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);
}
}
