private bool Mark(int x, int y, FlowFieldPath foundPath, LinkedList <Point2D> openList, ref int foundAmount)
{
int pathId = x + y * Width;
if (pathId < 0 || pathId >= Height * Width || pathfinding[pathId] == 0)
{
return(true);
}
if (foundPath.Get(pathId) == 1)
{
foundAmount++;
}
foundPath.Set(pathId, 255);
openList.AddLast(new Point2D(x, y));
return(false);
}
public FlowFieldPath FindPath(List <Point2D> points, Point2D destination)
{
foundPath = new FlowFieldPath(Width * Height);
int DestX = (int)(destination.X / CellSize);
int DestY = (int)(destination.Y / CellSize);
LinkedList <Point2D> openList = new LinkedList <Point2D>();
Point2D current = new Point2D(DestX, DestY);
openList.AddLast(current);
int x, y;
foreach (Point2D p in points)
{
var pw = p;
x = (int)(pw.X / CellSize);
y = (int)(pw.Y / CellSize);
foundPath.Set(x + y * Width, 1);
}
int tmpX, tmpY, pathId;
int foundAmount = 0;
bool stopAdding = false;
// Experimental poitn of view style ( like in supcom 2 ) flowfield optimization
//------------------------------------------------------------------------------------
// Disabled because it doesn't respect diagonal obstruction rule
/*if (false) {
* int limit = 0, maxLimit = 20;
* foreach (Point2D p in points) {
* x = Math.Abs((int)(p.X / CellSize) - DestX);
* y = Math.Abs((int)(p.Y / CellSize) - DestY);
* if (x > limit && y > limit) limit = Math.Min(Math.Max(x, y), maxLimit);
* }
*
* for (int xtmp = -limit; xtmp <= limit; xtmp++) {
* for (int ytmp = -limit; ytmp <= limit; ytmp++) {
* pathId = (DestX + xtmp) + (DestY + ytmp) * Width;
* if (pathId >= 0 && pathId < Height * Width && (xtmp == -limit || ytmp == -limit || xtmp == limit || ytmp == limit))
* Line(DestX, DestY, DestX + xtmp, DestY + ytmp, foundPath, openList, ref foundAmount);
* }
* }
*
* if (foundAmount == points.Count) { openList.Clear(); }
* }*/
//------------------------------------------------------------------------------------
while (openList.Count > 0)
{
current = openList.First.Value;
openList.RemoveFirst();
//Find neighbours
byte bitmask = pathfinding[current.X + current.Y * Width];
for (int i = 0; i < 8; i++)
{
if ((bitmask & (1 << i)) == (1 << i))
{
tmpX = current.X + Direction[i, 0];
tmpY = current.Y + Direction[i, 1];
pathId = tmpX + tmpY * Width;
byte found = foundPath.Get(pathId);
if (found == 0 || found == 1)
{
if (!stopAdding)
{
openList.AddLast(new Point2D(tmpX, tmpY));
}
foundPath.Set(pathId, (byte)(2 + i));
if (found == 1)
{
foundAmount++;
if (foundAmount == points.Count)
{
stopAdding = true;
}
}
}
/*} else {
* tmpX = current.X + Direction[i, 0];
* tmpY = current.Y + Direction[i, 1];
* pathId = tmpX + tmpY * width;
* byte found = foundPath[pathId];
* if (found == 1) {
* foundAmount++;
* if (foundAmount == points.Count) stopAdding = true;
* }else if (found<100){
* if (pathId>=0 && pathId<foundPath.Length) foundPath[pathId] = (byte)(102+i);
* }
*/
}
}
}
foundPath.Set(DestX + DestY * Width, 255);
return(foundPath);
}
