private void TraceBack(List <Direction8> directions, PathTile tile)
{
if (tile.BackReference != null)
{
directions.Insert(0, Operations.GetDirection8(tile.BackReference.Location, tile.Location));
TraceBack(directions, tile.BackReference);
}
}
public PathTile(Loc2D location, bool seen, bool traversed, int cost, int heuristic, PathTile backReference)
{
Location = location;
Seen = seen;
Traversed = traversed;
Cost = cost;
Heuristic = heuristic;
BackReference = backReference;
}
public PathTile(Loc2D location, bool seen, bool traversed, int cost, int heuristic, PathTile backReference)
{
Location = location;
Seen = seen;
Traversed = traversed;
Cost = cost;
Heuristic = heuristic;
BackReference = backReference;
}
private PathTile[,] GetSeenTiles()
{
int widthSeen = HorizSight() * 2 + 1;
int heightSeen = VertSight() * 2 + 1;
PathTile[,] tileMap = new PathTile[widthSeen, heightSeen];
for (int y = 0; y < heightSeen; y++)
{
for (int x = 0; x < widthSeen; x++)
{
tileMap[x, y] = new PathTile(new Loc2D(x, y), true, false, 0, 0, null);
}
}
return(tileMap);
}
private void TraceBack(List<Direction8> directions, PathTile tile)
{
if (tile.BackReference != null) {
directions.Insert(0, Operations.GetDirection8(tile.BackReference.Location, tile.Location));
TraceBack(directions, tile.BackReference);
}
}
private List<PathTile> GetValidNeighbors(Loc2D loc, PathTile[,] tileMap, Loc2D offset, Loc2D mapEnd, bool inAir)
{
List<PathTile> candidates = new List<PathTile>();
//get all tiles not blocked, or out of range
for (int i = 0; i < 8; i++) {
Loc2D newLoc = loc;
Operations.MoveInDirection8(ref newLoc, (Direction8)i, 1);
if (newLoc == mapEnd || Operations.IsInBound(tileMap.GetLength(0), tileMap.GetLength(1), newLoc.X, newLoc.Y)
&& !Processor.DirBlocked((Direction8)i, ControlledChar, loc + offset, false, 1))
{
candidates.Add(tileMap[newLoc.X, newLoc.Y]);
}
}
return candidates;
}
private PathTile[,] GetSeenTiles()
{
int widthSeen = HorizSight() * 2 + 1;
int heightSeen = VertSight() * 2 + 1;
PathTile[,] tileMap = new PathTile[widthSeen, heightSeen];
for (int y = 0; y < heightSeen; y++) {
for (int x = 0; x < widthSeen; x++) {
tileMap[x, y] = new PathTile(new Loc2D(x, y), true, false, 0, 0, null);
}
}
return tileMap;
}
private List <Direction8> FindPathToTarget(Loc2D end, bool inAir)
{
PathTile[,] tileMap = GetSeenTiles();
Loc2D mapStart = new Loc2D(tileMap.GetLength(0) / 2, tileMap.GetLength(1) / 2);
Loc2D offset = ControlledChar.CharLoc - mapStart;
Loc2D mapEnd = end - offset;
List <PathTile> candidates = new List <PathTile>();
tileMap[mapStart.X, mapStart.Y].Heuristic = Math.Sqrt(Math.Pow(mapEnd.X - mapStart.X, 2) + Math.Pow(mapEnd.Y - mapStart.Y, 2));
candidates.Add(tileMap[mapStart.X, mapStart.Y]);
while (candidates.Count > 0)
{
PathTile currentTile = candidates[0];
if (currentTile.Location == mapEnd)
{
List <Direction8> directions = new List <Direction8>();
TraceBack(directions, currentTile);
return(directions);
}
candidates.RemoveAt(0);
currentTile.Traversed = true;
List <PathTile> neighbors = GetValidNeighbors(currentTile.Location, tileMap, offset, mapEnd, inAir);
//insert each neighbor at the right place
foreach (PathTile tile in neighbors)
{
double newCost = currentTile.Cost + 1;
if (tile.Traversed && newCost >= tile.Cost)
{
//not worth it
}
else if (!candidates.Contains(tile) || newCost < tile.Cost)
{
tile.Heuristic = Math.Sqrt(Math.Pow(mapEnd.X - tile.Location.X, 2) + Math.Pow(mapEnd.Y - tile.Location.Y, 2));
tile.BackReference = currentTile;
bool placed = false;
for (int i = candidates.Count - 1; i >= 0; i--)
{
if (tile.Cost + tile.Heuristic >= candidates[i].Cost + candidates[i].Heuristic)
{
candidates.Insert(i + 1, tile);
placed = true;
break;
}
else if (candidates[i] == tile)
{
candidates.RemoveAt(i);
}
}
if (!placed)
{
candidates.Insert(0, tile);
}
}
}
}
return(new List <Direction8>());
}