CellState[] states; // true if open, false if closed
#endregion Fields
#region Constructors
public PathGrid( Vector2 min, Vector2 max, int rows, int cols, WalkablePredicate walkablePredicate )
{
smoothStep = .25f * ( max.X - min.X ) / cols;
Min = min;
Max = max;
Rows = rows;
Cols = cols;
openList = new List<int>( 100 );
int cellCount = Rows * Cols;
cells = new PathCell[cellCount];
costs = new PathCellCost[cellCount];
states = new CellState[cellCount];
float xStep = ( Max.X - Min.X ) / Cols;
float yStep = ( Max.Y - Min.Y ) / Rows;
AABB aabb = new AABB();
aabb.Min.Y = Min.Y;
aabb.Max.Y = Min.Y + yStep;
for ( int r = 0; r < Rows; ++r )
{
aabb.Min.X = Min.X;
aabb.Max.X = Min.X + xStep;
for ( int c = 0; c < Cols; ++c )
{
int index = r * Cols + c;
bool walkable = walkablePredicate != null ? walkablePredicate( aabb, Building.Buildings ) : true;
cells[index] = new PathCell( walkable, index, Vector2.Lerp( aabb.Min, aabb.Max, .5f ) );
aabb.Min.X += xStep;
aabb.Max.X += xStep;
}
aabb.Min.Y += yStep;
aabb.Max.Y += yStep;
}
// do the a* stuffs here
for ( int r = 0; r < Rows; ++r )
{
for ( int c = 0; c < Cols; ++c )
{
int index = r * Cols + c;
if ( cells[index].Walkable )
{
for ( int r2 = 0; r2 < Rows; ++r2 )
{
for ( int c2 = 0; c2 < Cols; ++c2 )
{
//FindPath( r, c, r2, c2 );
}
}
}
}
}
debugGrid = new DebugGrid( Min, Max, Rows, Cols, Color.LightGray, ZombieCraft.Instance.GraphicsDevice );
}
private void CheckCell( ref PathCell cell, ref PathCellCost cost, float stepCost )
{
if ( cell.Walkable )
{
CellState state = states[cell.Index];
if ( state == CellState.Untouched )
{
openList.Add( cell.Index );
states[cell.Index] = CellState.Open;
cost.Heuristic = ComputeHeuristicCost( ref cell.Center, ref cells[curDest].Center );
cost.Walk = costs[curCell].Walk + stepCost;
cost.Total = cost.Heuristic + cost.Walk;
cell.Parent = curCell;
}
else if ( state == CellState.Open )
{
float walkCost = costs[curCell].Walk + stepCost;
if ( walkCost < cost.Walk )
{
cost.Walk = walkCost;
cost.Total = cost.Heuristic + cost.Walk;
cell.Parent = curCell;
}
}
}
}
