public void add(Node node)
{
for (int k = 0; k < size; k++) {
if (node.f < list[k].f) {
list.Insert(k, node);
size++;
return;
}
}
size++;
list.Add(node);
}
public List<Node> AStar(Node start, Node dest)
{
for (int k = 0; k < graph.Length; k++) {
graph[k].g = 0;
graph[k].f = 0;
}
List <Node> path= new List<Node>();
Node[] Closed = new Node[graph.Length];
int closed_counter = 0;
JasonQ Open = new JasonQ();
JasonQ neighborSet;
Open.add(start);
for (int k = 0; k < graph.Length; k++) {
if (graph[k] != start) {
Open.add(graph[k]);
graph[k].g = 0;
graph[k].f = 0;
}
}
Node current;
double g_score = 0;
double f_score = g_score + start.H(dest);
start.g = g_score;
start.f = f_score;
double tempg = 0;
while (Open.Size() > 0)
{
current = Open.dequeue();
if (current == dest)
{
path.Add(current);
return path;
}
Closed[closed_counter++] = current;
for (int k = 0; k < current.neighbors.Count; k++) {
tempg = current.g + current.getTo(k);
if (isIn(Closed, current.neighbors[k]))
{
if (tempg >= current.neighbors[k].g)
{
}
else
{
//put camefrom to neighbor somehow. this following line is my attempt
path.Add(current.neighbors[k]);
current.neighbors[k].g = tempg;
current.neighbors[k].f = tempg + current.neighbors[k].H(dest);
if (!isIn(Open, current.neighbors[k]))
{
Open.add(current.neighbors[k]);
}
}
}
else
{
//put camefrom to neighbor somehow. this following line is my attempt
path.Add(current.neighbors[k]);
current.neighbors[k].g = tempg;
current.neighbors[k].f = tempg + current.neighbors[k].H(dest);
if (!isIn(Open, current.neighbors[k]))
{
Open.add(current.neighbors[k]);
}
}
}
}
return path;
}
public NodeGraph(Node[] map)
{
graph = map;
}
public bool isIn(Node[] c, Node node)
{
for (int k = 0; k < c.Length; k++)
{
if (c[k] == node) return true;
}
return false;
}
public bool isIn(JasonQ o, Node node)
{
for (int k = 0; k < o.Size(); k++)
{
if (o.get(k) == node) return true;
}
return false;
}
public NPC(Vector2 newPosition, String newName, Node spawnNode)
{
position = newPosition;
name = newName;
sensor = new Sensor(300, 3);
//rectangle = new Rectangle((int)position.X, (int)position.Y, texture.Width, texture.Height);
rectangle = new Rectangle((int)position.X, (int)position.Y, 50, 50);
location = spawnNode;
health = 100;
maxHealth = 100;
strength = 10;
defense = 5;
isAlive = true;
isHostile = false;
}
public List<Node> nodeMove(NodeGraph nodegraph, Node desiredEnd)
{
List<Node> answer=nodegraph.AStar(location, desiredEnd);
shortDest = answer[1];
return answer;
}
/*
public void Load(ContentManager Content, Texture2D newTexture)
{
npcIdle = new Animation(newTexture, 32, 0.1f, true);
animationPlayer.PlayAnimation(npcIdle);
}*/
public override void Update(GameTime gameTime)
{
if (shortDest.point.X == this.rectangle.X && shortDest.point.Y == this.rectangle.Y) {
//A* shit goes here
location = shortDest;
//calculate using finalDest and the new location A* path
}
}
public NPC(Texture2D newTexture, Vector2 newPosition, String newName, Node spawnNode, Vector2 newAttackRange)
{
texture = newTexture;
position = newPosition;
name = newName;
sensor = new Sensor(300, 3);
rectangle = new Rectangle((int)position.X, (int)position.Y, texture.Width, texture.Height);
location = spawnNode;
health = 100;
maxHealth = 100;
strength = 10;
defense = 5;
isAlive = true;
isHostile = false;
attackRange = newAttackRange;
withinRange = false;
}
public void testAdd(Node node)
{
neighbors.Add(node);
distanceTo.Add(50);
}
public double H(Node dest)
{
return Math.Sqrt(Math.Pow((point.X - dest.point.X),2) - Math.Pow((point.Y - dest.point.Y),2));
}
public double G(Node dest)
{
return 0;
}
public void addNeighbor(Node node, double dist)
{
neighbors.Add(node);
distanceTo.Add(dist);
}
