/// <summary>
/// Creates a new path.
/// </summary>
/// <param name="start">The start node.</param>
/// <param name="target">The ultimate goal node.</param>
public AStarElement(MapNode start, MapNode target)
{
chain = new List <MapNode>();
chain.Add(start);
this.target = target;
}
public void addNode(MapNode node)
{
chain.Add(node);
}
/// <summary>
/// Gets the path in the cache.
/// </summary>
/// <param name="beginPosition">The (x, y) pair describing the start position.</param>
/// <param name="endPosition">The (x, y) pair describing the goal.</param>
/// <returns>The path to get from start to end.</returns>
public static List <MapNode> getCachedPathTo(Vector2 beginPosition, Vector2 endPosition)
{
MapNode start = getNearestNodeTo(beginPosition.X, beginPosition.Y, entryPoint), goal = getNearestNodeTo(endPosition.X, endPosition.Y, entryPoint);
foreach (List <MapNode> path in paths)
{
if (path[0].Equals(start) && path[path.Count - 1].Equals(goal))
{
return(path);
}
if (path[0].Equals(goal) && path[path.Count - 1].Equals(start))
{
path.Reverse();
return(path);
}
}
return(null);
}
/// <summary>
/// Determines if the given node is already a part of this path.
/// </summary>
/// <param name="n">The node to check.</param>
/// <returns>True if the node is already part of this path, false otherwise.</returns>
public bool exists(MapNode n)
{
return(chain.Contains(n));
}
public override bool Equals(object obj)
{
MapNode o = (MapNode)obj;
return(position.X == o.position.X && position.Y == o.position.Y);
}
/// <summary>
/// Finds the shortest path from the start to the end position.
/// </summary>
/// <param name="beginPosition">The (x, y) pair that represents the start location.</param>
/// <param name="endPosition">The (x, y) pair that represents the end location.</param>
/// <returns>A list of mapNodes representing the shortest path from start to end.</returns>
public static List <MapNode> getShortestPathTo(Vector2 beginPosition, Vector2 endPosition)
{
MapNode start = getNearestNodeTo(beginPosition.X, beginPosition.Y, entryPoint), goal = getNearestNodeTo(endPosition.X, endPosition.Y, entryPoint);
List <AStarElement> pQueue = new List <AStarElement>(); //priority queue
pQueue.Add(new AStarElement(start, goal));
AStarElement toAdd = null;
while (!pQueue[0].isFullPath())
{
//The shortest path found so far will always be at the head of the list,
//so per aStar, build on that path.
AStarElement best = pQueue[0];
foreach (MapNode n in best.getLastNode().getAllNodes())
{
if (best.exists(n))
{
continue;
}
toAdd = new AStarElement(best);
toAdd.addNode(n);
pQueue.Add(toAdd);
if (n == goal)
{
break;
}
}
if (!best.isFullPath())
{
pQueue.Remove(best);
}
pQueue.Sort(); //Custom sorting that makes shortest path be sorted to head of list.
} //while
return(pQueue[0].getNodes());
}
/// <summary>
/// Builds a map.
/// </summary>
/// <param name="furnishing">The list of furniture.</param>
/// <param name="maxX">The max X boundary not adjusted for walls.</param>
/// <param name="maxY">The max Y boundary not adjusted for walls.</param>
/// <returns>The node that will be considered the start node.</returns>
public static MapNode buildMap(List <Furniture> furnishing, int maxX, int maxY)
{
AllNodes = new List <MapNode>();
MapNode.maxX = maxX;
MapNode.maxY = maxY;
//StreamWriter outFile = File.CreateText("Debug.log");
MapNode startNode = null;
MapNode lastX = null;
MapNode lastY = null;
edgeLength = 4;
MapNode n = null;
int currentX = 2, currentY = 2;
while (currentX < maxX)
{
if (currentX == 2 || currentX % edgeLength == 0 || currentX == maxX - 1)
{
//outFile.WriteLine("Execuing x " + currentX);
MapNode xn = new MapNode(new Vector2(currentX, 2));
if (lastX != null)
{
lastX.right = xn;
xn.left = lastX;
}
AllNodes.Add(xn);
lastX = xn;
lastY = lastX;
if (currentX == 2 && currentY == 2)
{
startNode = xn;
}
}
else
{
currentX++;
continue;
}
currentY = 2;
n = null;
while (currentY < maxY)
{
if (currentX == 2 && currentY == 2)
{
currentY++;
continue;
}
if (isPotentiallyBlockedInFront(furnishing, currentY, maxX))
{
n = new MapNode(new Vector2(currentX, currentY));
//outFile.WriteLine("Y potential block in front " + currentY);
}
else if (currentY > 2 && isPotentiallyBlockedBehind(furnishing, currentY, maxX))
{
n = new MapNode(new Vector2(currentX, currentY));
//outFile.WriteLine("Y potential block behind " + currentY);
}
else if (!isBlocked(furnishing, currentX, currentY) && currentY % edgeLength == 0)
{
n = new MapNode(new Vector2(currentX, currentY));
//outFile.WriteLine("Node length reached at y " + currentY);
}
//Next, we need to connect with the nodes around us.
if (n != null)
{
//outFile.WriteLine("Y " + currentY + " created.");
lastY.front = n;
//outFile.WriteLine(String.Format(" {0}.front={1}", lastY, n));
n.back = lastY;
//outFile.WriteLine(String.Format(" {0}.back={1}", n, lastY));
if (lastY.left != null && lastY.left.front != null)
{
lastY.left.front.right = n;
//outFile.WriteLine(String.Format("{0}.right={1}", lastY.left.front, n));
n.left = lastY.left.front;
//outFile.WriteLine(String.Format("{0}.left={1}", n, lastY.left.front));
}
lastY = n;
AllNodes.Add(n);
}
if (isBlocked(furnishing, currentX, currentY))
{
//outFile.WriteLine("Block at " + currentY + " resolving...");
while (currentY < maxY)
{
if (!isBlocked(furnishing, currentX, ++currentY))
{
//outFile.WriteLine("Success, y = " + currentY);
n = new MapNode(new Vector2(currentX, currentY));
MapNode addTo = getNodeToLeft(currentX, currentY, startNode);
if (addTo != null)
{
addTo.right = n;
n.left = addTo;
//outFile.WriteLine(String.Format("{0}.right={1}", addTo, n));
//outFile.WriteLine(String.Format("{0}.left={1}", n, addTo));
}
else
{
//outFile.WriteLine("Node to left is null!");
addTo = getNodeToRight(currentX, currentY, startNode);
}
if (addTo != null)
{
addTo.left = n;
n.right = addTo;
//outFile.WriteLine(String.Format("{0}.left={1}", addTo, n));
//outFile.WriteLine(String.Format("{0}.right={1}", n, addTo));
}
else
{
//outFile.WriteLine("Node to right is null!");
lastY = n;
}
AllNodes.Add(n);
break;
}
} //while
} //if blocked
currentY++;
n = null;
} //y
currentX++;
} //x
//outFile.Close();
return(entryPoint = startNode);
}
public int CompareTo(object obj)
{
MapNode m = (MapNode)obj;
return((int)(position.X - m.position.X));
}
public MapNode(Vector2 position)
{
this.position = position;
left = front = right = back = null;
}