private float GetCost(PNode a, PNode b)
{
// Only intended for neighbours.
// Is directly horzontal
if (Math.Abs(a.X - b.X) == 1 && a.Y == b.Y)
{
return(1);
}
// Directly vertical.
if (Math.Abs(a.Y - b.Y) == 1 && a.X == b.X)
{
return(1);
}
// Assume that it is on one of the corners.
return(DIAGONAL_DST);
}
private List <PNode> TracePath(PNode end)
{
List <PNode> path = new List <PNode>();
PNode child = end;
bool run = true;
while (run)
{
PNode previous = cameFrom[child];
path.Add(child);
if (previous != null && child != previous)
{
child = previous;
}
else
{
run = false;
}
}
path.Reverse();
return(path);
}
public PathfindingResult Run(int startX, int startY, int endX, int endY, Map map, out List <PNode> path)
{
if (map == null)
{
path = null;
return(PathfindingResult.ERROR_INTERNAL);
}
if (!map.Initialized)
{
path = null;
return(PathfindingResult.ERROR_INTERNAL);
}
// Validate start and end points.
if (!map.InBounds(startX, startY))
{
path = null;
return(PathfindingResult.ERROR_START_OUT_OF_BOUNDS);
}
if (!map.InBounds(endX, endY))
{
path = null;
return(PathfindingResult.ERROR_END_OUT_OF_BOUNDS);
}
if (!map.Interaction.IsTileWalkable(startX, startY))
{
path = null;
return(PathfindingResult.ERROR_START_NOT_WALKABLE);
}
if (!map.Interaction.IsTileWalkable(endX, endY))
{
path = null;
return(PathfindingResult.ERROR_END_NOT_WALKABLE);
}
// Clear everything up.
Clear();
var start = new PNode(startX, startY);
var end = new PNode(endX, endY);
// Check the start/end relationship.
if (start.Equals(end))
{
path = null;
return(PathfindingResult.ERROR_START_IS_END);
}
// Add the starting point to all relevant structures.
open.Enqueue(start, 0f);
cameFrom[start] = start;
costSoFar[start] = 0f;
int count;
while ((count = open.Count) > 0)
{
// Detect if the current open amount exceeds the capacity.
// This only happens in very large open areas. Corridors and hallways will never cause this, not matter how large the actual path length.
if (count >= MAX - 8)
{
path = null;
// Clear everything up.
Clear();
return(PathfindingResult.ERROR_PATH_TOO_LONG);
}
var current = open.Dequeue();
if (current.Equals(end))
{
// We found the end of the path!
path = TracePath(end);
// Clear everything up.
Clear();
return(PathfindingResult.SUCCESSFUL);
}
// Get all neighbours (tiles that can be walked on to)
var neighbours = GetNear(current, map);
foreach (PNode n in neighbours)
{
float newCost = costSoFar[current] + GetCost(current, n); // Note that this could change depending on speed changes per-tile.
if (!costSoFar.ContainsKey(n) || newCost < costSoFar[n])
{
costSoFar[n] = newCost;
float priority = newCost + Heuristic(current, n);
open.Enqueue(n, priority);
cameFrom[n] = current;
}
}
}
// Clear everything up.
Clear();
path = null;
return(PathfindingResult.ERROR_INTERNAL);
}
private List <PNode> GetNear(PNode node, Map map)
{
// Want to add nodes connected to the center node, if they are walkable.
// This code stops the pathfinder from cutting corners, and going through walls that are diagonal from each other.
near.Clear();
// Left
left = false;
if (map.Interaction.IsTileWalkable(node.X - 1, node.Y))
{
near.Add(new PNode(node.X - 1, node.Y));
left = true;
}
// Right
right = false;
if (map.Interaction.IsTileWalkable(node.X + 1, node.Y))
{
near.Add(new PNode(node.X + 1, node.Y));
right = true;
}
// Above
above = false;
if (map.Interaction.IsTileWalkable(node.X, node.Y + 1))
{
near.Add(new PNode(node.X, node.Y + 1));
above = true;
}
// Below
below = false;
if (map.Interaction.IsTileWalkable(node.X, node.Y - 1))
{
near.Add(new PNode(node.X, node.Y - 1));
below = true;
}
// Above-Left
if (left && above)
{
if (map.Interaction.IsTileWalkable(node.X - 1, node.Y + 1))
{
near.Add(new PNode(node.X - 1, node.Y + 1));
}
}
// Above-Right
if (right && above)
{
if (map.Interaction.IsTileWalkable(node.X + 1, node.Y + 1))
{
near.Add(new PNode(node.X + 1, node.Y + 1));
}
}
// Below-Left
if (left && below)
{
if (map.Interaction.IsTileWalkable(node.X - 1, node.Y - 1))
{
near.Add(new PNode(node.X - 1, node.Y - 1));
}
}
// Below-Right
if (right && below)
{
if (map.Interaction.IsTileWalkable(node.X + 1, node.Y - 1))
{
near.Add(new PNode(node.X + 1, node.Y - 1));
}
}
return(near);
}
private float Heuristic(PNode a, PNode b)
{
// Gives a rough distance.
return(Math.Abs(a.X - b.X) + Math.Abs(a.Y - b.Y));
}
