void astar_PathFound(Path path, double MillisecondsNeeded)
{
if (MillisecondsNeeded >= 0)
{
pathSearching = false;
this.path = path;
pathfound = true;
pathPosition = 0;
//DebugManager.AddItem("Found Path", myNumber.ToString() + " Enemy, Type: " + eType, new System.Diagnostics.StackTrace());
}
else
{
DebugManager.AddItem("Invalid Path, Error:" +MillisecondsNeeded, myNumber.ToString() + " Enemy, Type: " + eType, new System.Diagnostics.StackTrace(), System.Drawing.Color.Yellow);
pathSearching = false;
}
timeFromLastSearch = 0;
}
public AStar()
{
openLinkedList = new LinkedList<PathNode>();
path = new Path();
//openList = new List<PathNode>();
newOpenList = new List<PathNode>();
myThread = new Thread(new ThreadStart(FindWay));
myThread.Priority = ThreadPriority.Lowest;
threadNumber++;
myThread.Name = "Enemy Thread #" + threadNumber.ToString();
PathFound += new PathFoundEventHandler(AStar_PathFound);
searchMap = new PathNode[AStarMap.Mapnodes.GetLength(0), AStarMap.Mapnodes.GetLength(1)];
for (int i = 0; i < AStarMap.Mapnodes.GetLength(0); i++)
{
for (int k = 0; k < AStarMap.Mapnodes.GetLength(1); k++)
{
Node node = AStarMap.Mapnodes[i,k];
searchMap[i, k] = new PathNode(node.MapXPosition, node.MapYPosition, node.Walkable);
}
}
}
private void FindWay()
{
while (!stop)
{
if (aim.Walkable == Walkable.Walkable && start.Walkable == Walkable.Walkable)
{
PathNode aimNode;
PathNode currentNode;
searching = true;
//searchMap = MapToArray();
starttime = DateTime.Now;
List<PathNode> similarNodes = new List<PathNode>();
MapToArray(ref searchMap);
//openList.Add(start.ToPathNode());
openLinkedList.AddFirst(start.ToPathNode());
PathNodeComparer comparer = new PathNodeComparer();
aimNode = searchMap[aimglobal.MapYPosition, aimglobal.MapXPosition];
while (openLinkedList.Count > 0 && searching && !abort)
{
if (openLinkedList.First.Value == aimNode)
searching = false;
if (searching)
{
currentNode = openLinkedList.First.Value;
try
{
// openList.Remove(openList[0]);
// openList.Sort(comparer);
openLinkedList.RemoveFirst();
}
catch (Exception)
{
abort = true;
//throw;
}
try
{
while (openLinkedList.First.Value.FCost == currentNode.FCost)
{
similarNodes.Add(openLinkedList.First.Value);
openLinkedList.RemoveFirst();
}
}
catch (Exception)
{
}
if (currentNode.State != NodeState.Closed && searching)
//ExploreNode(openList[0], searchMap);
ExploreNode(currentNode, searchMap);
for (int i = 0; i < similarNodes.Count; i++)
{
ExploreNode(similarNodes[i], searchMap);
}
similarNodes.Clear();
//openList.AddRange(newOpenList);
//if (openList.Contains(aimNode))
// if (aimNode.State == NodeState.Closed)
// searching = false;
if (openLinkedList.Contains(aimNode))
if (aimNode.State == NodeState.Closed)
searching = false;
//myThread.Suspend();
}
}
if (!searching)
{
PathNode lastNode;
LinkedList<PathNode> pathnodes = new LinkedList<PathNode>();
pathnodes.AddLast(searchMap[aimglobal.MapYPosition, aimglobal.MapXPosition]);
lastNode = searchMap[aimglobal.MapYPosition, aimglobal.MapXPosition];
while (lastNode.RootNode != null)
{
pathnodes.AddBefore(pathnodes.First, lastNode.RootNode);
lastNode = lastNode.RootNode;
}
path = new Path(pathnodes.ToList());
PathFound(path, (DateTime.Now - starttime).TotalMilliseconds);
}
else
PathFound(path, -2);
}
else
PathFound(path, -1);
if (!stop)
myThread.Suspend();
}
}
void AStar_PathFound(Path path,double ml)
{
//throw new NotImplementedException();
}