private IEnumerable <AStarLocation> GetPassableAdjacentSquares(AStarLocation current, IMap map, AStarLocation target)
{
var x = current.X;
var y = current.Y;
List <AStarLocation> proposedLocations;
if (_allowDiagonalMovement)
{
proposedLocations = new List <AStarLocation>()
{
new AStarLocation {
X = x, Y = y - 1
},
new AStarLocation {
X = x, Y = y + 1
},
new AStarLocation {
X = x - 1, Y = y
},
new AStarLocation {
X = x + 1, Y = y
},
new AStarLocation {
X = x + 1, Y = y - 1
},
new AStarLocation {
X = x - 1, Y = y + 1
},
new AStarLocation {
X = x - 1, Y = y - 1
},
new AStarLocation {
X = x + 1, Y = y + 1
},
};
}
else
{
proposedLocations = new List <AStarLocation>()
{
new AStarLocation {
X = x, Y = y - 1
},
new AStarLocation {
X = x, Y = y + 1
},
new AStarLocation {
X = x - 1, Y = y
},
new AStarLocation {
X = x + 1, Y = y
}
};
}
return(proposedLocations.Where(loc => _isPassable(map, loc) || IsSameLocation(loc, target)));
}
private static List <AStarLocation> GetPath(AStarLocation current)
{
var path = new List <AStarLocation>();
do
{
path.Add(current);
current = current.Parent;
} while (current.Parent != null);
path.Reverse();
return(path);
}
public IEnumerable <MapCoordinate> Path(IMap map, MapCoordinate origin, MapCoordinate destination)
{
if (origin == destination)
{
return(null);
}
AStarLocation current = null;
var start = new AStarLocation()
{
X = origin.X, Y = origin.Y
};
var target = new AStarLocation()
{
X = destination.X, Y = destination.Y
};
var openList = new List <AStarLocation>();
var closedList = new List <AStarLocation>();
int distanceFromStart = 0;
openList.Add(start);
while (openList.Count > 0)
{
current = openList.OrderBy(l => l.LocationScore).First();
closedList.Add(current);
if (_cutoff.HasValue && closedList.Count() > _cutoff)
{
break;
}
openList.Remove(current);
if (IsSameLocation(current, target))
{
break;
}
var adjacentSquares = GetPassableAdjacentSquares(current, map, target);
distanceFromStart = current.DistanceFromStart + 1;
foreach (var adjacentSquare in adjacentSquares)
{
if (closedList.Any(l => IsSameLocation(adjacentSquare, l)))
{
continue;
}
if (openList.Any(l => IsSameLocation(adjacentSquare, l)))
{
if (distanceFromStart + adjacentSquare.EstimatedFromEnd < adjacentSquare.LocationScore)
{
adjacentSquare.DistanceFromStart = distanceFromStart;
adjacentSquare.Parent = current;
}
}
else
{
adjacentSquare.DistanceFromStart = distanceFromStart;
adjacentSquare.SetDistanceTo(target);
adjacentSquare.Parent = current;
// and add it to the open list
openList.Insert(0, adjacentSquare);
}
}
}
if (!IsSameLocation(current, target))
{
return(null);
}
var path = GetPath(current);
return(path.Select(l => new MapCoordinate(map.MapKey, l.X, l.Y)));
}
public void SetDistanceTo(AStarLocation destination)
{
EstimatedFromEnd = Math.Abs(destination.X - X) + Math.Abs(destination.Y - Y);
}
private static bool IsSameLocation(AStarLocation current, AStarLocation target)
{
return(current.X == target.X && current.Y == target.Y);
}
private static bool IsPassable(IMap map, AStarLocation location)
{
var coordinate = new MapCoordinate(map.MapKey, location.X, location.Y);
return(map.CellAt(coordinate).Get <Physical>().Passable);
}
private void MoveGhosts(int x)
{
if (contador[x] == int.MaxValue)
{
contador[x] = 0;
}
else
{
contador[x]++;
}
// Move the ghosts
if (Direction[x] == 0)
{
if (ran.Next(0, 5) == 3)
{
Direction[x] = 1;
}
}
else
{
var pacman = Form1.pacman;
AStarLocation LocationPacMan = new AStarLocation();
if (pacman.xHistory.Count > 0)
{
switch (dificuldade)
{
case 0:
LocationPacMan.X = pacman.xHistory.Dequeue();
LocationPacMan.Y = pacman.yHistory.Dequeue();
break;
case 1:
LocationPacMan.X = pacman.xHistory.ElementAt(pacman.xHistory.Count / 2);
LocationPacMan.Y = pacman.yHistory.ElementAt(pacman.yHistory.Count / 2);
pacman.xHistory.Dequeue();
pacman.yHistory.Dequeue();
break;
case 2:
LocationPacMan.X = pacman.xCoordinate;
LocationPacMan.Y = pacman.yCoordinate;
break;
}
}
else
{
LocationPacMan.X = 0;
LocationPacMan.Y = 0;
}
var caminho = Util.AStarAlg(new AStarLocation()
{
X = xCoordinate[x], Y = yCoordinate[x]
}, LocationPacMan);
AStarLocation next = null;
if (caminho != null && caminho.Count > 1)
{
caminho.RemoveAt(0);
next = caminho[0];
}
if (next != null)
{
int mod = Convert.ToInt16(Math.Pow(5.0, Convert.ToDouble(dificuldade)));
if (State[x] == 0 && contador[x] % mod != 0)
{
GhostImage[x].Left = next.X * 16 - 3;
GhostImage[x].Top = next.Y * 16 + 43;
xCoordinate[x] = next.X;
yCoordinate[x] = next.Y;
}
else
{
MoveRandom(x);
}
}
else
{
MoveRandom(x);
}
RefreshImage(x);
}
}
