private static int GetHeuristicPathLength(Point from, Point to)
{
var _from = HexagonalMap.HexToSquare(from);
var _to = HexagonalMap.HexToSquare(to);
return(Convert.ToInt32(Math.Abs(_from.X - _to.X) + Math.Abs(_from.Y - _to.Y)));
}
void DrawHighlightPolygonByPixel(Point p)
{
var tileCoord = HexagonalMap.PixelToHex(p);
DrawClickedPolygon(tileCoord);
Console.WriteLine(tileCoord);
}
Polygon GetLocatedPolygon(System.Drawing.Point coord)
{
Polygon p = new Polygon();
var offset = HexagonalMap.HexToPixel(coord);
offset.Y += 80;
p.Points.Add(new Point(0, 60));
p.Points.Add(new Point(50, 120));
p.Points.Add(new Point(150, 120));
p.Points.Add(new Point(200, 60));
p.Points.Add(new Point(150, 0));
p.Points.Add(new Point(50, 0));
Canvas.SetTop(p, offset.Y);
Canvas.SetLeft(p, offset.X);
//p.MouseEnter += P_MouseEnter;
//p.MouseLeave += P_MouseLeave;
//p.Fill = Brushes.Transparent;
Panel.SetZIndex(p, 0);
p.Stroke = Brushes.Black;
return(p);
}
public static List <Point> FindPath(HexagonalMap field, Point start, Point goal, bool straight)
{
// Шаг 1.
var closedSet = new Collection <PathNode>();
var openSet = new Collection <PathNode>();
// Шаг 2.
PathNode startNode = new PathNode()
{
Position = start,
CameFrom = null,
PathLengthFromStart = 0,
HeuristicEstimatePathLength = GetHeuristicPathLength(start, goal)
};
openSet.Add(startNode);
while (openSet.Count > 0)
{
// Шаг 3.
var currentNode = openSet.OrderBy(node =>
node.EstimateFullPathLength).First();
// Шаг 4.
if (currentNode.Position == goal)
{
return(GetPathForNode(currentNode));
}
// Шаг 5.
openSet.Remove(currentNode);
closedSet.Add(currentNode);
// Шаг 6.
foreach (var neighbourNode in GetNeighbours(currentNode, goal, field, straight))
{
// Шаг 7.
if (closedSet.Count(node => node.Position == neighbourNode.Position) > 0)
{
continue;
}
var openNode = openSet.FirstOrDefault(node =>
node.Position == neighbourNode.Position);
// Шаг 8.
if (openNode == null)
{
openSet.Add(neighbourNode);
}
else
if (openNode.PathLengthFromStart > neighbourNode.PathLengthFromStart)
{
// Шаг 9.
openNode.CameFrom = currentNode;
openNode.PathLengthFromStart = neighbourNode.PathLengthFromStart;
}
}
}
// Шаг 10.
return(null);
}
private static Collection <PathNode> GetNeighbours(PathNode currentNode, Point goal, HexagonalMap field, bool straight)
{
var result = new Collection <PathNode>();
List <Point> neighbourPoints = HexagonalMap.GetNeighbourPoints(currentNode.Position);
foreach (var point in neighbourPoints)
{
// Проверяем, что не вышли за границы карты.
if (point.X < 0 || point.X >= field.Tiles.GetLength(0))
{
continue;
}
if (point.Y < 0 || point.Y >= field.Tiles.GetLength(1))
{
continue;
}
// Проверяем, что по клетке можно ходить.
if (!field[point.X, point.Y].Terrain.isWalkable)
{
continue;
}
// Заполняем данные для точки маршрута.
var neighbourNode = new PathNode()
{
Position = point,
CameFrom = currentNode,
PathLengthFromStart = currentNode.PathLengthFromStart + GetDistanceBetweenNeighbours(point, field),
HeuristicEstimatePathLength = GetHeuristicPathLength(point, goal)
};
if (straight)
{
neighbourNode.PathLengthFromStart = currentNode.PathLengthFromStart;
}
result.Add(neighbourNode);
}
return(result);
}
void GenerateImages()
{
foreach (WorldTile item in worldMap)
{
var textures = item.TextureUris;
for (int i = 0; i < textures.Count; i++)
{
Image img = new Image
{
Source = new BitmapImage(textures[i])
};
var pixelCoord = HexagonalMap.HexToPixel(item.Coord);
Canvas.SetTop(img, pixelCoord.Y);
Canvas.SetLeft(img, pixelCoord.X);
Panel.SetZIndex(img, i);
canvas.Children.Add(img);
}
}
}
private static int GetDistanceBetweenNeighbours(Point to, HexagonalMap field)
{
return(Convert.ToInt32(field.GetTileFromPoint(to).Terrain.moveCost));
}