public bool GetPathTo(Creature creature, Position destPos,
List<byte> listDir, Int32 maxSearchDist, bool allowZChange, bool intendingToReachDes)
{
if (intendingToReachDes &&
gameMap.TileContainsType(destPos, Constants.TYPE_BLOCKS_AUTO_WALK)) {
listDir.Clear();
return false;
}
listDir.Clear();
Position startPos = creature.CurrentPosition;
Position endPos = destPos;
if (endPos == null) {
return false;
}
if (startPos.z != endPos.z)
return false;
AStarNodes nodes = new AStarNodes();
AStarNode startNode = nodes.CreateOpenNode();
startNode.x = startPos.x;
startNode.y = startPos.y;
startNode.g = 0;
startNode.h = nodes.GetEstimatedDistance
(startPos.x, startPos.y, endPos.x, endPos.y);
startNode.f = startNode.g + startNode.h;
startNode.parent = null;
Position pos = new Position();
pos.z = startPos.z;
short[,] neighbourOrderList =
{
{-1, 0},
{0, 1},
{1, 0},
{0, -1},
//diagonal
{-1, -1},
{1, -1},
{1, 1},
{-1, 1},
};
//MapTile tile = null;
AStarNode found = null;
while (nodes.CountClosedNodes() < 100) {
AStarNode n = nodes.GetBestNode();
if (n == null) {
listDir.Clear();
return false; //No path found
}
if (n.x == endPos.x && n.y == endPos.y) {
found = n;
break;
} else {
for (int i = 0; i < 8; i++) {
if (i > 3 && (allowZChange || intendingToReachDes)) {
continue;
}
//Console.WriteLine("neighbourhood["+i+", 1]" + neighbourOrderList[i, 0]);
pos.x = (ushort)(n.x + neighbourOrderList[i, 0]);
pos.y = (ushort)(n.y + neighbourOrderList[i, 1]);
int endPosX = endPos.x;
int endPosY = endPos.y;
int posX = pos.x;
int posY = pos.y;
bool outOfRange = false;
if (Math.Abs(endPosX - posX) > maxSearchDist ||
Math.Abs(endPosY - posY) > maxSearchDist) {
outOfRange = true;
}
if ((!outOfRange) &&
(!gameMap.TileContainsType(pos, Constants.TYPE_BLOCKS_AUTO_WALK))
|| (destPos.x == pos.x && destPos.y == pos.y)) {
if (i > 3 && !destPos.Equals(pos)) {
nodes.CloseNode(n);
continue;
}
int cost = 0;
int extraCost = 0;
int newg = n.g + cost + extraCost;
AStarNode neighbourNode = nodes.GetNodeInList(pos.x, pos.y);
if (neighbourNode != null) {
if (neighbourNode.g <= newg) {
continue;
}
nodes.OpenNode(neighbourNode);
} else {
neighbourNode = nodes.CreateOpenNode();
if (neighbourNode == null) {
listDir.Clear();
return false;
}
}
neighbourNode.x = pos.x;
neighbourNode.y = pos.y;
neighbourNode.parent = n;
neighbourNode.g = newg;
neighbourNode.h = (nodes.GetEstimatedDistance((int)neighbourNode.x,
(int)neighbourNode.y, (int)endPos.x, (int)endPos.y));
neighbourNode.f = neighbourNode.g + neighbourNode.h;
}
}
nodes.CloseNode(n);
}
}
int prevX = endPos.x;
int prevY = endPos.y;
int dx, dy;
while (found != null) {
pos.x = (ushort)found.x;
pos.y = (ushort)found.y;
found = found.parent;
dx = pos.x - prevX;
dy = pos.y - prevY;
prevX = pos.x;
prevY = pos.y;
if (dx == 1)
listDir.Insert(0, (byte)Direction.WEST);
else if (dx == -1)
listDir.Insert(0, (byte)Direction.EAST);
else if (dy == 1)
listDir.Insert(0, (byte)Direction.NORTH);
else if (dy == -1)
listDir.Insert(0, (byte)Direction.SOUTH);
}
bool empty = true;
if (listDir.Count == 0)
empty = false;
return (!empty);
}
