/// <summary>
/// Поиск пути из точки в точку
/// </summary>
/// <param name="currentPosition"></param>
/// <param name="targetPosition"></param>
static public PathType FindPath(Point currentPosition, Point targetPosition)
{
#region Speed test
//DateTime time = DateTime.Now;
//StreamWriter sw = new StreamWriter("finder.txt", true);
#endregion
PathType path = new PathType();
#region Формируем граф в котором будем искать кратчайщие расстояния
List <Node> graph = new List <Node>();
graph.Add(new Node(currentPosition));
graph.Add(new Node(targetPosition));
#region Не заняты ли начальная и конечная точки
if (isUnitBusy(currentPosition) || isUnitBusy(targetPosition))
{
return(null);
}
#endregion
for (int i = 1; i <= Game.Field.GetXCellCount(); i++)
{
for (int j = 1; j <= Game.Field.GetYCellCount(); j++)
{
Point unit = new Point(Game.Field.Indention + (i - 0.5) * Game.Field.CellSize, Game.Field.Indention + (j - 0.5) * Game.Field.CellSize);
if (!isUnitBusy(unit))
{
graph.Add(new Node(unit));
}
}
}
#endregion
#region Прогоняем алгоритм Дейкстры
graph[0].Weight = 0.0;
Node activeNode;
List <Node> incedentUnvisited;
while ((activeNode = getUnvisitedNodeWithMinWeight(graph)) != null)
{
activeNode.Visited = true;
incedentUnvisited = getIncedentUnvisitedNodes(graph, activeNode);
foreach (Node node in incedentUnvisited)
{
if (activeNode.Weight + HelperFunctions.GetLength(activeNode.Position, node.Position) < node.Weight)
{
node.Weight = activeNode.Weight + HelperFunctions.GetLength(activeNode.Position, node.Position);
node.Parent = activeNode;
}
}
}
#region Формируем результат
activeNode = graph[1];
while (activeNode != null)
{
path.Add(activeNode.Position);
activeNode = activeNode.Parent;
}
path.Reverse();
#endregion
#endregion
#region Speed test
//sw.WriteLine((DateTime.Now - time).TotalMilliseconds.ToString("F2"));
//sw.Close();
#endregion
if (graph[1].Weight == double.MaxValue)
{
return(null);
}
else
{
return(path);
}
}