public static List <Vector2D> FindPath(RoomUser User, bool Diag, Gamemap Map, Vector2D Start, Vector2D End)
{
List <Vector2D> list = new List <Vector2D>();
PathFinderNode pathFinderNode = PathFinder.FindPathReversed(User, Diag, Map, Start, End);
if (pathFinderNode != null)
{
list.Add(End);
while (pathFinderNode.Next != null)
{
list.Add(pathFinderNode.Next.Position);
pathFinderNode = pathFinderNode.Next;
}
}
return(list);
}
public static PathFinderNode FindPathReversed(RoomUser User, bool Diag, Gamemap Map, Vector2D Start, Vector2D End)
{
MinHeap <PathFinderNode> minHeap = new MinHeap <PathFinderNode>(256);
PathFinderNode[,] array = new PathFinderNode[Map.Model.MapSizeX, Map.Model.MapSizeY];
PathFinderNode pathFinderNode = new PathFinderNode(Start);
pathFinderNode.Cost = 0;
PathFinderNode breadcrumb = new PathFinderNode(End);
array[pathFinderNode.Position.X, pathFinderNode.Position.Y] = pathFinderNode;
minHeap.Add(pathFinderNode);
checked
{
while (minHeap.Count > 0)
{
pathFinderNode = minHeap.ExtractFirst();
pathFinderNode.InClosed = true;
int num = 0;
while (Diag ? (num < PathFinder.DiagMovePoints.Length) : (num < PathFinder.NoDiagMovePoints.Length))
{
Vector2D vector2D = pathFinderNode.Position + (Diag ? PathFinder.DiagMovePoints[num] : PathFinder.NoDiagMovePoints[num]);
bool endOfPath = vector2D.X == End.X && vector2D.Y == End.Y;
if (Map.IsValidStep(User, new Vector2D(pathFinderNode.Position.X, pathFinderNode.Position.Y), vector2D, endOfPath, User.AllowOverride))
{
PathFinderNode pathFinderNode2;
if (array[vector2D.X, vector2D.Y] == null)
{
pathFinderNode2 = new PathFinderNode(vector2D);
array[vector2D.X, vector2D.Y] = pathFinderNode2;
}
else
{
pathFinderNode2 = array[vector2D.X, vector2D.Y];
}
if (!pathFinderNode2.InClosed)
{
int num2 = 0;
if (pathFinderNode.Position.X != pathFinderNode2.Position.X)
{
num2++;
}
if (pathFinderNode.Position.Y != pathFinderNode2.Position.Y)
{
num2++;
}
int num3 = pathFinderNode.Cost + num2 + pathFinderNode2.Position.GetDistanceSquared(End);
if (num3 < pathFinderNode2.Cost)
{
pathFinderNode2.Cost = num3;
pathFinderNode2.Next = pathFinderNode;
}
if (!pathFinderNode2.InOpen)
{
if (pathFinderNode2.Equals(breadcrumb))
{
pathFinderNode2.Next = pathFinderNode;
return(pathFinderNode2);
}
pathFinderNode2.InOpen = true;
minHeap.Add(pathFinderNode2);
}
}
}
num++;
}
}
return(null);
}
}
