private Stack<Node> GetPath(Node target, IBot bot)
{
//bot.Connection.Send(bot.Room.WorldKey, 0, target.x, target.y, 9);
//System.Threading.Thread.Sleep(10);
//room.DrawSquare(target.x, target.y, System.Drawing.Color.Black);
Stack<Node> result = new Stack<Node>();
Node current = target;
result.Push(current);
while (current.Mother != null)
{
/*if (current.F >= wallCost)
result.Clear();*/
result.Push(current.Mother);
current = current.Mother;
}
return result;
}
public Stack<Node> FindPath(int xs, int ys, int xt, int yt, ICollection<Zombie> zombies, IBot bot)
{
int maxSearch = 2560;
int currentSearch = 0;
bool isStartingSquare = true;
isOpen = new bool[bot.Room.Width, bot.Room.Height];
isClosed = new bool[bot.Room.Width, bot.Room.Height];
gValues = new int[bot.Room.Width, bot.Room.Height];
debug = new Queue<Node>();
open = new PathHeap();
search = new LowHPathHeap();
//open = new SortedSet<Node>();
//closed = new HashSet<Node>();
Node start = new Node(xs, ys);
start.H = Heuristic(xs, ys, xt, yt);
Node target = new Node(xt, yt);
isOpen[start.x, start.y] = true;
open.Add(start);
search.Add(start);
while (!open.IsEmpty() && currentSearch < maxSearch)
//while (open.Count > 0)
{
Node current = open.GetRemoveFirst();
//Node current = open.First();
//open.Remove(current);
isOpen[current.x, current.y] = false;
isClosed[current.x, current.y] = true;
if (current.Equals(target))
return GetPath(current, bot);
for (int i = 4; i < 8; i++)
{
int x = adjacentNodes[i].x + current.x;
int y = adjacentNodes[i].y + current.y;
//Console.WriteLine("X:" + x + " Y:" + y + " " + room.GetMapBlock(x, y));
int id = bot.Room.BlockMap.getForegroundBlockIdFast(x, y);
if (x >= 0 && x <= bot.Room.Width - 1 && y >= 0 && y <= bot.Room.Height - 1 && (MasterDig.isDigable(id) || MasterDig.isDug(id)) && distanceFromCenter(x, y, bot) >= 20 && (isStartingSquare ? !isZombie(x, y, zombies) : true))
{
int totalAddCost = adjacentNodes[i].cost;// + (room.GetMapBlock(x, y) != 0 ? wallCost : 0);
Node baby = new Node(x, y);
if (isClosed[baby.x, baby.y])
continue;
if (!isOpen[baby.x, baby.y])
{
int addg = totalAddCost;
baby.G = current.G + addg;
gValues[baby.x, baby.y] = baby.G;
baby.H = Heuristic(baby.x, baby.y, target.x, target.y);
baby.Mother = current;
open.Add(baby);
//bot.Connection.Send(bot.Room.WorldKey, 0, baby.x, baby.y, 9);
//System.Threading.Thread.Sleep(10);
isOpen[baby.x, baby.y] = true;
//debug.Enqueue(baby);
search.Add(baby);
++currentSearch;
}
else
{
int addg = totalAddCost;
if (current.G + addg < gValues[baby.x, baby.y])
{
//Path to that Node is better, switch parents!
baby.Mother = current;
}
}
}
}
isStartingSquare = false;
}
//Target was not found, use closest search node
if (!search.IsEmpty())
return GetPath(search.GetRemoveFirst(), bot);
return null;
}