private void InitializeSearchNodes(Level level)
{
searchNodes = new SearchNode[Width * Height];
for (int y = 0; y < Height; y++)
{
for (int x = 0; x < Width; x++)
{
SearchNode node = new SearchNode();
node.Position = new Point(x, y);
node.Walkable = !level.GetTile(x, y).IsSolid();
if (node.Walkable)
{
node.Neighbors = new SearchNode[4];
searchNodes[x + y * Width] = node;
}
}
}
for (int y = 0; y < Height; y++)
{
for (int x = 0; x < Width; x++)
{
SearchNode node = searchNodes[x + y * Width];
if (node == null || node.Walkable == false)
{
continue;
}
Point[] neighbors = new Point[]
{
new Point(x, y - 1),
new Point(x, y + 1),
new Point(x - 1, y),
new Point(x + 1, y)
};
for (int i = 0; i < neighbors.Length; i++)
{
Point position = neighbors[i];
if (position.X < 0 || position.X >= Width || position.Y < 0 || position.Y >= Height)
{
continue;
}
SearchNode neighbor = searchNodes[position.X + position.Y * Width];
if (neighbor == null || neighbor.Walkable == false)
{
continue;
}
node.Neighbors[i] = neighbor;
}
}
}
}
private List<Vector2> FindFinalPath(SearchNode startNode, SearchNode endNode)
{
closedList.Add(endNode);
SearchNode parentTile = endNode.Parent;
while (parentTile != startNode)
{
closedList.Add(parentTile);
parentTile = parentTile.Parent;
}
List<Vector2> finalPath = new List<Vector2>();
for (int i = closedList.Count - 1; i >= 0; i--)
{
finalPath.Add(new Vector2(closedList[i].Position.X * Tile.Size, closedList[i].Position.Y * Tile.Size));
}
return finalPath;
}
