private void PrintPathToConsole(NetworkPathAlgorithm npa)
{
foreach (WayPoint wp in npa.Path)
{
Console.Write("" + wp);
}
}
public bool FindPath(Mobile mob, WayPoint start, WayPoint goal, out List <WayPoint> path)
{
NetworkPathAlgorithm npa = new NetworkPathAlgorithm();
// Initial search
NetworkPathState result = npa.FindPath(mob, start, goal, DEPTH, new List <WayPoint>());
// Unable to find a path at all
if (result == NetworkPathState.Failure || result == NetworkPathState.ExceededDepth)
{
path = null;
return(false);
}
if (mob is PathTester && ((BaseCreature)mob).Debug)
{
//PrintPathToConsole(npa);
Console.WriteLine("Path found, looking for better paths...");
/*
* Console.Write("Path: ");
* foreach (WayPoint wp in npa.Path)
* Console.Write(""+wp);
* Console.WriteLine("");
* Console.Write("Branches List: ");
* foreach (WayPoint wp in npa.Branches)
* Console.Write(""+wp);
* Console.WriteLine("");
*/
}
// If there were branches we didn't take its time to explore them
int i = 0;
while (i < npa.Branches.Count)
{
NetworkPathAlgorithm npa2 = new NetworkPathAlgorithm();
List <WayPoint> forcelist = new List <WayPoint>();
forcelist.Add(npa.Branches[i]);
if (mob is PathTester && ((BaseCreature)mob).Debug)
{
Console.WriteLine("Considering alternate path from WayPoint: " + npa.Branches[i] + " X:" + npa.Branches[i].Location.X + " Y:" + npa.Branches[i].Location.Y + " Z:" + npa.Branches[i].Location.Z);
}
result = npa2.FindPath(mob, start, goal, npa.Path.Count + (int)(npa.Path.Count * 0.2), forcelist);
if (result == NetworkPathState.Success)
{
//PrintPathToConsole(npa2);
if (mob is PathTester && ((BaseCreature)mob).Debug)
{
Console.WriteLine("Evaluation: " + npa2.Evaluate() + " vs " + npa.Evaluate());
}
// If new path is better then select this path
if (npa2.Evaluate() < npa.Evaluate())
{
if (mob is PathTester && ((BaseCreature)mob).Debug)
{
Console.WriteLine("Better path found!");
}
npa = npa2;
}
}
i++;
}
path = npa.Path;
return(true);
}