public Node(Node _parentNode, float _f, Vector2 _pos)
{
this._parentNode = _parentNode;
this._f = _f;
this._pos = _pos;
}
// position sur les tiles isos
public List<Vector2> GetPath(Vector2 _positionDepart, Vector2 _positionFinale)
{
Console.WriteLine("set path :");
_positionFinale.X = (int)_positionFinale.X;
_positionFinale.Y = (int)_positionFinale.Y;
//Console.WriteLine("Depart : " + _positionDepart);
//Console.WriteLine("Arrivé : " + _positionFinale);
Node _currentNode = new Node(null, GetF(_positionDepart, _positionFinale, _positionDepart, 0), _positionDepart);
List<Node> _openList = new List<Node>();
List<Node> _closedList = new List<Node>();
bool _retour = false; // vaut vrai si la position a deja ete parcouru (evite de retourner en arriere)
List<Vector2> _path = new List<Vector2>(); ;
Vector2[] _adjacentNodePos = new Vector2[8];
_openList.Add(_currentNode);
int x = 0;
while (_currentNode.Pos != _positionFinale && !_retour)
//for (int j = 0; j < 5; j++)
{
_adjacentNodePos[0] = new Vector2(_currentNode.Pos.X + 1, _currentNode.Pos.Y);
_adjacentNodePos[1] = new Vector2(_currentNode.Pos.X - 1, _currentNode.Pos.Y);
_adjacentNodePos[2] = new Vector2(_currentNode.Pos.X, _currentNode.Pos.Y + 1);
_adjacentNodePos[3] = new Vector2(_currentNode.Pos.X, _currentNode.Pos.Y - 1);
_adjacentNodePos[4] = new Vector2(_currentNode.Pos.X + 1, _currentNode.Pos.Y + 1);
_adjacentNodePos[5] = new Vector2(_currentNode.Pos.X - 1, _currentNode.Pos.Y - 1);
_adjacentNodePos[6] = new Vector2(_currentNode.Pos.X + 1, _currentNode.Pos.Y - 1);
_adjacentNodePos[7] = new Vector2(_currentNode.Pos.X - 1, _currentNode.Pos.Y + 1);
for (int i = 0; i < 8; i++)
{
//Console.WriteLine("X : " + (int)_adjacentNodePos[i].X + " Y : " + (int)_adjacentNodePos[i].Y + " coef : " + _collisionTableau[(int)_adjacentNodePos[i].X, (int)_adjacentNodePos[i].Y]);
/*foreach(Node n in _closedList)
if (_adjacentNodePos[i] == n.Pos)
_retour = true;
if (!_retour)*/
_openList.Add(new Node(_currentNode, GetF(_positionDepart, _positionFinale, _adjacentNodePos[i], _collisionTableau[(int)_adjacentNodePos[i].X, (int)_adjacentNodePos[i].Y]), _adjacentNodePos[i]));
//new Node(_currentNode, GetF(_positionDepart, _positionFinale, _adjacentNodePos[i], _collisionTableau[(int)_adjacentNodePos[i].X, (int)_adjacentNodePos[i].Y]), _adjacentNodePos[i]).display();
}
if (!isRetour(_openList[0], _closedList))
_closedList.Add(_openList[0]);
else
{
Console.WriteLine("occurence de retour !");
_retour = true;
}// on deplace le noeud parent dans la closedList
Console.WriteLine("nouvelle position : " + _openList[0].Pos + ", sa value : " + _collisionTableau[(int)_openList[0].Pos.X, (int)_openList[0].Pos.Y]);
_openList.RemoveAt(0);
for (int i = 0; i < 7; i++)
{
if (_openList[0].F < _openList[1].F) // garde le f le plus petit
_openList.RemoveAt(1);
else _openList.RemoveAt(0);
}
_currentNode = _openList[0];
x++;
}
_closedList.Add(_openList[0]);
foreach (Node n in _closedList)
_path.Add(n.Pos);
return _path;
}
public bool isRetour(Node _newNode, List<Node> _closedList)
{
Console.WriteLine("test isRetour");
foreach (Node n in _closedList)
{
Console.WriteLine("newNode = " + _newNode.Pos + ", n = " + n.Pos);
if (n.Pos == _newNode.Pos)
return true;
}
return false;
}