void AddDoors(RegionPath source, RegionPath destination)
{
for (int i = 0; i < source.Indexes.Length; i++)
{
Location location =
new Location(destination.Region, destination.Indexes[i]);
source.Region.AddDoor(location, source.Indexes[i]);
}
}
// Поиск пути в потоке GUI
private void btFind_Click(object sender, EventArgs e)
{
JuniorPathFinderCore.Heuristics.IHeuristic2D heuristic = new JuniorPathFinderCore.Heuristics.Manhatan2D();
RegionPath path = pfGrid.Map.GetPath(pfGrid.StartPosition, pfGrid.EndPosition, comparer, heuristic, walcable, weights, priority);
if (path == null)
{
MessageBox.Show("Путь не найден");
return;
}
pfGrid.Path = path;
}
void CalculateRegionDistances()
{
regionDistances = new Dictionary <int, float>();
// Custom pairing algorithm for int keys of a bounded set of natural numbers.
// key = (lowestOfPair * upperBound + 1) + highestOfPair
regionCount = regions.Count;
upperBound = regions[regionCount - 1].id;
for (int startRegionID = 0; startRegionID < regionCount; startRegionID++)
{
// The index of goalRegion always starts above startRegion to prevent redundant calculations.
for (int goalRegionID = startRegionID + 1; goalRegionID < regionCount; goalRegionID++)
{
float distance = 0f;
RegionPath path = pathfinder.FindRegionPath(regions[startRegionID], regions[goalRegionID], false);
if (path == null)
{
distance = Mathf.Infinity;
}
else
{
for (int i = 0; i < path.points.Count - 1; i++)
{
distance += Vector3.Distance(path.points[i].position, path.points[i + 1].position);
}
}
int key = startRegionID * (upperBound + 1) + goalRegionID;
regionDistances.Add(key, distance);
}
}
}
public RegionPath FindRegionPath(Region start, Region goal, bool isJumping)
{
regionManager.ResetAllSearchData();
/// <summary> Unsearched regions waiting in the priority queue. </summary>
PriorityQueue <Region> regionOpenList = new PriorityQueue <Region>();
/// <summary> Fully searched regions. </summary>
List <Region> closedList = new List <Region>();
start.gCost = 0;
start.hCost = Mathf.Abs(
Vector3.Distance(start.centerPosition, goal.centerPosition)
);
start.fCost = start.hCost;
regionOpenList.Enqueue(start, start.fCost);
start.SearchStatus = SearchStatus.OpenList;
while (!regionOpenList.IsEmpty())
{
Region bestRegion = regionOpenList.Dequeue();
if (bestRegion == goal)
{
//Construct Path
RegionPath regionPath = new RegionPath();
Region regionOnPath = bestRegion;
while (regionOnPath != start)
{
regionPath.AddPoint(new RegionPathPoint(RegionPathPointType.Region, regionOnPath, null, regionOnPath.centerPosition));
regionOnPath.SearchStatus = SearchStatus.OnPath;
regionPath.AddPoint(new RegionPathPoint(RegionPathPointType.Portal, null, regionOnPath.portalOfParent, regionOnPath.portalOfParent.position));
regionOnPath = regionOnPath.parent;
}
regionPath.AddPoint(new RegionPathPoint(RegionPathPointType.Region, start, null, start.centerPosition));
regionOnPath.SearchStatus = SearchStatus.OnPath;
return(regionPath);
}
else
{
Region neighbor;
for (int i = 0; i < bestRegion.portals.Count; i++)
{
neighbor = bestRegion.portals[i].OtherRegion(bestRegion);
if (neighbor.SearchStatus == SearchStatus.None)
{
if (bestRegion.portals[i].EdgeType == EdgeType.Elevated)
{
if (!isJumping) // If jumping is not allowed, ignore this region and start analyzing the next.
{
continue;
}
else // Otherwise, simply calcualte costs as normal.
{
neighbor.gCost = bestRegion.gCost + bestRegion.portals[i].Cost;
}
}
else
{
neighbor.gCost = bestRegion.gCost + bestRegion.portals[i].Cost;
}
neighbor.hCost = Mathf.Abs(Vector3.Distance(neighbor.centerPosition, goal.centerPosition)) * heuristicWeight;
neighbor.fCost = neighbor.gCost + neighbor.hCost;
neighbor.parent = bestRegion;
neighbor.portalOfParent = bestRegion.portals[i];
regionOpenList.Enqueue(neighbor, neighbor.fCost);
neighbor.SearchStatus = SearchStatus.OpenList;
}
else if (neighbor.SearchStatus == SearchStatus.OpenList)
{
float gCost = bestRegion.gCost + bestRegion.portals[i].Cost;
float fCost = gCost + neighbor.hCost;
if (fCost < neighbor.fCost)
{
neighbor.gCost = gCost;
neighbor.fCost = fCost;
neighbor.parent = bestRegion;
neighbor.portalOfParent = bestRegion.portals[i];
}
}
else if (neighbor.SearchStatus == SearchStatus.ClosedList)
{
continue;
}
}
closedList.Add(bestRegion);
bestRegion.SearchStatus = SearchStatus.ClosedList;
}
}
return(null);
}
