public virtual void SetAStarNodeInsert(List <GridLocation> LIST, GridLocation NEWNODE)
{
bool added = false;
for (int i = 0; i < LIST.Count; i++)
{
if (LIST[i].fScore > NEWNODE.fScore)
{
//Cant insert at 0, because that would take up the looking at node...
LIST.Insert(Math.Max(1, i), NEWNODE);
added = true;
break;
}
}
if (!added)
{
LIST.Add(NEWNODE);
}
}
public List <Vector2> GetPath(Vector2 START, Vector2 END, bool ALLOWDIAGNALS)
{
List <GridLocation> viewable = new List <GridLocation>(), used = new List <GridLocation>();
List <List <GridLocation> > masterGrid = new List <List <GridLocation> >();
bool impassable = false;
float cost = 1;
for (int i = 0; i < slots.Count; i++)
{
masterGrid.Add(new List <GridLocation>());
for (int j = 0; j < slots[i].Count; j++)
{
impassable = slots[i][j].impassable;
if (slots[i][j].impassable || slots[i][j].filled)
{
if (i != (int)END.X || j != (int)END.Y)
{
impassable = true;
}
}
cost = slots[i][j].cost;
masterGrid[i].Add(new GridLocation(new Vector2(i, j), cost, impassable, 99999999));
}
}
viewable.Add(masterGrid[(int)START.X][(int)START.Y]);
while (viewable.Count > 0 && !(viewable[0].pos.X == END.X && viewable[0].pos.Y == END.Y))
{
TestAStarNode(masterGrid, viewable, used, END, ALLOWDIAGNALS);
}
List <Vector2> path = new List <Vector2>();
if (viewable.Count > 0)
{
int currentViewableStart = 0;
GridLocation currentNode = viewable[currentViewableStart];
path.Clear();
Vector2 tempPos;
while (true)
{
//Add the difference between the actual grid and the custom grid back in...
tempPos = GetPosFromLoc(currentNode.pos) + slotDims / 2;
path.Add(new Vector2(tempPos.X, tempPos.Y));
if (currentNode.pos == START)
{
break;
}
else
{
if ((int)currentNode.parent.X != -1 && (int)currentNode.parent.Y != -1)
{
if (currentNode.pos.X == masterGrid[(int)currentNode.parent.X][(int)currentNode.parent.Y].pos.X && currentNode.pos.Y == masterGrid[(int)currentNode.parent.X][(int)currentNode.parent.Y].pos.Y)
{
//Current node points to its self
currentNode = viewable[currentViewableStart];
currentViewableStart++;
}
currentNode = masterGrid[(int)currentNode.parent.X][(int)currentNode.parent.Y];
}
else
{
//Node is off grid...
currentNode = viewable[currentViewableStart];
currentViewableStart++;
}
}
}
path.Reverse();
if (path.Count > 1)
{
path.RemoveAt(0);
}
}
return(path);
}
public void SetAStarNode(List <GridLocation> viewable, List <GridLocation> used, GridLocation nextNode, Vector2 nextParent, float d, Vector2 target, float DISTMULT)
{
float f = d;
float addedDist = (nextNode.cost * DISTMULT);
//Add item
if (!nextNode.isViewable && !nextNode.hasBeenUsed)
{
//viewable.Add(new AStarNode(nextParent, f, new Vector2(nextNode.Pos.X, nextNode.Pos.Y), nextNode.CurrentDist + 1, nextNode.Cost, nextNode.Impassable));
nextNode.SetNode(nextParent, f, d + addedDist);
nextNode.isViewable = true;
SetAStarNodeInsert(viewable, nextNode);
}
//Node is in viewable, so check if Fscore needs revised
else if (nextNode.isViewable)
{
if (f < nextNode.fScore)
{
nextNode.SetNode(nextParent, f, d + addedDist);
}
}
}
