private void Heuristic(Node n)
{
n.h = Math.Abs(n.x - _end.x) + Math.Abs(n.y - _end.y);
}
public List<Microsoft.Xna.Framework.Point> FindPath(Microsoft.Xna.Framework.Point s, Microsoft.Xna.Framework.Point e)
{
_start = new Point(s.X, s.Y);
_end = new Point(e.X, e.Y);
WasPathFound = false;
LastSearch = new TimeSpan(DateTime.Now.Ticks);
close.Clear();
open.Clear();
long startTicks = Main.Ticks;
int iterations = 0;
Node n;
Node tn;
int tni;
bool longdir = false;
Node curn = new Node();
curn.x = _start.x;
curn.y = _start.y;
curn.g = 0;
Heuristic(curn);
open.Add(curn);
while (open.Count > 0)
{
iterations++;
curn = open[0];
open.RemoveAt(0);
longdir = curn.h > 100;
for (int i = 0; i < directionsShort.Length; i++)
{
if (longdir)
n = new Node(curn.x + directionsLong[i].x, curn.y + directionsLong[i].y);
else
n = new Node(curn.x + directionsShort[i].x, curn.y + directionsShort[i].y);
if (IsClosed(n.x, n.y))
continue;
n.parent = curn;
if (n.x == _end.x && n.y == _end.y)
{
curn = n;
goto End;
}
if (longdir)
{
n.g = Components.ComponentsManager.VisibilityMap.GetAStarValue(n.x, n.y);
if (n.g == 0)
continue;
tni = Components.ComponentsManager.VisibilityMap.GetAStarValue(n.x - directionsShort[i].x, n.y - directionsShort[i].y);
if (tni == 0)
continue;
n.g += tni + curn.g;
if (n.g == curn.g)
continue;
}
else
{
n.g = curn.g + Components.ComponentsManager.VisibilityMap.GetAStarValue(n.x, n.y);
if (n.g == curn.g)
continue;
}
if (curn.parent != null && (
Math.Sign(n.x - n.parent.x) != Math.Sign(curn.x - curn.parent.x) ||
Math.Sign(n.y - n.parent.y) != Math.Sign(curn.y - curn.parent.y)))
n.g += 6;
Heuristic(n);
n.f = n.g + n.h;
tni = GetOpenIfAny(n.x, n.y, out tn);
if (tn != null)
{
if (tn.f > n.f)
{
open.RemoveAt(tni);
AddOpen(n);
}
}
else
AddOpen(n);
}
if (open.Count > 2000 || iterations > MAX_ITERATIONS)
return null;
}
return null;
End:
WasPathFound = true;
List<Microsoft.Xna.Framework.Point> path = new List<Microsoft.Xna.Framework.Point>();
while (curn != null)
{
path.Add(new Microsoft.Xna.Framework.Point(curn.x, curn.y));
curn = curn.parent;
}
return path;
}
private int GetOpenIfAny(int x, int y, out Node n)
{
for (goiai = 0; goiai < open.Count; goiai++)
{
if (open[goiai].x == x && open[goiai].y == y)
{
n = open[goiai];
return goiai;
}
}
n = null;
return -1;
}
private void AddOpen(Node n)
{
for (int i = open.Count - 1; i >= 0; i--)
{
if (n.f >= open[i].f)
{
open.Insert(i + 1, n);
return;
}
}
open.Insert(0, n);
return;
}
private void InsertOpenNode(Node n)
{
if (open.Count == 0)
open.Add(n);
else
{
for (int i = 0; i < open.Count; i++)
{
if (open[i].F >= n.F)
{
open.Insert(i, n);
return;
}
}
open.Add(n);
}
}
private Node GetNodeAt(_Point p)
{
Node n = new Node();
n.X = p.X;
n.Y = p.Y;
n.G = (Math.Abs(p.X - _start.X) + Math.Abs(p.Y - _start.Y)) / 4;
n.H = (Math.Abs(p.X - _end.X) + Math.Abs(p.Y - _end.Y)) / 4;
return n;
}
private Node GetClosedParent(ref Node n)
{
Node t;
for (int i = 0; i < close.Count; i++)
{
t = close[i];
if (t.X == n.PX && t.Y == n.PY)
return t;
}
return new Node();
}