public AStarSearch(Battlefield graph, Cell start, Cell goal)
{
_start = start;
_goal = goal;
var frontier = new PriorityQueue <Cell>();
frontier.Enqueue(start, 0);
cameFrom[start] = start;
costSoFar[start] = 0;
while (frontier.Count > 0)
{
var current = frontier.Dequeue();
if (current.Equals(goal))
{
break;
}
foreach (var next in graph.Neighbors(current))
{
double newCost = costSoFar[current]
+ 1;
if (!costSoFar.ContainsKey(next) ||
newCost < costSoFar[next])
{
costSoFar[next] = newCost;
double priority = newCost + Cell.Distance(next.position, goal.position);
frontier.Enqueue(next, priority);
cameFrom[next] = current;
}
}
}
}
