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This commit is contained in:
Simon Holmberg
2012-09-28 18:59:47 +02:00
parent adfdf963d8
commit cf100c95f1
16 changed files with 1672 additions and 10 deletions
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AStar/AStar.csproj
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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">x86</Platform>
<ProductVersion>8.0.30703</ProductVersion>
<SchemaVersion>2.0</SchemaVersion>
<ProjectGuid>{CD3F949D-54AA-4D38-99DB-92905A375D84}</ProjectGuid>
<OutputType>Library</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>AStar</RootNamespace>
<AssemblyName>AStar</AssemblyName>
<TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
<TargetFrameworkProfile>
</TargetFrameworkProfile>
<FileAlignment>512</FileAlignment>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x86' ">
<PlatformTarget>x86</PlatformTarget>
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|x86' ">
<PlatformTarget>x86</PlatformTarget>
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
</PropertyGroup>
<PropertyGroup>
<StartupObject />
</PropertyGroup>
<ItemGroup>
<Compile Include="AuthorAttribute.cs" />
<Compile Include="HighResolutionTime.cs" />
<Compile Include="IPathFinder.cs" />
<Compile Include="PathFinder.cs" />
<Compile Include="PathFinderFast.cs" />
<Compile Include="PriorityQueueB.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="System" />
<Reference Include="System.Drawing" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.
<Target Name="BeforeBuild">
</Target>
<Target Name="AfterBuild">
</Target>
-->
</Project>
AStar/AuthorAttribute.cs
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//
// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
// KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR
// PURPOSE. IT CAN BE DISTRIBUTED FREE OF CHARGE AS LONG AS THIS HEADER
// REMAINS UNCHANGED.
//
// Email: gustavo_franco@hotmail.com
//
// Copyright (C) 2006 Franco, Gustavo
//
using System;
namespace AStar
{
internal class AuthorAttribute : Attribute
{
#region Constructors
public AuthorAttribute(string authorName)
{
}
#endregion
}
}
AStar/HighResolutionTime.cs
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using System;
using System.Collections.Generic;
using System.Text;
namespace AStar
{
public static class HighResolutionTime
{
#region Win32APIs
[System.Runtime.InteropServices.DllImport("Kernel32.dll")]
private static extern bool QueryPerformanceCounter(out long perfcount);
[System.Runtime.InteropServices.DllImport("Kernel32.dll")]
private static extern bool QueryPerformanceFrequency(out long freq);
#endregion
#region Variables Declaration
private static long mStartCounter;
private static long mFrequency;
#endregion
#region Constuctors
static HighResolutionTime()
{
QueryPerformanceFrequency(out mFrequency);
}
#endregion
#region Methods
public static void Start()
{
QueryPerformanceCounter(out mStartCounter);
}
public static double GetTime()
{
long endCounter;
QueryPerformanceCounter(out endCounter);
long elapsed = endCounter - mStartCounter;
return (double) elapsed / mFrequency;
}
#endregion
}
}
AStar/IPathFinder.cs
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using System;
using System.Collections.Generic;
using System.Text;
using AStar;
using System.Drawing;
namespace AStar
{
[Author("Franco, Gustavo")]
interface IPathFinder
{
#region Events
event PathFinderDebugHandler PathFinderDebug;
#endregion
#region Properties
bool Stopped
{
get;
}
HeuristicFormula Formula
{
get;
set;
}
bool Diagonals
{
get;
set;
}
bool HeavyDiagonals
{
get;
set;
}
int HeuristicEstimate
{
get;
set;
}
bool PunishChangeDirection
{
get;
set;
}
bool TieBreaker
{
get;
set;
}
int SearchLimit
{
get;
set;
}
double CompletedTime
{
get;
set;
}
bool DebugProgress
{
get;
set;
}
bool DebugFoundPath
{
get;
set;
}
#endregion
#region Methods
void FindPathStop();
List<PathFinderNode> FindPath(Point start, Point end);
#endregion
}
}
AStar/PathFinder.cs
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//
// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
// KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR
// PURPOSE. IT CAN BE DISTRIBUTED FREE OF CHARGE AS LONG AS THIS HEADER
// REMAINS UNCHANGED.
//
// Email: gustavo_franco@hotmail.com
//
// Copyright (C) 2006 Franco, Gustavo
//
//#define DEBUGON
using System;
using System.Drawing;
using System.Collections.Generic;
namespace AStar
{
#region Structs
[Author("Franco, Gustavo")]
public struct PathFinderNode
{
#region Variables Declaration
public int F;
public int G;
public int H; // f = gone + heuristic
public int X;
public int Y;
public int PX; // Parent
public int PY;
#endregion
}
#endregion
#region Enum
[Author("Franco, Gustavo")]
public enum PathFinderNodeType
{
Start = 1,
End = 2,
Open = 4,
Close = 8,
Current = 16,
Path = 32
}
public enum HeuristicFormula
{
Manhattan = 1,
MaxDXDY = 2,
DiagonalShortCut = 3,
Euclidean = 4,
EuclideanNoSQR = 5,
Custom1 = 6
}
#endregion
#region Delegates
public delegate void PathFinderDebugHandler(int fromX, int fromY, int x, int y, PathFinderNodeType type, int totalCost, int cost);
#endregion
[Author("Franco, Gustavo")]
public class PathFinder : IPathFinder
{
[System.Runtime.InteropServices.DllImport("KERNEL32.DLL", EntryPoint="RtlZeroMemory")]
public unsafe static extern bool ZeroMemory(byte* destination, int length);
#region Events
public event PathFinderDebugHandler PathFinderDebug;
#endregion
#region Variables Declaration
private byte[,] mGrid = null;
private PriorityQueueB<PathFinderNode> mOpen = new PriorityQueueB<PathFinderNode>(new ComparePFNode());
private List<PathFinderNode> mClose = new List<PathFinderNode>();
private bool mStop = false;
private bool mStopped = true;
private int mHoriz = 0;
private HeuristicFormula mFormula = HeuristicFormula.Manhattan;
private bool mDiagonals = true;
private int mHEstimate = 2;
private bool mPunishChangeDirection = false;
private bool mTieBreaker = false;
private bool mHeavyDiagonals = false;
private int mSearchLimit = 2000;
private double mCompletedTime = 0;
private bool mDebugProgress = false;
private bool mDebugFoundPath = false;
#endregion
#region Constructors
public PathFinder(byte[,] grid)
{
if (grid == null)
throw new Exception("Grid cannot be null");
mGrid = grid;
}
#endregion
#region Properties
public bool Stopped
{
get { return mStopped; }
}
public HeuristicFormula Formula
{
get { return mFormula; }
set { mFormula = value; }
}
public bool Diagonals
{
get { return mDiagonals; }
set { mDiagonals = value; }
}
public bool HeavyDiagonals
{
get { return mHeavyDiagonals; }
set { mHeavyDiagonals = value; }
}
public int HeuristicEstimate
{
get { return mHEstimate; }
set { mHEstimate = value; }
}
public bool PunishChangeDirection
{
get { return mPunishChangeDirection; }
set { mPunishChangeDirection = value; }
}
public bool TieBreaker
{
get { return mTieBreaker; }
set { mTieBreaker = value; }
}
public int SearchLimit
{
get { return mSearchLimit; }
set { mSearchLimit = value; }
}
public double CompletedTime
{
get { return mCompletedTime; }
set { mCompletedTime = value; }
}
public bool DebugProgress
{
get { return mDebugProgress; }
set { mDebugProgress = value; }
}
public bool DebugFoundPath
{
get { return mDebugFoundPath; }
set { mDebugFoundPath = value; }
}
#endregion
#region Methods
public void FindPathStop()
{
mStop = true;
}
public List<PathFinderNode> FindPath(Point start, Point end)
{
HighResolutionTime.Start();
PathFinderNode parentNode;
bool found = false;
int gridX = mGrid.GetUpperBound(0);
int gridY = mGrid.GetUpperBound(1);
mStop = false;
mStopped = false;
mOpen.Clear();
mClose.Clear();
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, start.X, start.Y, PathFinderNodeType.Start, -1, -1);
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, end.X, end.Y, PathFinderNodeType.End, -1, -1);
#endif
sbyte[,] direction;
if (mDiagonals)
direction = new sbyte[8,2]{ {0,-1} , {1,0}, {0,1}, {-1,0}, {1,-1}, {1,1}, {-1,1}, {-1,-1}};
else
direction = new sbyte[4,2]{ {0,-1} , {1,0}, {0,1}, {-1,0}};
parentNode.G = 0;
parentNode.H = mHEstimate;
parentNode.F = parentNode.G + parentNode.H;
parentNode.X = start.X;
parentNode.Y = start.Y;
parentNode.PX = parentNode.X;
parentNode.PY = parentNode.Y;
mOpen.Push(parentNode);
while(mOpen.Count > 0 && !mStop)
{
parentNode = mOpen.Pop();
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, parentNode.X, parentNode.Y, PathFinderNodeType.Current, -1, -1);
#endif
if (parentNode.X == end.X && parentNode.Y == end.Y)
{
mClose.Add(parentNode);
found = true;
break;
}
if (mClose.Count > mSearchLimit)
{
mStopped = true;
return null;
}
if (mPunishChangeDirection)
mHoriz = (parentNode.X - parentNode.PX);
//Lets calculate each successors
for (int i=0; i<(mDiagonals ? 8 : 4); i++)
{
PathFinderNode newNode;
newNode.X = parentNode.X + direction[i,0];
newNode.Y = parentNode.Y + direction[i,1];
if (newNode.X < 0 || newNode.Y < 0 || newNode.X >= gridX || newNode.Y >= gridY)
continue;
int newG;
if (mHeavyDiagonals && i>3)
newG = parentNode.G + (int) (mGrid[newNode.X, newNode.Y] * 2.41);
else
newG = parentNode.G + mGrid[newNode.X, newNode.Y];
if (newG == parentNode.G)
{
//Unbrekeable
continue;
}
if (mPunishChangeDirection)
{
if ((newNode.X - parentNode.X) != 0)
{
if (mHoriz == 0)
newG += 20;
}
if ((newNode.Y - parentNode.Y) != 0)
{
if (mHoriz != 0)
newG += 20;
}
}
int foundInOpenIndex = -1;
for(int j=0; j<mOpen.Count; j++)
{
if (mOpen[j].X == newNode.X && mOpen[j].Y == newNode.Y)
{
foundInOpenIndex = j;
break;
}
}
if (foundInOpenIndex != -1 && mOpen[foundInOpenIndex].G <= newG)
continue;
int foundInCloseIndex = -1;
for(int j=0; j<mClose.Count; j++)
{
if (mClose[j].X == newNode.X && mClose[j].Y == newNode.Y)
{
foundInCloseIndex = j;
break;
}
}
if (foundInCloseIndex != -1 && mClose[foundInCloseIndex].G <= newG)
continue;
newNode.PX = parentNode.X;
newNode.PY = parentNode.Y;
newNode.G = newG;
switch(mFormula)
{
default:
case HeuristicFormula.Manhattan:
newNode.H = mHEstimate * (Math.Abs(newNode.X - end.X) + Math.Abs(newNode.Y - end.Y));
break;
case HeuristicFormula.MaxDXDY:
newNode.H = mHEstimate * (Math.Max(Math.Abs(newNode.X - end.X), Math.Abs(newNode.Y - end.Y)));
break;
case HeuristicFormula.DiagonalShortCut:
int h_diagonal = Math.Min(Math.Abs(newNode.X - end.X), Math.Abs(newNode.Y - end.Y));
int h_straight = (Math.Abs(newNode.X - end.X) + Math.Abs(newNode.Y - end.Y));
newNode.H = (mHEstimate * 2) * h_diagonal + mHEstimate * (h_straight - 2 * h_diagonal);
break;
case HeuristicFormula.Euclidean:
newNode.H = (int) (mHEstimate * Math.Sqrt(Math.Pow((newNode.X - end.X) , 2) + Math.Pow((newNode.Y - end.Y), 2)));
break;
case HeuristicFormula.EuclideanNoSQR:
newNode.H = (int) (mHEstimate * (Math.Pow((newNode.X - end.X) , 2) + Math.Pow((newNode.Y - end.Y), 2)));
break;
case HeuristicFormula.Custom1:
Point dxy = new Point(Math.Abs(end.X - newNode.X), Math.Abs(end.Y - newNode.Y));
int Orthogonal = Math.Abs(dxy.X - dxy.Y);
int Diagonal = Math.Abs(((dxy.X + dxy.Y) - Orthogonal) / 2);
newNode.H = mHEstimate * (Diagonal + Orthogonal + dxy.X + dxy.Y);
break;
}
if (mTieBreaker)
{
int dx1 = parentNode.X - end.X;
int dy1 = parentNode.Y - end.Y;
int dx2 = start.X - end.X;
int dy2 = start.Y - end.Y;
int cross = Math.Abs(dx1 * dy2 - dx2 * dy1);
newNode.H = (int) (newNode.H + cross * 0.001);
}
newNode.F = newNode.G + newNode.H;
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(parentNode.X, parentNode.Y, newNode.X, newNode.Y, PathFinderNodeType.Open, newNode.F, newNode.G);
#endif
//It is faster if we leave the open node in the priority queue
//When it is removed, all nodes around will be closed, it will be ignored automatically
//if (foundInOpenIndex != -1)
// mOpen.RemoveAt(foundInOpenIndex);
//if (foundInOpenIndex == -1)
mOpen.Push(newNode);
}
mClose.Add(parentNode);
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, parentNode.X, parentNode.Y, PathFinderNodeType.Close, parentNode.F, parentNode.G);
#endif
}
mCompletedTime = HighResolutionTime.GetTime();
if (found)
{
PathFinderNode fNode = mClose[mClose.Count - 1];
for(int i=mClose.Count - 1; i>=0; i--)
{
if (fNode.PX == mClose[i].X && fNode.PY == mClose[i].Y || i == mClose.Count - 1)
{
#if DEBUGON
if (mDebugFoundPath && PathFinderDebug != null)
PathFinderDebug(fNode.X, fNode.Y, mClose[i].X, mClose[i].Y, PathFinderNodeType.Path, mClose[i].F, mClose[i].G);
#endif
fNode = mClose[i];
}
else
mClose.RemoveAt(i);
}
mStopped = true;
return mClose;
}
mStopped = true;
return null;
}
#endregion
#region Inner Classes
[Author("Franco, Gustavo")]
internal class ComparePFNode : IComparer<PathFinderNode>
{
#region IComparer Members
public int Compare(PathFinderNode x, PathFinderNode y)
{
if (x.F > y.F)
return 1;
else if (x.F < y.F)
return -1;
return 0;
}
#endregion
}
#endregion
}
}
AStar/PathFinderFast.cs
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//
// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
// KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR
// PURPOSE. IT CAN BE DISTRIBUTED FREE OF CHARGE AS LONG AS THIS HEADER
// REMAINS UNCHANGED.
//
// Email: gustavo_franco@hotmail.com
//
// Copyright (C) 2006 Franco, Gustavo
//
#define DEBUGON
using System;
using System.Text;
using System.Drawing;
using System.Threading;
using System.Collections;
using System.Drawing.Drawing2D;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using AStar;
namespace AStar
{
[Author("Franco, Gustavo")]
public class PathFinderFast : IPathFinder
{
#region Structs
[Author("Franco, Gustavo")]
[StructLayout(LayoutKind.Sequential, Pack=1)]
internal struct PathFinderNodeFast
{
#region Variables Declaration
public int F; // f = gone + heuristic
public int G;
public ushort PX; // Parent
public ushort PY;
public byte Status;
#endregion
}
#endregion
#region Win32APIs
[System.Runtime.InteropServices.DllImport("KERNEL32.DLL", EntryPoint="RtlZeroMemory")]
public unsafe static extern bool ZeroMemory(byte* destination, int length);
#endregion
#region Events
public event PathFinderDebugHandler PathFinderDebug;
#endregion
#region Variables Declaration
// Heap variables are initializated to default, but I like to do it anyway
private byte[,] mGrid = null;
private PriorityQueueB<int> mOpen = null;
private List<PathFinderNode> mClose = new List<PathFinderNode>();
private bool mStop = false;
private bool mStopped = true;
private int mHoriz = 0;
private HeuristicFormula mFormula = HeuristicFormula.Manhattan;
private bool mDiagonals = true;
private int mHEstimate = 2;
private bool mPunishChangeDirection = false;
private bool mTieBreaker = false;
private bool mHeavyDiagonals = false;
private int mSearchLimit = 2000;
private double mCompletedTime = 0;
private bool mDebugProgress = false;
private bool mDebugFoundPath = false;
private PathFinderNodeFast[] mCalcGrid = null;
private byte mOpenNodeValue = 1;
private byte mCloseNodeValue = 2;
//Promoted local variables to member variables to avoid recreation between calls
private int mH = 0;
private int mLocation = 0;
private int mNewLocation = 0;
private ushort mLocationX = 0;
private ushort mLocationY = 0;
private ushort mNewLocationX = 0;
private ushort mNewLocationY = 0;
private int mCloseNodeCounter = 0;
private ushort mGridX = 0;
private ushort mGridY = 0;
private ushort mGridXMinus1 = 0;
private ushort mGridYLog2 = 0;
private bool mFound = false;
private sbyte[,] mDirection = new sbyte[8,2]{{0,-1} , {1,0}, {0,1}, {-1,0}, {1,-1}, {1,1}, {-1,1}, {-1,-1}};
private int mEndLocation = 0;
private int mNewG = 0;
#endregion
#region Constructors
public PathFinderFast(byte[,] grid)
{
if (grid == null)
throw new Exception("Grid cannot be null");
mGrid = grid;
mGridX = (ushort) (mGrid.GetUpperBound(0) + 1);
mGridY = (ushort) (mGrid.GetUpperBound(1) + 1);
mGridXMinus1 = (ushort) (mGridX - 1);
mGridYLog2 = (ushort) Math.Log(mGridY, 2);
// This should be done at the constructor, for now we leave it here.
if (Math.Log(mGridX, 2) != (int) Math.Log(mGridX, 2) ||
Math.Log(mGridY, 2) != (int) Math.Log(mGridY, 2))
throw new Exception("Invalid Grid, size in X and Y must be power of 2");
if (mCalcGrid == null || mCalcGrid.Length != (mGridX * mGridY))
mCalcGrid = new PathFinderNodeFast[mGridX * mGridY];
mOpen = new PriorityQueueB<int>(new ComparePFNodeMatrix(mCalcGrid));
}
#endregion
#region Properties
public bool Stopped
{
get { return mStopped; }
}
public HeuristicFormula Formula
{
get { return mFormula; }
set { mFormula = value; }
}
public bool Diagonals
{
get { return mDiagonals; }
set
{
mDiagonals = value;
if (mDiagonals)
mDirection = new sbyte[8,2]{{0,-1} , {1,0}, {0,1}, {-1,0}, {1,-1}, {1,1}, {-1,1}, {-1,-1}};
else
mDirection = new sbyte[4,2]{{0,-1} , {1,0}, {0,1}, {-1,0}};
}
}
public bool HeavyDiagonals
{
get { return mHeavyDiagonals; }
set { mHeavyDiagonals = value; }
}
public int HeuristicEstimate
{
get { return mHEstimate; }
set { mHEstimate = value; }
}
public bool PunishChangeDirection
{
get { return mPunishChangeDirection; }
set { mPunishChangeDirection = value; }
}
public bool TieBreaker
{
get { return mTieBreaker; }
set { mTieBreaker = value; }
}
public int SearchLimit
{
get { return mSearchLimit; }
set { mSearchLimit = value; }
}
public double CompletedTime
{
get { return mCompletedTime; }
set { mCompletedTime = value; }
}
public bool DebugProgress
{
get { return mDebugProgress; }
set { mDebugProgress = value; }
}
public bool DebugFoundPath
{
get { return mDebugFoundPath; }
set { mDebugFoundPath = value; }
}
#endregion
#region Methods
public void FindPathStop()
{
mStop = true;
}
public List<PathFinderNode> FindPath(Point start, Point end)
{
lock(this)
{
HighResolutionTime.Start();
// Is faster if we don't clear the matrix, just assign different values for open and close and ignore the rest
// I could have user Array.Clear() but using unsafe code is faster, no much but it is.
//fixed (PathFinderNodeFast* pGrid = tmpGrid)
// ZeroMemory((byte*) pGrid, sizeof(PathFinderNodeFast) * 1000000);
mFound = false;
mStop = false;
mStopped = false;
mCloseNodeCounter = 0;
mOpenNodeValue += 2;
mCloseNodeValue += 2;
mOpen.Clear();
mClose.Clear();
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, start.X, start.Y, PathFinderNodeType.Start, -1, -1);
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, end.X, end.Y, PathFinderNodeType.End, -1, -1);
#endif
mLocation = (start.Y << mGridYLog2) + start.X;
mEndLocation = (end.Y << mGridYLog2) + end.X;
mCalcGrid[mLocation].G = 0;
mCalcGrid[mLocation].F = mHEstimate;
mCalcGrid[mLocation].PX = (ushort) start.X;
mCalcGrid[mLocation].PY = (ushort) start.Y;
mCalcGrid[mLocation].Status = mOpenNodeValue;
mOpen.Push(mLocation);
while(mOpen.Count > 0 && !mStop)
{
mLocation = mOpen.Pop();
//Is it in closed list? means this node was already processed
if (mCalcGrid[mLocation].Status == mCloseNodeValue)
continue;
mLocationX = (ushort) (mLocation & mGridXMinus1);
mLocationY = (ushort) (mLocation >> mGridYLog2);
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, mLocation & mGridXMinus1, mLocation >> mGridYLog2, PathFinderNodeType.Current, -1, -1);
#endif
if (mLocation == mEndLocation)
{
mCalcGrid[mLocation].Status = mCloseNodeValue;
mFound = true;
break;
}
if (mCloseNodeCounter > mSearchLimit)
{
mStopped = true;
mCompletedTime = HighResolutionTime.GetTime();
return null;
}
if (mPunishChangeDirection)
mHoriz = (mLocationX - mCalcGrid[mLocation].PX);
//Lets calculate each successors
for (int i=0; i<(mDiagonals ? 8 : 4); i++)
{
mNewLocationX = (ushort) (mLocationX + mDirection[i,0]);
mNewLocationY = (ushort) (mLocationY + mDirection[i,1]);
mNewLocation = (mNewLocationY << mGridYLog2) + mNewLocationX;
if (mNewLocationX >= mGridX || mNewLocationY >= mGridY)
continue;
// Unbreakeable?
if (mGrid[mNewLocationX, mNewLocationY] == 0)
continue;
if (mHeavyDiagonals && i>3)
mNewG = mCalcGrid[mLocation].G + (int) (mGrid[mNewLocationX, mNewLocationY] * 2.41);
else
mNewG = mCalcGrid[mLocation].G + mGrid[mNewLocationX, mNewLocationY];
if (mPunishChangeDirection)
{
if ((mNewLocationX - mLocationX) != 0)
{
if (mHoriz == 0)
mNewG += Math.Abs(mNewLocationX - end.X) + Math.Abs(mNewLocationY - end.Y);
}
if ((mNewLocationY - mLocationY) != 0)
{
if (mHoriz != 0)
mNewG += Math.Abs(mNewLocationX - end.X) + Math.Abs(mNewLocationY - end.Y);
}
}
//Is it open or closed?
if (mCalcGrid[mNewLocation].Status == mOpenNodeValue || mCalcGrid[mNewLocation].Status == mCloseNodeValue)
{
// The current node has less code than the previous? then skip this node
if (mCalcGrid[mNewLocation].G <= mNewG)
continue;
}
mCalcGrid[mNewLocation].PX = mLocationX;
mCalcGrid[mNewLocation].PY = mLocationY;
mCalcGrid[mNewLocation].G = mNewG;
switch(mFormula)
{
default:
case HeuristicFormula.Manhattan:
mH = mHEstimate * (Math.Abs(mNewLocationX - end.X) + Math.Abs(mNewLocationY - end.Y));
break;
case HeuristicFormula.MaxDXDY:
mH = mHEstimate * (Math.Max(Math.Abs(mNewLocationX - end.X), Math.Abs(mNewLocationY - end.Y)));
break;
case HeuristicFormula.DiagonalShortCut:
int h_diagonal = Math.Min(Math.Abs(mNewLocationX - end.X), Math.Abs(mNewLocationY - end.Y));
int h_straight = (Math.Abs(mNewLocationX - end.X) + Math.Abs(mNewLocationY - end.Y));
mH = (mHEstimate * 2) * h_diagonal + mHEstimate * (h_straight - 2 * h_diagonal);
break;
case HeuristicFormula.Euclidean:
mH = (int) (mHEstimate * Math.Sqrt(Math.Pow((mNewLocationY - end.X) , 2) + Math.Pow((mNewLocationY - end.Y), 2)));
break;
case HeuristicFormula.EuclideanNoSQR:
mH = (int) (mHEstimate * (Math.Pow((mNewLocationX - end.X) , 2) + Math.Pow((mNewLocationY - end.Y), 2)));
break;
case HeuristicFormula.Custom1:
Point dxy = new Point(Math.Abs(end.X - mNewLocationX), Math.Abs(end.Y - mNewLocationY));
int Orthogonal = Math.Abs(dxy.X - dxy.Y);
int Diagonal = Math.Abs(((dxy.X + dxy.Y) - Orthogonal) / 2);
mH = mHEstimate * (Diagonal + Orthogonal + dxy.X + dxy.Y);
break;
}
if (mTieBreaker)
{
int dx1 = mLocationX - end.X;
int dy1 = mLocationY - end.Y;
int dx2 = start.X - end.X;
int dy2 = start.Y - end.Y;
int cross = Math.Abs(dx1 * dy2 - dx2 * dy1);
mH = (int) (mH + cross * 0.001);
}
mCalcGrid[mNewLocation].F = mNewG + mH;
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(mLocationX, mLocationY, mNewLocationX, mNewLocationY, PathFinderNodeType.Open, mCalcGrid[mNewLocation].F, mCalcGrid[mNewLocation].G);
#endif
//It is faster if we leave the open node in the priority queue
//When it is removed, it will be already closed, it will be ignored automatically
//if (tmpGrid[newLocation].Status == 1)
//{
// //int removeX = newLocation & gridXMinus1;
// //int removeY = newLocation >> gridYLog2;
// mOpen.RemoveLocation(newLocation);
//}
//if (tmpGrid[newLocation].Status != 1)
//{
mOpen.Push(mNewLocation);
//}
mCalcGrid[mNewLocation].Status = mOpenNodeValue;
}
mCloseNodeCounter++;
mCalcGrid[mLocation].Status = mCloseNodeValue;
#if DEBUGON
if (mDebugProgress && PathFinderDebug != null)
PathFinderDebug(0, 0, mLocationX, mLocationY, PathFinderNodeType.Close, mCalcGrid[mLocation].F, mCalcGrid[mLocation].G);
#endif
}
mCompletedTime = HighResolutionTime.GetTime();
if (mFound)
{
mClose.Clear();
int posX = end.X;
int posY = end.Y;
PathFinderNodeFast fNodeTmp = mCalcGrid[(end.Y << mGridYLog2) + end.X];
PathFinderNode fNode;
fNode.F = fNodeTmp.F;
fNode.G = fNodeTmp.G;
fNode.H = 0;
fNode.PX = fNodeTmp.PX;
fNode.PY = fNodeTmp.PY;
fNode.X = end.X;
fNode.Y = end.Y;
while(fNode.X != fNode.PX || fNode.Y != fNode.PY)
{
mClose.Add(fNode);
#if DEBUGON
if (mDebugFoundPath && PathFinderDebug != null)
PathFinderDebug(fNode.PX, fNode.PY, fNode.X, fNode.Y, PathFinderNodeType.Path, fNode.F, fNode.G);
#endif
posX = fNode.PX;
posY = fNode.PY;
fNodeTmp = mCalcGrid[(posY << mGridYLog2) + posX];
fNode.F = fNodeTmp.F;
fNode.G = fNodeTmp.G;
fNode.H = 0;
fNode.PX = fNodeTmp.PX;
fNode.PY = fNodeTmp.PY;
fNode.X = posX;
fNode.Y = posY;
}
mClose.Add(fNode);
#if DEBUGON
if (mDebugFoundPath && PathFinderDebug != null)
PathFinderDebug(fNode.PX, fNode.PY, fNode.X, fNode.Y, PathFinderNodeType.Path, fNode.F, fNode.G);
#endif
mStopped = true;
return mClose;
}
mStopped = true;
return null;
}
}
#endregion
#region Inner Classes
[Author("Franco, Gustavo")]
internal class ComparePFNodeMatrix : IComparer<int>
{
#region Variables Declaration
PathFinderNodeFast[] mMatrix;
#endregion
#region Constructors
public ComparePFNodeMatrix(PathFinderNodeFast[] matrix)
{
mMatrix = matrix;
}
#endregion
#region IComparer Members
public int Compare(int a, int b)
{
if (mMatrix[a].F > mMatrix[b].F)
return 1;
else if (mMatrix[a].F < mMatrix[b].F)
return -1;
return 0;
}
#endregion
}
#endregion
}
}
AStar/PriorityQueueB.cs
Executable
+213
View File
@@ -0,0 +1,213 @@
//
// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY
// KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR
// PURPOSE. IT CAN BE DISTRIBUTED FREE OF CHARGE AS LONG AS THIS HEADER
// REMAINS UNCHANGED.
//
// Email: gustavo_franco@hotmail.com
//
// Copyright (C) 2006 Franco, Gustavo
//
using System;
using System.Collections;
using System.Collections.Generic;
using System.Diagnostics;
namespace AStar
{
#region Interfaces
[Author("Franco, Gustavo")]
public interface IPriorityQueue<T>
{
#region Methods
int Push(T item);
T Pop();
T Peek();
void Update(int i);
#endregion
}
#endregion
[Author("Franco, Gustavo")]
public class PriorityQueueB<T> : IPriorityQueue<T>
{
#region Variables Declaration
protected List<T> InnerList = new List<T>();
protected IComparer<T> mComparer;
#endregion
#region Contructors
public PriorityQueueB()
{
mComparer = Comparer<T>.Default;
}
public PriorityQueueB(IComparer<T> comparer)
{
mComparer = comparer;
}
public PriorityQueueB(IComparer<T> comparer, int capacity)
{
mComparer = comparer;
InnerList.Capacity = capacity;
}
#endregion
#region Methods
protected void SwitchElements(int i, int j)
{
T h = InnerList[i];
InnerList[i] = InnerList[j];
InnerList[j] = h;
}
protected virtual int OnCompare(int i, int j)
{
return mComparer.Compare(InnerList[i],InnerList[j]);
}
/// <summary>
/// Push an object onto the PQ
/// </summary>
/// <param name="O">The new object</param>
/// <returns>The index in the list where the object is _now_. This will change when objects are taken from or put onto the PQ.</returns>
public int Push(T item)
{
int p = InnerList.Count,p2;
InnerList.Add(item); // E[p] = O
do
{
if(p==0)
break;
p2 = (p-1)/2;
if(OnCompare(p,p2)<0)
{
SwitchElements(p,p2);
p = p2;
}
else
break;
}while(true);
return p;
}
/// <summary>
/// Get the smallest object and remove it.
/// </summary>
/// <returns>The smallest object</returns>
public T Pop()
{
T result = InnerList[0];
int p = 0,p1,p2,pn;
InnerList[0] = InnerList[InnerList.Count-1];
InnerList.RemoveAt(InnerList.Count-1);
do
{
pn = p;
p1 = 2*p+1;
p2 = 2*p+2;
if(InnerList.Count>p1 && OnCompare(p,p1)>0) // links kleiner
p = p1;
if(InnerList.Count>p2 && OnCompare(p,p2)>0) // rechts noch kleiner
p = p2;
if(p==pn)
break;
SwitchElements(p,pn);
}while(true);
return result;
}
/// <summary>
/// Notify the PQ that the object at position i has changed
/// and the PQ needs to restore order.
/// Since you dont have access to any indexes (except by using the
/// explicit IList.this) you should not call this function without knowing exactly
/// what you do.
/// </summary>
/// <param name="i">The index of the changed object.</param>
public void Update(int i)
{
int p = i,pn;
int p1,p2;
do // aufsteigen
{
if(p==0)
break;
p2 = (p-1)/2;
if(OnCompare(p,p2)<0)
{
SwitchElements(p,p2);
p = p2;
}
else
break;
}while(true);
if(p<i)
return;
do // absteigen
{
pn = p;
p1 = 2*p+1;
p2 = 2*p+2;
if(InnerList.Count>p1 && OnCompare(p,p1)>0) // links kleiner
p = p1;
if(InnerList.Count>p2 && OnCompare(p,p2)>0) // rechts noch kleiner
p = p2;
if(p==pn)
break;
SwitchElements(p,pn);
}while(true);
}
/// <summary>
/// Get the smallest object without removing it.
/// </summary>
/// <returns>The smallest object</returns>
public T Peek()
{
if(InnerList.Count>0)
return InnerList[0];
return default(T);
}
public void Clear()
{
InnerList.Clear();
}
public int Count
{
get{ return InnerList.Count; }
}
public void RemoveLocation(T item)
{
int index = -1;
for(int i=0; i<InnerList.Count; i++)
{
if (mComparer.Compare(InnerList[i], item) == 0)
index = i;
}
if (index != -1)
InnerList.RemoveAt(index);
}
public T this[int index]
{
get { return InnerList[index]; }
set
{
InnerList[index] = value;
Update(index);
}
}
#endregion
}
}
DepthsBelow.sln
+44
View File
@@ -9,28 +9,72 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "TiledLib", "TiledLib\TiledL
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DepthsBelowContentPipeline", "DepthsBelow\DepthsBelowContentPipeline\DepthsBelowContentPipeline.csproj", "{D054E3A6-7E05-4255-984F-69FE40D9137F}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DepthsBelowContentPipeline", "DepthsBelow\DepthsBelowContentPipeline\DepthsBelowContentPipeline.csproj", "{D054E3A6-7E05-4255-984F-69FE40D9137F}"
EndProject EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AStar", "AStar\AStar.csproj", "{CD3F949D-54AA-4D38-99DB-92905A375D84}"
EndProject
Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Libraries", "Libraries", "{FF7D4CEE-291C-4F85-9630-977446A466D3}"
EndProject
Global Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Debug|Mixed Platforms = Debug|Mixed Platforms
Debug|x86 = Debug|x86 Debug|x86 = Debug|x86
Release|Any CPU = Release|Any CPU
Release|Mixed Platforms = Release|Mixed Platforms
Release|x86 = Release|x86 Release|x86 = Release|x86
EndGlobalSection EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution GlobalSection(ProjectConfigurationPlatforms) = postSolution
{94683C5B-052D-4143-96D8-35C67E831000}.Debug|Any CPU.ActiveCfg = Debug|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Debug|Mixed Platforms.Build.0 = Debug|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Debug|x86.ActiveCfg = Debug|x86 {94683C5B-052D-4143-96D8-35C67E831000}.Debug|x86.ActiveCfg = Debug|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Debug|x86.Build.0 = Debug|x86 {94683C5B-052D-4143-96D8-35C67E831000}.Debug|x86.Build.0 = Debug|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Release|Any CPU.ActiveCfg = Release|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Release|Mixed Platforms.ActiveCfg = Release|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Release|Mixed Platforms.Build.0 = Release|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Release|x86.ActiveCfg = Release|x86 {94683C5B-052D-4143-96D8-35C67E831000}.Release|x86.ActiveCfg = Release|x86
{94683C5B-052D-4143-96D8-35C67E831000}.Release|x86.Build.0 = Release|x86 {94683C5B-052D-4143-96D8-35C67E831000}.Release|x86.Build.0 = Release|x86
{433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Debug|Any CPU.ActiveCfg = Debug|x86
{433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
{433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Debug|x86.ActiveCfg = Debug|x86 {433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Debug|x86.ActiveCfg = Debug|x86
{433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Release|Any CPU.ActiveCfg = Release|x86
{433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Release|Mixed Platforms.ActiveCfg = Release|x86
{433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Release|x86.ActiveCfg = Release|x86 {433A77A2-DE52-4875-A4EF-232CF59C2DD3}.Release|x86.ActiveCfg = Release|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Debug|Any CPU.ActiveCfg = Debug|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Debug|Mixed Platforms.Build.0 = Debug|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Debug|x86.ActiveCfg = Debug|x86 {EC3F6988-459C-4783-89E9-F34C0CC731C7}.Debug|x86.ActiveCfg = Debug|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Debug|x86.Build.0 = Debug|x86 {EC3F6988-459C-4783-89E9-F34C0CC731C7}.Debug|x86.Build.0 = Debug|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Release|Any CPU.ActiveCfg = Release|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Release|Mixed Platforms.ActiveCfg = Release|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Release|Mixed Platforms.Build.0 = Release|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Release|x86.ActiveCfg = Release|x86 {EC3F6988-459C-4783-89E9-F34C0CC731C7}.Release|x86.ActiveCfg = Release|x86
{EC3F6988-459C-4783-89E9-F34C0CC731C7}.Release|x86.Build.0 = Release|x86 {EC3F6988-459C-4783-89E9-F34C0CC731C7}.Release|x86.Build.0 = Release|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Debug|Any CPU.ActiveCfg = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Debug|Mixed Platforms.Build.0 = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Debug|x86.ActiveCfg = Debug|x86 {D054E3A6-7E05-4255-984F-69FE40D9137F}.Debug|x86.ActiveCfg = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Debug|x86.Build.0 = Debug|x86 {D054E3A6-7E05-4255-984F-69FE40D9137F}.Debug|x86.Build.0 = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Release|Any CPU.ActiveCfg = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Release|Mixed Platforms.ActiveCfg = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Release|Mixed Platforms.Build.0 = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Release|x86.ActiveCfg = Debug|x86 {D054E3A6-7E05-4255-984F-69FE40D9137F}.Release|x86.ActiveCfg = Debug|x86
{D054E3A6-7E05-4255-984F-69FE40D9137F}.Release|x86.Build.0 = Debug|x86 {D054E3A6-7E05-4255-984F-69FE40D9137F}.Release|x86.Build.0 = Debug|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Debug|Any CPU.ActiveCfg = Debug|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Debug|Mixed Platforms.ActiveCfg = Debug|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Debug|Mixed Platforms.Build.0 = Debug|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Debug|x86.ActiveCfg = Debug|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Debug|x86.Build.0 = Debug|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Release|Any CPU.ActiveCfg = Release|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Release|Mixed Platforms.ActiveCfg = Release|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Release|Mixed Platforms.Build.0 = Release|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Release|x86.ActiveCfg = Release|x86
{CD3F949D-54AA-4D38-99DB-92905A375D84}.Release|x86.Build.0 = Release|x86
EndGlobalSection EndGlobalSection
GlobalSection(SolutionProperties) = preSolution GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE HideSolutionNode = FALSE
EndGlobalSection EndGlobalSection
GlobalSection(NestedProjects) = preSolution
{EC3F6988-459C-4783-89E9-F34C0CC731C7} = {FF7D4CEE-291C-4F85-9630-977446A466D3}
{CD3F949D-54AA-4D38-99DB-92905A375D84} = {FF7D4CEE-291C-4F85-9630-977446A466D3}
EndGlobalSection
EndGlobal EndGlobal
DepthsBelow/DepthsBelow/Component/PathFinder.cs
Executable
+55
View File
@@ -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
+13 -1
View File
@@ -19,6 +19,8 @@ namespace DepthsBelow
GraphicsDeviceManager graphics; GraphicsDeviceManager graphics;
SpriteBatch spriteBatch; SpriteBatch spriteBatch;
public static AStar.PathFinderFast PathFinder;
public Camera camera; public Camera camera;
MouseInput mouseInput; MouseInput mouseInput;
public Soldier soldier; public Soldier soldier;
@@ -33,7 +35,7 @@ namespace DepthsBelow
graphics.PreferredBackBufferHeight = 720; graphics.PreferredBackBufferHeight = 720;
graphics.IsFullScreen = false; graphics.IsFullScreen = false;
//graphics.SynchronizeWithVerticalRetrace = false; graphics.SynchronizeWithVerticalRetrace = false;
this.IsFixedTimeStep = false; this.IsFixedTimeStep = false;
graphics.ApplyChanges(); graphics.ApplyChanges();
@@ -63,6 +65,16 @@ namespace DepthsBelow
spriteBatch = new SpriteBatch(GraphicsDevice); spriteBatch = new SpriteBatch(GraphicsDevice);
map = Content.Load<Map>("maps/Cave.Level1"); 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 // TODO: use this.Content to load your game content here
Soldier.LoadContent(this); Soldier.LoadContent(this);
DepthsBelow/DepthsBelow/DepthsBelow.csproj
+8 -1
View File
@@ -106,6 +106,7 @@
<Reference Include="System"> <Reference Include="System">
<Private>False</Private> <Private>False</Private>
</Reference> </Reference>
<Reference Include="System.Drawing" />
<Reference Include="System.Xml"> <Reference Include="System.Xml">
<Private>False</Private> <Private>False</Private>
</Reference> </Reference>
@@ -121,6 +122,7 @@
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Compile Include="Camera.cs" /> <Compile Include="Camera.cs" />
<Compile Include="Component\PathFinder.cs" />
<Compile Include="Grid.cs" /> <Compile Include="Grid.cs" />
<Compile Include="Component\Collision.cs" /> <Compile Include="Component\Collision.cs" />
<Compile Include="Component\Component.cs" /> <Compile Include="Component\Component.cs" />
@@ -140,9 +142,14 @@
<Content Include="GameThumbnail.png" /> <Content Include="GameThumbnail.png" />
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ProjectReference Include="..\..\AStar\AStar.csproj">
<Project>{CD3F949D-54AA-4D38-99DB-92905A375D84}</Project>
<Name>AStar</Name>
</ProjectReference>
<ProjectReference Include="..\DepthsBelowContent\DepthsBelowContent.contentproj"> <ProjectReference Include="..\DepthsBelowContent\DepthsBelowContent.contentproj">
<Name>DepthsBelowContent</Name> <Name>DepthsBelowContent %28Content%29</Name>
<XnaReferenceType>Content</XnaReferenceType> <XnaReferenceType>Content</XnaReferenceType>
<Project>{433A77A2-DE52-4875-A4EF-232CF59C2DD3}</Project>
</ProjectReference> </ProjectReference>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
DepthsBelow/DepthsBelow/Map.cs
+32 -1
View File
@@ -1,4 +1,5 @@
using System.Collections.Generic; using System;
using System.Collections.Generic;
using Microsoft.Xna.Framework; using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Graphics; using Microsoft.Xna.Framework.Graphics;
@@ -6,6 +7,7 @@ namespace DepthsBelow
{ {
public class Tile public class Tile
{ {
public int LocalId;
public Texture2D Texture; public Texture2D Texture;
public Rectangle SourceRectangle; public Rectangle SourceRectangle;
public SpriteEffects SpriteEffects; 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
+2
View File
@@ -58,7 +58,9 @@ namespace DepthsBelow
if (ms.LeftButton == ButtonState.Released && selectionRectangle != Rectangle.Empty) if (ms.LeftButton == ButtonState.Released && selectionRectangle != Rectangle.Empty)
{ {
if (!ks.IsKeyDown(Keys.LeftControl)) if (!ks.IsKeyDown(Keys.LeftControl))
{
core.soldier.Selected = false; core.soldier.Selected = false;
}
if (selectionRectangle.Intersects(core.soldier.GetComponent<Component.Collision>().Rectangle)) if (selectionRectangle.Intersects(core.soldier.GetComponent<Component.Collision>().Rectangle))
{ {
DepthsBelow/DepthsBelow/Soldier.cs
+10 -4
View File
@@ -20,12 +20,18 @@ namespace DepthsBelow
LoadContent(core); LoadContent(core);
pixelTransform.Origin = new Vector2(16, 16); 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}; var rc = new SpriteRenderer(this) {Texture = Texture, Color = Color.White};
AddComponent(rc); AddComponent(rc);
var cc = new Collision(this, 32, 32); var cc = new Collision(this, 32, 32);
AddComponent(cc); AddComponent(cc);
var pfc = new PathFinder(this);
pfc.Goal = new Point(8, 39);
AddComponent(pfc);
} }
public bool Selected public bool Selected
@@ -70,14 +76,14 @@ namespace DepthsBelow
} }
lastKeyboardState = ks; lastKeyboardState = ks;
int speed = 2; int speed = 1;
if (pixelTransform.X < gridTransform.ToWorld().X) if (pixelTransform.X < gridTransform.ToWorld().X)
pixelTransform.X += speed; pixelTransform.X += speed;
else if (pixelTransform.X > gridTransform.ToWorld().X) if (pixelTransform.X > gridTransform.ToWorld().X)
pixelTransform.X -= speed; pixelTransform.X -= speed;
else if (pixelTransform.Y < gridTransform.ToWorld().Y) if (pixelTransform.Y < gridTransform.ToWorld().Y)
pixelTransform.Y += speed; pixelTransform.Y += speed;
else if (pixelTransform.Y > gridTransform.ToWorld().Y) if (pixelTransform.Y > gridTransform.ToWorld().Y)
pixelTransform.Y -= speed; pixelTransform.Y -= speed;
} }
} }
DepthsBelow/DepthsBelowContent/maps/Cave.Level1.tmx
+209 -3
View File
File diff suppressed because one or more lines are too long
DepthsBelow/DepthsBelowContentPipeline/MapProcessor.cs
+2
View File
@@ -15,6 +15,7 @@ namespace DepthsBelowContentPipeline
[ContentSerializerRuntimeType("DepthsBelow.Tile, DepthsBelow")] [ContentSerializerRuntimeType("DepthsBelow.Tile, DepthsBelow")]
public class MapTileContent public class MapTileContent
{ {
public int LocalId;
public ExternalReference<Texture2DContent> Texture; public ExternalReference<Texture2DContent> Texture;
public Rectangle SourceRectangle; public Rectangle SourceRectangle;
public SpriteEffects SpriteEffects; public SpriteEffects SpriteEffects;
@@ -113,6 +114,7 @@ namespace DepthsBelowContentPipeline
// now insert the tile into our output // now insert the tile into our output
outLayer.Tiles[i] = new MapTileContent outLayer.Tiles[i] = new MapTileContent
{ {
LocalId = tileIndex,
Texture = textureContent, Texture = textureContent,
SourceRectangle = sourceRect, SourceRectangle = sourceRect,
SpriteEffects = spriteEffects SpriteEffects = spriteEffects