public override void Tick(float dtime)
{
base.Tick(dtime);
if (Owner.Distance(TargetNode) < Dist)
{
Done = true;
return;
}
Point p2 = map.GetCell(Owner.AbsolutePosition);
for (int i = 0; i < astar.Solution.Count; ++i)
{
AStarMap.AStarNode2D node = (AStarMap.AStarNode2D)astar.Solution[i];
Point p1 = new Point(node.X, node.Y);
if (p2 == p1)
{
if (i == astar.Solution.Count - 1)
{
Done = true;
System.Console.WriteLine("arrived at last node");
}
else if (i > currentnode - 1)
{
currentnode = i;
System.Console.WriteLine("next node: " + ++currentnode);
}
}
}
}
/// <summary>
/// Prints the solution
/// </summary>
/// <param name="ASolution">The list that holds the solution</param>
public void PrintSolution(ArrayList ASolution)
{
for (int j = -20; j < 21; j++)
{
for (int i = -20; i < 21; i++)
{
bool solution = false;
foreach (AStarMap.AStarNode2D n in ASolution)
{
AStarMap.AStarNode2D tmp = new AStarMap.AStarNode2D(null, null, 0, i, j, map);
solution = n.IsSameState(tmp);
if (solution)
{
break;
}
}
if (solution)
{
System.Console.Write("S ");
}
else
if (map.GetMap(i, j) == -1)
{
System.Console.Write("X ");
}
else
{
System.Console.Write(". ");
}
}
System.Console.WriteLine("");
}
}
public FlySmart(SpaceShip owner, Node target, float dist)
: base(owner, target.AbsolutePosition)
{
map = new AStarMap(400, owner);
Dist = dist;
TargetNode = target;
astar = new AStar();
//map.Print(-22,-22,22,22);
Point p1 = map.GetCell(target.AbsolutePosition);
Point p2 = map.GetCell(owner.AbsolutePosition);
p1 = map.GetNearestFreePosition(p1);
p2 = map.GetNearestFreePosition(p2);
if (p1 == p2)
{
System.Console.WriteLine("start=end!");
}
AStarMap.AStarNode2D GoalNode = new AStarMap.AStarNode2D(null, null, 0, p1.X, p1.Y, map);
AStarMap.AStarNode2D StartNode = new AStarMap.AStarNode2D(null, null, 0, p2.X, p2.Y, map);
StartNode.GoalNode = GoalNode;
astar.FindPath(StartNode, GoalNode);
if (astar.Solution.Count == 0)
{
System.Console.WriteLine("no solution! from " + p2 + " to " + p1);
Done = true;
}
PrintSolution(astar.Solution);
currentnode = 0;
}
/// <summary>
/// Prints the solution
/// </summary>
/// <param name="ASolution">The list that holds the solution</param>
public void PrintSolution(ArrayList ASolution)
{
for (int j = -20; j <21; j++)
{
for (int i = -20; i < 21; i++)
{
bool solution = false;
foreach (AStarMap.AStarNode2D n in ASolution)
{
AStarMap.AStarNode2D tmp = new AStarMap.AStarNode2D(null, null, 0, i, j,map);
solution = n.IsSameState(tmp);
if (solution)
break;
}
if (solution)
System.Console.Write("S ");
else
if (map.GetMap(i, j) == -1)
System.Console.Write("X ");
else
System.Console.Write(". ");
}
System.Console.WriteLine("");
}
}
public FlySmart(SpaceShip owner, Node target, float dist)
: base(owner,target.AbsolutePosition)
{
map = new AStarMap(400, owner);
Dist = dist;
TargetNode = target;
astar = new AStar();
//map.Print(-22,-22,22,22);
Point p1 = map.GetCell(target.AbsolutePosition);
Point p2 = map.GetCell(owner.AbsolutePosition);
p1 = map.GetNearestFreePosition(p1);
p2 = map.GetNearestFreePosition(p2);
if (p1 == p2)
System.Console.WriteLine("start=end!");
AStarMap.AStarNode2D GoalNode = new AStarMap.AStarNode2D(null, null, 0, p1.X, p1.Y, map);
AStarMap.AStarNode2D StartNode = new AStarMap.AStarNode2D(null, null, 0, p2.X, p2.Y, map);
StartNode.GoalNode = GoalNode;
astar.FindPath(StartNode, GoalNode);
if (astar.Solution.Count == 0)
{
System.Console.WriteLine("no solution! from " + p2 + " to " + p1);
Done = true;
}
PrintSolution(astar.Solution);
currentnode = 0;
}
