/// <summary>
/// Adds a successor to a list if it is not impassible or the parent node
/// </summary>
/// <param name="successorsRef">List of successors</param>
/// <param name="AX">x-coordinate</param>
/// <param name="AY">y-coordinate</param>
private void AddSuccessor(ArrayList successorsRef, int AX, int AY)
{
int CurrentCost = 1;
if (AX < 0 || AX >= sizes.x)
{
return;
}
if (AY < 0 || AY >= sizes.y)
{
return;
}
Vector2Int point = new Vector2Int(AX, AY);
if (walls.Contains(point))
{
return;
}
if (CurrentCost == -1)
{
return;
}
AStarNode2D NewNode = new AStarNode2D(this, this.goalNode, this.cost + CurrentCost, AX, AY);
if (NewNode.IsSameState(this.parent))
{
return;
}
successorsRef.Add(NewNode);
}
public Queue <Vector2Int> FindPath(Vector2Int from, Vector2Int to, IWorldInstance worldRef)
{
IWorldInstance world = worldRef;
HashSet <Vector2Int> walls = world.Walls;
AStar pathfinder = new AStar();
AStarNode.sizes = new Vector2Int(world.Tiles.GetLength(0), world.Tiles.GetLength(1));
AStarNode.walls = walls;
AStarNode goalNode = new AStarNode2D(null, null, 0, to.x, to.y);
AStarNode startNode = new AStarNode2D(null, goalNode, 0, from.x, from.y);
pathfinder.FindPath(startNode, goalNode);
Queue <Vector2Int> path = new Queue <Vector2Int>();
for (int i = 0; i < pathfinder.solution.Count; i++)
{
AStarNode2D node = (AStarNode2D)pathfinder.solution[i];
path.Enqueue(new Vector2Int(node.x, node.y));
}
return(path);
}