public override Direction[] Find( Mobile m, Map map, Point3D start, Point3D goal ) { m_Goal = goal; BaseCreature bc = m as BaseCreature; PathNode curNode; PathNode goalNode = new PathNode(); goalNode.x = goal.X; goalNode.y = goal.Y; goalNode.z = goal.Z; PathNode startNode = new PathNode(); startNode.x = start.X; startNode.y = start.Y; startNode.z = start.Z; startNode.h = Heuristic( startNode.x, startNode.y, startNode.z ); PathNode[] closed = m_Closed, open = m_Open, successors = m_Successors; Direction[] path = m_Path; int closedCount = 0, openCount = 0, sucCount = 0, pathCount = 0; int popIndex, curF; int x, y, z; int depth = 0; int xBacktrack, yBacktrack, zBacktrack, iBacktrack = 0; open[openCount++] = startNode; while ( openCount > 0 ) { curNode = open[0]; curF = curNode.g + curNode.h; popIndex = 0; for ( int i = 1; i < openCount; ++i ) { if ( (open[i].g + open[i].h) < curF ) { curNode = open[i]; curF = curNode.g + curNode.h; popIndex = i; } } if ( curNode.x == goalNode.x && curNode.y == goalNode.y && Math.Abs( curNode.z-goalNode.z ) < 16 ) { if ( closedCount == MaxNodes ) break; closed[closedCount++] = curNode; xBacktrack = curNode.px; yBacktrack = curNode.py; zBacktrack = curNode.pz; if ( pathCount == MaxNodes ) break; path[pathCount++] = (Direction)curNode.dir; while ( xBacktrack != startNode.x || yBacktrack != startNode.y || zBacktrack != startNode.z ) { bool found = false; for ( int j = 0; !found && j < closedCount; ++j ) { if ( closed[j].x == xBacktrack && closed[j].y == yBacktrack && closed[j].z == zBacktrack ) { if ( pathCount == MaxNodes ) break; curNode = closed[j]; path[pathCount++] = (Direction)curNode.dir; xBacktrack = curNode.px; yBacktrack = curNode.py; zBacktrack = curNode.pz; found = true; } } if ( !found ) { log.Info( "bugaboo.." ); return null; } if ( pathCount == MaxNodes ) break; } if ( pathCount == MaxNodes ) break; Direction[] dirs = new Direction[pathCount]; while ( pathCount > 0 ) dirs[iBacktrack++] = path[--pathCount]; return dirs; } --openCount; for ( int i = popIndex; i < openCount; ++i ) open[i] = open[i + 1]; sucCount = 0; if ( bc != null ) { MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors; MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles; } for ( int i = 0; i < 8; ++i ) { switch ( i ) { default: case 0: x = 0; y = -1; break; case 1: x = 1; y = -1; break; case 2: x = 1; y = 0; break; case 3: x = 1; y = 1; break; case 4: x = 0; y = 1; break; case 5: x = -1; y = 1; break; case 6: x = -1; y = 0; break; case 7: x = -1; y = -1; break; } if ( CalcMoves.CheckMovement( m, map, new Point3D( curNode.x, curNode.y, curNode.z ), (Direction)i, out z ) ) { successors[sucCount].x = x + curNode.x; successors[sucCount].y = y + curNode.y; successors[sucCount++].z = z; } } MoveImpl.AlwaysIgnoreDoors = false; MoveImpl.IgnoreMovableImpassables = false; if ( sucCount == 0 || ++depth > MaxDepth ) break; for ( int i = 0; i < sucCount; ++i ) { x = successors[i].x; y = successors[i].y; z = successors[i].z; successors[i].g = curNode.g + 1; int openIndex = -1, closedIndex = -1; for ( int j = 0; openIndex == -1 && j < openCount; ++j ) { if ( open[j].x == x && open[j].y == y && open[j].z == z ) openIndex = j; } if ( openIndex >= 0 && open[openIndex].g < successors[i].g ) continue; for ( int j = 0; closedIndex == -1 && j < closedCount; ++j ) { if ( closed[j].x == x && closed[j].y == y && closed[j].z == z ) closedIndex = j; } if ( closedIndex >= 0 && closed[closedIndex].g < successors[i].g ) continue; if ( openIndex >= 0 ) { --openCount; for ( int j = openIndex; j < openCount; ++j ) open[j] = open[j + 1]; } if ( closedIndex >= 0 ) { --closedCount; for ( int j = closedIndex; j < closedCount; ++j ) closed[j] = closed[j + 1]; } successors[i].px = curNode.x; successors[i].py = curNode.y; successors[i].pz = curNode.z; successors[i].dir = (int)GetDirection( curNode.x, curNode.y, x, y ); successors[i].h = Heuristic( x, y, z ); if ( openCount == MaxNodes ) break; open[openCount++] = successors[i]; } if ( openCount == MaxNodes || closedCount == MaxNodes ) break; closed[closedCount++] = curNode; } return null; }
public override Direction[] Find(Mobile m, Map map, Point3D start, Point3D goal) { m_Goal = goal; BaseCreature bc = m as BaseCreature; PathNode curNode; PathNode goalNode = new PathNode(); goalNode.x = goal.X; goalNode.y = goal.Y; goalNode.z = goal.Z; PathNode startNode = new PathNode(); startNode.x = start.X; startNode.y = start.Y; startNode.z = start.Z; startNode.h = Heuristic(startNode.x, startNode.y, startNode.z); PathNode[] closed = m_Closed, open = m_Open, successors = m_Successors; Direction[] path = m_Path; int closedCount = 0, openCount = 0, sucCount = 0, pathCount = 0; int popIndex, curF; int x, y, z; int depth = 0; int xBacktrack, yBacktrack, zBacktrack, iBacktrack = 0; open[openCount++] = startNode; while (openCount > 0) { curNode = open[0]; curF = curNode.g + curNode.h; popIndex = 0; for (int i = 1; i < openCount; ++i) { if ((open[i].g + open[i].h) < curF) { curNode = open[i]; curF = curNode.g + curNode.h; popIndex = i; } } if (curNode.x == goalNode.x && curNode.y == goalNode.y && Math.Abs(curNode.z - goalNode.z) < 16) { if (closedCount == MaxNodes) { break; } closed[closedCount++] = curNode; xBacktrack = curNode.px; yBacktrack = curNode.py; zBacktrack = curNode.pz; if (pathCount == MaxNodes) { break; } path[pathCount++] = (Direction)curNode.dir; while (xBacktrack != startNode.x || yBacktrack != startNode.y || zBacktrack != startNode.z) { bool found = false; for (int j = 0; !found && j < closedCount; ++j) { if (closed[j].x == xBacktrack && closed[j].y == yBacktrack && closed[j].z == zBacktrack) { if (pathCount == MaxNodes) { break; } curNode = closed[j]; path[pathCount++] = (Direction)curNode.dir; xBacktrack = curNode.px; yBacktrack = curNode.py; zBacktrack = curNode.pz; found = true; } } if (!found) { Console.WriteLine("bugaboo.."); return(null); } if (pathCount == MaxNodes) { break; } } if (pathCount == MaxNodes) { break; } Direction[] dirs = new Direction[pathCount]; while (pathCount > 0) { dirs[iBacktrack++] = path[--pathCount]; } return(dirs); } --openCount; for (int i = popIndex; i < openCount; ++i) { open[i] = open[i + 1]; } sucCount = 0; if (bc != null) { MoveImpl.AlwaysIgnoreDoors = bc.CanOpenDoors; MoveImpl.IgnoreMovableImpassables = bc.CanMoveOverObstacles; } MoveImpl.Goal = goal; for (int i = 0; i < 8; ++i) { switch (i) { default: case 0: x = 0; y = -1; break; case 1: x = 1; y = -1; break; case 2: x = 1; y = 0; break; case 3: x = 1; y = 1; break; case 4: x = 0; y = 1; break; case 5: x = -1; y = 1; break; case 6: x = -1; y = 0; break; case 7: x = -1; y = -1; break; } if (CalcMoves.CheckMovement(m, map, new Point3D(curNode.x, curNode.y, curNode.z), (Direction)i, out z)) { successors[sucCount].x = x + curNode.x; successors[sucCount].y = y + curNode.y; successors[sucCount++].z = z; } } MoveImpl.AlwaysIgnoreDoors = false; MoveImpl.IgnoreMovableImpassables = false; MoveImpl.Goal = Point3D.Zero; if (sucCount == 0 || ++depth > MaxDepth) { break; } for (int i = 0; i < sucCount; ++i) { x = successors[i].x; y = successors[i].y; z = successors[i].z; successors[i].g = curNode.g + 1; int openIndex = -1, closedIndex = -1; for (int j = 0; openIndex == -1 && j < openCount; ++j) { if (open[j].x == x && open[j].y == y && open[j].z == z) { openIndex = j; } } if (openIndex >= 0 && open[openIndex].g < successors[i].g) { continue; } for (int j = 0; closedIndex == -1 && j < closedCount; ++j) { if (closed[j].x == x && closed[j].y == y && closed[j].z == z) { closedIndex = j; } } if (closedIndex >= 0 && closed[closedIndex].g < successors[i].g) { continue; } if (openIndex >= 0) { --openCount; for (int j = openIndex; j < openCount; ++j) { open[j] = open[j + 1]; } } if (closedIndex >= 0) { --closedCount; for (int j = closedIndex; j < closedCount; ++j) { closed[j] = closed[j + 1]; } } successors[i].px = curNode.x; successors[i].py = curNode.y; successors[i].pz = curNode.z; successors[i].dir = (int)GetDirection(curNode.x, curNode.y, x, y); successors[i].h = Heuristic(x, y, z); if (openCount == MaxNodes) { break; } open[openCount++] = successors[i]; } if (openCount == MaxNodes || closedCount == MaxNodes) { break; } closed[closedCount++] = curNode; } return(null); }