3 hours later

DepthsBelow/DepthsBelow/Component/PathFinder.cs

@@ -0,0 +1,55 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using Microsoft.Xna.Framework;
+
+namespace DepthsBelow.Component
+{
+	class PathFinder : Component
+	{
+		public Point Start { get; private set; }
+		public Point Goal
+		{
+			get { return goal; }
+			set 
+			{ 
+				this.goal = value;
+				this.Start = this.Parent.GetComponent<GridTransform>().Position;
+				this.FindPath(this.Start, value);
+			}
+		}
+
+		private Point goal;
+		private List<AStar.PathFinderNode> path; 
+
+		public PathFinder(Entity parent)
+			: base(parent)
+		{
+			
+		}
+
+		public override void Update(GameTime gameTime)
+		{
+			if (path != null && path.Count != 0)
+			{
+				var nextNode = path.Last();
+				var nodePos = new Point(nextNode.X, nextNode.Y);
+				Parent.gridTransform.Position = nodePos;
+				if (Parent.pixelTransform.Position == Parent.gridTransform.ToWorld())
+					path.Remove(nextNode);
+			}
+
+			base.Update(gameTime);
+		}
+
+		public void FindPath(Point start, Point goal)
+		{
+			var _start = new System.Drawing.Point(start.X, start.Y);
+			var _goal = new System.Drawing.Point(goal.X, goal.Y);
+			path = Core.PathFinder.FindPath(_start, _goal);
+			if (path == null)
+				Console.WriteLine("Path not found!");
+		}
+	}
+}

DepthsBelow/DepthsBelow/Core.cs

@@ -19,6 +19,8 @@ namespace DepthsBelow
 		GraphicsDeviceManager graphics;
 		SpriteBatch spriteBatch;
 
+		public static AStar.PathFinderFast PathFinder;
+
 		public Camera camera;
 		MouseInput mouseInput;
 		public Soldier soldier;
@@ -33,7 +35,7 @@ namespace DepthsBelow
 			graphics.PreferredBackBufferHeight = 720;
 			graphics.IsFullScreen = false;
 
-			//graphics.SynchronizeWithVerticalRetrace = false;
+			graphics.SynchronizeWithVerticalRetrace = false;
 			this.IsFixedTimeStep = false;
 			graphics.ApplyChanges();
 
@@ -63,6 +65,16 @@ namespace DepthsBelow
 			spriteBatch = new SpriteBatch(GraphicsDevice);
 
 			map = Content.Load<Map>("maps/Cave.Level1");
+			PathFinder = new AStar.PathFinderFast(map.GetCollisionMap());
+			PathFinder.Formula = AStar.HeuristicFormula.Manhattan;
+			PathFinder.Diagonals = false;
+			PathFinder.HeavyDiagonals = false;
+			PathFinder.HeuristicEstimate = 2;
+			PathFinder.PunishChangeDirection = true;
+			PathFinder.TieBreaker = false;
+			PathFinder.SearchLimit = 50000;
+			PathFinder.DebugProgress = false;
+			PathFinder.DebugFoundPath = false;
 
 			// TODO: use this.Content to load your game content here
 			Soldier.LoadContent(this);

DepthsBelow/DepthsBelow/DepthsBelow.csproj

@@ -106,6 +106,7 @@
     <Reference Include="System">
       <Private>False</Private>
     </Reference>
+    <Reference Include="System.Drawing" />
     <Reference Include="System.Xml">
       <Private>False</Private>
     </Reference>
@@ -121,6 +122,7 @@
   </ItemGroup>
   <ItemGroup>
     <Compile Include="Camera.cs" />
+    <Compile Include="Component\PathFinder.cs" />
     <Compile Include="Grid.cs" />
     <Compile Include="Component\Collision.cs" />
     <Compile Include="Component\Component.cs" />
@@ -140,9 +142,14 @@
     <Content Include="GameThumbnail.png" />
   </ItemGroup>
   <ItemGroup>
+    <ProjectReference Include="..\..\AStar\AStar.csproj">
+      <Project>{CD3F949D-54AA-4D38-99DB-92905A375D84}</Project>
+      <Name>AStar</Name>
+    </ProjectReference>
     <ProjectReference Include="..\DepthsBelowContent\DepthsBelowContent.contentproj">
-      <Name>DepthsBelowContent</Name>
+      <Name>DepthsBelowContent %28Content%29</Name>
       <XnaReferenceType>Content</XnaReferenceType>
+      <Project>{433A77A2-DE52-4875-A4EF-232CF59C2DD3}</Project>
     </ProjectReference>
   </ItemGroup>
   <ItemGroup>

DepthsBelow/DepthsBelow/Map.cs

@@ -1,4 +1,5 @@
-using System.Collections.Generic;
+using System;
+using System.Collections.Generic;
 using Microsoft.Xna.Framework;
 using Microsoft.Xna.Framework.Graphics;
 
@@ -6,6 +7,7 @@ namespace DepthsBelow
 {
 	public class Tile
 	{
+		public int LocalId;
 		public Texture2D Texture;
 		public Rectangle SourceRectangle;
 		public SpriteEffects SpriteEffects;
@@ -53,5 +55,34 @@ namespace DepthsBelow
 				}
 			}
 		}
+
+		public byte[,] GetCollisionMap()
+		{
+			byte[,] collisionMap = new byte[1024, 1024];
+			foreach (var layer in Layers)
+			{
+				if (layer.Name == "Collision")
+				{
+					for (int y = 0; y < layer.Height; y++)
+					{
+						for (int x = 0; x < layer.Width; x++)
+						{
+							Tile tile = layer.Tiles[y*layer.Width + x];
+							if (tile == null || tile.LocalId == 0)
+								collisionMap[x, y] = 1;
+							else
+								collisionMap[x, y] = 0;
+						}
+					}
+
+					break;
+				}
+			}
+
+			//if (collisionMap == null)
+			//	throw new Exception("Map lacks a Collision layer!");
+
+			return collisionMap;
+		}
 	}
 }

DepthsBelow/DepthsBelow/MouseInput.cs

@@ -58,7 +58,9 @@ namespace DepthsBelow
 			if (ms.LeftButton == ButtonState.Released && selectionRectangle != Rectangle.Empty)
 			{
 				if (!ks.IsKeyDown(Keys.LeftControl))
+				{
 					core.soldier.Selected = false;
+				}
 
 				if (selectionRectangle.Intersects(core.soldier.GetComponent<Component.Collision>().Rectangle))
 				{

DepthsBelow/DepthsBelow/Soldier.cs

@@ -20,12 +20,18 @@ namespace DepthsBelow
 				LoadContent(core);
 
 			pixelTransform.Origin = new Vector2(16, 16);
+			gridTransform.Position = new Point(7, 3);
+			pixelTransform.Position = gridTransform.ToWorld();
 
 			var rc = new SpriteRenderer(this) {Texture = Texture, Color = Color.White};
 			AddComponent(rc);
 
 			var cc = new Collision(this, 32, 32);
 			AddComponent(cc);
+
+			var pfc = new PathFinder(this);
+			pfc.Goal = new Point(8, 39);
+			AddComponent(pfc);
 		}
 
 		public bool Selected
@@ -70,14 +76,14 @@ namespace DepthsBelow
 			}
 			lastKeyboardState = ks;
 
-			int speed = 2;
+			int speed = 1;
 			if (pixelTransform.X < gridTransform.ToWorld().X)
 				pixelTransform.X += speed;
-			else if (pixelTransform.X > gridTransform.ToWorld().X)
+			if (pixelTransform.X > gridTransform.ToWorld().X)
 				pixelTransform.X -= speed;
-			else if (pixelTransform.Y < gridTransform.ToWorld().Y)
+			if (pixelTransform.Y < gridTransform.ToWorld().Y)
 				pixelTransform.Y += speed;
-			else if (pixelTransform.Y > gridTransform.ToWorld().Y)
+			if (pixelTransform.Y > gridTransform.ToWorld().Y)
 				pixelTransform.Y -= speed;
 		}
 	}

DepthsBelow/DepthsBelowContentPipeline/MapProcessor.cs

@@ -15,6 +15,7 @@ namespace DepthsBelowContentPipeline
 	[ContentSerializerRuntimeType("DepthsBelow.Tile, DepthsBelow")]
 	public class MapTileContent
 	{
+		public int LocalId;
 		public ExternalReference<Texture2DContent> Texture;
 		public Rectangle SourceRectangle;
 		public SpriteEffects SpriteEffects;
@@ -113,6 +114,7 @@ namespace DepthsBelowContentPipeline
 						// now insert the tile into our output
 						outLayer.Tiles[i] = new MapTileContent
 						{
+							LocalId = tileIndex,
 							Texture = textureContent,
 							SourceRectangle = sourceRect,
 							SpriteEffects = spriteEffects