/// <summary>
/// Returns a UnitRange containing up to 3 lists of points: which squares the unit can move to,
/// which squares the unit can attack, and which squares the unit can utility-ize.
/// </summary>
/// <param name="unit">The unit we are querying for</param>
/// <param name="blockedSpaces">spaces the unit is not allowed to occupy (e.g. due to ally unit already being there)</param>
/// <returns></returns>
/// //TODO: Add this to a different class
public UnitRange GetPathsForUnit(UnitEntity unit, Position unitPosition, List <Position> blockedSpaces)
{
UnitRange retRange = new UnitRange();
List <PathNode> unvisited = new List <PathNode>();
List <PathNode> accessible = new List <PathNode>();
//Step 1
//make a node for each tile within raw movement range.
unvisited = GetUnvisitedTiles(unit.Move, unitPosition, unit.MoveCosts, unit.TeamID);
//Step 2
//run Dijkstra's algorithm
accessible = DijkstraPathfinder.CalculatePathDistance(unvisited, unitPosition.xPos, unitPosition.yPos);
//Accessible now has only the squares which the unit can actually reach.
//break them back into Tuples for the UnitRange
HashSet <Position> validPositions = new HashSet <Position>();
foreach (PathNode node in accessible.Where(node => node.distance <= unit.Move))
{
validPositions.Add(new Position(node.pos.xPos, node.pos.yPos));
}
//blocked positions can be pathed through, but not ended in.
//you can end in your own space though
validPositions.RemoveWhere(s => blockedSpaces.Contains(s) && !(s.Equals(unitPosition)));
//Item ranges
HashSet <Position> attackRanges = unit.AllAttackRanges();
HashSet <Position> utilityRanges = unit.AllUtilityRanges();
HashSet <Position> attackablePositions = new HashSet <Position>();
HashSet <Position> utilityPositions = new HashSet <Position>();
foreach (Position pos in validPositions)
{
foreach (Position offset in attackRanges)
{
Position targetTile = new Position(pos.xPos + offset.xPos, pos.yPos + offset.yPos);
if (targetTile.xPos >= 0 && targetTile.xPos < Width && targetTile.yPos >= 0 && targetTile.yPos < Height)
{
attackablePositions.Add(targetTile);
}
}
foreach (Position offset in utilityRanges)
{
Position targetTile = new Position(pos.xPos + offset.xPos, pos.yPos + offset.yPos);
if (targetTile.xPos >= 0 && targetTile.xPos < Width && targetTile.yPos >= 0 && targetTile.yPos < Height)
{
utilityPositions.Add(targetTile);
}
}
}
retRange.moveRange = validPositions;
retRange.attackRange = attackablePositions;
retRange.utilityRange = utilityPositions;
return(retRange);
}
/// <summary>
/// Finds a path to the given space, using current path as a starting point
/// </summary>
/// <param name="selectedUnit"></param>
/// <param name="targ"></param>
/// <param name="currentPath"></param>
/// <returns></returns>
internal List <Position> FindPath(UnitEntity unit, Position targ, List <Position> currentPath)
{
List <PathNode> unvisited = new List <PathNode>();
List <PathNode> accessible = new List <PathNode>();
//Part 1 - make sure the target is not already in the path
if (currentPath.Contains(targ))
{
int i = currentPath.IndexOf(targ);
return(currentPath.GetRange(0, i + 1));
}
//Part 2 - find path from existing position
if (unit.Move - currentPath.Count > 0) //fail fast for finding path from scratch
{
Position previousPosition = currentPath.Last();
//Step 1
//make a node for each tile within modified movement range.
unvisited = GetUnvisitedTiles(unit.Move - currentPath.Count, previousPosition, unit.MoveCosts, unit.TeamID);
//Step 2
//run Dijkstra's algorithm
accessible = DijkstraPathfinder.CalculatePathDistance(unvisited, previousPosition.xPos, previousPosition.yPos);
if (accessible.Find(s => s.pos.Equals(targ)) != null)
{
//we can reach the new square from our existing path. return the new path as an append to the existing path
List <Position> appendList = new List <Position>();
PathNode markerNode = accessible.Find(s => s.pos.Equals(targ));
while (markerNode != null && !markerNode.pos.Equals(previousPosition))
{
appendList.Add(markerNode.pos);
markerNode = markerNode.previousNode;
}
appendList.Reverse();
currentPath.AddRange(appendList);
return(currentPath);
}
//else - we need to find the path from scratch
}
//Part 3 - calculate path from scratch
//Step 1
//make a node for each tile within modified movement range.
unvisited = GetUnvisitedTiles(unit.Move, currentPath[0], unit.MoveCosts, unit.TeamID);
//Step 2
//run Dijkstra's algorithm
accessible = DijkstraPathfinder.CalculatePathDistance(unvisited, currentPath[0].xPos, currentPath[0].yPos);
if (accessible.Find(s => s.pos.Equals(targ)) != null)
{
//we can reach the new square from our existing path. return the new path as an append to the existing path
List <Position> retList = new List <Position>();
PathNode markerNode = accessible.Find(s => s.pos.Equals(targ));
while (markerNode != null)
{
retList.Add(markerNode.pos);
markerNode = markerNode.previousNode;
}
retList.Reverse();
return(retList);
}
else
{
throw new PathFindingException("Could not find path to a navigable tile");
}
}
