/*
* public functions
*/
/// <summary>
/// The core function; calls all valid auxiliary functions and returns the path (advanced features can be toggled)
/// Includes a boolean toggle for use of advanced pathfinding functions
/// </summary>
/// <param name="map">The Map</param>
/// <param name="start">The starting Cell</param>
/// <param name="end">The ending Cell</param>
/// <param name="advanced"> A boolean toggle for advanced functions</param>
/// <returns>The path as a list of waypoints</returns>
public static List <Cell> between(Map map, Cell start, Cell end, bool advanced)
{
// begin timing the operation
startTime = DateTime.Now;
intendedEnd = end;
// convert the given Cell-based data to Node-based data
NodeMap nodeMap = new NodeMap(map);
Node nodeStart = nodeMap.getNode(start.Xcoord, start.Ycoord);
Node nodeEnd = nodeMap.getNode(end.Xcoord, end.Ycoord);
// perform advanced pre-calculation tasks
if (advanced)
{
// if the end Node is invalid, replace it with the nearest valid Node
if (!nodeEnd.isValid)
{
DateTime tempStartTime = DateTime.Now;
nodeEnd = Advanced.nearestValidEnd(nodeMap, nodeStart, nodeEnd);
TimeSpan tempSpan = DateTime.Now - tempStartTime;
Console.WriteLine("-> Path end changed from ({0}, {1}) to ({2}, {3}) in {4}", intendedEnd.Xcoord, intendedEnd.Ycoord, nodeEnd.Xcoord, nodeEnd.Ycoord, tempSpan);
}
}
// find the path
List <Node> nodePath = Basic.findPath(nodeMap, nodeStart, nodeEnd);
// perform advanced post-calculation tasks
if (advanced)
{
}
// convert the path from List<Node> format back to List<Cell> format
List <Cell> path = new List <Cell>(nodePath.Count);
for (int i = 0; i < nodePath.Count; i++)
{
path.Add(map.getCell(nodePath[i].Xcoord, nodePath[i].Ycoord));
}
// grab and print path data
float dist = (float)(nodePath[nodePath.Count - 1].Gscore);
span = DateTime.Now - startTime;
printPath(path, dist);
return(path);
}
/*
* public functions
*/
/// <summary>
/// The core function; calls all valid auxiliary functions and returns the path (advanced features can be toggled)
/// Includes a boolean toggle for use of advanced pathfinding functions
/// </summary>
/// <param name="map">The Map</param>
/// <param name="start">The starting Cell</param>
/// <param name="end">The ending Cell</param>
/// <param name="advanced"> A boolean toggle for advanced functions</param>
/// <returns>The path as a list of waypoints</returns>
public static List <CellComponent> between(Map map, CellComponent start, CellComponent end, bool advanced)
{
// begin timing the operation
DateTime startTime = DateTime.Now;
// convert the given Cell-based data to Node-based data
NodeMap nodeMap = new NodeMap(map);
Node nodeStart = nodeMap.getNode(start.X, start.Y);
Node nodeEnd = nodeMap.getNode(end.X, end.Y);
// perform advanced pre-calculation tasks
if (advanced)
{
// if the end Node is invalid, replace it with the nearest valid Node
if (!nodeEnd.isValid)
{
nodeEnd = Advanced.nearestValidEnd(nodeMap, nodeStart, nodeEnd);
}
}
// find the path
List <Node> nodePath = Basic.findPath(nodeMap, nodeStart, nodeEnd);
// convert the path from List<Node> format back to List<Cell> format
List <CellComponent> path = new List <CellComponent>(nodePath.Count);
for (int i = 0; i < nodePath.Count; i++)
{
path.Add(map.GetCellAt(nodePath[i].X, nodePath[i].Y));
}
// grab and print path data
float dist = (float)(nodePath[nodePath.Count - 1].Gscore);
span = DateTime.Now - startTime;
//printPath(path, dist);
return(path);
}