public PathWaypoint(Point location, int cost = 10, PathWaypoint parent = null)
{
Length = 0;
Cost = cost;
Location = location;
SetParent(parent);
}
public Path(PathWaypoint waypoint, Point start, Point end, bool reversed = false)
{
Waypoints = new List <Point>();
Start = start;
End = end;
Length = 0;
PathWaypoint p = waypoint;
while (p != null)
{
Waypoints.Add(p.Location);
p = p.Parent;
if (p != null)
{
if (p.Length > Length)
{
Length = p.Length;
}
}
}
// reverse the list
if (reversed)
{
Waypoints.Reverse();
}
}
public void SetParent(PathWaypoint parent)
{
if (parent == null)
{
Length = 0;
}
else
{
parent.Child = this;
Parent = parent;
Length = Parent.Length + Cost;
}
}
public Path Generate(CollisionMapComponent collisionMap, IsometricMapComponent map, Point start, List <Point> end, PathValidationHandler validation)
{
// reset the lists
_openList.Clear();
_closedList.Clear();
foreach (Point p in end)
{
if (!collisionMap.Map.ContainsKey(p))
{
collisionMap.Map.Add(p, PathTypes.UNDEFINED);
}
}
if (!collisionMap.Map.ContainsKey(start))
{
collisionMap.Map.Add(start, PathTypes.UNDEFINED);
}
if (collisionMap.Map[start] == PathTypes.BLOCKED)
{
return(new Path());
}
_openList.Add(start, new PathWaypoint(start));
while (_openList.Count > 0)
{
int min = Int32.MaxValue;
PathWaypoint selectedNode = null;
foreach (PathWaypoint node in _openList.Values)
{
int G = node.Length;
int H = MathHelper.Distance(start, node.Location);
int length = G + H;
if (length < min)
{
min = length;
selectedNode = node;
}
}
_openList.Remove(selectedNode.Location);
_closedList.Add(selectedNode.Location, selectedNode);
foreach (Point p in end)
{
if (selectedNode.Location == p)
{
return(new Path(selectedNode, start, p, true));
}
}
for (int x = -1; x < 2; x++)
{
for (int y = -1; y < 2; y++)
{
if (x != 0 && y != 0)
{
continue;
}
// no diags or self
if (x == y || x == -y || -x == y)
{
continue;
}
if (!map.IsValidIndex(selectedNode.Location.X + x, selectedNode.Location.Y + y))
{
continue;
}
Point p = new Point(selectedNode.Location.X + x, selectedNode.Location.Y + y);
if (!collisionMap.Map.ContainsKey(p))
{
collisionMap.Map.Add(p, PathTypes.UNDEFINED);
}
PathWaypoint waypoint = new PathWaypoint(
p,
(int)collisionMap.Map[p],
selectedNode
);
if (validation(waypoint.Location) && !_closedList.ContainsKey(waypoint.Location))
{
if (_openList.ContainsKey(waypoint.Location))
{
if (_openList[waypoint.Location].Length > waypoint.Length)
{
_openList[waypoint.Location].SetParent(waypoint.Parent);
}
}
else
{
_openList.Add(waypoint.Location, waypoint);
}
}
}
}
}
return(new Path());
}