private Node TryGetValidNodeAroundGridPos(ZoneMap zoneMap, Dictionary <Position, Node> nodes, Vector2 gridPos)
{
Node node;
var royTGraphPos = zoneMap.PoEGridPositionToRoyTPathFindingGraphPosition(gridPos);
bool gotNode = nodes.TryGetValue(royTGraphPos, out node);
if (gotNode)
{
return(node);
}
int distance = 10;
int startX = (int)gridPos.X - distance;
int endX = (int)gridPos.X + distance;
int startY = (int)gridPos.Y - distance;
int endY = (int)gridPos.Y + distance;
for (int x = startX; x <= endX; x++)
{
for (int y = startY; y <= endY; y++)
{
var graphPos = zoneMap.PoEGridPositionToRoyTPathFindingGraphPosition(new Vector2(x, y));
gotNode = nodes.TryGetValue(graphPos, out node);
if (gotNode)
{
return(node);
}
}
}
return(null);
}
public bool TryToFindPathWithGraph(Vector2 start, Vector2 end, ZoneMap zoneMap)
{
try
{
PathFinder pathFinder = new PathFinder();
pathFindingIndex = 0;
currentPathInPoEGridCoordinates.Clear();
const int radius = 7;
/* If the player is too close to obstacles a path might not be found.
* Shift the player "coordinate" away from obstacle
*/
//int maxAttemptsToFindAPath = 4
var royTGraphPosStart = zoneMap.PoEGridPositionToRoyTPathFindingGraphPosition(start);
var royTGraphPosEnd = zoneMap.PoEGridPositionToRoyTPathFindingGraphPosition(end);
var nodeDictionary = zoneMap.GetSubMap(start).NodeDictionary;
Node startNode = TryGetValidNodeAroundGridPos(zoneMap, nodeDictionary, start);
Node endNode = TryGetValidNodeAroundGridPos(zoneMap, nodeDictionary, end);
//bool gotStartNode = zoneMap.GetSubMap(start).NodeDictionary.TryGetValue(royTGraphPosStart, out startNode);
//bool gotEndNode = zoneMap.GetSubMap(start).NodeDictionary.TryGetValue(royTGraphPosEnd, out endNode);
if (startNode == null || endNode == null)
{
Console.WriteLine("Unable to find correct navigation grid");
return(false);
}
if (startNode == endNode)
{
Console.WriteLine("Nodes are equal. abort");
return(false);
}
while (true)
{
var path = pathFinder.FindPath(startNode, endNode, Velocity.FromKilometersPerHour(100000));
if (path == null || path.Edges.Count == 0) // || path.Type == PathType.ClosestApproach)
{
Console.WriteLine("Unable to find a path with given start/end, randomizing start/end");
int xRandom = MathHepler.Randomizer.Next((int)start.X - radius, (int)start.X + radius);
int yRandom = MathHepler.Randomizer.Next((int)start.Y - radius, (int)start.Y + radius);
startNode = TryGetValidNodeAroundGridPos(zoneMap, nodeDictionary, new Vector2(xRandom, yRandom));
xRandom = MathHepler.Randomizer.Next((int)end.X - radius, (int)end.X + radius);
yRandom = MathHepler.Randomizer.Next((int)end.Y - radius, (int)end.Y + radius);
endNode = TryGetValidNodeAroundGridPos(zoneMap, nodeDictionary, new Vector2(xRandom, yRandom));
}
else
{
RemainingPathDistanceSquaredToTarget = 0;
int counter = 0;
var previousEdgeVector = new Vector2();
foreach (var edge in path.Edges)
{
var compensatedEdgeVector = new Vector2(edge.Start.Position.X * PathfindingConsts.myPathfindingGridSize, edge.Start.Position.Y * PathfindingConsts.myPathfindingGridSize);
if (counter != 0)
{
var distance = previousEdgeVector.Distance(compensatedEdgeVector);
RemainingPathDistanceSquaredToTarget += distance;
}
currentPathInPoEGridCoordinates.Add(compensatedEdgeVector);
previousEdgeVector = compensatedEdgeVector;
counter += 1;
}
RemainingPathDistanceSquaredToTarget = RemainingPathDistanceSquaredToTarget * RemainingPathDistanceSquaredToTarget;
return(true);
}
}
}
catch
{
return(false);
}
}