public MovementAI(SpritePolygon collisionPolygon, Enemy parent)
{
nodeMap = NodeMapRepository.GetNodeMap(collisionPolygon);
pathFinder = new PathFinder();
this.parent = parent;
sightRange = 50;
}
public static NodeMap CreateFromTileMap(TileMap tileMap, SpritePolygon collisionPolygon)
{
NodeMap nodeMap = new NodeMap(tileMap.MapWidthTiles, tileMap.MapHeightTiles, tileMap.TileHeight, tileMap.TileWidth);
nodeMap.generationPolygon = (SpritePolygon)collisionPolygon.Clone();
for (int i = 0; i < nodeMap.XSize; i++)
{
for (int j = 0; j < nodeMap.YSize; j++)
{
Vector2 position = new Vector2
{
X = nodeMap.Nodes[i, j].X,
Y = nodeMap.Nodes[i, j].Y
};
collisionPolygon.MoveTo(position);
Collision collision = tileMap.CheckCollisionWithTerrain(collisionPolygon);
if (collision == Collision.Solid || collision == Collision.Water)
{
nodeMap.Nodes[i, j].IsFree = false;
nodeMap.Nodes[i, j].IsTerrain = true;
}
}
}
return(nodeMap);
}
public static NodeMap GetNodeMap(SpritePolygon collisionPolygon)
{
var polygon = (SpritePolygon)collisionPolygon.Clone();
polygon.MoveTo(Vector2.Zero);
if (nodeMaps.TryGetValue(polygon, out NodeMap nodeMap))
{
return(nodeMap);
}
var map = NodeMap.CreateFromTileMap(GameState.TileMap, polygon);
polygon.MoveTo(Vector2.Zero);
nodeMaps.Add(polygon, map);
return(map);
}
public List <Node> FindPath(Node start, Node goal, NodeMap nodeMap)
{
PriorityQueue <Node> openSet = new PriorityQueue <Node>();
List <Node> closeSet = new List <Node>();
start.FScore = HeuristicCost(start, goal);
start.GScore = 0;
openSet.Enqueue(start);
Node current = null;
while (openSet.Count > 0)
{
current = openSet.Dequeue();
if (current == goal)
{
return(ReconstructPath(current));
}
closeSet.Add(current);
foreach (var neighbour in nodeMap.GetNeighbours(current.I, current.J))
{
if (closeSet.Contains(neighbour))
{
continue;
}
if (!openSet.Contains(neighbour))
{
openSet.Enqueue(neighbour);
}
float tentativeGScore = current.GScore + HeuristicCost(current, neighbour) * neighbour.neighbourDist;
if (tentativeGScore >= neighbour.GScore)
{
continue;
}
neighbour.CameFrom = current;
neighbour.GScore = tentativeGScore;
neighbour.FScore = neighbour.GScore + HeuristicCost(neighbour, goal);
}
}
return(null);
}
