private Node GetNodeAt(_Point p)
{
Node n = new Node();
n.X = p.X;
n.Y = p.Y;
n.G = (Math.Abs(p.X - _start.X) + Math.Abs(p.Y - _start.Y)) / 4;
n.H = (Math.Abs(p.X - _end.X) + Math.Abs(p.Y - _end.Y)) / 4;
return(n);
}
internal static TimeSpan LastSearch = new TimeSpan(); //TODO rm
public List <Point> FindPath(Point start, Point end)
{
WasPathFound = false;
LastSearch = new TimeSpan(DateTime.Now.Ticks);
long StartTicks = Main.Ticks;
open.Clear();
close.Clear();
_end = new _Point(end);
_start = new _Point(start);
_Point cur = new _Point(start);
Node curn, tpn;
Node tpn2i;
curn = GetNodeAt(cur);
curn.F = curn.H;
close.Add(curn);
if (InputEngine.curKeyboard.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.S))
{
}
while (true)
{
for (int i = 0; i < directions.Length; i++)
{
tpn = GetNodeAt(cur + directions[i]);
tpn.PX = cur.X;
tpn.PY = cur.Y;
if (tpn.X == _end.X && tpn.Y == _end.Y)
{
curn = tpn;
goto EndFound;
}
if (Components.ComponentsManager.VisibilityMap.GetAStarValue(tpn.X, tpn.Y) == 0)
{
continue;
}
//tpn.H = Components.ComponentsManager.MapVisibility.GetAStarValue(tpn.X, tpn.Y) * 2;
//if (tpn.G == curn.G)//VisMap is occupied
// continue;
if (tpn.X - tpn.PX != curn.X - curn.PX || tpn.Y - tpn.PY != curn.Y - curn.PY)
{
tpn.H += 2;
}
tpn.F = tpn.G + tpn.H;
//punish change direction
if ((tpn2i = NodeExistsOpenIndex(tpn.X, tpn.Y)) != null)
{
if (tpn.F < tpn2i.F)
{
open.Remove(tpn2i);
}
else
{
continue;
}
}
//open.Add(tpn);
InsertOpenNode(tpn);
}
if (open.Count > MAX_OPEN || open.Count == 0 ||
(close.Count % 100 == 0 && Main.Ticks - StartTicks > 3))//calculations cannot be longer then 60ms
{
return(null);
}
//quicksortOpen();
curn = open[0];
cur.X = curn.X;
cur.Y = curn.Y;
open.RemoveAt(0);
close.Add(curn);
}
EndFound:
List <Point> path = new List <Point>();
path.Add(end);
while (curn.X != start.X || curn.Y != start.Y)
{
path.Add(new Point(curn.X, curn.Y));
curn = GetClosedParent(ref curn);
}
path.Add(start);
WasPathFound = true;
if (InputEngine.curKeyboard.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.A))
{
SaveDebug();
}
return(path);
}
public List<Point> FindPath(Point start, Point end)
{
WasPathFound = false;
LastSearch = new TimeSpan(DateTime.Now.Ticks);
long StartTicks = Main.Ticks;
open.Clear();
close.Clear();
_end = new _Point(end);
_start = new _Point(start);
_Point cur = new _Point(start);
Node curn, tpn;
Node tpn2i;
curn = GetNodeAt(cur);
curn.F = curn.H;
close.Add(curn);
if (InputEngine.curKeyboard.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.S))
{
}
while (true)
{
for (int i = 0; i < directions.Length; i++)
{
tpn = GetNodeAt(cur + directions[i]);
tpn.PX = cur.X;
tpn.PY = cur.Y;
if (tpn.X == _end.X && tpn.Y == _end.Y)
{
curn = tpn;
goto EndFound;
}
if (Components.ComponentsManager.VisibilityMap.GetAStarValue(tpn.X, tpn.Y) == 0)
continue;
//tpn.H = Components.ComponentsManager.MapVisibility.GetAStarValue(tpn.X, tpn.Y) * 2;
//if (tpn.G == curn.G)//VisMap is occupied
// continue;
if (tpn.X - tpn.PX != curn.X - curn.PX || tpn.Y - tpn.PY != curn.Y - curn.PY)
tpn.H += 2;
tpn.F = tpn.G + tpn.H;
//punish change direction
if ((tpn2i = NodeExistsOpenIndex(tpn.X, tpn.Y)) != null)
if (tpn.F < tpn2i.F)
{
open.Remove(tpn2i);
}
else
continue;
//open.Add(tpn);
InsertOpenNode(tpn);
}
if (open.Count > MAX_OPEN || open.Count == 0 ||
(close.Count % 100 == 0 && Main.Ticks - StartTicks > 3))//calculations cannot be longer then 60ms
return null;
//quicksortOpen();
curn = open[0];
cur.X = curn.X;
cur.Y = curn.Y;
open.RemoveAt(0);
close.Add(curn);
}
EndFound:
List<Point> path = new List<Point>();
path.Add(end);
while (curn.X != start.X || curn.Y != start.Y)
{
path.Add(new Point(curn.X, curn.Y));
curn = GetClosedParent(ref curn);
}
path.Add(start);
WasPathFound = true;
if (InputEngine.curKeyboard.IsKeyDown(Microsoft.Xna.Framework.Input.Keys.A))
SaveDebug();
return path;
}
private Node GetNodeAt(_Point p)
{
Node n = new Node();
n.X = p.X;
n.Y = p.Y;
n.G = (Math.Abs(p.X - _start.X) + Math.Abs(p.Y - _start.Y)) / 4;
n.H = (Math.Abs(p.X - _end.X) + Math.Abs(p.Y - _end.Y)) / 4;
return n;
}
