridManager.ScanResolution).ToInt();
int xMax = ((position.x + radius - GridManager.OffsetX) / (long)GridManager.ScanResolution).CeilToInt();
int yMin = ((position.y - radius - GridManager.OffsetY) / (long)GridManager.ScanResolution).ToInt();
int yMax = ((position.y + radius - GridManager.OffsetY) / (long)GridManager.ScanResolution).CeilToInt();
long fastRadius = radius * radius;
for (int x = xMin; x <= xMax; x++)
{
for (int y = yMin; y <= yMax; y++)
{
ScanNode tempNode = GridManager.GetScanNode(
x,
y);
if (tempNode.IsNotNull())
{
if (tempNode.AgentCount > 0)
{
bufferBuckets.FastClear();
tempNode.GetBucketsWithAllegiance(bucketConditional, bufferBuckets);
for (int i = 0; i < bufferBuckets.Count; i++)
{
FastBucket <LSInfluencer> tempBucket = bufferBuckets[i];
BitArray arrayAllocation = tempBucket.arrayAllocation;
for (int j = 0; j < tempBucket.PeakCount; j++)
{
if (arrayAllocation.Get(j))
{
LSAgent tempAgent = tempBucket[j].Agent;
long distance = (tempAgent.Body.Position - position).FastMagnitude();
if (distance < fastRadius)
{
if (agentConditional(tempAgent))
{
output.Add(tempAgent);
}
}
else
{
}
}
}
}
}
}
}
}
}
