private void InitializeSearchNodes(Map map)
{
searchNodes = new SearchNode[levelWidth, levelHeight];
//Create a search node for each tile
for (int x = 0; x < levelWidth; x++)
{
for (int y = 0; y < levelHeight; y++)
{
//create search node for this tile
SearchNode node = new SearchNode();
node.Position = new Point(x, y);
//check if tile is walkable or not
node.Walkable = map.GetIndex(x, y) == 0 || map.GetIndex(x,y) == 4;
//if walkable then store the node
if (node.Walkable == true)
{
node.Neighbors = new SearchNode[4];
searchNodes[x, y] = node;
}
}
}
//connect search node to neighbor nodes
for (int x = 0; x < levelWidth; x++)
{
for (int y = 0; y < levelHeight; y++)
{
SearchNode node = searchNodes[x, y];
//check if node is walkable
if (node == null || node.Walkable == false)
{
continue;
}
//array of all the neighbors this node has
Point[] neighbors = new Point[]
{
new Point (x, y - 1), // The node above the current node
new Point (x, y + 1), // The node below the current node.
new Point (x - 1, y), // The node left of the current node.
new Point (x + 1, y), // The node right of the current node
};
for (int i = 0; i < neighbors.Length; i++)
{
Point position = neighbors[i];
if (position.X < 0 || position.X > levelWidth - 1 ||
position.Y < 0 || position.Y > levelHeight - 1)
{
continue;
}
SearchNode neighbor = searchNodes[position.X, position.Y];
if (neighbor == null || neighbor.Walkable == false)
{
continue;
}
node.Neighbors[i] = neighbor;
}
}
}
}
private List<Vector2> FindFinalPath(SearchNode startNode, SearchNode endNode)
{
closedList.Add(endNode);
SearchNode parentTile = endNode.Parent;
while (parentTile != startNode)
{
closedList.Add(parentTile);
parentTile = parentTile.Parent;
}
List<Vector2> finalPath = new List<Vector2>();
for (int i = closedList.Count - 1; i >= 0; i--)
{
finalPath.Add(new Vector2(closedList[i].Position.X * 50,
closedList[i].Position.Y * 50));
}
return finalPath;
}