//---------------------------------------------------------------------------------------------
public PathNodeList FindAdjacentNodes(PathNode node)
{
PathNodeList list = new PathNodeList();
PathNode adjNode = new PathNode()
{
X = (ushort)(node.X), Y = (ushort)(node.Y + 1)
}; //0
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X + 1), Y = (ushort)(node.Y + 1), DiagonalToParent = true
}; //45
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X + 1), Y = (ushort)(node.Y)
}; //90
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X + 1), Y = (ushort)(node.Y - 1), DiagonalToParent = true
}; //135
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X), Y = (ushort)(node.Y - 1)
}; //180
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X - 1), Y = (ushort)(node.Y - 1), DiagonalToParent = true
}; //225
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X - 1), Y = (ushort)(node.Y)
}; //270
list.Add(adjNode);
adjNode = new PathNode()
{
X = (ushort)(node.X - 1), Y = (ushort)(node.Y + 1), DiagonalToParent = true
}; //315
list.Add(adjNode);
return(list);
}
//---------------------------------------------------------------------------------------------
public PathNodeList FromPositionCollection(List <UOPositionBase> positions)
{
PathNodeList list = new PathNodeList();
foreach (UOPositionBase position in positions)
{
PathNode node = new PathNode();
node.X = position.X.GetValueOrDefault();
node.Y = position.Y.GetValueOrDefault();
node.Walkable = position.IsSepable;
if (!list.ContainsNode(node))
{
list.Add(node);
}
}
return(list);
}
public bool ComputePath(PathNode start, PathNode end, int fromDistance)
{
OpenNodes = new PathNodeList();
CloseNodes = new PathNodeList();
PathNode current = start;
start.G = 0;
start.H = ComputeH(start, end);
if (!OpenNodes.ContainsNode(start))
{
OpenNodes.Add(start);
}
bool finish = false;
bool result = false;
if (!this.PossibleNodes.ContainsNode(start))
{
this.PossibleNodes.Add(start);
}
if (!this.PossibleNodes.ContainsNode(end))
{
this.PossibleNodes.Add(end);
}
while (!finish && Searchs < 10000)
{
Searchs++;
OpenNodes.Remove(current);
if (!CloseNodes.ContainsNode(current))
{
CloseNodes.Add(current);
}
PathNodeList searchNodes = FindAdjacentNodes(current);
foreach (PathNode node in searchNodes)
{
if (!this.PossibleNodes.ContainsNode(node))
{
this.PossibleNodes.Add(node);
}
}
searchNodes.MergePossible(this.PossibleNodes);
searchNodes.RemoveDiagonalCorners(current, this);
if (searchNodes.Count > 0)
{
searchNodes.MergeIdent(CloseNodes);
}
else
{
PathNodeList adjNodes = FindAdjacentNodes(current);
foreach (PathNode adj in adjNodes)
{
PathNode sNode = this.PossibleNodes.FindNode(adj.X, adj.Y);
if (sNode == null)
{
sNode = adj;
this.PossibleNodes.Add(sNode);
}
sNode.Walkable = null;
searchNodes.Add(sNode);
}
searchNodes.RemoveDiagonalCorners(current, this);
}
searchNodes.NormalizeReferences(OpenNodes);
PathNode bestNode = null;
foreach (PathNode searchNode in searchNodes)
{
if (!OpenNodes.ContainsNode(searchNode))
{
searchNode.Parent = current;
searchNode.H = ComputeH(searchNode, end);
searchNode.G = ComputeG(searchNode.Parent, searchNode);
OpenNodes.Add(searchNode);
}
else if (searchNode.G > (current.G + (searchNode.DiagonalToParent ? 14 : 10)))
{
searchNode.Parent = current;
searchNode.H = ComputeH(searchNode, end);
searchNode.G = ComputeG(searchNode.Parent, searchNode);
}
}
foreach (PathNode openNode in OpenNodes)
{
if (bestNode == null || (openNode.F < bestNode.F))
{
bestNode = openNode;
}
}
if (bestNode == null)
{
finish = true;
}
else if (bestNode.H == (fromDistance * 10))
{
OpenNodes.Remove(bestNode);
if (!CloseNodes.ContainsNode(bestNode))
{
CloseNodes.Add(bestNode);
}
bestNode.Finish = true;
result = true;
finish = true;
}
current = bestNode;
}
return(result);
}