Exemplo n.º 1
0
        public static Path FindPath(VGArea mMap, PGNode mStart, PGNode mEnd)
        {
            foreach(VGTile tile in mMap.Tiles) tile.Node.Clear();

            var closed = new HashSet<PGNode>();
            var queue = new PriorityQueue<double, Path>();
            queue.Enqueue(0, new Path(mStart));
            while (!queue.IsEmpty)
            {
                var path = queue.Dequeue();
                if (!path.LastStep.Passable || closed.Contains(path.LastStep))
                    continue;
                if (path.LastStep.Equals(mEnd))
                {
                    return path;
                }
                closed.Add(path.LastStep);
                foreach (PGNode n in mMap.GetTileNodeNeighbors(path.LastStep.Tile.X, path.LastStep.Tile.Y))
                {
                    double d = PGUtils.GetNodeDiagonalDistance(path.LastStep, n);
                    var newPath = path.AddStep(n, d);
                    queue.Enqueue(newPath.TotalCost + PGUtils.GetNodeManhattanDistance(n, mEnd), newPath);
                }
            }
            return null;
        }
Exemplo n.º 2
0
        public static Path FindPath(VGArea mMap, PGNode mStart, PGNode mEnd)
        {
            foreach (VGTile tile in mMap.Tiles)
            {
                tile.Node.Clear();
            }

            var closed = new HashSet <PGNode>();
            var queue  = new PriorityQueue <double, Path>();

            queue.Enqueue(0, new Path(mStart));
            while (!queue.IsEmpty)
            {
                var path = queue.Dequeue();
                if (!path.LastStep.Passable || closed.Contains(path.LastStep))
                {
                    continue;
                }
                if (path.LastStep.Equals(mEnd))
                {
                    return(path);
                }
                closed.Add(path.LastStep);
                foreach (PGNode n in mMap.GetTileNodeNeighbors(path.LastStep.Tile.X, path.LastStep.Tile.Y))
                {
                    double d       = PGUtils.GetNodeDiagonalDistance(path.LastStep, n);
                    var    newPath = path.AddStep(n, d);
                    queue.Enqueue(newPath.TotalCost + PGUtils.GetNodeManhattanDistance(n, mEnd), newPath);
                }
            }
            return(null);
        }
Exemplo n.º 3
0
        internal VGTile(int mX, int mY, int mValue, bool mPassable = true)
        {
            Debug.Assert(X >= 0);
            Debug.Assert(Y >= 0);

            X = mX;
            Y = mY;
            Value = mValue;
            Passable = mPassable;
            Node = new PGNode(this);
        }
Exemplo n.º 4
0
 public Path(PGNode start)
     : this(start, null, 0)
 {
 }
Exemplo n.º 5
0
 public Path AddStep(PGNode step, double stepCost)
 {
     return new Path(step, this, TotalCost + stepCost);
 }
Exemplo n.º 6
0
 private Path(PGNode lastStep, Path previousSteps, double totalCost)
 {
     LastStep = lastStep;
     PreviousSteps = previousSteps;
     TotalCost = totalCost;
 }
Exemplo n.º 7
0
 public static double GetNodeEuclideanDistance(PGNode mStart, PGNode mEnd)
 {
     return(Math.Sqrt((mStart.X - mEnd.X) ^ 2 + (mStart.Y - mEnd.Y) ^ 2));
 }
Exemplo n.º 8
0
 public static double GetNodeDiagonalDistance(PGNode mStart, PGNode mEnd)
 {
     return(Math.Abs(mStart.X - mEnd.X) + Math.Abs(mStart.Y - mEnd.Y));
 }
Exemplo n.º 9
0
 public static double GetNodeManhattanDistance(PGNode mStart, PGNode mEnd)
 {
     return(Math.Max(Math.Abs(mStart.X - mEnd.X), Math.Abs(mStart.Y - mEnd.Y)));
 }
Exemplo n.º 10
0
 public Path AddStep(PGNode step, double stepCost)
 {
     return(new Path(step, this, TotalCost + stepCost));
 }
Exemplo n.º 11
0
 public Path(PGNode start)
     : this(start, null, 0)
 {
 }
Exemplo n.º 12
0
 private Path(PGNode lastStep, Path previousSteps, double totalCost)
 {
     LastStep      = lastStep;
     PreviousSteps = previousSteps;
     TotalCost     = totalCost;
 }