private List<Vector2> FindFinalPath(SearchNode start, SearchNode end)
{
closedList.Add(end);
SearchNode parent = end.Parent;
while (parent != start)
{
closedList.Add(parent);
parent = parent.Parent;
}
List<Vector2> finalPath = new List<Vector2>();
for (int i = closedList.Count - 1; i >= 0; i--)
{
finalPath.Add(new Vector2(closedList[i].Position.X * 32,
closedList[i].Position.Y * 32));
}
return finalPath;
}
public void InitializeSearchNodes(Level map)
{
for (int x = 0; x < levelWidth; x++)
{
for (int y = 0; y < levelHeight; y++)
{
SearchNode node = new SearchNode()
{
Position = new Point(x, y),
Walkable = !LevelManager.IsWallTile(new Vector2(x * LevelManager.GetCurrentLevel().tileWidth,
y * LevelManager.GetCurrentLevel().tileHeight))
};
if (node.Walkable == true)
{
node.Neighbors = new SearchNode[4];
searchNodes[x, y] = node;
}
}
}
for (int x = 0; x < levelWidth; x++)
{
for (int y = 0; y < levelHeight; y++)
{
SearchNode node = searchNodes[x, y];
if (node == null || !node.Walkable)
continue;
Point[] neighbors = new Point[4]
{
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 > levelWidth - 1 ||
position.Y < 0 || position.Y > levelHeight - 1)
{
continue;
}
SearchNode neighbor = searchNodes[position.X, position.Y];
if (neighbor == null || !neighbor.Walkable)
continue;
node.Neighbors[i] = neighbor;
}
}
}
}