//Methods
public void PlanRouteToNode(Node node)
{
if(!currentRouteNodes.Contains(node))
{
this.newTargetNode = node;
}
}
//////////////////////////////
//Constructors//
//////////////////////////////
public GraphMovingEntity(EntityManager.EntityType entityType, Texture2D startTexture, Node startNode)
: base(entityType, startTexture)
{
this.positionNode = startNode;
this.Position = positionNode.Position;
this.elapsedTimeMoving = INITIAL_ELAPSED_TIME;
}
//Constructors
public AStarMovementEntity(EntityManager.EntityType entityType, Texture2D startTexture, Node startNode)
: base(entityType, startTexture, startNode)
{
this.currentRouteEdges = new LinkedList<Edge>();
this.currentRouteNodes = new LinkedList<Node>();
this.newTargetNode = null;
}
//Constructors
public Edge(Graph graph, Node node1, Node node2, int cost)
{
graph.AllEdges.AddLast(this);
this.node1 = node1;
this.node2 = node2;
node1.LinkToEdge(this);
node2.LinkToEdge(this);
this.cost = cost;
costTexture = DetermineCostTexture();
}
//Methods
public static Graph CreateGraph()
{
Graph graph = new Graph();
Node node0 = new Node(graph, new Vector2(400, 100));
Node node1 = new Node(graph, new Vector2(800, 100));
Node node2 = new Node(graph, new Vector2(150, 300));
Node node3 = new Node(graph, new Vector2(510, 280));
Node node4 = new Node(graph, new Vector2(690, 280));
Node node5 = new Node(graph, new Vector2(1050, 300));
Node node6 = new Node(graph, new Vector2(150, 450));
Node node7 = new Node(graph, new Vector2(510, 440));
Node node8 = new Node(graph, new Vector2(690, 440));
Node node9 = new Node(graph, new Vector2(1050, 450));
Node node10 = new Node(graph, new Vector2(400, 650));
Node node11 = new Node(graph, new Vector2(800, 650));
new Edge(graph, node0, node2, 2);
new Edge(graph, node0, node3, 1);
new Edge(graph, node1, node4, 1);
new Edge(graph, node1, node5, 2);
new Edge(graph, node2, node3, 1);
new Edge(graph, node2, node6, 3);
new Edge(graph, node3, node4, 2);
new Edge(graph, node3, node7, 2);
new Edge(graph, node4, node5, 1);
new Edge(graph, node4, node8, 2);
new Edge(graph, node5, node9, 3);
new Edge(graph, node6, node7, 1);
new Edge(graph, node6, node10, 2);
new Edge(graph, node7, node8, 2);
new Edge(graph, node7, node10, 1);
new Edge(graph, node8, node9, 1);
new Edge(graph, node8, node11, 1);
new Edge(graph, node9, node11, 2);
return graph;
}
//Constructors
public AStarNodeCapsule(Node node, Node endNode)
{
this.node = node;
this.endNode = endNode;
}
private Dictionary<int, AStarNodeCapsule> SetupCapsuleMap(Node endNode)
{
Dictionary<int, AStarNodeCapsule> capsuleMap = new Dictionary<int, AStarNodeCapsule>();
foreach (Node node in MainModel.Instance.Graph.AllNodes)
{
capsuleMap.Add(node.ID, new AStarNodeCapsule(node, endNode));
}
return capsuleMap;
}
/*AStar preparation*/
private void SetupAStarStart(out Dictionary<int, AStarNodeCapsule> capsuleMap, out SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>> closedList, out SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>> openList, Node startNode, Node endNode)
{
capsuleMap = SetupCapsuleMap(endNode);
closedList = new SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>>();
openList = new SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>>();
capsuleMap[startNode.ID].ShortestDistance = 0;
AddNodeCapsuleToClosedList(closedList, capsuleMap[startNode.ID]);
}
/*AStar*/
private void PlanAStarRoute()
{
AStarNodeCapsule endAStarNodeCapsule = FindCapsuleWithAStarForEndNode(newTargetNode);
UpdateCurrentRouteWithEndCapsuleData(endAStarNodeCapsule);
newTargetNode = null;
}
private AStarNodeCapsule FindCapsuleWithAStarForEndNode(Node endNode)
{
Dictionary<int, AStarNodeCapsule> capsuleMap;
SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>> closedList;
SortedDictionary<int, SortedDictionary<int, AStarNodeCapsule>> openList;
SetupAStarStart(out capsuleMap, out closedList, out openList, this.PositionNode, endNode);
bool failed = false;
while (!failed)
{
if (closedList.Last().Value.Last().Value.Node == endNode)
{
return closedList.Last().Value.Last().Value;
}
PerformAStarStep(capsuleMap, closedList, openList);
}
return null;
}
private void ArriveAtNode()
{
this.PositionNode = DetermineNodeToMoveTo();
this.Position = this.PositionNode.Position;
this.movementEdge = null;
this.elapsedTimeMoving = INITIAL_ELAPSED_TIME;
}
