private float Heuristic(Spot neighbor, Spot stop)
{
return((float)Math.Sqrt(Math.Pow(stop.Position.X - neighbor.Position.X, 2) + Math.Pow(stop.Position.Y - neighbor.Position.Y, 2)));
}
private bool IsAllowedSpot(Spot spot)
{
return(spot.Type == ColliderType.Empty || spot.Type == ColliderType.Floor ||
spot.Type == ColliderType.Collectable);
}
private List <Spot> FindPath(Spot start, Spot stop)
{
var moves = new List <Spot>();
closedSet = new List <Spot>();
openSet = new List <Spot>()
{
start
};
while (openSet.Any())
{
var winner = 0;
for (int i = 0; i < openSet.Count; i++)
{
if (openSet[i].f < openSet[winner].f)
{
winner = i;
}
}
var current = openSet[winner];
if (current.Position == stop.Position)
{
var tmpCurrent = current;
moves.Add(tmpCurrent);
while (tmpCurrent.previous != null)
{
moves.Add(tmpCurrent.previous);
tmpCurrent = tmpCurrent.previous;
}
break;
}
openSet.Remove(current);
closedSet.Add(current);
var neighbors = current.GetNeighbors(GameMap);
for (int i = 0; i < neighbors.Count; i++)
{
var neighbor = neighbors[i];
if (!closedSet.Contains(neighbor))
{
var tempG = current.g + 1;
if (openSet.Contains(neighbor))
{
if (tempG < neighbor.g)
{
neighbor.g = tempG;
}
}
else
{
neighbor.g = tempG;
openSet.Add(neighbor);
}
neighbor.h = Heuristic(neighbor, stop);
neighbor.f = neighbor.g + neighbor.h;
neighbor.previous = current;
}
}
}
return(moves);
}
