public static WizardPath[] DijkstraFindPath(AWizard start, DijkstraPointStopFunc stopFunc, DijkstraPointCostFunc costFunc)
{
start = new AWizard(start);
_startState = start;
_obstacles = Combats
.Where(x => !x.IsOpponent && x.Id != start.Id && x.GetDistanceTo2(start) < Geom.Sqr(start.VisionRange)) // (нейтральные включительно)
.ToArray();
var startCell = FindNearestCell(start);
if (startCell == null)
{
return new WizardPath[] {}
}
;
var endCells = new List <Cell>();
DijkstraStart(startCell, cell =>
{
var point = _points[cell.I, cell.J];
var status = stopFunc(point);
if (status == DijkstraStopStatus.Take || status == DijkstraStopStatus.TakeAndStop)
{
endCells.Add(cell);
}
if (status == DijkstraStopStatus.Stop || status == DijkstraStopStatus.TakeAndStop)
{
return(true);
}
return(false);
}, costFunc);
return(endCells.Select(endCell =>
{
var cellsPath = DijkstraGeneratePath(startCell, endCell);
var res = new WizardPath {
start
};
res.AddRange(cellsPath.Select(cell => _points[cell.I, cell.J]));
return res;
}).ToArray());
}
}
public static void DijkstraStart(Cell start, DijkstraCellStopFunc stopCondition, DijkstraPointCostFunc costFunc)
{
var q = new PriorityQueue <Pair <double, Cell> >();
q.Push(new Pair <double, Cell>(0.0, start));
for (var i = 0; i <= GridSize; i++)
{
for (var j = 0; j <= GridSize; j++)
{
_distMap[i, j] = Const.Infinity;
_distPrev[i, j] = null;
}
}
_distMap[start.I, start.J] = 0;
while (q.Count > 0)
{
var cur = q.Top().Second;
var minDist = -q.Top().First;
q.Pop();
if (minDist > _distMap[cur.I, cur.J])
{
continue;
}
if (stopCondition(cur))
{
break;
}
for (var k = 0; k < _dx.Length; k++)
{
var I = cur.I + _dx[k];
var J = cur.J + _dy[k];
if (I < 0 || J < 0 || I > GridSize || J > GridSize)
{
continue;
}
var distTo = _distMap[cur.I, cur.J] + WizardPath.GetSegmentWeight(_points[cur.I, cur.J], _points[I, J], false);
if (costFunc != null)
{
distTo += costFunc(_points[I, J]);
}
if (distTo < _distMap[I, J] && CanPass(_points[cur.I, cur.J], _points[I, J]))
{
_distMap[I, J] = distTo;
_distPrev[I, J] = cur;
q.Push(new Pair <double, Cell>(-distTo, new Cell(I, J)));
}
}
;
}
}
