private static void CallbackExample()
{
Console.WriteLine(nameof(CallbackExample));
//Setup the nodegrid and pathfinder.
var pathfindaxManager = new PathfindaxManager();
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 3, 3);
var nodeNetwork = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
var pathfinder = pathfindaxManager.CreateAstarPathfinder(nodeNetwork, new ManhattanDistance());
//Request a path.
var pathRequest = pathfinder.RequestPath(nodeNetwork.NodeGrid.ToIndex(0, 0), nodeNetwork.NodeGrid.ToIndex(2, 0));
Console.WriteLine($"Solving path from {pathRequest.PathStart} to {pathRequest.PathEnd}...");
//Add a callback to the request that will be called then the pathfinder is done.
var callbackCalled = false;
pathRequest.AddCallback(request =>
{
Console.WriteLine($"Solved path! {request.CompletedPath}");
callbackCalled = true;
});
//Wait till callback is called.
while (!callbackCalled)
{
}
Console.WriteLine($"{nameof(CallbackExample)} completed. Press any key to continue with the next example.");
Console.ReadKey();
}
private static object[] AstarAlgorithmVisualizationTestCase(int width, int height, Vector2 scale, Vector2 position, Vector2 start, Vector2 target)
{
var factory = new DefinitionNodeGridFactory();
var definitionNodes = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, width, height);
return(new object[] { new DefinitionNodeGrid(definitionNodes, scale, position), start, target });
}
private static void PollingExample()
{
Console.WriteLine(nameof(PollingExample));
//Setup the nodegrid and pathfinder.
var pathfindaxManager = new PathfindaxManager();
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 3, 3);
var nodeNetwork = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
var pathfinder = pathfindaxManager.CreateAstarPathfinder(nodeNetwork, new ManhattanDistance());
//Request a path.
var pathRequest = pathfinder.RequestPath(nodeNetwork.NodeGrid.ToIndex(0, 0), nodeNetwork.NodeGrid.ToIndex(2, 0));
Console.WriteLine($"Solving path from {pathRequest.PathStart} to {pathRequest.PathEnd}...");
//Poll the status to check when the pathfinder is finished.
while (pathRequest.Status == PathRequestStatus.Solving)
{
}
switch (pathRequest.Status)
{
case PathRequestStatus.Solved:
Console.WriteLine($"Solved path! {pathRequest.CompletedPath}");
break;
case PathRequestStatus.NoPathFound:
Console.WriteLine("Could not find a path");
break;
}
Console.WriteLine($"{nameof(PollingExample)} completed. Press any key to continue with the next example.");
Console.ReadKey();
}
public void GeneratePreFilledArray_CrossCorners(int width, int height, Point2[] blockedNodes)
{
var factory = new DefinitionNodeGridFactory();
var collisionMask = new NodeGridCollisionMask(PathfindaxCollisionCategory.Cat1, width, height);
foreach (var blockedNode in blockedNodes)
{
collisionMask.Layers[0].CollisionDirections[blockedNode.X, blockedNode.Y] = CollisionDirection.Solid;
}
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, collisionMask, true);
Assert.AreEqual(width, nodeGrid.Width);
Assert.AreEqual(height, nodeGrid.Height);
foreach (var point in blockedNodes)
{
var index = nodeGrid.ToIndex(point.X, point.Y);
foreach (var connection in nodeGrid.Array[index].Connections)
{
Assert.AreEqual(PathfindaxCollisionCategory.Cat1, connection.CollisionCategory);
var connectionToThis = nodeGrid.Array[connection.To].Connections.First(x => x.To == index);
Assert.AreEqual(PathfindaxCollisionCategory.Cat1, connectionToThis.CollisionCategory);
}
}
}
private static object[] GenerateNodeVisualizationTestCase(int width, int height, Vector2 scale, Vector2 position)
{
var factory = new DefinitionNodeGridFactory();
var definitionNodes = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, width, height).Array;
var transform = new Transformer(scale, position);
return(new object[] { definitionNodes, transform });
}
private static object[] GenerateWaypointNodeVisualizationTestCase(int width, int height, Vector2 scale, Vector2 position, int[] path, ColorRgba startColor, ColorRgba endColor, ColorRgba nodeColor, ColorRgba lineColor)
{
var factory = new DefinitionNodeGridFactory();
var definitionNodes = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, width, height).Array;
var transform = new Transformer(scale, position);
return(new object[] { transform, path.Select(i => definitionNodes[i].Position).ToArray(), startColor, endColor, nodeColor, lineColor });
}
public void Setup()
{
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 320, 200);
_definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
_dijkstraNodeGrid = new DijkstraNodeGrid(_definitionNodeGrid, 1);
_algorithm = new DijkstraAlgorithm(_definitionNodeGrid.NodeCount);
_pathRequest = PathRequest.Create(Substitute.For <IPathfinder <NodePath> >(),
_definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(319, 199));
_nodeNetwork = _dijkstraNodeGrid.GetCollisionLayerNetwork(_pathRequest.CollisionCategory);
}
public void Setup()
{
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 320, 200);
_definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
_astarNodeNetwork = new AstarNodeNetwork(_definitionNodeGrid, new BrushfireClearanceGenerator(_definitionNodeGrid, 1));
_algorithm = new AStarAlgorithm(_definitionNodeGrid.NodeCount, new ManhattanDistance());
_longPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(319, 199));
_shortPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(20, 20));
_veryShortPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(1, 0));
_zeroLengthPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(0, 0));
}
public void GeneratePreFilledArray(int width, int height, Point2[] blockedNodes)
{
var factory = new DefinitionNodeGridFactory();
var collisionMask = new NodeGridCollisionMask(PathfindaxCollisionCategory.Cat1, width, height);
foreach (var blockedNode in blockedNodes)
{
collisionMask.Layers[0].CollisionDirections[blockedNode.X, blockedNode.Y] = CollisionDirection.Solid;
}
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, collisionMask);
Assert.AreEqual(width, nodeGrid.Width);
Assert.AreEqual(height, nodeGrid.Height);
foreach (var point in blockedNodes)
{
var index = nodeGrid.ToIndex(point.X, point.Y);
foreach (var connection in nodeGrid.Array[index].Connections)
{
Assert.AreEqual(PathfindaxCollisionCategory.Cat1, connection.CollisionCategory);
var connectionToThis = nodeGrid.Array[connection.To].Connections.First(x => x.To == index);
Assert.AreEqual(PathfindaxCollisionCategory.Cat1, connectionToThis.CollisionCategory);
}
var topNodeIndex = GetIndex(nodeGrid, point.X, point.Y + 1);
var bottomNodeIndex = GetIndex(nodeGrid, point.X, point.Y - 1);
var leftNodeIndex = GetIndex(nodeGrid, point.X - 1, point.Y);
var rightNodeIndex = GetIndex(nodeGrid, point.X + 1, point.Y);
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, topNodeIndex, leftNodeIndex));
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, topNodeIndex, rightNodeIndex));
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, bottomNodeIndex, leftNodeIndex));
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, bottomNodeIndex, rightNodeIndex));
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, leftNodeIndex, topNodeIndex));
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, leftNodeIndex, bottomNodeIndex));
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, rightNodeIndex, topNodeIndex));
Assert.IsTrue(ConnectionIsBlocked(nodeGrid, rightNodeIndex, bottomNodeIndex));
}
}
private static void AsyncExample()
{
Console.WriteLine(nameof(AsyncExample));
//Setup the nodegrid and pathfinder.
var pathfindaxManager = new PathfindaxManager();
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 3, 3);
var definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
var pathfinder = pathfindaxManager.CreateAstarPathfinder(definitionNodeGrid, new ManhattanDistance());
var exampleGameObject = new ExampleAsyncGameObject(pathfinder);
//Wait till callback is called.
while (!exampleGameObject.CallBackCalled)
{
exampleGameObject.Update();
}
Console.ReadKey();
}
public void CalculateGridNodeClearances_FilledNodeGrid_Passes()
{
const int width = 4;
const int height = 4;
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, width, height);
var sourceNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
var astarNodeNetwork = new AstarNodeNetwork(sourceNodeGrid, new BrushfireClearanceGenerator(sourceNodeGrid, 5));
var sourceNodeNetworkCat1 = new Array2D <AstarNode>(astarNodeNetwork.GetCollisionLayerNetwork(PathfindaxCollisionCategory.Cat1), width, height);
Assert.AreEqual(1, sourceNodeNetworkCat1[0, 0].Clearance);
Assert.AreEqual(1, sourceNodeNetworkCat1[1, 0].Clearance);
Assert.AreEqual(1, sourceNodeNetworkCat1[2, 0].Clearance);
Assert.AreEqual(1, sourceNodeNetworkCat1[3, 0].Clearance);
Assert.AreEqual(1, sourceNodeNetworkCat1[0, 1].Clearance);
Assert.AreEqual(3, sourceNodeNetworkCat1[1, 1].Clearance);
Assert.AreEqual(3, sourceNodeNetworkCat1[2, 1].Clearance);
Assert.AreEqual(1, sourceNodeNetworkCat1[3, 1].Clearance);
}
private static TestCaseData GeneratePathTestCase(int width, int height, Point2 start, Point2 end, Point2[] blockedNodes = null)
{
var factory = new DefinitionNodeGridFactory();
var collisionMask = new NodeGridCollisionMask(PathfindaxCollisionCategory.Cat1, width, height);
if (blockedNodes != null)
{
foreach (var blockedNode in blockedNodes)
{
collisionMask.Layers[0].CollisionDirections[blockedNode.X, blockedNode.Y] = CollisionDirection.Solid;
}
}
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, collisionMask, true);
var grid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
var description = blockedNodes != null ?
$"Path from {start} to {end} on a {width} by {height} grid with blocked nodes {string.Join(", ", blockedNodes)}" :
$"Path from {start} to {end} on a {width} by {height} grid";
return(new TestCaseData(grid, start, end).SetName(description));
}
public IDefinitionNodeGrid GenerateGrid2D()
{
if (_definitionNodeGrid == null)
{
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 320, 200);
var definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(32, 32));
/*definitionNodeGrid.PotentialArray[5, 4].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[5, 5].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[5, 6].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[5, 7].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[5, 8].CollisionCategory = PathfindaxCollisionCategory.Cat1;
*
* definitionNodeGrid.PotentialArray[5, 10].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[6, 10].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[7, 10].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[8, 10].CollisionCategory = PathfindaxCollisionCategory.Cat1;
* definitionNodeGrid.PotentialArray[9, 10].CollisionCategory = PathfindaxCollisionCategory.Cat1;*/
_definitionNodeGrid = definitionNodeGrid;
}
return(_definitionNodeGrid);
}
public DefinitionNodeGrid(GenerateNodeGridConnections generateNodeGridConnections, int width, int height, Vector2 scale, Vector2 offset = default(Vector2))
{
Transformer = new GridTransformer(new Point2(width, height), scale, offset);
NodeGrid = DefinitionNodeGridFactory.GeneratePreFilledArray(generateNodeGridConnections, width, height);
}
