921 lines
41 KiB
C#
921 lines
41 KiB
C#
using System;
|
|
using System.Collections.Generic;
|
|
using System.Drawing;
|
|
using System.IO;
|
|
using System.Linq;
|
|
using System.Text;
|
|
using static Enums;
|
|
using static MapAreaStruc;
|
|
|
|
public class PathFinding
|
|
{
|
|
// Define directions (assuming 4-direction movement)
|
|
private int[] dx = { 1, 0, -1, 0, -1, 1, -1, 1 };
|
|
private int[] dy = { 0, 1, 0, -1, -1, -1, 1, 1 };
|
|
|
|
public Form1 Form1_0;
|
|
|
|
public int TeleportAcceptSize = 20; //not implemented yet
|
|
public int AcceptMoveOffset = 25;
|
|
public int ThisPlayerAreaID = 0;
|
|
public int ThisNextAreaID = 0;
|
|
|
|
public bool IsMovingToNextArea = false;
|
|
|
|
public Position LastMovingLocation = new Position { X = 0, Y = 0 };
|
|
public Position ThisFinalPosition = new Position { X = 0, Y = 0 };
|
|
public Position ThisOffsetPosition = new Position { X = 0, Y = 0 };
|
|
|
|
public bool[,] ThisCollisionGrid = new bool[0, 0];
|
|
|
|
public bool IsMovingThruPath = false;
|
|
public int CurrentPathIndex = 0;
|
|
public List<Point> path = new List<Point>();
|
|
|
|
public Position PlayerOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
public Position TargetOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
|
|
public bool CheckingForCloseToTargetPos = true;
|
|
|
|
public void SetForm1(Form1 form1_1)
|
|
{
|
|
Form1_0 = form1_1;
|
|
}
|
|
|
|
public void CheckForBadMapData(int Thisindex)
|
|
{
|
|
while (Thisindex > Form1_0.MapAreaStruc_0.AllMapData.Count - 1)
|
|
{
|
|
Form1_0.MapAreaStruc_0.GetMapData(Form1_0.PlayerScan_0.mapSeedValue.ToString(), (Difficulty)Form1_0.PlayerScan_0.difficulty);
|
|
}
|
|
}
|
|
|
|
public void DebugMapCollision()
|
|
{
|
|
Form1_0.ClearDebugCollision();
|
|
|
|
ThisCollisionGrid = Form1_0.MapAreaStruc_0.CollisionGrid((Enums.Area)Form1_0.PlayerScan_0.levelNo);
|
|
for (int i = 0; i < ThisCollisionGrid.GetLength(1); i++)
|
|
{
|
|
for (int k = 0; k < ThisCollisionGrid.GetLength(0); k++)
|
|
{
|
|
if (ThisCollisionGrid[k, i]) Form1_0.AppendTextDebugCollision("-");
|
|
if (!ThisCollisionGrid[k, i]) Form1_0.AppendTextDebugCollision("X");
|
|
}
|
|
Form1_0.AppendTextDebugCollision(Environment.NewLine);
|
|
}
|
|
}
|
|
|
|
public bool MoveToNextArea(Area ThisID, int AcceptOffset = 4, bool ClearAreaOnMoving = false)
|
|
{
|
|
Form1_0.PlayerScan_0.GetPositions();
|
|
IsMovingToNextArea = true;
|
|
ThisNextAreaID = (int)ThisID;
|
|
ThisPlayerAreaID = (int)Form1_0.PlayerScan_0.levelNo;
|
|
ThisCollisionGrid = ExpandGrid(ThisID);
|
|
CheckingForCloseToTargetPos = true;
|
|
|
|
try
|
|
{
|
|
CheckForBadMapData(ThisPlayerAreaID - 1);
|
|
|
|
//The Exit or Object find is only for a reference for pathing to the next AreaID, when we enter the next AreaID it will go out of the pathing loop
|
|
//Get any 'exit' object in the next areaID for path reference (ignore object name)
|
|
ThisFinalPosition = Form1_0.MapAreaStruc_0.GetPositionOfObject("exit", Form1_0.Town_0.getAreaName((int)ThisID), (int)ThisID, new List<int>() { }, true);
|
|
|
|
//Get any 'object' in the next areaID for path reference in case we didn't find any exit (ignore object name)
|
|
if (ThisFinalPosition.X == 0 && ThisFinalPosition.Y == 0) ThisFinalPosition = Form1_0.MapAreaStruc_0.GetPositionOfObject("object", Form1_0.Town_0.getAreaName((int)ThisID), (int)ThisID, new List<int>() { }, true);
|
|
|
|
//Console.WriteLine("Going to Pos: " + ThisFinalPosition.X + ", " + ThisFinalPosition.Y);
|
|
return Form1_0.PathFinding_0.GetPathFinding(AcceptOffset, ClearAreaOnMoving);
|
|
}
|
|
catch { }
|
|
|
|
return false;
|
|
}
|
|
|
|
public bool MoveToExit(Area ThisID, int AcceptOffset = 4, bool ClearAreaOnMoving = false)
|
|
{
|
|
Form1_0.PlayerScan_0.GetPositions();
|
|
IsMovingToNextArea = false;
|
|
CheckingForCloseToTargetPos = false;
|
|
|
|
//Form1_0.method_1("ToExit " + Form1_0.Town_0.getAreaName((int)ThisID), Color.Red);
|
|
try
|
|
{
|
|
ThisPlayerAreaID = (int)Form1_0.PlayerScan_0.levelNo;
|
|
CheckForBadMapData(ThisPlayerAreaID - 1);
|
|
|
|
ThisFinalPosition = Form1_0.MapAreaStruc_0.GetPositionOfObject("exit", Form1_0.Town_0.getAreaName((int)ThisID), ThisPlayerAreaID, new List<int>() { });
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y };
|
|
ThisCollisionGrid = Form1_0.MapAreaStruc_0.CollisionGrid((Enums.Area)Form1_0.PlayerScan_0.levelNo);
|
|
|
|
try
|
|
{
|
|
ThisCollisionGrid[ThisFinalPosition.X - ThisOffsetPosition.X, ThisFinalPosition.Y - ThisOffsetPosition.Y] = true; //make sure the exit is walkable
|
|
}
|
|
catch { }
|
|
|
|
PlayerOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
TargetOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
|
|
//Console.WriteLine("Going to Pos: " + ThisFinalPosition.X + ", " + ThisFinalPosition.Y);
|
|
return Form1_0.PathFinding_0.GetPathFinding(AcceptOffset, ClearAreaOnMoving);
|
|
}
|
|
catch { }
|
|
|
|
return false;
|
|
}
|
|
|
|
public bool MoveToNPC(string NPCName, int AcceptOffset = 4, bool ClearAreaOnMoving = false)
|
|
{
|
|
Form1_0.PlayerScan_0.GetPositions();
|
|
IsMovingToNextArea = false;
|
|
CheckingForCloseToTargetPos = false;
|
|
|
|
//Form1_0.method_1("ToNPC " + NPCName, Color.Red);
|
|
|
|
try
|
|
{
|
|
ThisPlayerAreaID = (int)Form1_0.PlayerScan_0.levelNo;
|
|
CheckForBadMapData(ThisPlayerAreaID - 1);
|
|
|
|
ThisFinalPosition = Form1_0.MapAreaStruc_0.GetPositionOfObject("npc", NPCName, ThisPlayerAreaID, new List<int>() { });
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y };
|
|
ThisCollisionGrid = Form1_0.MapAreaStruc_0.CollisionGrid((Enums.Area)Form1_0.PlayerScan_0.levelNo);
|
|
|
|
PlayerOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
TargetOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
|
|
return Form1_0.PathFinding_0.GetPathFinding(AcceptOffset, ClearAreaOnMoving);
|
|
}
|
|
catch { }
|
|
|
|
return false;
|
|
}
|
|
|
|
public bool MoveToObject(string ObjectName, int AcceptOffset = 4, bool ClearAreaOnMoving = false)
|
|
{
|
|
Form1_0.PlayerScan_0.GetPositions();
|
|
IsMovingToNextArea = false;
|
|
CheckingForCloseToTargetPos = false;
|
|
|
|
//Form1_0.method_1("ToObject " + ObjectName, Color.Red);
|
|
|
|
try
|
|
{
|
|
ThisPlayerAreaID = (int)Form1_0.PlayerScan_0.levelNo;
|
|
CheckForBadMapData(ThisPlayerAreaID - 1);
|
|
|
|
ThisFinalPosition = Form1_0.MapAreaStruc_0.GetPositionOfObject("object", ObjectName, ThisPlayerAreaID, new List<int>() { });
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y };
|
|
ThisCollisionGrid = Form1_0.MapAreaStruc_0.CollisionGrid((Enums.Area)Form1_0.PlayerScan_0.levelNo);
|
|
|
|
PlayerOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
TargetOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
|
|
return Form1_0.PathFinding_0.GetPathFinding(AcceptOffset, ClearAreaOnMoving);
|
|
}
|
|
catch { }
|
|
|
|
return false;
|
|
}
|
|
|
|
public bool MoveToThisPos(Position ThisPositionn, int AcceptOffset = 4, bool ClearAreaOnMoving = false)
|
|
{
|
|
if (Form1_0.PlayerScan_0.levelNo == 0) Form1_0.PlayerScan_0.GetPositions();
|
|
IsMovingToNextArea = false;
|
|
CheckingForCloseToTargetPos = true;
|
|
|
|
//Form1_0.method_1("ToThisPos", Color.Red);
|
|
|
|
try
|
|
{
|
|
ThisPlayerAreaID = (int)Form1_0.PlayerScan_0.levelNo;
|
|
CheckForBadMapData(ThisPlayerAreaID - 1);
|
|
|
|
ThisFinalPosition = ThisPositionn;
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y };
|
|
ThisCollisionGrid = Form1_0.MapAreaStruc_0.CollisionGrid((Enums.Area)Form1_0.PlayerScan_0.levelNo);
|
|
|
|
PlayerOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
TargetOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
|
|
return GetPathFinding(AcceptOffset, ClearAreaOnMoving);
|
|
}
|
|
catch { }
|
|
|
|
return false;
|
|
}
|
|
|
|
public bool GetPathFinding(int AcceptOffset = 4, bool ClearAreaOnMoving = false)
|
|
{
|
|
bool MovedCorrectly = false;
|
|
|
|
Point startPos = new Point(Form1_0.PlayerScan_0.xPos - ThisOffsetPosition.X, Form1_0.PlayerScan_0.yPos - ThisOffsetPosition.Y);
|
|
Point targetPos = new Point(ThisFinalPosition.X - ThisOffsetPosition.X, ThisFinalPosition.Y - ThisOffsetPosition.Y);
|
|
//Point startPos = new Point(115, 579);
|
|
//Point targetPos = new Point(41, 429);
|
|
|
|
startPos.X += PlayerOffsetInCollisiongrid.X;
|
|
startPos.Y += PlayerOffsetInCollisiongrid.Y;
|
|
|
|
targetPos.X += TargetOffsetInCollisiongrid.X;
|
|
targetPos.Y += TargetOffsetInCollisiongrid.Y;
|
|
|
|
/*if (targetPos.X < 0 || targetPos.Y < 0)
|
|
{
|
|
Form1_0.method_1("ERROR Target pos: " + targetPos.X + ", " + targetPos.Y, Color.Red);
|
|
ThisFinalPosition = new Position { X = ThisFinalPosition.X + ThisOffsetPosition.X, Y = ThisFinalPosition.Y + ThisOffsetPosition.Y };
|
|
targetPos = new Point(ThisFinalPosition.X - ThisOffsetPosition.X, ThisFinalPosition.Y - ThisOffsetPosition.Y);
|
|
}*/
|
|
|
|
//no need to move we are close already!
|
|
if (CheckingForCloseToTargetPos)
|
|
{
|
|
if (startPos.X >= (targetPos.X - Form1_0.Mover_0.MoveAcceptOffset)
|
|
&& startPos.X <= (targetPos.X + Form1_0.Mover_0.MoveAcceptOffset)
|
|
&& startPos.Y >= (targetPos.Y - Form1_0.Mover_0.MoveAcceptOffset)
|
|
&& startPos.Y <= (targetPos.Y + Form1_0.Mover_0.MoveAcceptOffset))
|
|
{
|
|
return true;
|
|
}
|
|
}
|
|
|
|
//Form1_0.method_1("Start pos: " + startPos.X + ", " + startPos.Y, Color.Red);
|
|
//Form1_0.method_1("Target pos: " + targetPos.X + ", " + targetPos.Y, Color.Red);
|
|
|
|
/*if (ThisOffsetPosition.X == 0 && ThisOffsetPosition.Y == 0)
|
|
{
|
|
Form1_0.method_1("Offsets are bad!", Color.Red);
|
|
}*/
|
|
if (targetPos.X <= 0 || targetPos.Y <= 0)
|
|
{
|
|
Form1_0.method_1("Target pos are bad: " + targetPos.X + ", " + targetPos.Y, Color.OrangeRed);
|
|
return false;
|
|
}
|
|
|
|
path = FindPath(startPos, targetPos);
|
|
if (path == null)
|
|
{
|
|
//dump data to txt file
|
|
/*string ColisionMapTxt = "";
|
|
for (int i = 0; i < ThisCollisionGrid.GetLength(1); i++)
|
|
{
|
|
for (int k = 0; k < ThisCollisionGrid.GetLength(0); k++)
|
|
{
|
|
if (ThisCollisionGrid[k, i]) ColisionMapTxt += "-";
|
|
if (!ThisCollisionGrid[k, i]) ColisionMapTxt += "X";
|
|
}
|
|
ColisionMapTxt += Environment.NewLine;
|
|
}
|
|
File.Create(Form1_0.ThisEndPath + "CollisionMap.txt").Dispose();
|
|
File.WriteAllText(Form1_0.ThisEndPath + "CollisionMap.txt", ColisionMapTxt);*/
|
|
|
|
Form1_0.method_1("No path found.", Color.Red);
|
|
//Form1_0.MapAreaStruc_0.DumpMap();
|
|
Form1_0.GoToNextScript();
|
|
return false;
|
|
}
|
|
|
|
//################################################
|
|
//Shorten the path so we don't go at each single unit
|
|
int ThisOffsetToUse = AcceptMoveOffset;
|
|
if (Form1_0.Town_0.IsInTown) ThisOffsetToUse = 5;
|
|
else if (!CharConfig.UseTeleport) ThisOffsetToUse = 5;
|
|
else if (CharConfig.UseTeleport && !Form1_0.Town_0.GetInTown() && (Enums.Area)Form1_0.PlayerScan_0.levelNo == Enums.Area.ArcaneSanctuary) ThisOffsetToUse = 1;
|
|
//else if(CharConfig.UseTeleport && !Form1_0.Town_0.GetInTown()) ThisOffsetToUse = 1;
|
|
|
|
List<Point> pathShortened = new List<Point>();
|
|
int LastPathAdded = 0;
|
|
Point LastPoint = new Point();
|
|
for (int i = 0; i < path.Count; i += ThisOffsetToUse)
|
|
{
|
|
if (ThisOffsetToUse == 1)
|
|
{
|
|
if (path[i].X >= LastPoint.X - 2 && path[i].X <= LastPoint.X + 2
|
|
&& path[i].Y >= LastPoint.Y - 2 && path[i].Y <= LastPoint.Y + 2)
|
|
{
|
|
LastPoint = path[i];
|
|
continue;
|
|
}
|
|
}
|
|
LastPoint = path[i];
|
|
pathShortened.Add(path[i]);
|
|
LastPathAdded = i;
|
|
}
|
|
if (LastPathAdded != path.Count - 1) pathShortened.Add(path[path.Count - 1]);
|
|
path = pathShortened;
|
|
//################################################
|
|
|
|
IsMovingThruPath = false;
|
|
CurrentPathIndex = 0;
|
|
int BadPathIndexount = 0;
|
|
if (path != null)
|
|
{
|
|
IsMovingThruPath = true;
|
|
while (IsMovingThruPath)
|
|
{
|
|
Form1_0.PlayerScan_0.GetPositions();
|
|
ThisPlayerAreaID = (int)Form1_0.PlayerScan_0.levelNo;
|
|
|
|
//we are close to accept offset, stop moving to path
|
|
if (IsCloseToLocation(ThisFinalPosition, AcceptOffset))
|
|
{
|
|
IsMovingThruPath = false;
|
|
break;
|
|
}
|
|
|
|
//we are within the next area, stop moving to path
|
|
if (IsMovingToNextArea)
|
|
{
|
|
if (ThisPlayerAreaID == ThisNextAreaID)
|
|
{
|
|
path = null;
|
|
CurrentPathIndex = 0;
|
|
IsMovingThruPath = false;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (CurrentPathIndex > path.Count - 1)
|
|
{
|
|
IsMovingThruPath = false;
|
|
break;
|
|
}
|
|
|
|
DetectCloserPathPositions();
|
|
|
|
if (CurrentPathIndex < path.Count - 1)
|
|
{
|
|
Form1_0.Mover_0.MoveAcceptOffset = 7;
|
|
}
|
|
else
|
|
{
|
|
Form1_0.Mover_0.MoveAcceptOffset = 4;
|
|
}
|
|
|
|
//Console.WriteLine("Pos test: " + path[CurrentPathIndex].X + ", " + path[CurrentPathIndex].Y);
|
|
if (Form1_0.Mover_0.MoveToLocation(path[CurrentPathIndex].X + ThisOffsetPosition.X - PlayerOffsetInCollisiongrid.X, path[CurrentPathIndex].Y + ThisOffsetPosition.Y - PlayerOffsetInCollisiongrid.Y, false, false))
|
|
{
|
|
BadPathIndexount = 0;
|
|
CurrentPathIndex++;
|
|
Form1_0.overlayForm.SetPathPoints(path, CurrentPathIndex, ThisOffsetPosition, PlayerOffsetInCollisiongrid);
|
|
if (CurrentPathIndex >= path.Count - 1)
|
|
{
|
|
IsMovingThruPath = false;
|
|
}
|
|
else
|
|
{
|
|
if (ClearAreaOnMoving)
|
|
{
|
|
if (Form1_0.Battle_0.ClearingFullArea && Form1_0.Battle_0.AllRooms_InArea.Count > 0)
|
|
{
|
|
//Remove the Rooms we just done clearing
|
|
Form1_0.Battle_0.RemoveCurrentRoomFromClearing();
|
|
}
|
|
|
|
//Form1_0.method_1("Clearing area of mobs...", Color.Red);
|
|
if (Form1_0.Battle_0.ClearAreaOfMobs(path[CurrentPathIndex].X + ThisOffsetPosition.X - PlayerOffsetInCollisiongrid.X, path[CurrentPathIndex].Y + ThisOffsetPosition.Y - PlayerOffsetInCollisiongrid.Y, AcceptMoveOffset + 2))
|
|
{
|
|
IsMovingToNextArea = true;
|
|
IsMovingThruPath = false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (path[CurrentPathIndex].X != LastMovingLocation.X || path[CurrentPathIndex].Y != LastMovingLocation.Y)
|
|
{
|
|
LastMovingLocation.X = path[CurrentPathIndex].X;
|
|
LastMovingLocation.Y = path[CurrentPathIndex].Y;
|
|
}
|
|
else
|
|
{
|
|
BadPathIndexount++;
|
|
CurrentPathIndex++;
|
|
Form1_0.overlayForm.SetPathPoints(path, CurrentPathIndex, ThisOffsetPosition, PlayerOffsetInCollisiongrid);
|
|
if (BadPathIndexount >= 3)
|
|
{
|
|
IsMovingThruPath = false;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!IsMovingToNextArea)
|
|
{
|
|
if (AcceptOffset == 4) Form1_0.Mover_0.MoveToLocation(ThisFinalPosition.X - PlayerOffsetInCollisiongrid.X, ThisFinalPosition.Y - PlayerOffsetInCollisiongrid.Y);
|
|
|
|
//int tryyy = 0;
|
|
//while (Form1_0.PlayerScan_0.levelNo == ThisPlayerAreaID && tryyy <= 25)
|
|
//{
|
|
Position itemScreenPos = Form1_0.GameStruc_0.World2Screen(Form1_0.PlayerScan_0.xPosFinal, Form1_0.PlayerScan_0.yPosFinal, ThisFinalPosition.X - PlayerOffsetInCollisiongrid.X, ThisFinalPosition.Y - PlayerOffsetInCollisiongrid.Y);
|
|
Form1_0.KeyMouse_0.MouseClicc_RealPos(itemScreenPos.X, itemScreenPos.Y);
|
|
Form1_0.PlayerScan_0.GetPositions();
|
|
//tryyy++;
|
|
//}
|
|
}
|
|
|
|
int FinalX = path[path.Count - 1].X + ThisOffsetPosition.X - PlayerOffsetInCollisiongrid.X;
|
|
int FinalY = path[path.Count - 1].Y + ThisOffsetPosition.Y - PlayerOffsetInCollisiongrid.Y;
|
|
if (Form1_0.Mover_0.IsPositionNearOf(FinalX, FinalY, AcceptOffset)) MovedCorrectly = true;
|
|
}
|
|
else
|
|
{
|
|
Form1_0.method_1("No path found.", Color.Red);
|
|
Form1_0.GoToNextScript();
|
|
}
|
|
|
|
return MovedCorrectly;
|
|
}
|
|
|
|
public void DetectCloserPathPositions()
|
|
{
|
|
if (IsMovingThruPath)
|
|
{
|
|
int DistX = Form1_0.PlayerScan_0.xPos - path[CurrentPathIndex].X;
|
|
int DistY = Form1_0.PlayerScan_0.yPos - path[CurrentPathIndex].Y;
|
|
if (DistX < 0) DistX = -DistX;
|
|
if (DistY < 0) DistY = -DistY;
|
|
|
|
int CheckIndexxx = CurrentPathIndex + 1;
|
|
int CheckCount = 0;
|
|
while (CheckIndexxx < path.Count - 1 && CheckCount < 1)
|
|
{
|
|
int DistNextX = Form1_0.PlayerScan_0.xPos - path[CheckIndexxx].X;
|
|
int DistNextY = Form1_0.PlayerScan_0.yPos - path[CheckIndexxx].Y;
|
|
if (DistNextX < 0) DistNextX = -DistNextX;
|
|
if (DistNextY < 0) DistNextY = -DistNextY;
|
|
|
|
if (DistNextX < DistX && DistNextY < DistY)
|
|
{
|
|
CurrentPathIndex++; //increase pathing index, we are closer to the next destination than the current one!
|
|
Form1_0.overlayForm.SetPathPoints(path, CurrentPathIndex, ThisOffsetPosition, PlayerOffsetInCollisiongrid);
|
|
}
|
|
CheckIndexxx++;
|
|
CheckCount++;
|
|
}
|
|
}
|
|
}
|
|
|
|
public bool[,] ExpandGrid(Enums.Area ThisNewArea)
|
|
{
|
|
bool[,] CurrentAreaGrid = Form1_0.MapAreaStruc_0.CollisionGrid((Enums.Area)Form1_0.PlayerScan_0.levelNo);
|
|
bool[,] NextAreaGrid = Form1_0.MapAreaStruc_0.CollisionGrid(ThisNewArea);
|
|
bool[,] ExpendedGrid = new bool[0, 0];
|
|
|
|
//Console.WriteLine("CurrentArea: " + CurrentAreaGrid.GetLength(0) + ", " + CurrentAreaGrid.GetLength(1));
|
|
//Console.WriteLine("NextArea: " + NextAreaGrid.GetLength(0) + ", " + NextAreaGrid.GetLength(1));
|
|
PlayerOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
TargetOffsetInCollisiongrid = new Position { X = 0, Y = 0 };
|
|
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y == Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height)
|
|
{
|
|
//Expend Bottom
|
|
int NewSizeX = 0;
|
|
int NewOffsetXUp = 0;
|
|
int NewOffsetXBottom = 0;
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width > Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width) NewSizeX = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width;
|
|
else if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width >= Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width) NewSizeX = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width;
|
|
//#####
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X > Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X)
|
|
{
|
|
NewOffsetXUp = 0;
|
|
NewOffsetXBottom = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X - Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X;
|
|
NewSizeX += NewOffsetXBottom;
|
|
PlayerOffsetInCollisiongrid.X = NewOffsetXBottom;
|
|
TargetOffsetInCollisiongrid.X = NewOffsetXBottom;
|
|
|
|
}
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X < Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X)
|
|
{
|
|
NewOffsetXUp = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X - Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X;
|
|
NewOffsetXBottom = 0;
|
|
NewSizeX += NewOffsetXUp;
|
|
PlayerOffsetInCollisiongrid.X = NewOffsetXUp;
|
|
TargetOffsetInCollisiongrid.X = NewOffsetXUp;
|
|
}
|
|
//#####
|
|
|
|
int NewSizeY = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height;
|
|
|
|
ExpendedGrid = new bool[NewSizeX, NewSizeY];
|
|
//Console.WriteLine("ExpendedSize: " + NewSizeX + ", " + NewSizeY);
|
|
|
|
//Merge Both CollisionGrid into one
|
|
for (int i = 0; i < CurrentAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < CurrentAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i + NewOffsetXUp, k] = CurrentAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < NextAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < NextAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i + NewOffsetXBottom, k + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height] = NextAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
//Set New OffsetPosition
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y };
|
|
}
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y == Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y - Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height)
|
|
{
|
|
//Expend Up
|
|
int NewSizeX = 0;
|
|
int NewOffsetXUp = 0;
|
|
int NewOffsetXBottom = 0;
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width > Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width) NewSizeX = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width;
|
|
else if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width >= Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width) NewSizeX = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width;
|
|
//#####
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X > Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X)
|
|
{
|
|
NewOffsetXUp = 0;
|
|
NewOffsetXBottom = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X - Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X;
|
|
NewSizeX += NewOffsetXBottom;
|
|
PlayerOffsetInCollisiongrid.X = NewOffsetXBottom;
|
|
TargetOffsetInCollisiongrid.X = NewOffsetXBottom;
|
|
}
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X < Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X)
|
|
{
|
|
NewOffsetXUp = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X - Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X;
|
|
NewOffsetXBottom = 0;
|
|
NewSizeX += NewOffsetXUp;
|
|
PlayerOffsetInCollisiongrid.X = NewOffsetXUp;
|
|
TargetOffsetInCollisiongrid.X = NewOffsetXUp;
|
|
}
|
|
//#####
|
|
|
|
int NewSizeY = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height;
|
|
|
|
ExpendedGrid = new bool[NewSizeX, NewSizeY];
|
|
//Console.WriteLine("ExpendedSize: " + NewSizeX + ", " + NewSizeY);
|
|
|
|
//Merge Both CollisionGrid into one
|
|
for (int i = 0; i < CurrentAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < CurrentAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i + NewOffsetXBottom, k + Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height] = CurrentAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < NextAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < NextAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i + NewOffsetXUp, k] = NextAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
//Set New OffsetPosition
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y };
|
|
}
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X == Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width)
|
|
{
|
|
//Expend Right
|
|
int NewSizeX = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width;
|
|
|
|
int NewSizeY = 0;
|
|
int NewOffsetYLeft = 0;
|
|
int NewOffsetYRight = 0;
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height > Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height) NewSizeY = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height;
|
|
else if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height >= Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height) NewSizeY = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height;
|
|
//#####
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y > Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y)
|
|
{
|
|
NewOffsetYLeft = 0;
|
|
NewOffsetYRight = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y - Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y;
|
|
NewSizeY += NewOffsetYRight;
|
|
PlayerOffsetInCollisiongrid.Y = NewOffsetYRight;
|
|
TargetOffsetInCollisiongrid.Y = NewOffsetYRight;
|
|
|
|
}
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y < Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y)
|
|
{
|
|
NewOffsetYLeft = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y - Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y;
|
|
NewOffsetYRight = 0;
|
|
NewSizeY += NewOffsetYLeft;
|
|
PlayerOffsetInCollisiongrid.Y = NewOffsetYLeft;
|
|
TargetOffsetInCollisiongrid.Y = NewOffsetYLeft;
|
|
}
|
|
//#####
|
|
|
|
ExpendedGrid = new bool[NewSizeX, NewSizeY];
|
|
//Console.WriteLine("ExpendedSize: " + NewSizeX + ", " + NewSizeY);
|
|
|
|
//Merge Both CollisionGrid into one
|
|
for (int i = 0; i < CurrentAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < CurrentAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i, k + NewOffsetYLeft] = CurrentAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < NextAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < NextAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width, k + NewOffsetYRight] = NextAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
//Set New OffsetPosition
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y };
|
|
}
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X == Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.X - Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width)
|
|
{
|
|
//Expend Left
|
|
int NewSizeX = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width + Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Width;
|
|
|
|
int NewSizeY = 0;
|
|
int NewOffsetYLeft = 0;
|
|
int NewOffsetYRight = 0;
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height > Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height) NewSizeY = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height;
|
|
else if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height >= Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Height) NewSizeY = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Size.Height;
|
|
//#####
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y > Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y)
|
|
{
|
|
NewOffsetYLeft = 0;
|
|
NewOffsetYRight = Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y - Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y;
|
|
NewSizeY += NewOffsetYRight;
|
|
PlayerOffsetInCollisiongrid.Y = NewOffsetYRight;
|
|
TargetOffsetInCollisiongrid.Y = NewOffsetYRight;
|
|
|
|
}
|
|
if (Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y < Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y)
|
|
{
|
|
NewOffsetYLeft = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y - Form1_0.MapAreaStruc_0.AllMapData[ThisPlayerAreaID - 1].Offset.Y;
|
|
NewOffsetYRight = 0;
|
|
NewSizeY += NewOffsetYLeft;
|
|
PlayerOffsetInCollisiongrid.Y = NewOffsetYLeft;
|
|
TargetOffsetInCollisiongrid.Y = NewOffsetYLeft;
|
|
}
|
|
//#####
|
|
|
|
ExpendedGrid = new bool[NewSizeX, NewSizeY];
|
|
//Console.WriteLine("ExpendedSize: " + NewSizeX + ", " + NewSizeY);
|
|
|
|
//Merge Both CollisionGrid into one
|
|
for (int i = 0; i < CurrentAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < CurrentAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i + Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Size.Width, k + NewOffsetYRight] = CurrentAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < NextAreaGrid.GetLength(0); i++)
|
|
{
|
|
for (int k = 0; k < NextAreaGrid.GetLength(1); k++)
|
|
{
|
|
ExpendedGrid[i, k + NewOffsetYLeft] = NextAreaGrid[i, k];
|
|
}
|
|
}
|
|
|
|
//Set New OffsetPosition
|
|
ThisOffsetPosition = new Position { X = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.X, Y = Form1_0.MapAreaStruc_0.AllMapData[(int)ThisNewArea - 1].Offset.Y };
|
|
}
|
|
|
|
//dump data to txt file
|
|
/*string ColisionMapTxt = "";
|
|
for (int i = 0; i < ExpendedGrid.GetLength(1); i++)
|
|
{
|
|
for (int k = 0; k < ExpendedGrid.GetLength(0); k++)
|
|
{
|
|
if (ExpendedGrid[k, i]) ColisionMapTxt += "-";
|
|
if (!ExpendedGrid[k, i]) ColisionMapTxt += "X";
|
|
}
|
|
ColisionMapTxt += Environment.NewLine;
|
|
}
|
|
File.Create(Form1_0.ThisEndPath + "CollisionMap.txt").Dispose();
|
|
File.WriteAllText(Form1_0.ThisEndPath + "CollisionMap.txt", ColisionMapTxt);*/
|
|
|
|
return ExpendedGrid;
|
|
}
|
|
|
|
public List<Point> FindPath(Point startPos, Point targetPos)
|
|
{
|
|
int width = ThisCollisionGrid.GetLength(0);
|
|
int height = ThisCollisionGrid.GetLength(1);
|
|
|
|
bool[,] closedSet = new bool[width, height];
|
|
List<Node> openSet = new List<Node>();
|
|
|
|
openSet.Add(new Node(startPos, null, 0, Heuristic(startPos, targetPos)));
|
|
|
|
try
|
|
{
|
|
while (openSet.Any())
|
|
{
|
|
Node current = openSet.OrderBy(node => node.F).First();
|
|
|
|
if (current.Position.Equals(targetPos)) return ReconstructPath(current);
|
|
|
|
openSet.Remove(current);
|
|
closedSet[current.Position.X, current.Position.Y] = true;
|
|
|
|
for (int p = 0; p < 8; p++) // Assuming 4-direction movement
|
|
{
|
|
int nx = current.Position.X + dx[p];
|
|
int ny = current.Position.Y + dy[p];
|
|
|
|
if (nx >= 0 && nx < width && ny >= 0 && ny < height)
|
|
{
|
|
if (nx < ThisCollisionGrid.GetLength(0) && ny < ThisCollisionGrid.GetLength(1)
|
|
&& nx < closedSet.GetLength(0) && ny < closedSet.GetLength(1))
|
|
{
|
|
if (ThisCollisionGrid[nx, ny])
|
|
{
|
|
Point neighborPos = new Point(nx, ny);
|
|
|
|
if (closedSet[nx, ny]) continue;
|
|
|
|
double tentativeG = current.G + 1;
|
|
if (p > 3) tentativeG += 1;
|
|
|
|
Node neighbor = openSet.FirstOrDefault(node => node.Position.Equals(neighborPos));
|
|
if (neighbor == null || tentativeG < neighbor.G)
|
|
{
|
|
if (neighbor == null)
|
|
{
|
|
neighbor = new Node(neighborPos);
|
|
openSet.Add(neighbor);
|
|
}
|
|
|
|
neighbor.Parent = current;
|
|
neighbor.G = tentativeG;
|
|
neighbor.H = Heuristic(neighborPos, targetPos);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (CharConfig.UseTeleport && !Form1_0.Town_0.GetInTown() && (Enums.Area)Form1_0.PlayerScan_0.levelNo == Enums.Area.ArcaneSanctuary)
|
|
//if (CharConfig.UseTeleport && !Form1_0.Town_0.GetInTown())
|
|
{
|
|
nx = current.Position.X + (dx[p] * AcceptMoveOffset);
|
|
ny = current.Position.Y + (dy[p] * AcceptMoveOffset);
|
|
|
|
if (nx >= 0 && nx < width && ny >= 0 && ny < height)
|
|
{
|
|
if (nx < ThisCollisionGrid.GetLength(0) && ny < ThisCollisionGrid.GetLength(1)
|
|
&& nx < closedSet.GetLength(0) && ny < closedSet.GetLength(1))
|
|
{
|
|
if (ThisCollisionGrid[nx, ny])
|
|
{
|
|
Point neighborPos = new Point(nx, ny);
|
|
|
|
if (closedSet[nx, ny]) continue;
|
|
|
|
double tentativeG = current.G + AcceptMoveOffset + 1;
|
|
//double tentativeG = current.G + AcceptMoveOffset;
|
|
//double tentativeG = current.G + 2;
|
|
//if (p > 3) tentativeG += 1;
|
|
|
|
Node neighbor = openSet.FirstOrDefault(node => node.Position.Equals(neighborPos));
|
|
if (neighbor == null || tentativeG < neighbor.G)
|
|
{
|
|
if (neighbor == null)
|
|
{
|
|
neighbor = new Node(neighborPos);
|
|
openSet.Add(neighbor);
|
|
}
|
|
|
|
neighbor.Parent = current;
|
|
neighbor.G = tentativeG;
|
|
neighbor.H = Heuristic(neighborPos, targetPos);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
catch
|
|
{
|
|
Form1_0.method_1("Issue with PathFinding CollisionGrid 'Indexes'!", Color.Red);
|
|
}
|
|
|
|
// No path found
|
|
return null;
|
|
}
|
|
|
|
public bool IsCloseToLocation(Position ThissP, int AcceptOffset)
|
|
{
|
|
bool MovedCorrectly = false;
|
|
if (Form1_0.PlayerScan_0.xPosFinal >= (ThissP.X - AcceptOffset)
|
|
&& Form1_0.PlayerScan_0.xPosFinal <= (ThissP.X + AcceptOffset)
|
|
&& Form1_0.PlayerScan_0.yPosFinal >= (ThissP.Y - AcceptOffset)
|
|
&& Form1_0.PlayerScan_0.yPosFinal <= (ThissP.Y + AcceptOffset))
|
|
{
|
|
MovedCorrectly = true;
|
|
}
|
|
return MovedCorrectly;
|
|
}
|
|
|
|
public Point TeleportPoint = new Point(0, 0);
|
|
|
|
/*private List<Node> GetNeighbors(Node node, int teleportDistance)
|
|
{
|
|
List<Node> neighbors = new List<Node>();
|
|
|
|
// Assuming a 2D grid, iterate over all nodes and check if they are within the teleport distance
|
|
foreach (Node otherNode in allNodes)
|
|
{
|
|
if (otherNode != node && IsWithinTeleportDistance(node, otherNode, teleportDistance))
|
|
{
|
|
neighbors.Add(otherNode);
|
|
}
|
|
}
|
|
|
|
return neighbors;
|
|
}
|
|
|
|
private bool IsWithinTeleportDistance(Node nodeA, Node nodeB, int teleportDistance)
|
|
{
|
|
int distanceX = Math.Abs(nodeA.x - nodeB.x);
|
|
int distanceY = Math.Abs(nodeA.y - nodeB.y);
|
|
|
|
// Calculate the Euclidean distance between the two nodes
|
|
double distance = Math.Sqrt(distanceX * distanceX + distanceY * distanceY);
|
|
|
|
// Return true if the distance is within the teleport distance limit
|
|
return distance <= teleportDistance;
|
|
}*/
|
|
|
|
private bool IsWalkable(Point point)
|
|
{
|
|
return point.X >= 0 && point.X < ThisCollisionGrid.GetLength(0) && point.Y >= 0 && point.Y < ThisCollisionGrid.GetLength(1) && ThisCollisionGrid[point.X, point.Y];
|
|
}
|
|
|
|
private double Heuristic(Point a, Point b)
|
|
{
|
|
return Math.Sqrt(Math.Pow(a.X - b.X, 2) + Math.Pow(a.Y - b.Y, 2));
|
|
}
|
|
|
|
private List<Point> ReconstructPath(Node node)
|
|
{
|
|
List<Point> path = new List<Point>();
|
|
|
|
while (node != null)
|
|
{
|
|
path.Add(node.Position);
|
|
node = node.Parent;
|
|
}
|
|
|
|
path.Reverse();
|
|
return path;
|
|
}
|
|
|
|
private class Node
|
|
{
|
|
public Point Position { get; }
|
|
public Node Parent { get; set; }
|
|
public double G { get; set; } // g score: cost from start to current
|
|
public double H { get; set; } // h score: estimated cost from current to target
|
|
public double F => G + H; // f score: total estimated cost
|
|
|
|
public Node(Point position, Node parent = null, double g = 0, double h = 0)
|
|
{
|
|
Position = position;
|
|
Parent = parent;
|
|
G = g;
|
|
H = h;
|
|
}
|
|
}
|
|
|
|
public struct Point
|
|
{
|
|
public int X { get; set; }
|
|
public int Y { get; set; }
|
|
|
|
public Point(int x, int y)
|
|
{
|
|
X = x;
|
|
Y = y;
|
|
}
|
|
|
|
public override bool Equals(object obj)
|
|
{
|
|
if (!(obj is Point))
|
|
return false;
|
|
|
|
var other = (Point)obj;
|
|
return X == other.X && Y == other.Y;
|
|
}
|
|
|
|
public override int GetHashCode()
|
|
{
|
|
return X.GetHashCode() ^ Y.GetHashCode();
|
|
}
|
|
}
|
|
}
|