public override List <RLBaseTile> FindPath(RLBaseTile fromTile,
RLBaseTile to,
DungeonFloor floor,
CanMoveDelegate canMove,
PathCostDelegate pathCost)
{
return(AStarPathfind(floor, fromTile, to, canMove, pathCost));
}
protected void SetupCallback(PathCostDelegate callback)
{
Callback = callback;
Trampoline = PathCallbackTrampoline;
}
public abstract List <RLBaseTile> FindPath(RLBaseTile fromTile, RLBaseTile to, DungeonFloor floor, CanMoveDelegate canMove, PathCostDelegate pathCost);
public Pathfinding(Size size, double diagonalCost, PathCostDelegate callback)
{
SetupCallback(callback);
Handle = TCOD_path_new_using_function(size.Width, size.Height, Trampoline, IntPtr.Zero, (float)diagonalCost);
}
private static List <RLBaseTile> AStarPathfind(DungeonFloor level, RLBaseTile start, RLBaseTile finish, CanMoveDelegate canMove, PathCostDelegate pathCost)
{
// A* Pathfinding
Debug.Log("Connecting " + start.GetDisplayPosition() + " to " + finish.GetDisplayPosition() + " in " + level);
List <RLBaseTile> closedSet = new List <RLBaseTile>();
List <RLBaseTile> openSet = new List <RLBaseTile>();
openSet.Add(start);
Dictionary <RLBaseTile, RLBaseTile> cameFrom = new Dictionary <RLBaseTile, RLBaseTile>();
Dictionary <RLBaseTile, float> gScore = new Dictionary <RLBaseTile, float>();
gScore[start] = 0;
Dictionary <RLBaseTile, float> fScore = new Dictionary <RLBaseTile, float>();
fScore[start] = Mathf.Abs(start.GetDisplayPosition().x - finish.GetDisplayPosition().x) + Mathf.Abs(start.GetDisplayPosition().y - finish.GetDisplayPosition().y);
int length = 0;
while (openSet.Count > 0)
{
length++;
openSet.Sort((first, second) =>
{
float firstScore;
float secondScore;
if (!fScore.TryGetValue(first, out firstScore))
{
firstScore = float.PositiveInfinity;
}
if (!fScore.TryGetValue(second, out secondScore))
{
secondScore = float.PositiveInfinity;
}
if (firstScore < secondScore)
{
return(-1);
}
else if (firstScore > secondScore)
{
return(1);
}
return(0);
});
RLBaseTile current = openSet[0];
if (current == finish)
{
// write and return path
List <RLBaseTile> hallTiles = ReconstructPath(current, cameFrom);
Debug.Log("Successful path from " + start.GetDisplayPosition() + " to " + finish.GetDisplayPosition());
return(hallTiles);
}
openSet.Remove(current);
closedSet.Add(current);
List <RLBaseTile> neighbors = level.GetOrthogonalNeighborTiles(current);
neighbors.RemoveAll((tile) => closedSet.Contains(tile) || !canMove(current, tile));
foreach (RLBaseTile neighbor in neighbors)
{
if (!openSet.Contains(neighbor))
{
openSet.Add(neighbor);
}
float neighborGscore;
if (!gScore.TryGetValue(neighbor, out neighborGscore))
{
neighborGscore = float.PositiveInfinity;
}
// currently using 1 as dist_between
float tentativeGScore = gScore[current] + pathCost(current, neighbor);
if (tentativeGScore >= neighborGscore)
{
continue;
}
cameFrom[neighbor] = current;
gScore[neighbor] = tentativeGScore;
fScore[neighbor] = gScore[neighbor] + Mathf.Abs(neighbor.GetDisplayPosition().x - finish.GetDisplayPosition().x) + Mathf.Abs(neighbor.GetDisplayPosition().y - finish.GetDisplayPosition().y);
}
}
Debug.Log("Connection failed.");
return(new List <RLBaseTile>());
}
