public PathNode(PathNode parentNode, PathNode endNode, Vector2 gridLocation, float cost) { ParentNode = parentNode; GridLocation = gridLocation; EndNode = endNode; DirectCost = cost; if (!(endNode == null)) { TotalCost = DirectCost + LinearCost(); } }
static private void addNodeToOpenList(PathNode node) { int index = 0; float cost = node.TotalCost; while ((openList.Count() > index) && (cost < openList[index].TotalCost)) { index++; } openList.Insert(index, node); nodeCosts[node.GridLocation] = node.TotalCost; nodeStatus[node.GridLocation] = NodeStatus.Open; }
public bool IsEqualToNode(PathNode node) { return (GridLocation == node.GridLocation); }
public static List<Vector2> FindPath( Vector2 startTile, Vector2 endTile) { if (TileMap.IsWallTile(endTile) || TileMap.IsWallTile(startTile)) { return null; } openList.Clear(); nodeCosts.Clear(); nodeStatus.Clear(); PathNode startNode; PathNode endNode; endNode = new PathNode(null, null, endTile, 0); startNode = new PathNode(null, endNode, startTile, 0); addNodeToOpenList(startNode); while (openList.Count > 0) { PathNode currentNode = openList[openList.Count - 1]; if (currentNode.IsEqualToNode(endNode)) { List<Vector2> bestPath = new List<Vector2>(); while (currentNode != null) { bestPath.Insert(0, currentNode.GridLocation); currentNode = currentNode.ParentNode; } return bestPath; } openList.Remove(currentNode); nodeCosts.Remove(currentNode.GridLocation); foreach ( PathNode possibleNode in findAdjacentNodes(currentNode, endNode)) { if (nodeStatus.ContainsKey(possibleNode.GridLocation)) { if (nodeStatus[possibleNode.GridLocation] == NodeStatus.Closed) { continue; } if ( nodeStatus[possibleNode.GridLocation] == NodeStatus.Open) { if (possibleNode.TotalCost >= nodeCosts[possibleNode.GridLocation]) { continue; } } } addNodeToOpenList(possibleNode); } nodeStatus[currentNode.GridLocation] = NodeStatus.Closed; } return null; }
private static List<PathNode> findAdjacentNodes( PathNode currentNode, PathNode endNode) { List<PathNode> adjacentNodes = new List<PathNode>(); int X = currentNode.GridX; int Y = currentNode.GridY; bool upLeft = true; bool upRight = true; bool downLeft = true; bool downRight = true; if ((X > 0) && (!TileMap.IsWallTile(X - 1, Y))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X - 1, Y), CostStraight + currentNode.DirectCost)); } else { upLeft = false; downLeft = false; } if ((X < 49) && (!TileMap.IsWallTile(X + 1, Y))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X + 1, Y), CostStraight + currentNode.DirectCost)); } else { upRight = false; downRight = false; } if ((Y > 0) && (!TileMap.IsWallTile(X, Y - 1))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X, Y - 1), CostStraight + currentNode.DirectCost)); } else { upLeft = false; upRight = false; } if ((Y < 49) && (!TileMap.IsWallTile(X, Y + 1))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X, Y + 1), CostStraight + currentNode.DirectCost)); } else { downLeft = false; downRight = false; } if ((upLeft) && (!TileMap.IsWallTile(X - 1, Y - 1))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X - 1, Y - 1), CostDiagonal + currentNode.DirectCost)); } if ((upRight) && (!TileMap.IsWallTile(X + 1, Y - 1))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X + 1, Y - 1), CostDiagonal + currentNode.DirectCost)); } if ((downLeft) && (!TileMap.IsWallTile(X - 1, Y + 1))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X - 1, Y + 1), CostDiagonal + currentNode.DirectCost)); } if ((downRight) && (!TileMap.IsWallTile(X + 1, Y + 1))) { adjacentNodes.Add(new PathNode( currentNode, endNode, new Vector2(X + 1, Y + 1), CostDiagonal + currentNode.DirectCost)); } return adjacentNodes; }
public bool IsEqualToNode(PathNode node) { return(GridLocation == node.GridLocation); }