public void SetDestinationPoint(CellBase point)
{
if (DestinationPoint != null && CellBase.CompareStates(DestinationPoint.GetState(), CellBase.State.DestinationPoint))
{
DestinationPoint.SetFree();
}
DestinationPoint = point;
}
public void SetStartPoint(CellBase point)
{
if (StartPoint != null && CellBase.CompareStates(StartPoint.GetState(), CellBase.State.StartPoint))
{
StartPoint.SetFree();
}
StartPoint = point;
}
public IList <ICell> FindPathOnMap(ICell cellStart, ICell cellEnd)
{
if (cellStart == null || cellEnd == null)
{
return(null);
}
List <ICell> OpenList = new List <ICell>();
List <ICell> ClosedList = new List <ICell>();
OpenList.Add(cellStart);
while (OpenList.Count > 0)
{
ICell CurrentNode = OpenList[0];
for (int i = 1; i < OpenList.Count; i++)
{
CellNode _target = OpenList[i].GetNode();
CellNode _current = CurrentNode.GetNode();
if (_target.FCost < _current.FCost || _target.FCost == _current.FCost && _target.ihCost < _current.ihCost)
{
CurrentNode = OpenList[i];
}
}
OpenList.Remove(CurrentNode);
ClosedList.Add(CurrentNode);
if (CurrentNode == cellEnd)
{
return(GetFinalPath(cellStart, cellEnd));
}
foreach (ICell NeighborNode in CurrentNode.GetNearestCells())
{
CellNode _target = NeighborNode.GetNode();
CellNode _current = CurrentNode.GetNode();
if (CellBase.CompareStates(NeighborNode.GetState(), CellBase.State.Obstacle) ||
ClosedList.Contains(NeighborNode))
{
continue;
}
int MoveCost = _current.igCost + GetManhattenDistance(_current, _target);
if (MoveCost < _target.igCost || !OpenList.Contains(NeighborNode))
{
NeighborNode.GetNode().igCost = MoveCost;
NeighborNode.GetNode().ihCost = GetManhattenDistance(_target, cellEnd.GetNode());
NeighborNode.GetNode().ParentNode = CurrentNode;
if (!OpenList.Contains(NeighborNode))
{
OpenList.Add(NeighborNode);
}
}
}
}
return(null);
}
