private static void identifySuccessors(JumpPointParam iParam, Node iNode)
{
HeuristicDelegate tHeuristic = iParam.HeuristicFunc;
List <Node> tOpenList = iParam.openList;
if (iParam.EndNode != null)
{
int tEndX = iParam.EndNode.x;
int tEndY = iParam.EndNode.y;
GridPos tNeighbor;
GridPos tJumpPoint;
Node tJumpNode;
List <GridPos> tNeighbors = findNeighbors(iParam, iNode);
for (int i = 0; i < tNeighbors.Count; i++)
{
tNeighbor = tNeighbors[i];
if (iParam.UseRecursive)
{
tJumpPoint = jump(iParam, tNeighbor.x, tNeighbor.y, iNode.x, iNode.y);
}
else
{
tJumpPoint = jumpLoop(iParam, tNeighbor.x, tNeighbor.y, iNode.x, iNode.y);
}
if (tJumpPoint != null)
{
tJumpNode = iParam.SearchGrid.GetNodeAt(tJumpPoint.x, tJumpPoint.y);
if (tJumpNode == null)
{
if (iParam.EndNode.x == tJumpPoint.x && iParam.EndNode.y == tJumpPoint.y)
{
tJumpNode = iParam.SearchGrid.GetNodeAt(tJumpPoint);
}
}
if (tJumpNode.isClosed)
{
continue;
}
// include distance, as parent may not be immediately adjacent:
float tCurNodeToJumpNodeLen = tHeuristic(Math.Abs(tJumpPoint.x - iNode.x), Math.Abs(tJumpPoint.y - iNode.y));
float tStartToJumpNodeLen = iNode.startToCurNodeLen + tCurNodeToJumpNodeLen; // next `startToCurNodeLen` value
if (!tJumpNode.isOpened || tStartToJumpNodeLen < tJumpNode.startToCurNodeLen)
{
tJumpNode.startToCurNodeLen = tStartToJumpNodeLen;
tJumpNode.heuristicCurNodeToEndLen = (tJumpNode.heuristicCurNodeToEndLen == null ? tHeuristic(Math.Abs(tJumpPoint.x - tEndX), Math.Abs(tJumpPoint.y - tEndY)) : tJumpNode.heuristicCurNodeToEndLen);
tJumpNode.heuristicStartToEndLen = tJumpNode.startToCurNodeLen + tJumpNode.heuristicCurNodeToEndLen.Value;
tJumpNode.parent = iNode;
if (!tJumpNode.isOpened)
{
tOpenList.Add(tJumpNode);
tJumpNode.isOpened = true;
}
}
}
}
}
}
public static List <GridPos> FindPath(JumpPointParam iParam)
{
try
{
List <Node> tOpenList = iParam.openList;
Node tStartNode = iParam.StartNode;
Node tEndNode = iParam.EndNode;
bool revertEndNodeWalkable = false;
// set the `g` and `f` value of the start node to be 0
tStartNode.startToCurNodeLen = 0;
tStartNode.heuristicStartToEndLen = 0;
// push the start node into the open list
tOpenList.Add(tStartNode);
tStartNode.isOpened = true;
if (iParam.AllowEndNodeUnWalkable && !iParam.SearchGrid.IsWalkableAt(tEndNode.x, tEndNode.y))
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 0);
revertEndNodeWalkable = true;
}
// while the open list is not empty
while (tOpenList.Any())
{
// pop the position of node which has the minimum `f` value.
Node tNode = tOpenList.Last();
tOpenList.RemoveAt(tOpenList.Count - 1);
tNode.isClosed = true;
if (tNode.Equals(tEndNode))
{
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 1);
}
return(Node.Backtrace(tNode)); // rebuilding path
}
identifySuccessors(iParam, tNode);
}
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 1);
}
// fail to find the path
return(new List <GridPos>());
}
catch
{
return(new List <GridPos>());
}
}
public JumpPointParam(JumpPointParam b) : base(b)
{
m_heuristic = b.m_heuristic;
CurEndNodeUnWalkableTreatment = b.CurEndNodeUnWalkableTreatment;
openList = new IntervalHeap <Node>();
openList.AddAll(b.openList);
CurIterationType = b.CurIterationType;
}
public JumpPointParam(JumpPointParam b)
{
m_heuristic = b.m_heuristic;
m_allowEndNodeUnWalkable = b.m_allowEndNodeUnWalkable;
m_crossAdjacentPoint = b.m_crossAdjacentPoint;
m_crossCorner = b.m_crossCorner;
openList = new List <Node>(b.openList);
m_searchGrid = b.m_searchGrid;
m_startNode = b.m_startNode;
m_endNode = b.m_endNode;
m_useRecursive = b.m_useRecursive;
}
public static List<GridPos> FindPath(JumpPointParam iParam)
{
List<Node> tOpenList = iParam.openList;
Node tStartNode = iParam.StartNode;
Node tEndNode = iParam.EndNode;
Node tNode;
bool revertEndNodeWalkable = false;
// set the `g` and `f` value of the start node to be 0
tStartNode.startToCurNodeLen = 0;
tStartNode.heuristicStartToEndLen = 0;
// push the start node into the open list
tOpenList.Add(tStartNode);
tStartNode.isOpened = true;
if (iParam.AllowEndNodeUnWalkable && !iParam.SearchGrid.IsWalkableAt(tEndNode.x, tEndNode.y))
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 0);
revertEndNodeWalkable = true;
}
// while the open list is not empty
while (tOpenList.Any())
{
// pop the position of node which has the minimum `f` value.
tNode = tOpenList.Last();
tOpenList.RemoveAt(tOpenList.Count - 1);
tNode.isClosed = true;
if (tNode.Equals(tEndNode))
{
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 1);
}
return Node.Backtrace(tNode); // rebuilding path
}
identifySuccessors(iParam, tNode);
}
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, 1);
}
// fail to find the path
return new List<GridPos>();
}
public static List <GridPos> FindPath(JumpPointParam iParam)
{
var tOpenList = iParam.openList;
var tStartNode = iParam.StartNode;
var tEndNode = iParam.EndNode;
var revertEndNodeWalkable = false;
// set the `g` and `f` value of the start node to be 0
tStartNode.startToCurNodeLen = 0;
tStartNode.heuristicStartToEndLen = 0;
// push the start node into the open list
tOpenList.Add(tStartNode);
tStartNode.isOpened = true;
if (iParam.CurEndNodeUnWalkableTreatment == EndNodeUnWalkableTreatment.Allow && !iParam.SearchGrid.IsWalkableAt(tEndNode.x, tEndNode.y))
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, true);
revertEndNodeWalkable = true;
}
// while the open list is not empty
while (tOpenList.Count > 0)
{
// pop the position of node which has the minimum `f` value.
var tNode = tOpenList.DeleteMin();
tNode.isClosed = true;
if (tNode.Equals(tEndNode))
{
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, false);
}
return(Node.Backtrace(tNode)); // rebuilding path
}
IdentifySuccessors(iParam, tNode);
}
if (revertEndNodeWalkable)
{
iParam.SearchGrid.SetWalkableAt(tEndNode.x, tEndNode.y, false);
}
// Failed to find path
return(new List <GridPos>());
}
public SearchGridForm()
{
InitializeComponent();
this.DoubleBuffered = true;
m_resultBox = new List <ResultBox>();
this.Width = (width + 1) * 20;
this.Height = (height + 1) * 20 + 100;
this.MaximumSize = new Size(this.Width, this.Height);
this.MaximizeBox = false;
m_rectangles = new GridBox[width][];
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
m_rectangles[widthTrav] = new GridBox[height];
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
if (widthTrav == (width / 3) && heightTrav == (height / 2))
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Start);
}
else if (widthTrav == 41 && heightTrav == (height / 2))
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.End);
}
else
{
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Normal);
}
}
}
m_resultLine = new List <GridLine>();
//Grid searchGrid=new Grid(width,height,movableMatrix);
//BaseGrid searchGrid = new StaticGrid(width, height, movableMatrix);
//searchGrid = new DynamicGrid();
searchGrid = new DynamicGridWPool(SingletonHolder <NodePool> .Instance);
jumpParam = new JumpPointParam(searchGrid, true, cbCrossCorners.Checked, cbCrossAdjacentPoint.Checked, HeuristicMode.EUCLIDEAN);//new JumpPointParam(searchGrid, startPos, endPos, cbCrossCorners.Checked, HeuristicMode.EUCLIDEANSQR);
jumpParam.UseRecursive = cbUseRecursive.Checked;
}
public JumpPointParam(JumpPointParam b)
{
m_heuristic = b.m_heuristic;
m_allowEndNodeUnWalkable = b.m_allowEndNodeUnWalkable;
m_crossAdjacentPoint = b.m_crossAdjacentPoint;
m_crossCorner = b.m_crossCorner;
openList = new List<Node>(b.openList);
m_searchGrid = b.m_searchGrid;
m_startNode = b.m_startNode;
m_endNode = b.m_endNode;
m_useRecursive = b.m_useRecursive;
}
private static GridPos jumpLoop(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
GridPos retVal = null;
Stack<JumpSnapshot> stack = new Stack<JumpSnapshot>();
JumpSnapshot currentSnapshot = new JumpSnapshot();
JumpSnapshot newSnapshot = null;
currentSnapshot.iX = iX;
currentSnapshot.iY = iY;
currentSnapshot.iPx = iPx;
currentSnapshot.iPy = iPy;
currentSnapshot.stage = 0;
stack.Push(currentSnapshot);
while (stack.Count != 0)
{
currentSnapshot = stack.Pop();
switch (currentSnapshot.stage)
{
case 0:
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY))
{
retVal = null;
continue;
}
else if (iParam.SearchGrid.GetNodeAt(currentSnapshot.iX, currentSnapshot.iY).Equals(iParam.EndNode))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.tDx = currentSnapshot.iX - currentSnapshot.iPx;
currentSnapshot.tDy = currentSnapshot.iY - currentSnapshot.iPy;
currentSnapshot.jx = null;
currentSnapshot.jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 1;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY - currentSnapshot.tDy)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 3;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
retVal = null;
break;
case 1:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 2;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 2:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 3:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 4;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 4:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
}
}
return retVal;
}
public List<GridPos> JPSPlus(JumpPointParam JumpPointParameters, GridPos cell1, GridPos cell2)
{
if (JumpPointParameters != null)
{
JumpPointParameters.Reset(cell1, cell2);
return JumpPointFinder.GetFullPath(JumpPointFinder.FindPath(JumpPointParameters));
}
return new List<GridPos>();
}
public SearchGridForm()
{
InitializeComponent();
this.DoubleBuffered = true;
m_resultBox = new List<ResultBox>();
this.Width = (width+1) * 20;
this.Height = (height+1) * 20 +100;
this.MaximumSize = new Size(this.Width, this.Height);
this.MaximizeBox = false;
m_rectangles = new GridBox[width][];
for (int widthTrav = 0; widthTrav < width; widthTrav++)
{
m_rectangles[widthTrav] = new GridBox[height];
for (int heightTrav = 0; heightTrav < height; heightTrav++)
{
if(widthTrav==(width/3) && heightTrav==(height/2))
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Start);
else if (widthTrav == 41 && heightTrav == (height / 2))
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20 , heightTrav * 20 + 50, BoxType.End);
else
m_rectangles[widthTrav][heightTrav] = new GridBox(widthTrav * 20, heightTrav * 20 + 50, BoxType.Normal);
}
}
m_resultLine = new List<GridLine>();
//Grid searchGrid=new Grid(width,height,movableMatrix);
//BaseGrid searchGrid = new StaticGrid(width, height, movableMatrix);
//searchGrid = new DynamicGrid();
searchGrid = new DynamicGridWPool(SingletonHolder<NodePool>.Instance);
jumpParam = new JumpPointParam(searchGrid, true, cbCrossCorners.Checked, cbCrossAdjacentPoint.Checked, HeuristicMode.EUCLIDEAN);//new JumpPointParam(searchGrid, startPos, endPos, cbCrossCorners.Checked, HeuristicMode.EUCLIDEANSQR);
jumpParam.UseRecursive = cbUseRecursive.Checked;
}
private static List <GridPos> findNeighbors(JumpPointParam iParam, Node iNode)
{
Node tParent = (Node)iNode.parent;
int tX = iNode.x;
int tY = iNode.y;
int tPx, tPy, tDx, tDy;
List <GridPos> tNeighbors = new List <GridPos>();
List <Node> tNeighborNodes;
Node tNeighborNode;
// directed pruning: can ignore most neighbors, unless forced.
if (tParent != null)
{
tPx = tParent.x;
tPy = tParent.y;
// get the normalized direction of travel
tDx = (tX - tPx) / Math.Max(Math.Abs(tX - tPx), 1);
tDy = (tY - tPy) / Math.Max(Math.Abs(tY - tPy), 1);
if (iParam.CrossCorner)
{
// search diagonally
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) || iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
else if (iParam.CrossAdjacentPoint)
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX - tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX - tDx, tY))
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
else if (iParam.CrossAdjacentPoint)
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY) && !iParam.SearchGrid.IsWalkableAt(tX, tY - tDy))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
else if (iParam.CrossAdjacentPoint)
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
}
}
// search horizontally/vertically
else
{
if (tDx == 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
else if (iParam.CrossAdjacentPoint)
{
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
}
else
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
else if (iParam.CrossAdjacentPoint)
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
}
}
}
else // if(!iParam.CrossCorner)
{
// search diagonally
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX - tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX - tDx, tY))
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY - tDy) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
}
}
// search horizontally/vertically
else
{
if (tDx == 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY));
}
}
else
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1) && iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1) && iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX, tY - 1));
}
}
}
}
}
// return all neighbors
else
{
tNeighborNodes = iParam.SearchGrid.GetNeighbors(iNode, iParam.CrossCorner, iParam.CrossAdjacentPoint);
for (int i = 0; i < tNeighborNodes.Count; i++)
{
tNeighborNode = tNeighborNodes[i];
tNeighbors.Add(new GridPos(tNeighborNode.x, tNeighborNode.y));
}
}
return(tNeighbors);
}
public void Initialize(Map currentMap)
{
Map = currentMap;
Initialize();
JumpPointParameters = new JumpPointParam(Map.Grid, new GridPos(0, 0), new GridPos(0, 0), false, true, true, HeuristicMode.MANHATTAN);
}
private static GridPos Jump(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
if (!iParam.SearchGrid.IsWalkableAt(iX, iY))
{
return null;
}
else if (iParam.SearchGrid.GetNodeAt(iX, iY).Equals(iParam.EndNode))
{
return new GridPos(iX, iY);
}
int tDx = iX - iPx;
int tDy = iY - iPy;
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - tDy) && !iParam.SearchGrid.IsWalkableAt(iX, iY - tDy)))
{
return new GridPos(iX, iY);
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{ // moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY - 1)))
{
return new GridPos(iX, iY);
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX + 1, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX - 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - 1, iY)))
{
return new GridPos(iX, iY);
}
}
}
GridPos jx;
GridPos jy;
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
jx = Jump(iParam, iX + tDx, iY, iX, iY);
jy = Jump(iParam, iX, iY + tDy, iX, iY);
if (jx != null || jy != null)
{
return new GridPos(iX, iY);
}
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) || iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return Jump(iParam, iX + tDx, iY + tDy, iX, iY);
}
else if (iParam.CrossCorner)
{
return Jump(iParam, iX + tDx, iY + tDy, iX, iY);
}
else
{
return null;
}
}
public static List<GridPos> FindPath(JumpPointParam iParam)
{
List<Node> tOpenList = iParam.openList;
Node tStartNode = iParam.StartNode;
Node tEndNode = iParam.EndNode;
Node tNode;
// set the `g` and `f` value of the start node to be 0
tStartNode.startToCurNodeLen = 0;
tStartNode.heuristicStartToEndLen = 0;
// push the start node into the open list
tOpenList.Add(tStartNode);
tStartNode.isOpened = true;
// while the open list is not empty
while (tOpenList.Count > 0)
{
// pop the position of node which has the minimum `f` value.
tOpenList.Sort();
tNode = (Node)tOpenList[0];
tOpenList.RemoveAt(0);
tNode.isClosed = true;
if (tNode.Equals(tEndNode))
{
return Node.Backtrace(tEndNode); // rebuilding path
}
IdentifySuccessors(iParam, tNode);
}
// fail to find the path
return new List<GridPos>();
}
private static List <GridPos> findNeighbors(JumpPointParam iParam, Node iNode)
{
var tParent = (Node)iNode.parent;
var tX = iNode.x;
var tY = iNode.y;
int tPx, tPy, tDx, tDy;
var tNeighbors = new List <GridPos>();
// directed pruning: can ignore most neighbors, unless forced.
if (tParent != null)
{
tPx = tParent.x;
tPy = tParent.y;
// get the normalized direction of travel
tDx = (tX - tPx) / Math.Max(Math.Abs(tX - tPx), 1);
tDy = (tY - tPy) / Math.Max(Math.Abs(tY - tPy), 1);
if (iParam.DiagonalMovement == DiagonalMovement.Always || iParam.DiagonalMovement == DiagonalMovement.IfAtLeastOneWalkable)
{
// search diagonally
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) || iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX - tDx, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX - tDx, tY))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - tDy) && !iParam.SearchGrid.IsWalkableAt(tX, tY - tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
}
}
// search horizontally/vertically
else
{
if (tDx != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1) && !iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
}
else
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy) && !iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
}
}
}
else if (iParam.DiagonalMovement == DiagonalMovement.OnlyWhenNoObstacles)
{
// search diagonally
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX - tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX - tDx, tY))
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY - tDy) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
}
}
// search horizontally/vertically
else
{
if (tDx != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1) && iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1) && iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX, tY - 1));
}
}
else
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy) && iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY));
}
}
}
}
else // if(iParam.DiagonalMovement == DiagonalMovement.Never)
{
if (tDx != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY + 1))
{
tNeighbors.Add(new GridPos(tX, tY + 1));
}
if (iParam.SearchGrid.IsWalkableAt(tX, tY - 1))
{
tNeighbors.Add(new GridPos(tX, tY - 1));
}
}
else // if (tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + 1, tY))
{
tNeighbors.Add(new GridPos(tX + 1, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX - 1, tY))
{
tNeighbors.Add(new GridPos(tX - 1, tY));
}
}
}
}
// return all neighbors
else
{
var tNeighborNodes = iParam.SearchGrid.GetNeighbors(iNode, iParam.DiagonalMovement);
for (var i = 0; i < tNeighborNodes.Count; i++)
{
var tNeighborNode = tNeighborNodes[i];
tNeighbors.Add(new GridPos(tNeighborNode.x, tNeighborNode.y));
}
}
return(tNeighbors);
}
private static GridPos Jump(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
if (!iParam.SearchGrid.IsWalkableAt(iX, iY))
{
return(null);
}
else if (iParam.SearchGrid.GetNodeAt(iX, iY).Equals(iParam.EndNode))
{
return(new GridPos(iX, iY));
}
var tDx = iX - iPx;
var tDy = iY - iPy;
if (iParam.DiagonalMovement == DiagonalMovement.Always || iParam.DiagonalMovement == DiagonalMovement.IfAtLeastOneWalkable)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - tDy) && !iParam.SearchGrid.IsWalkableAt(iX, iY - tDy)))
{
return(new GridPos(iX, iY));
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY - 1)))
{
return(new GridPos(iX, iY));
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX + 1, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX - 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - 1, iY)))
{
return(new GridPos(iX, iY));
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
if (Jump(iParam, iX + tDx, iY, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
if (Jump(iParam, iX, iY + tDy, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) || iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(Jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
return(Jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else
{
return(null);
}
}
else if (iParam.DiagonalMovement == DiagonalMovement.OnlyWhenNoObstacles)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + tDy) && (!iParam.SearchGrid.IsWalkableAt(iX, iY + tDy) || !iParam.SearchGrid.IsWalkableAt(iX + tDx, iY)))
{
return(new GridPos(iX, iY));
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX, iY + 1) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(iX, iY - 1) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY - 1)))
{
return(new GridPos(iX, iY));
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY) && !iParam.SearchGrid.IsWalkableAt(iX + 1, iY - tDy)) ||
(iParam.SearchGrid.IsWalkableAt(iX - 1, iY) && !iParam.SearchGrid.IsWalkableAt(iX - 1, iY - tDy)))
{
return(new GridPos(iX, iY));
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
if (Jump(iParam, iX + tDx, iY, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
if (Jump(iParam, iX, iY + tDy, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) && iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(Jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else
{
return(null);
}
}
else
{
if (tDx != 0)
{
// moving along x
if (!iParam.SearchGrid.IsWalkableAt(iX + tDx, iY))
{
return(new GridPos(iX, iY));
}
}
else
{
if (!iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(new GridPos(iX, iY));
}
}
// must check for perpendicular jump points
if (tDx != 0)
{
if (Jump(iParam, iX, iY + 1, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
if (Jump(iParam, iX, iY - 1, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
}
else // tDy != 0
{
if (Jump(iParam, iX + 1, iY, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
if (Jump(iParam, iX - 1, iY, iX, iY) != null)
{
return(new GridPos(iX, iY));
}
}
// keep going
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) && iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(Jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else
{
return(null);
}
}
}
private static GridPos JumpLoop(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
GridPos retVal = null;
var stack = new Stack <JumpSnapshot>();
var currentSnapshot = new JumpSnapshot();
JumpSnapshot newSnapshot = null;
currentSnapshot.iX = iX;
currentSnapshot.iY = iY;
currentSnapshot.iPx = iPx;
currentSnapshot.iPy = iPy;
currentSnapshot.stage = 0;
stack.Push(currentSnapshot);
while (stack.Count != 0)
{
currentSnapshot = stack.Pop();
switch (currentSnapshot.stage)
{
case 0:
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY))
{
retVal = null;
continue;
}
else if (iParam.SearchGrid.GetNodeAt(currentSnapshot.iX, currentSnapshot.iY).Equals(iParam.EndNode))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.tDx = currentSnapshot.iX - currentSnapshot.iPx;
currentSnapshot.tDy = currentSnapshot.iY - currentSnapshot.iPy;
if (iParam.DiagonalMovement == DiagonalMovement.Always || iParam.DiagonalMovement == DiagonalMovement.IfAtLeastOneWalkable)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 1;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY + currentSnapshot.tDy,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY + currentSnapshot.tDy,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
}
else if (iParam.DiagonalMovement == DiagonalMovement.OnlyWhenNoObstacles)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY - currentSnapshot.tDy)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 3;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY + currentSnapshot.tDy,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
}
else // if(iParam.DiagonalMovement == DiagonalMovement.Never)
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY))
{
retVal = new GridPos(iX, iY);
continue;
}
}
else
{
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
retVal = new GridPos(iX, iY);
continue;
}
}
// must check for perpendicular jump points
if (currentSnapshot.tDx != 0)
{
currentSnapshot.stage = 5;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX,
iY = currentSnapshot.iY + 1,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
else // tDy != 0
{
currentSnapshot.stage = 6;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + 1,
iY = currentSnapshot.iY,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
}
retVal = null;
break;
case 1:
if (retVal != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.stage = 2;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 2:
if (retVal != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY + currentSnapshot.tDy,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
else if (iParam.DiagonalMovement == DiagonalMovement.Always)
{
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY + currentSnapshot.tDy,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 3:
if (retVal != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.stage = 4;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 4:
if (retVal != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY + currentSnapshot.tDy,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 5:
if (retVal != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.stage = 7;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY - 1;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 6:
if (retVal != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.stage = 7;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX - 1;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 7:
if (retVal != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// keep going
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot
{
iX = currentSnapshot.iX + currentSnapshot.tDx,
iY = currentSnapshot.iY + currentSnapshot.tDy,
iPx = currentSnapshot.iX,
iPy = currentSnapshot.iY,
stage = 0
};
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
}
}
return(retVal);
}
private static void IdentifySuccessors(JumpPointParam iParam, Node iNode)
{
HeuristicDelegate tHeuristic = iParam.HeuristicFunc;
List<Node> tOpenList = iParam.openList;
int tEndX = iParam.EndNode.x;
int tEndY = iParam.EndNode.y;
GridPos tNeighbor, tJumpPoint;
Node tJumpNode;
List<GridPos> tNeighbors = FindNeighbors(iParam, iNode);
for (int i = 0; i < tNeighbors.Count; i++)
{
tNeighbor = tNeighbors[i];
tJumpPoint = Jump(iParam, tNeighbor.x, tNeighbor.y, iNode.x, iNode.y);
if (tJumpPoint != null)
{
tJumpNode = iParam.SearchGrid.GetNodeAt(tJumpPoint.x, tJumpPoint.y);
if (tJumpNode.isClosed)
{
continue;
}
// include distance, as parent may not be immediately adjacent:
float tCurNodeToJumpNodeLen = tHeuristic(Math.Abs(tJumpPoint.x - iNode.x), Math.Abs(tJumpPoint.y - iNode.y));
float tStartToJumpNodeLen = iNode.startToCurNodeLen + tCurNodeToJumpNodeLen; // next `startToCurNodeLen` value
if (!tJumpNode.isOpened || tStartToJumpNodeLen < tJumpNode.startToCurNodeLen)
{
tJumpNode.startToCurNodeLen = tStartToJumpNodeLen;
tJumpNode.heuristicCurNodeToEndLen = (tJumpNode.heuristicCurNodeToEndLen == null ? tHeuristic(Math.Abs(tJumpPoint.x - tEndX), Math.Abs(tJumpPoint.y - tEndY)) : tJumpNode.heuristicCurNodeToEndLen);
tJumpNode.heuristicStartToEndLen = tJumpNode.startToCurNodeLen + tJumpNode.heuristicCurNodeToEndLen.Value;
tJumpNode.parent = iNode;
if (!tJumpNode.isOpened)
{
tOpenList.Add(tJumpNode);
tJumpNode.isOpened = true;
}
}
}
}
}
private static GridPos jumpLoop(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
GridPos retVal = null;
Stack <JumpSnapshot> stack = new Stack <JumpSnapshot>();
JumpSnapshot currentSnapshot = new JumpSnapshot();
JumpSnapshot newSnapshot = null;
currentSnapshot.iX = iX;
currentSnapshot.iY = iY;
currentSnapshot.iPx = iPx;
currentSnapshot.iPy = iPy;
currentSnapshot.stage = 0;
stack.Push(currentSnapshot);
while (stack.Count != 0)
{
currentSnapshot = stack.Pop();
switch (currentSnapshot.stage)
{
case 0:
if (!iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY))
{
retVal = null;
continue;
}
else if (iParam.SearchGrid.GetNodeAt(currentSnapshot.iX, currentSnapshot.iY).Equals(iParam.EndNode))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
currentSnapshot.tDx = currentSnapshot.iX - currentSnapshot.iPx;
currentSnapshot.tDy = currentSnapshot.iY - currentSnapshot.iPy;
currentSnapshot.jx = null;
currentSnapshot.jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 1;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY + currentSnapshot.tDy) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
// horizontally/vertically
else
{
if (currentSnapshot.tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY - 1) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - currentSnapshot.tDx, currentSnapshot.iY - 1)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + 1, currentSnapshot.iY - currentSnapshot.tDy)) ||
(iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY) && !iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX - 1, currentSnapshot.iY - currentSnapshot.tDy)))
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (currentSnapshot.tDx != 0 && currentSnapshot.tDy != 0)
{
currentSnapshot.stage = 3;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
}
retVal = null;
break;
case 1:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 2;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 2:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) || iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
else if (iParam.CrossAdjacentPoint)
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
case 3:
currentSnapshot.jx = retVal;
currentSnapshot.stage = 4;
stack.Push(currentSnapshot);
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
break;
case 4:
currentSnapshot.jy = retVal;
if (currentSnapshot.jx != null || currentSnapshot.jy != null)
{
retVal = new GridPos(currentSnapshot.iX, currentSnapshot.iY);
continue;
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX + currentSnapshot.tDx, currentSnapshot.iY) && iParam.SearchGrid.IsWalkableAt(currentSnapshot.iX, currentSnapshot.iY + currentSnapshot.tDy))
{
newSnapshot = new JumpSnapshot();
newSnapshot.iX = currentSnapshot.iX + currentSnapshot.tDx;
newSnapshot.iY = currentSnapshot.iY + currentSnapshot.tDy;
newSnapshot.iPx = currentSnapshot.iX;
newSnapshot.iPy = currentSnapshot.iY;
newSnapshot.stage = 0;
stack.Push(newSnapshot);
continue;
}
retVal = null;
break;
}
}
return(retVal);
}
private static List<GridPos> FindNeighbors(JumpPointParam iParam, Node iNode)
{
Node tParent = (Node)iNode.parent;
int tX = iNode.x;
int tY = iNode.y;
int tPx, tPy, tDx, tDy;
List<GridPos> tNeighbors = new List<GridPos>();
List<Node> tNeighborNodes;
Node tNeighborNode;
// directed pruning: can ignore most neighbors, unless forced.
if (tParent != null)
{
tPx = tParent.x;
tPy = tParent.y;
// get the normalized direction of travel
tDx = (tX - tPx) / Math.Max(Math.Abs(tX - tPx), 1);
tDy = (tY - tPy) / Math.Max(Math.Abs(tY - tPy), 1);
// search diagonally
if (tDx != 0 && tDy != 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
}
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy) || iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
else if (iParam.CrossCorner)
{
tNeighbors.Add(new GridPos(tX + tDx, tY + tDy));
}
}
if (!iParam.SearchGrid.IsWalkableAt(tX - tDx, tY) && iParam.SearchGrid.IsWalkableAt(tX - tDx, tY + tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
else if (iParam.CrossCorner)
{
tNeighbors.Add(new GridPos(tX - tDx, tY + tDy));
}
}
if (!iParam.SearchGrid.IsWalkableAt(tX, tY - tDy) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - tDy))
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
else if (iParam.CrossCorner)
{
tNeighbors.Add(new GridPos(tX + tDx, tY - tDy));
}
}
}
// search horizontally/vertically
else
{
if (tDx == 0)
{
if (iParam.SearchGrid.IsWalkableAt(tX, tY + tDy))
{
tNeighbors.Add(new GridPos(tX, tY + tDy));
if (!iParam.SearchGrid.IsWalkableAt(tX + 1, tY) && iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (!iParam.SearchGrid.IsWalkableAt(tX - 1, tY) && iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
else if (iParam.CrossCorner)
{
if (!iParam.SearchGrid.IsWalkableAt(tX + 1, tY) && iParam.SearchGrid.IsWalkableAt(tX + 1, tY + tDy))
{
tNeighbors.Add(new GridPos(tX + 1, tY + tDy));
}
if (!iParam.SearchGrid.IsWalkableAt(tX - 1, tY) && iParam.SearchGrid.IsWalkableAt(tX - 1, tY + tDy))
{
tNeighbors.Add(new GridPos(tX - 1, tY + tDy));
}
}
}
else
{
if (iParam.SearchGrid.IsWalkableAt(tX + tDx, tY))
{
tNeighbors.Add(new GridPos(tX + tDx, tY));
if (!iParam.SearchGrid.IsWalkableAt(tX, tY + 1) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (!iParam.SearchGrid.IsWalkableAt(tX, tY - 1) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
else if (iParam.CrossCorner)
{
if (!iParam.SearchGrid.IsWalkableAt(tX, tY + 1) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY + 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY + 1));
}
if (!iParam.SearchGrid.IsWalkableAt(tX, tY - 1) && iParam.SearchGrid.IsWalkableAt(tX + tDx, tY - 1))
{
tNeighbors.Add(new GridPos(tX + tDx, tY - 1));
}
}
}
}
}
// return all neighbors
else
{
tNeighborNodes = iParam.SearchGrid.GetNeighbors(iNode, iParam.CrossCorner);
for (int i = 0; i < tNeighborNodes.Count; i++)
{
tNeighborNode = tNeighborNodes[i];
tNeighbors.Add(new GridPos(tNeighborNode.x, tNeighborNode.y));
}
}
return tNeighbors;
}
private static GridPos jump(JumpPointParam iParam, int iX, int iY, int iPx, int iPy)
{
if (!iParam.SearchGrid.IsWalkableAt(iX, iY))
{
return(null);
}
else if (iParam.SearchGrid.GetNodeAt(iX, iY).Equals(iParam.EndNode))
{
return(new GridPos(iX, iY));
}
int tDx = iX - iPx;
int tDy = iY - iPy;
GridPos jx = null;
GridPos jy = null;
if (iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - tDy) && !iParam.SearchGrid.IsWalkableAt(iX, iY - tDy)))
{
return(new GridPos(iX, iY));
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY - 1) && !iParam.SearchGrid.IsWalkableAt(iX, iY - 1)))
{
return(new GridPos(iX, iY));
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX + 1, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX - 1, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX - 1, iY)))
{
return(new GridPos(iX, iY));
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
jx = jump(iParam, iX + tDx, iY, iX, iY);
jy = jump(iParam, iX, iY + tDy, iX, iY);
if (jx != null || jy != null)
{
return(new GridPos(iX, iY));
}
}
// moving diagonally, must make sure one of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) || iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else if (iParam.CrossAdjacentPoint)
{
return(jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else
{
return(null);
}
}
else //if (!iParam.CrossCorner)
{
// check for forced neighbors
// along the diagonal
if (tDx != 0 && tDy != 0)
{
if ((iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + tDy) && iParam.SearchGrid.IsWalkableAt(iX, iY + tDy) && !iParam.SearchGrid.IsWalkableAt(iX + tDx, iY)) ||
(iParam.SearchGrid.IsWalkableAt(iX + tDx, iY + tDy) && iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) && !iParam.SearchGrid.IsWalkableAt(iX, iY + tDy)))
{
return(new GridPos(iX, iY));
}
}
// horizontally/vertically
else
{
if (tDx != 0)
{
// moving along x
if ((iParam.SearchGrid.IsWalkableAt(iX, iY + 1) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY + 1)) ||
(iParam.SearchGrid.IsWalkableAt(iX, iY - 1) && !iParam.SearchGrid.IsWalkableAt(iX - tDx, iY - 1)))
{
return(new GridPos(iX, iY));
}
}
else
{
if ((iParam.SearchGrid.IsWalkableAt(iX + 1, iY) && !iParam.SearchGrid.IsWalkableAt(iX + 1, iY - tDy)) ||
(iParam.SearchGrid.IsWalkableAt(iX - 1, iY) && !iParam.SearchGrid.IsWalkableAt(iX - 1, iY - tDy)))
{
return(new GridPos(iX, iY));
}
}
}
// when moving diagonally, must check for vertical/horizontal jump points
if (tDx != 0 && tDy != 0)
{
jx = jump(iParam, iX + tDx, iY, iX, iY);
jy = jump(iParam, iX, iY + tDy, iX, iY);
if (jx != null || jy != null)
{
return(new GridPos(iX, iY));
}
}
// moving diagonally, must make sure both of the vertical/horizontal
// neighbors is open to allow the path
if (iParam.SearchGrid.IsWalkableAt(iX + tDx, iY) && iParam.SearchGrid.IsWalkableAt(iX, iY + tDy))
{
return(jump(iParam, iX + tDx, iY + tDy, iX, iY));
}
else
{
return(null);
}
}
}
