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PO2D waypoint pathfinding: combinations of WPs to go from curLocation to targetLocation
 

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    <p>Please take a moment to understand my situation. If it is not comprehendable, please tell me in a comment.</p> <p>I have an ArrayList of Waypoints. These waypoints are not in any order. A waypoint has the following properties:<br> <code>{int type, float z, float y, float x, float rotation}</code></p> <p>This applies to a 3 dimensional world, but since my pathfinding should not care about height (and thus treat the world as a 2 dimensional one), the y value is ignored. Rotation is not of importance for this question.</p> <ul> <li>In this 2 dimensional world, the x represents the x axis and the z represents the y axis.</li> <li>If x increases, the object in the world moves east. If x decreases, the object in the world moves west.</li> <li>If z increases, the object in the world moves north. If z decreases, the object in the world moves south.</li> </ul> <p>Thus, these "new" waypoints can be simplified to: <code>waypoint = {float x, float y}</code>.</p> <p>Now, these waypoints represent the X-axis (x) and Y-axis (z) locations of an object. Moreover, there is a current location: <code>curLocation = {float x, float y}</code> and a target location: <code>tarLocation = {float x, float y}</code>.</p> <p>This is what I want to get:<br> <strong>All combinations of waypoints (aka: paths or routes) that will lead from <code>curLocation</code> to <code>tarLocation</code> <em>under the following strict conditions:</em></strong></p> <ol> <li>The distance inbetween each waypoint may not be bigger than <code>(float) maxInbetweenDistance</code>. This includes the initial distance from <code>curLocation</code> to the first waypoint and the distance from the last waypoint to <code>tarLocation</code>. If no such combination of waypoints is possible, null should be returned.</li> <li>When multiple waypoints are found within <code>maxInbetweenDistance</code> from a waypoint that lead towards the target waypoint, the closest waypoint should be chosen (even better would be if an alternative waypoint that is slightly further away would result in a new path with a longer distance that is also returned).</li> <li>The order of returned waypoint combinations (paths) should be from shortest route (minimum distance) to longest route (maximum distance)</li> </ol> <p>Finally, please consider these points:</p> <ol> <li>This is the only thing I need to do AI/pathfinding wise, which is why I do not wish to use a full blown pathfinding or AI framework. I believe one function should be able to handle the above.</li> <li>If returning all possible combinations of waypoints causes too much overhead, it'd also be fine if one can specify a maximum amount of combinations (but still ordered from closest to furthest). Eg. the 5 closest paths.</li> </ol> <p>How would I achieve this? Any feedback is appreciated.</p>
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