85 lines
2.6 KiB
Java
85 lines
2.6 KiB
Java
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package ei.game.algo;
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import java.util.LinkedList;
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import java.util.List;
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import java.util.Random;
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import ei.engine.math.Vector2i;
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import ei.game.algo.AStarNode2D.Heuristic;
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import ei.game.gamestate.InGameState;
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public class AStar{
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private static final long serialVersionUID = 1L;
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private AStarPathfinder pathfinder;
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private int width;
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private int hight;
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private AStarNode[][] map;
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protected boolean randomizeMap = true;
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protected Random RAND = new Random(0);
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public AStar() {
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width = InGameState.getMap().getSize().getX();
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hight = InGameState.getMap().getSize().getY();
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initializePathfinder();
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initializeMap();
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}
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public List<AStarNode> startSearch(Vector2i start, Vector2i goal){
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return pathfinder.findPath(map[start.getX()][start.getY()], map[goal.getX()][goal.getY()]);
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}
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protected void initializePathfinder() {
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System.out.println("Initializing pathfinder");
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// Create the pathfinder.
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pathfinder = new AStarPathfinder();
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}
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protected void initializeMap() {
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System.out.println("Initializing map");
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// Create the map.
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map = new AStarNode2D[width][hight];
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for(int x = 0, nodeId = 0; width > x; x++) {
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for(int y = 0; hight > y; y++, nodeId++) {
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map[x][y] = new AStarNode2D(x, y, nodeId);
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if(!InGameState.getMap().isPosEmpty(x, y)) {
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map[x][y].setBlocked(true);
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}
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}
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}
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// Create the neighbours.
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for(int x = 0; width > x; x++) {
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for(int y = 0; hight > y; y++) {
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List<AStarNeighbour> neighbours = new LinkedList<AStarNeighbour>();
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if(y-1 >= 0)
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neighbours.add(new AStarNeighbour(map[x][y-1], AStarNeighbour.Location.Adjacent)); // North.
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if(x+1 < width && y-1 > 0)
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neighbours.add(new AStarNeighbour(map[x+1][y-1], AStarNeighbour.Location.Diagonal)); // North-East.
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if(x+1 < width)
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neighbours.add(new AStarNeighbour(map[x+1][y], AStarNeighbour.Location.Adjacent)); // East.
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if(x+1 < width && y+1 < hight)
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neighbours.add(new AStarNeighbour(map[x+1][y+1], AStarNeighbour.Location.Diagonal)); // South-East.
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if(y+1 < hight)
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neighbours.add(new AStarNeighbour(map[x][y+1], AStarNeighbour.Location.Adjacent)); // South.
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if(x-1 >= 0 && y+1 < hight)
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neighbours.add(new AStarNeighbour(map[x-1][y+1], AStarNeighbour.Location.Diagonal)); // South-West.
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if(x-1 >= 0)
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neighbours.add(new AStarNeighbour(map[x-1][y], AStarNeighbour.Location.Adjacent)); // West.
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if(x-1 >= 0 && y-1 > 0) neighbours.add(new AStarNeighbour(map[x-1][y-1], AStarNeighbour.Location.Diagonal)); // North-West.
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map[x][y].setNeighbours(neighbours);
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}
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}
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}
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}
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