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)));
}
private void canvas_PointerPressed(object sender, PointerRoutedEventArgs e)
{
var point = e.GetCurrentPoint(canvas);
//Console.WriteLine(point.Position);
highlightPoint = HexagonalMap.HexToPixel(HexagonalMap.PixelToHex(new System.Drawing.Point(Convert.ToInt32(point.Position.X), Convert.ToInt32(point.Position.Y))));
}
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.GetSize().X)
{
continue;
}
if (point.Y < 0 || point.Y >= field.GetSize().Y)
{
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);
}
private static int GetDistanceBetweenNeighbours(Point to, HexagonalMap field)
{
return(Convert.ToInt32(field.GetTileFromPoint(to).Terrain.MoveCost));
}
