public static bool can_see(Map map, Point pos, int facing, Point target)
{
int dx = 0, dy = 0;
switch (facing)
{
case 1:
dx = 0; dy = 1;
break;
case 3:
dx = -1; dy = 0;
break;
case 5:
dx = 0; dy = -1;
break;
case 7:
dx = 1; dy = 0;
break;
default:
throw new ArgumentException("Shouldn't be here!!!");
}
for (int x = 0; x < map.width+2; x++)
for (int y = 0; y < map.height + 2; y++)
if (map.getCell(x, y).Type != MapCell.MapCellType.floor &&
intersection(pos, target, new Point(x, y), 1))
{
// Console.WriteLine("Intersection: " + x + " " + y + "(" + pos + ", " + target + ")");
return false;
}
return true;
}
public static Direction findPath(Map map, Vector2 pos, Vector2 target)
{
if (pos == target)
return Direction.still;
int[,] d = {{0, 1}, {0, -1}, {1, 0}, {-1, 0}};
bool[,] vis = new bool[map.width+2, map.height+2];
Direction[] dir = { Direction.up, Direction.down, Direction.left, Direction.right };
PriorityQueue<int, PQEntry> queue = new PriorityQueue<int,PQEntry>();
queue.Enqueue(0, new PQEntry(0, target, pos)); // going from target to pos, purposefully in reverse
vis[(int)target.X, (int)target.Y] = true;
while (!queue.IsEmpty)
{
PQEntry e = queue.Dequeue();
//Console.WriteLine(e.pos.X + " " + e.pos.Y);
for (int i = 0; i <= d.GetUpperBound(0); i++)
{
MapCell cell = map.getCell((int)e.pos.X + d[i,0], (int)e.pos.Y + d[i,1]); // cell we would move onto
Vector2 p = new Vector2(e.pos.X + d[i, 0], e.pos.Y + d[i, 1]);
if (cell.Type == MapCell.MapCellType.floor && !vis[(int)p.X, (int)p.Y]) // can only go through floors
{
//Console.WriteLine("> " + p.X + " " + p.Y + ": " + cell.toChar());
PQEntry newEntry = new PQEntry(e.cost + cell.cost(), new Vector2(e.pos.X + d[i, 0], e.pos.Y + d[i, 1]), pos);
queue.Enqueue(newEntry.heuristic, newEntry);
if (p == pos) // if we've reached our "target", then this must be the best path; we only care about one move for now, since the obstacles might change before reaching the target
{
return dir[i];
}
vis[(int)p.X, (int)p.Y] = true;
}
}
}
throw new InvalidProgramException("Couldn't find a valid path");
}